diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42fa59d000171979ea6af0a7eb7ef421b180bf5c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_58_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33042787031251164, + -0.09666625873599664, + 1.0021692671231275 + ], + "current_z": 1.0021692671231275, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.14106269950371675, + "gripper_z": 1.002865499360185, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32654153853437873, + -0.10070795894986126, + 1.002865499360185 + ], + "object_minus_gripper": [ + 0.003886331778132912, + 0.004041700213864616, + -0.0006962322370576146 + ], + "object_to_gripper_xy": 0.005607041582553049, + "object_to_gripper_z": -0.0006962322370576146, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33042787031251164, + -0.12059995154858187, + 1.0021692671231275 + ], + "finger_b": [ + 0.32022156071976193, + -0.09666625873599664, + 1.0021692671231275 + ], + "finger_midpoint": [ + 0.3253247155161368, + -0.10863310514228926, + 1.0021692671231275 + ], + "object_minus_finger_midpoint": [ + 0.005103154796374854, + 0.011966846406292614, + 0.0 + ], + "finger_gap": 0.026019039320279456, + "fingertip_max_gap": 0.09377652573305931, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013009519660139728, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0021692671231275, + "object_top_z": 1.0522383116293776, + "finger_top_clearance": 0.05006904450625016, + "fingertip_min_top_clearance": 0.015020713351875048, + "object_projection_between_fingers": 0.8461296431931039, + "object_to_finger_line_xy": 0.00938830506138722, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049388262866529656, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0609198561187987, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2709169796711628, + 0.047174538342885736, + 0.7701463897966118 + ], + "gripper_position": [ + 0.2804957923743854, + 0.014509882966606158, + 1.0441238931800172 + ], + "target_minus_gripper": [ + -0.009578812703222583, + 0.03266465537627958, + -0.27397750338340543 + ], + "held_position": [ + 0.28433067112342236, + 0.018584122695070836, + 1.043370087999385 + ], + "held_minus_target": [ + 0.013413691452259568, + -0.0285904156478149, + 0.27322369820277326 + ], + "held_minus_gripper": [ + 0.003834878749036985, + 0.004074239728464678, + -0.0007538051806321722 + ], + "xy_dist": 0.034040172791196706, + "held_xy_dist": 0.03158067423743895, + "held_gripper_dist": 0.005645701606989454, + "max_held_gripper_dist": 0.0056490934310557146, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.043370087999385, + "required_height": 0.8001463897966118, + "gripper_z": 1.0441238931800172, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.28262973697018, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.756488846060096, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 0.5232374414345305, + "max_source_tilt_deg": 89.89059664499337, + "source_upright_tilt_deg": 3.806678615620664, + "max_source_upright_tilt_deg": 89.76479831417899, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 0.5232374414345305, + "source_upright_return_tilt_deg": 3.806678615620664, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-09, + "max_target_xy_drift": 1.5809457878711033e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2709, + 0.0472, + 0.7701 + ], + "controller_target_position": [ + 0.2709, + 0.0472, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0019, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.2695, + 0.0201, + 1.0357 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001433920170897881, + -0.0018996707996624114, + 0.00037896708359840296 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.806677591156671, + "source_return_step_error_deg": 0.5232305111077765, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.808477842079427, + "source_return_best_wrist_position": -1.5897010564804077, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5897010564804077 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2709, + 0.0472, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2709, + 0.0472, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0019, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2695, + 0.0201, + 1.0357 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001433920170897881, + -0.0018996707996624114, + 0.00037896708359840296 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.806677591156671, + "pour_controller_source_return_step_error_deg": 0.5232305111077765, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.808477842079427, + "pour_controller_source_return_best_wrist_position": -1.5897010564804077, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5897010564804077, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034040172791196706, + "valid_pour_held_xy_dist": 0.03158067423743895, + "valid_pour_held_gripper_dist": 0.005645701606989454, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.043370087999385, + "valid_pour_source_tilt_deg": 0.5232374414345305, + "valid_pour_source_upright_tilt_deg": 3.806678615620664, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28433067112342236, + -0.005058066594869718, + 1.043370087999385 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27383123413096033, + 0.018584122695070836, + 1.043370087999385 + ], + "valid_pour_held_grasp_midpoint": [ + 0.27908095262719135, + 0.006763028050100559, + 1.043370087999385 + ], + "valid_pour_held_grasp_object_position": [ + 0.28433067112342236, + 0.018584122695070836, + 1.043370087999385 + ], + "valid_pour_held_grasp_finger_gap": 0.025868731928335022, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02427209399639684, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06496210444326705, + -0.9977937400211188, + 0.01369588846954961 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006008671338105314, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03826626859439646, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28433067112342236, + -0.005058066594869718, + 1.043370087999385 + ], + "held_grasp_finger_b": [ + 0.27383123413096033, + 0.018584122695070836, + 1.043370087999385 + ], + "held_grasp_midpoint": [ + 0.27908095262719135, + 0.006763028050100559, + 1.043370087999385 + ], + "held_grasp_object_position": [ + 0.28433067112342236, + 0.018584122695070836, + 1.043370087999385 + ], + "held_grasp_finger_gap": 0.025868731928335022, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02427209399639684, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06496210444326705, + -0.9977937400211188, + 0.01369588846954961 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006008671338105314, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03826626859439646, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28578387898862007, + -0.08351506202311075, + 0.7611064158484402 + ], + "target_position": [ + 0.30732124274947004, + -0.09861257717982157, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02630195813384027, + "xy_threshold": 0.08, + "gripper_dist": 0.20194040712541522, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064158484402, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08052938117780824, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09265986188062912, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1780194168477245, + "release_required_pad_clearance": 0.05632993094031456, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.977894136858908, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 174, + "max_placed_release_frames": 174 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5360854b39deb60f1ff703dab7211f153812db4f0e840f3ea84fbb545052acdf", + "visual_seed": 8408734024750284601, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b3ec41415d921c9fdcd3805646ed45cb5e2cbe29 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_59_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33691243987366853, + -0.08904320585901848, + 1.0025083455798223 + ], + "current_z": 1.0025083455798223, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1414018375650563, + "gripper_z": 1.0038393309428388, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3331201932514811, + -0.0931123669358782, + 1.0038393309428388 + ], + "object_minus_gripper": [ + 0.003792246622187412, + 0.004069161076859715, + -0.001330985363016568 + ], + "object_to_gripper_xy": 0.005562302249331831, + "object_to_gripper_z": -0.001330985363016568, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33691243987366853, + -0.11291999552578776, + 1.0025083455798223 + ], + "finger_b": [ + 0.32670879170343387, + -0.08904320585901848, + 1.0025083455798223 + ], + "finger_midpoint": [ + 0.3318106157885512, + -0.10098160069240311, + 1.0025083455798223 + ], + "object_minus_finger_midpoint": [ + 0.005101824085117335, + 0.01193839483338463, + 0.0 + ], + "finger_gap": 0.02596566041472994, + "fingertip_max_gap": 0.09341852024446909, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012982830207364963, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025083455798223, + "object_top_z": 1.0524636948676052, + "finger_top_clearance": 0.04995534928778289, + "fingertip_min_top_clearance": 0.014986604786334866, + "object_projection_between_fingers": 0.8455769219573097, + "object_to_finger_line_xy": 0.009382790859276598, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04920926012223455, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.207340238278925, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2725398651367847, + 0.0530185129927919, + 0.7701463301919668 + ], + "gripper_position": [ + 0.2835138556318693, + 0.02159350484867839, + 1.0445631977789653 + ], + "target_minus_gripper": [ + -0.010973990495084629, + 0.03142500814411351, + -0.27441686758699857 + ], + "held_position": [ + 0.28735826972017214, + 0.02557189353270204, + 1.0431539047980674 + ], + "held_minus_target": [ + 0.014818404583387457, + -0.02744661946008986, + 0.2730075746061006 + ], + "held_minus_gripper": [ + 0.0038444140883028277, + 0.00397838868402365, + -0.0014092929808979804 + ], + "xy_dist": 0.0332860271622164, + "held_xy_dist": 0.031191377561498333, + "held_gripper_dist": 0.005709045709180914, + "max_held_gripper_dist": 0.005733856096260138, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919668, + "held_z": 1.0431539047980674, + "required_height": 0.8001463301919668, + "gripper_z": 1.0445631977789653, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24701713063773, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.7004816006771755, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.13506953101504, + "max_source_tilt_deg": 89.82053844480203, + "source_upright_tilt_deg": 3.1573841299072725, + "max_source_upright_tilt_deg": 89.67342086149199, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.13506953101504, + "source_upright_return_tilt_deg": 3.1573841299072725, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 9.835048602852289e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2725, + 0.053, + 0.7701 + ], + "controller_target_position": [ + 0.2725, + 0.053, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + -0.0003, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.273, + 0.0275, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004376996748860092, + -0.00030315578412884654, + 0.0005894010879427393 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.157384395882195, + "source_return_step_error_deg": 2.135061056451947, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1545207326254334, + "source_return_best_wrist_position": -1.6152191162109375, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6152191162109375 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2725, + 0.053, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2725, + 0.053, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + -0.0003, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.273, + 0.0275, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004376996748860092, + -0.00030315578412884654, + 0.0005894010879427393 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.157384395882195, + "pour_controller_source_return_step_error_deg": 2.135061056451947, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1545207326254334, + "pour_controller_source_return_best_wrist_position": -1.6152191162109375, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6152191162109375, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0332860271622164, + "valid_pour_held_xy_dist": 0.031191377561498333, + "valid_pour_held_gripper_dist": 0.005709045709180914, + "valid_pour_required_height": 0.8001463301919668, + "valid_pour_held_z": 1.0431539047980674, + "valid_pour_source_tilt_deg": 2.13506953101504, + "valid_pour_source_upright_tilt_deg": 3.1573841299072725, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28735826972017214, + 0.0019946104309678716, + 1.0431539047980674 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2775159666922123, + 0.02557189353270204, + 1.0431539047980674 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2824371182061922, + 0.013783251981834957, + 1.0431539047980674 + ], + "valid_pour_held_grasp_object_position": [ + 0.28735826972017214, + 0.02557189353270204, + 1.0431539047980674 + ], + "valid_pour_held_grasp_finger_gap": 0.025549152771736038, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02399469159655592, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.046045975911219596, + -0.9984820153721623, + 0.030223055449914882 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005470142941148392, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03817610271995346, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28735826972017214, + 0.0019946104309678716, + 1.0431539047980674 + ], + "held_grasp_finger_b": [ + 0.2775159666922123, + 0.02557189353270204, + 1.0431539047980674 + ], + "held_grasp_midpoint": [ + 0.2824371182061922, + 0.013783251981834957, + 1.0431539047980674 + ], + "held_grasp_object_position": [ + 0.28735826972017214, + 0.02557189353270204, + 1.0431539047980674 + ], + "held_grasp_finger_gap": 0.025549152771736038, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02399469159655592, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.046045975911219596, + -0.9984820153721623, + 0.030223055449914882 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005470142941148392, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03817610271995346, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.319648422723073, + -0.09801331232137532, + 0.7611177470699477 + ], + "target_position": [ + 0.31415730082651494, + -0.09116675552926506, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008776545994322038, + "xy_threshold": 0.08, + "gripper_dist": 0.21706447981452523, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611177470699477, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517293672301487, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08787879673455078, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18682272890163146, + "release_required_pad_clearance": 0.05393939836727539, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8522053889288044, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "acb77229a7ad8545a3d3160aa81fce9c13428580f294fd8f81b64f27897c69aa", + "visual_seed": 2719742932541720812, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..360622cf6671bb1ada4f415e13a0be686b61f9c6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_5_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33748961828955537, + -0.09310629931912001, + 1.0022763292350154 + ], + "current_z": 1.0022763292350154, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14116994042953912, + "gripper_z": 1.0032437563541203, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33350000590602413, + -0.09717973717109978, + 1.0032437563541203 + ], + "object_minus_gripper": [ + 0.003989612383531238, + 0.004073437851979764, + -0.0009674271191049133 + ], + "object_to_gripper_xy": 0.005701745601547592, + "object_to_gripper_z": -0.0009674271191049133, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33748961828955537, + -0.1171427227618573, + 1.0022763292350154 + ], + "finger_b": [ + 0.32728207003552934, + -0.09310629931912001, + 1.0022763292350154 + ], + "finger_midpoint": [ + 0.33238584416254235, + -0.10512451104048866, + 1.0022763292350154 + ], + "object_minus_finger_midpoint": [ + 0.005103774127013017, + 0.012018211721368646, + 0.0 + ], + "finger_gap": 0.026114051644217158, + "fingertip_max_gap": 0.09361404639921081, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013057025822108579, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0022763292350154, + "object_top_z": 1.0521864564856982, + "finger_top_clearance": 0.04991012725068278, + "fingertip_min_top_clearance": 0.01497303817520485, + "object_projection_between_fingers": 0.8472101987517443, + "object_to_finger_line_xy": 0.009395437961472996, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930702319960541, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1502474625958463, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.273309897542638, + 0.0555025551902578, + 0.7701463897966119 + ], + "gripper_position": [ + 0.2846538488801064, + 0.023231388299343222, + 1.0454179616022787 + ], + "target_minus_gripper": [ + -0.011343951337468405, + 0.032271166890914575, + -0.27527157180566686 + ], + "held_position": [ + 0.28867725805299704, + 0.027239837049968796, + 1.044375774662785 + ], + "held_minus_target": [ + 0.01536736051035903, + -0.028262718140289002, + 0.2742293848661732 + ], + "held_minus_gripper": [ + 0.004023409172890624, + 0.004008448750625573, + -0.00104218693949365 + ], + "xy_dist": 0.034206921002161425, + "held_xy_dist": 0.03217043682844178, + "held_gripper_dist": 0.005774221711689228, + "max_held_gripper_dist": 0.0057839909115360915, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.044375774662785, + "required_height": 0.8001463897966119, + "gripper_z": 1.0454179616022787, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21276373195012, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 4.0584094862904, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.196198235950245, + "max_source_tilt_deg": 89.85741061876624, + "source_upright_tilt_deg": 3.3853561013153337, + "max_source_upright_tilt_deg": 89.83823467316923, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.196198235950245, + "source_upright_return_tilt_deg": 3.3853561013153337, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 1.2665987014770508e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2733, + 0.0555, + 0.7701 + ], + "controller_target_position": [ + 0.2733, + 0.0555, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + -0.0, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.2748, + 0.0303, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014585564346170131, + -1.727565091902807e-05, + 0.0015643304245036675 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.3853702763212428, + "source_return_step_error_deg": 2.196160258960647, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.3828176727494625, + "source_return_best_wrist_position": -1.6130143404006958, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6130143404006958 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2733, + 0.0555, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2733, + 0.0555, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + -0.0, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2748, + 0.0303, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014585564346170131, + -1.727565091902807e-05, + 0.0015643304245036675 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.3853702763212428, + "pour_controller_source_return_step_error_deg": 2.196160258960647, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.3828176727494625, + "pour_controller_source_return_best_wrist_position": -1.6130143404006958, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6130143404006958, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034206921002161425, + "valid_pour_held_xy_dist": 0.03217043682844178, + "valid_pour_held_gripper_dist": 0.005774221711689228, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.044375774662785, + "valid_pour_source_tilt_deg": 2.196198235950245, + "valid_pour_source_upright_tilt_deg": 3.3853561013153337, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28867725805299704, + 0.0035299415780116216, + 1.044375774662785 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27875207900291854, + 0.027239837049968796, + 1.044375774662785 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2837146685279578, + 0.01538488931399021, + 1.044375774662785 + ], + "valid_pour_held_grasp_object_position": [ + 0.28867725805299704, + 0.027239837049968796, + 1.044375774662785 + ], + "valid_pour_held_grasp_finger_gap": 0.025703469074567588, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024150333178797147, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04854445162481179, + -0.9982549620485213, + 0.033622417550674855 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005546279713396867, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038126895854960624, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28867725805299704, + 0.0035299415780116216, + 1.044375774662785 + ], + "held_grasp_finger_b": [ + 0.27875207900291854, + 0.027239837049968796, + 1.044375774662785 + ], + "held_grasp_midpoint": [ + 0.2837146685279578, + 0.01538488931399021, + 1.044375774662785 + ], + "held_grasp_object_position": [ + 0.28867725805299704, + 0.027239837049968796, + 1.044375774662785 + ], + "held_grasp_finger_gap": 0.025703469074567588, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024150333178797147, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04854445162481179, + -0.9982549620485213, + 0.033622417550674855 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005546279713396867, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038126895854960624, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3118064275697515, + -0.10038158401627724, + 0.7611101159359209 + ], + "target_position": [ + 0.31437929141796067, + -0.09659814609380571, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0045753722137786, + "xy_threshold": 0.08, + "gripper_dist": 0.2115769805942806, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611101159359209, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557849027223437, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08814661466431416, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18189475498590407, + "release_required_pad_clearance": 0.05407330733215708, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1580949570800287, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "94bb09d162b7ce792cdbb151c5771e846f570dd2b7af7418d8de9fc6b8fc1359", + "visual_seed": 540875729374976910, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..135d52c1241b6895d8a0f38049132aeccb3a4ed2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_60_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3370084655026862, + -0.09655028281470154, + 1.0034364062730698 + ], + "current_z": 1.0034364062730698, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14232989825830378, + "gripper_z": 1.0043506007098462, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3333293359187844, + -0.10055040730745322, + 1.0043506007098462 + ], + "object_minus_gripper": [ + 0.003679129583901819, + 0.0040001244927516805, + -0.0009141944367763166 + ], + "object_to_gripper_xy": 0.005434794425979096, + "object_to_gripper_z": -0.0009141944367763166, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3370084655026862, + -0.12019977851099588, + 1.0034364062730698 + ], + "finger_b": [ + 0.32669178475467703, + -0.09655028281470154, + 1.0034364062730698 + ], + "finger_midpoint": [ + 0.3318501251286816, + -0.1083750306628487, + 1.0034364062730698 + ], + "object_minus_finger_midpoint": [ + 0.0051583403740045886, + 0.01182474784814716, + 0.0 + ], + "finger_gap": 0.02580179351024629, + "fingertip_max_gap": 0.09383281692145698, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012900896755123138, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034364062730698, + "object_top_z": 1.0533470875728064, + "finger_top_clearance": 0.049910681299736526, + "fingertip_min_top_clearance": 0.014973204389920974, + "object_projection_between_fingers": 0.8401251344539573, + "object_to_finger_line_xy": 0.009456098346543092, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04941640846072849, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.402865938219145, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2730216792828265, + 0.04933513593547798, + 0.7701463897966118 + ], + "gripper_position": [ + 0.2827396764425093, + 0.017971214197680913, + 1.0441717290583066 + ], + "target_minus_gripper": [ + -0.0097179971596828, + 0.03136392173779707, + -0.2740253392616948 + ], + "held_position": [ + 0.2864638197680464, + 0.021902408914034617, + 1.043186212033966 + ], + "held_minus_target": [ + 0.013442140485219911, + -0.027432727021443365, + 0.27303982223735435 + ], + "held_minus_gripper": [ + 0.0037241433255371104, + 0.0039311947163537045, + -0.0009855170243404654 + ], + "xy_dist": 0.03283496696465923, + "held_xy_dist": 0.030549069587426342, + "held_gripper_dist": 0.005504069332075567, + "max_held_gripper_dist": 0.005514443176110666, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.043186212033966, + "required_height": 0.8001463897966118, + "gripper_z": 1.0441717290583066, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22523565737457, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.4468750706364846, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9061918378405815, + "max_source_tilt_deg": 89.93897441731595, + "source_upright_tilt_deg": 3.541731827051136, + "max_source_upright_tilt_deg": 89.72681711858996, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9061918378405815, + "source_upright_return_tilt_deg": 3.541731827051136, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 2.2013912651977178e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.273, + 0.0493, + 0.7701 + ], + "controller_target_position": [ + 0.273, + 0.0493, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0007, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.2719, + 0.0249, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010938365707807063, + 0.0007361728380436503, + 0.0010382628116318653 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.5417343782914106, + "source_return_step_error_deg": 1.90619177046862, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.535249897167022, + "source_return_best_wrist_position": -1.6138805150985718, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6138805150985718 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.273, + 0.0493, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.273, + 0.0493, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0007, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2719, + 0.0249, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010938365707807063, + 0.0007361728380436503, + 0.0010382628116318653 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.5417343782914106, + "pour_controller_source_return_step_error_deg": 1.90619177046862, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.535249897167022, + "pour_controller_source_return_best_wrist_position": -1.6138805150985718, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6138805150985718, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03283496696465923, + "valid_pour_held_xy_dist": 0.030549069587426342, + "valid_pour_held_gripper_dist": 0.005504069332075567, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.043186212033966, + "valid_pour_source_tilt_deg": 1.9061918378405815, + "valid_pour_source_upright_tilt_deg": 3.541731827051136, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2864638197680464, + -0.001455788713344353, + 1.043186212033966 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27649384159716683, + 0.021902408914034617, + 1.043186212033966 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2814788306826066, + 0.010223310100345133, + 1.043186212033966 + ], + "valid_pour_held_grasp_object_position": [ + 0.2864638197680464, + 0.021902408914034617, + 1.043186212033966 + ], + "valid_pour_held_grasp_finger_gap": 0.025396965588973572, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023820572407648767, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05085137711150273, + -0.9980900778303734, + 0.035076116980403804 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005587149119298024, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03831695098603152, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2864638197680464, + -0.001455788713344353, + 1.043186212033966 + ], + "held_grasp_finger_b": [ + 0.27649384159716683, + 0.021902408914034617, + 1.043186212033966 + ], + "held_grasp_midpoint": [ + 0.2814788306826066, + 0.010223310100345133, + 1.043186212033966 + ], + "held_grasp_object_position": [ + 0.2864638197680464, + 0.021902408914034617, + 1.043186212033966 + ], + "held_grasp_finger_gap": 0.025396965588973572, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023820572407648767, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05085137711150273, + -0.9980900778303734, + 0.035076116980403804 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005587149119298024, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03831695098603152, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3137774726885936, + -0.09456924700401262, + 0.7611065395509946 + ], + "target_position": [ + 0.31422151825258793, + -0.09850084617041707, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003956595565404083, + "xy_threshold": 0.08, + "gripper_dist": 0.21320122345787526, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065395509946, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535490211277762, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08693975443657552, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1852730828654394, + "release_required_pad_clearance": 0.05346987721828776, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9527721582013682, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e5cbd498f46891e4d906c8bf66cf1823a0d60fbd81ac3322f2c8916686bee517", + "visual_seed": 6411125108163858159, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ca019aa35f1f14f0eada7a40a77fb29fc07c19cd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_61_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33776284679100643, + -0.08402175259153968, + 1.001730935590523 + ], + "current_z": 1.001730935590523, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.140624487180402, + "gripper_z": 1.002581331901002, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3337360041236693, + -0.08821564419764054, + 1.002581331901002 + ], + "object_minus_gripper": [ + 0.004026842667337105, + 0.004193891606100855, + -0.0008503963104788959 + ], + "object_to_gripper_xy": 0.005814136967014951, + "object_to_gripper_z": -0.0008503963104788959, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33776284679100643, + -0.108076645130007, + 1.001730935590523 + ], + "finger_b": [ + 0.32737842396272177, + -0.08402175259153968, + 1.001730935590523 + ], + "finger_midpoint": [ + 0.3325706353768641, + -0.09604919886077334, + 1.001730935590523 + ], + "object_minus_finger_midpoint": [ + 0.005192211414142334, + 0.01202744626923366, + 0.0 + ], + "finger_gap": 0.02620065061241439, + "fingertip_max_gap": 0.09269457705096454, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013100325306207194, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001730935590523, + "object_top_z": 1.051741369292764, + "finger_top_clearance": 0.0500104337022409, + "fingertip_min_top_clearance": 0.015003130110672253, + "object_projection_between_fingers": 0.8429128809774707, + "object_to_finger_line_xy": 0.009533968408022496, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04884728852548227, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.624099174492917, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.26962653911177564, + 0.05413664024942376, + 0.7701464494012565 + ], + "gripper_position": [ + 0.28085063732966153, + 0.022216447192446823, + 1.044917080847224 + ], + "target_minus_gripper": [ + -0.011224098217885892, + 0.03192019305697694, + -0.27477063144596736 + ], + "held_position": [ + 0.28487341291875656, + 0.02638739809281066, + 1.0439935960829665 + ], + "held_minus_target": [ + 0.01524687380698092, + -0.027749242156613098, + 0.27384714668170995 + ], + "held_minus_gripper": [ + 0.004022775589095029, + 0.004170950900363839, + -0.0009234847642574096 + ], + "xy_dist": 0.03383606220586887, + "held_xy_dist": 0.03166208459897034, + "held_gripper_dist": 0.005867910953932441, + "max_held_gripper_dist": 0.00587692765725753, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0439935960829665, + "required_height": 0.8001464494012566, + "gripper_z": 1.044917080847224, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24336297943178, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.211790189238921, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8678811743989912, + "max_source_tilt_deg": 89.75959048263222, + "source_upright_tilt_deg": 3.1436062785128414, + "max_source_upright_tilt_deg": 89.96505181018823, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8678811743989912, + "source_upright_return_tilt_deg": 3.1436062785128414, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.233205377663523e-08, + "max_target_xy_drift": 1.1566411476180159e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2696, + 0.0541, + 0.7701 + ], + "controller_target_position": [ + 0.2696, + 0.0541, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + -0.0015, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.2692, + 0.0274, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003930603970325546, + -0.0014959235377201984, + 0.0019634076575484995 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1436207053230203, + "source_return_step_error_deg": 1.8679142586107775, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1407246621341205, + "source_return_best_wrist_position": -1.6140726804733276, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6140726804733276 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2696, + 0.0541, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2696, + 0.0541, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + -0.0015, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2692, + 0.0274, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003930603970325546, + -0.0014959235377201984, + 0.0019634076575484995 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1436207053230203, + "pour_controller_source_return_step_error_deg": 1.8679142586107775, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1407246621341205, + "pour_controller_source_return_best_wrist_position": -1.6140726804733276, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6140726804733276, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03383606220586887, + "valid_pour_held_xy_dist": 0.03166208459897034, + "valid_pour_held_gripper_dist": 0.005867910953932441, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0439935960829665, + "valid_pour_source_tilt_deg": 1.8678811743989912, + "valid_pour_source_upright_tilt_deg": 3.1436062785128414, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.233205377663523e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28487341291875656, + 0.0028183574981385687, + 1.0439935960829665 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27456048373953224, + 0.02638739809281066, + 1.0439935960829665 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2797169483291444, + 0.014602877795474615, + 1.0439935960829665 + ], + "valid_pour_held_grasp_object_position": [ + 0.28487341291875656, + 0.02638739809281066, + 1.0439935960829665 + ], + "valid_pour_held_grasp_finger_gap": 0.02572656570179933, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024030285626531908, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04816391191933492, + -0.9984952301891024, + 0.02622046678146961 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005726235635745603, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03820181826944761, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28487341291875656, + 0.0028183574981385687, + 1.0439935960829665 + ], + "held_grasp_finger_b": [ + 0.27456048373953224, + 0.02638739809281066, + 1.0439935960829665 + ], + "held_grasp_midpoint": [ + 0.2797169483291444, + 0.014602877795474615, + 1.0439935960829665 + ], + "held_grasp_object_position": [ + 0.28487341291875656, + 0.02638739809281066, + 1.0439935960829665 + ], + "held_grasp_finger_gap": 0.02572656570179933, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024030285626531908, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04816391191933492, + -0.9984952301891024, + 0.02622046678146961 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005726235635745603, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03820181826944761, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2959590011396801, + -0.07662826573494132, + 0.7611064563164268 + ], + "target_position": [ + 0.31461832532095607, + -0.08941193696744085, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02261841349614482, + "xy_threshold": 0.08, + "gripper_dist": 0.2029544254535064, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064563164268, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07770151380702742, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08991429371535258, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17874936345799475, + "release_required_pad_clearance": 0.05495714685767629, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.984286634892177, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 179, + "max_placed_release_frames": 179 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "387c16c4570df11c0b765177b3566a86ea3c2c8f0047dd6176f1b6b3206e0c84", + "visual_seed": 5821187883765266763, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..050e8f7fa3f63430303107bb1ee1783c0be4c99d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_62_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32877741240784997, + -0.08771661639025256, + 1.0011319313991192 + ], + "current_z": 1.0011319313991192, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14002542338435298, + "gripper_z": 1.002269625284061, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3250846298908703, + -0.09180002048707636, + 1.002269625284061 + ], + "object_minus_gripper": [ + 0.003692782516979687, + 0.004083404096823798, + -0.0011376938849418927 + ], + "object_to_gripper_xy": 0.005505527380339526, + "object_to_gripper_z": -0.0011376938849418927, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32877741240784997, + -0.11134996376941701, + 1.0011319313991192 + ], + "finger_b": [ + 0.31833243777439346, + -0.08771661639025256, + 1.0011319313991192 + ], + "finger_midpoint": [ + 0.3235549250911217, + -0.09953329007983479, + 1.0011319313991192 + ], + "object_minus_finger_midpoint": [ + 0.005222487316728253, + 0.011816673689582224, + 0.0 + ], + "finger_gap": 0.025838587489214828, + "fingertip_max_gap": 0.09309536809653898, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012919293744607414, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0011319313991192, + "object_top_z": 1.051062327244818, + "finger_top_clearance": 0.049930395845698916, + "fingertip_min_top_clearance": 0.014979118753709691, + "object_projection_between_fingers": 0.8365905221947231, + "object_to_finger_line_xy": 0.009553529734629442, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049047684048269494, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.067033518937674, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2685586473948185, + 0.04923591655366872, + 0.7701463301919669 + ], + "gripper_position": [ + 0.27884733778441445, + 0.017720694471907272, + 1.0427229999632033 + ], + "target_minus_gripper": [ + -0.010288690389595956, + 0.03151522208176145, + -0.2725766697712364 + ], + "held_position": [ + 0.2825888609024782, + 0.021726005936192387, + 1.0415082527580477 + ], + "held_minus_target": [ + 0.014030213507659706, + -0.027509910617476332, + 0.2713619225660808 + ], + "held_minus_gripper": [ + 0.00374152311806375, + 0.004005311464285115, + -0.0012147472051555752 + ], + "xy_dist": 0.033152169956063335, + "held_xy_dist": 0.03088109572622147, + "held_gripper_dist": 0.005614011572963894, + "max_held_gripper_dist": 0.005626336113859998, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0415082527580477, + "required_height": 0.8001463301919669, + "gripper_z": 1.0427229999632033, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.31109113524163, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.843600501947726, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.878197690433317, + "max_source_tilt_deg": 89.92957458188252, + "source_upright_tilt_deg": 3.042796201187314, + "max_source_upright_tilt_deg": 89.83081677812427, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.878197690433317, + "source_upright_return_tilt_deg": 3.042796201187314, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.688795409866125e-08, + "max_target_xy_drift": 1.7698069691985403e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2686, + 0.0492, + 0.7701 + ], + "controller_target_position": [ + 0.2686, + 0.0492, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0002, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.2689, + 0.0238, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003327868305458832, + -0.00018848673276427707, + -0.0015677201214002242 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.042793242111142, + "source_return_step_error_deg": 1.8782737136188168, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.042864705934912, + "source_return_best_wrist_position": -1.6164798736572266, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6164798736572266 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2686, + 0.0492, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2686, + 0.0492, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0002, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2689, + 0.0238, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003327868305458832, + -0.00018848673276427707, + -0.0015677201214002242 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.042793242111142, + "pour_controller_source_return_step_error_deg": 1.8782737136188168, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.042864705934912, + "pour_controller_source_return_best_wrist_position": -1.6164798736572266, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6164798736572266, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033152169956063335, + "valid_pour_held_xy_dist": 0.03088109572622147, + "valid_pour_held_gripper_dist": 0.005614011572963894, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0415082527580477, + "valid_pour_source_tilt_deg": 1.878197690433317, + "valid_pour_source_upright_tilt_deg": 3.042796201187314, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.688795409866125e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2825888609024782, + -0.0016047494590421107, + 1.0415082527580477 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27248226087299743, + 0.021726005936192387, + 1.0415082527580477 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2775355608877378, + 0.010060628238575137, + 1.0415082527580477 + ], + "valid_pour_held_grasp_object_position": [ + 0.2825888609024782, + 0.021726005936192387, + 1.0415082527580477 + ], + "valid_pour_held_grasp_finger_gap": 0.0254257253872562, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02374793014946928, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.044531998613157896, + -0.99859017234099, + 0.028888904505186212 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005577762355599697, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038296352093857, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2825888609024782, + -0.0016047494590421107, + 1.0415082527580477 + ], + "held_grasp_finger_b": [ + 0.27248226087299743, + 0.021726005936192387, + 1.0415082527580477 + ], + "held_grasp_midpoint": [ + 0.2775355608877378, + 0.010060628238575137, + 1.0415082527580477 + ], + "held_grasp_object_position": [ + 0.2825888609024782, + 0.021726005936192387, + 1.0415082527580477 + ], + "held_grasp_finger_gap": 0.0254257253872562, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02374793014946928, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.044531998613157896, + -0.99859017234099, + 0.028888904505186212 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005577762355599697, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038296352093857, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28318255018795546, + -0.07214641654632613, + 0.761109146639909 + ], + "target_position": [ + 0.3060623253076976, + -0.09198678515629048, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.03028406075989861, + "xy_threshold": 0.08, + "gripper_dist": 0.20235406426450392, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761109146639909, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08255398916769723, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09019023177051748, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18044313500753614, + "release_required_pad_clearance": 0.05509511588525874, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.271186546033653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "643142fd9bd04b2c52f2292466222269e1214d0d17023d938a0f1a38b090e668", + "visual_seed": 7703621980959924745, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a6748b9a3efe6c9f1429eadc7d5da958d527d1d3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_64_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3365455695601014, + -0.08523775848650542, + 1.0029966535469272 + ], + "current_z": 1.0029966535469272, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14189020513680617, + "gripper_z": 1.0040079025074289, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3327061592196476, + -0.08938288817138124, + 1.0040079025074289 + ], + "object_minus_gripper": [ + 0.0038394103404538193, + 0.00414512968487582, + -0.0010112489605016428 + ], + "object_to_gripper_xy": 0.00565005945692808, + "object_to_gripper_z": -0.0010112489605016428, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3365455695601014, + -0.10894109327164508, + 1.0029966535469272 + ], + "finger_b": [ + 0.32595910029694164, + -0.08523775848650542, + 1.0029966535469272 + ], + "finger_midpoint": [ + 0.3312523349285215, + -0.09708942587907525, + 1.0029966535469272 + ], + "object_minus_finger_midpoint": [ + 0.0052932346315798795, + 0.011851667392569834, + 0.0 + ], + "finger_gap": 0.025959996367415743, + "fingertip_max_gap": 0.09317764973906786, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012979998183707871, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0029966535469272, + "object_top_z": 1.0528914847216415, + "finger_top_clearance": 0.04989483117471427, + "fingertip_min_top_clearance": 0.014968449352414297, + "object_projection_between_fingers": 0.8336997021245676, + "object_to_finger_line_xy": 0.009666204169898591, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049088824869533934, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1735812519778275, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27150386190478254, + 0.05095930290096261, + 0.7701465090059013 + ], + "gripper_position": [ + 0.2806365174280307, + 0.02045690476419132, + 1.0420098070544315 + ], + "target_minus_gripper": [ + -0.009132655523248157, + 0.03050239813677129, + -0.27186329804853016 + ], + "held_position": [ + 0.28450194583267197, + 0.024546458826257195, + 1.040923892790527 + ], + "held_minus_target": [ + 0.012998083927889426, + -0.026412844074705413, + 0.2707773837846258 + ], + "held_minus_gripper": [ + 0.003865428404641269, + 0.0040895540620658755, + -0.001085914263904364 + ], + "xy_dist": 0.031840252652898714, + "held_xy_dist": 0.02943787556722051, + "held_gripper_dist": 0.005731073107762455, + "max_held_gripper_dist": 0.005742271166918629, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.040923892790527, + "required_height": 0.8001465090059013, + "gripper_z": 1.0420098070544315, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.29816158714279, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.970825809129271, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9000719304331801, + "max_source_tilt_deg": 89.92617864087158, + "source_upright_tilt_deg": 3.4764683623357717, + "max_source_upright_tilt_deg": 89.83261319877566, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9000719304331801, + "source_upright_return_tilt_deg": 3.4764683623357717, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.666000468656264e-08, + "max_target_xy_drift": 1.0803341865539551e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2715, + 0.051, + 0.7701 + ], + "controller_target_position": [ + 0.2715, + 0.051, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + 0.0003, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.2697, + 0.0261, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017822114646364976, + 0.000322979729526478, + -0.001477545005847499 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.476261978712614, + "source_return_step_error_deg": 1.8998967732643155, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.4748240844655425, + "source_return_best_wrist_position": -1.6163073778152466, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6163073778152466 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2715, + 0.051, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2715, + 0.051, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + 0.0003, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2697, + 0.0261, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017822114646364976, + 0.000322979729526478, + -0.001477545005847499 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.476261978712614, + "pour_controller_source_return_step_error_deg": 1.8998967732643155, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.4748240844655425, + "pour_controller_source_return_best_wrist_position": -1.6163073778152466, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6163073778152466, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.031840252652898714, + "valid_pour_held_xy_dist": 0.02943787556722051, + "valid_pour_held_gripper_dist": 0.005731073107762455, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.040923892790527, + "valid_pour_source_tilt_deg": 1.9000719304331801, + "valid_pour_source_upright_tilt_deg": 3.4764683623357717, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.666000468656264e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28450194583267197, + 0.0012502462677362813, + 1.040923892790527 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2741410216299927, + 0.024546458826257195, + 1.040923892790527 + ], + "valid_pour_held_grasp_midpoint": [ + 0.27932148373133237, + 0.012898352546996738, + 1.040923892790527 + ], + "valid_pour_held_grasp_object_position": [ + 0.28450194583267197, + 0.024546458826257195, + 1.040923892790527 + ], + "valid_pour_held_grasp_finger_gap": 0.025496318752036583, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02379285178013847, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05207151484952694, + -0.9981597954281458, + 0.03107378528788484 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057910281166691805, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03836333319850046, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28450194583267197, + 0.0012502462677362813, + 1.040923892790527 + ], + "held_grasp_finger_b": [ + 0.2741410216299927, + 0.024546458826257195, + 1.040923892790527 + ], + "held_grasp_midpoint": [ + 0.27932148373133237, + 0.012898352546996738, + 1.040923892790527 + ], + "held_grasp_object_position": [ + 0.28450194583267197, + 0.024546458826257195, + 1.040923892790527 + ], + "held_grasp_finger_gap": 0.025496318752036583, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02379285178013847, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05207151484952694, + -0.9981597954281458, + 0.03107378528788484 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057910281166691805, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03836333319850046, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2919055380603184, + -0.06365158252664425, + 0.7611088447153108 + ], + "target_position": [ + 0.31373910387612125, + -0.0900399393636549, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.03424981712053952, + "xy_threshold": 0.08, + "gripper_dist": 0.20385199949813257, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611088447153108, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08876746882952077, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08766905510051674, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18202238754189495, + "release_required_pad_clearance": 0.053834527550258374, + "release_pad_clearance_ok": true, + "release_gap_ok": true, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.673530783196278, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 184, + "max_placed_release_frames": 184 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "03b23535dfbc406f8f4e23da0b94a4c1a52a34a753e009fde8cdc7574b6e5a0b", + "visual_seed": 6560807990239928388, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b0b856c0d669107ba42003cb4b12654366d2153a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_65_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3329104488652959, + -0.09054243643086697, + 1.0043425526320857 + ], + "current_z": 1.0043425526320857, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14323610422196464, + "gripper_z": 1.0049131886700062, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3291590863797863, + -0.09467745400711498, + 1.0049131886700062 + ], + "object_minus_gripper": [ + 0.003751362485509613, + 0.004135017576248012, + -0.0005706360379205133 + ], + "object_to_gripper_xy": 0.00558310763406625, + "object_to_gripper_z": -0.0005706360379205133, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3329104488652959, + -0.11401935856753861, + 1.0043425526320857 + ], + "finger_b": [ + 0.3221276334436312, + -0.09054243643086697, + 1.0043425526320857 + ], + "finger_midpoint": [ + 0.32751904115446356, + -0.1022808974992028, + 1.0043425526320857 + ], + "object_minus_finger_midpoint": [ + 0.005391407710832352, + 0.011738461068335829, + 0.0 + ], + "finger_gap": 0.02583476304185957, + "fingertip_max_gap": 0.09312163029853351, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012917381520929793, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043425526320857, + "object_top_z": 1.0541271558616654, + "finger_top_clearance": 0.04978460322957967, + "fingertip_min_top_clearance": 0.014935380968873917, + "object_projection_between_fingers": 0.8257971013614712, + "object_to_finger_line_xy": 0.009798708726623698, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906081514926676, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1211426640230986, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2690042517191592, + 0.048696121989421616, + 0.7701463301919671 + ], + "gripper_position": [ + 0.277868859918169, + 0.01858685060425104, + 1.0418312024600587 + ], + "target_minus_gripper": [ + -0.008864608199009805, + 0.030109271385170576, + -0.27168487226809157 + ], + "held_position": [ + 0.28171380411351454, + 0.022615410066927348, + 1.0411848860309152 + ], + "held_minus_target": [ + 0.012709552394355339, + -0.026080711922494268, + 0.2710385558389481 + ], + "held_minus_gripper": [ + 0.0038449441953455343, + 0.004028559462676308, + -0.0006463164291434786 + ], + "xy_dist": 0.031387091325380936, + "held_xy_dist": 0.029012691299653642, + "held_gripper_dist": 0.0056063011100208416, + "max_held_gripper_dist": 0.005613822737506655, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.0411848860309152, + "required_height": 0.8001463301919671, + "gripper_z": 1.0418312024600587, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.28177596332392, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3347651526619835, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9149438978272966, + "max_source_tilt_deg": 89.97674160021533, + "source_upright_tilt_deg": 2.73086144755767, + "max_source_upright_tilt_deg": 89.87883986412149, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9149438978272966, + "source_upright_return_tilt_deg": 2.73086144755767, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.998001405968792e-08, + "max_target_xy_drift": 9.835048602852289e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.269, + 0.0487, + 0.7701 + ], + "controller_target_position": [ + 0.269, + 0.0487, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.0017, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.2676, + 0.0252, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001451283099299358, + 0.0017228603565511928, + -0.0018547736883023625 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7305860398161603, + "source_return_step_error_deg": 1.9148056852258437, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7256054558572065, + "source_return_best_wrist_position": -1.6156433820724487, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6156433820724487 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.269, + 0.0487, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.269, + 0.0487, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.0017, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2676, + 0.0252, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001451283099299358, + 0.0017228603565511928, + -0.0018547736883023625 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7305860398161603, + "pour_controller_source_return_step_error_deg": 1.9148056852258437, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7256054558572065, + "pour_controller_source_return_best_wrist_position": -1.6156433820724487, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6156433820724487, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.031387091325380936, + "valid_pour_held_xy_dist": 0.029012691299653642, + "valid_pour_held_gripper_dist": 0.0056063011100208416, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.0411848860309152, + "valid_pour_source_tilt_deg": 1.9149438978272966, + "valid_pour_source_upright_tilt_deg": 2.73086144755767, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.998001405968792e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28171380411351454, + -0.0007837832732810931, + 1.0411848860309152 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2715765950417534, + 0.022615410066927348, + 1.0411848860309152 + ], + "valid_pour_held_grasp_midpoint": [ + 0.276645199577634, + 0.010915813396823128, + 1.0411848860309152 + ], + "valid_pour_held_grasp_object_position": [ + 0.28171380411351454, + 0.022615410066927348, + 1.0411848860309152 + ], + "valid_pour_held_grasp_finger_gap": 0.02550069129919915, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023711957650911723, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03347442365679106, + -0.9988643659601438, + 0.033903412451930404 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00547158848716954, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0382036084758048, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28171380411351454, + -0.0007837832732810931, + 1.0411848860309152 + ], + "held_grasp_finger_b": [ + 0.2715765950417534, + 0.022615410066927348, + 1.0411848860309152 + ], + "held_grasp_midpoint": [ + 0.276645199577634, + 0.010915813396823128, + 1.0411848860309152 + ], + "held_grasp_object_position": [ + 0.28171380411351454, + 0.022615410066927348, + 1.0411848860309152 + ], + "held_grasp_finger_gap": 0.02550069129919915, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023711957650911723, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03347442365679106, + -0.9988643659601438, + 0.033903412451930404 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00547158848716954, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0382036084758048, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.310351827655495, + -0.09595581786558989, + 0.7611072254922088 + ], + "target_position": [ + 0.3100991802309396, + -0.09356143740154169, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0024076728448338223, + "xy_threshold": 0.08, + "gripper_dist": 0.21595169766221958, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072254922088, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592627369275595, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08796095583902179, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18580560029921755, + "release_required_pad_clearance": 0.0539804779195109, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.971124731896976, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f4024ea8e586cd076f072a8312a75a248b6d09c5eb139a75011c995df6e61da0", + "visual_seed": 2046793248639819909, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..774f8cff6de9f9c26355a2a9100ee3ff00586f1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_66_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33447228304539633, + -0.08732616315122124, + 1.0013879972591315 + ], + "current_z": 1.0013879972591315, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14028148924436556, + "gripper_z": 1.0020626929670038, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33080727547887606, + -0.09138088276048906, + 1.0020626929670038 + ], + "object_minus_gripper": [ + 0.003665007566520273, + 0.004054719609267815, + -0.0006746957078722637 + ], + "object_to_gripper_xy": 0.005465622706739992, + "object_to_gripper_z": -0.0006746957078722637, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33447228304539633, + -0.11083222624648086, + 1.0013879972591315 + ], + "finger_b": [ + 0.3239127329163274, + -0.08732616315122124, + 1.0013879972591315 + ], + "finger_midpoint": [ + 0.32919250798086186, + -0.09907919469885104, + 1.0013879972591315 + ], + "object_minus_finger_midpoint": [ + 0.005279775064534475, + 0.0117530315476298, + 0.0 + ], + "finger_gap": 0.02576895615205719, + "fingertip_max_gap": 0.0933376092931075, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01288447807602859, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013879972591315, + "object_top_z": 1.0513271177122054, + "finger_top_clearance": 0.049939120453073915, + "fingertip_min_top_clearance": 0.01498173613592214, + "object_projection_between_fingers": 0.8320820284040213, + "object_to_finger_line_xy": 0.009632266442101713, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04916880464655375, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.034597023807704, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27585984385077406, + 0.045934269993238235, + 0.7701463897966115 + ], + "gripper_position": [ + 0.28708410846245713, + 0.01378644203359286, + 1.0439651121202143 + ], + "target_minus_gripper": [ + -0.011224264611683077, + 0.032147827959645374, + -0.2738187223236027 + ], + "held_position": [ + 0.2908237328263049, + 0.017750350758124055, + 1.0432124417122082 + ], + "held_minus_target": [ + 0.014963888975530859, + -0.02818391923511418, + 0.27306605191559663 + ], + "held_minus_gripper": [ + 0.003739624363847782, + 0.003963908724531194, + -0.0007526704080060842 + ], + "xy_dist": 0.034050946515420656, + "held_xy_dist": 0.031910049776260975, + "held_gripper_dist": 0.005501261264672538, + "max_held_gripper_dist": 0.0055096405680453925, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0432124417122082, + "required_height": 0.8001463897966116, + "gripper_z": 1.0439651121202143, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.29268377542844, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.537006821614309, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8607557446047078, + "max_source_tilt_deg": 89.84741194351902, + "source_upright_tilt_deg": 2.755694985302964, + "max_source_upright_tilt_deg": 89.90157458932896, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8607557446047078, + "source_upright_return_tilt_deg": 2.755694985302964, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.21540641784668e-08, + "max_target_xy_drift": 1.4336318824361158e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2759, + 0.0459, + 0.7701 + ], + "controller_target_position": [ + 0.2759, + 0.0459, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + -0.001, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.2775, + 0.0198, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016157557374882423, + -0.0009800422342267855, + -0.000962707505937797 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7556769583155374, + "source_return_step_error_deg": 1.8607880058562833, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7515935731042327, + "source_return_best_wrist_position": -1.6156071424484253, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6156071424484253 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2759, + 0.0459, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2759, + 0.0459, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + -0.001, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2775, + 0.0198, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016157557374882423, + -0.0009800422342267855, + -0.000962707505937797 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7556769583155374, + "pour_controller_source_return_step_error_deg": 1.8607880058562833, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7515935731042327, + "pour_controller_source_return_best_wrist_position": -1.6156071424484253, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6156071424484253, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034050946515420656, + "valid_pour_held_xy_dist": 0.031910049776260975, + "valid_pour_held_gripper_dist": 0.005501261264672538, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0432124417122082, + "valid_pour_source_tilt_deg": 1.8607557446047078, + "valid_pour_source_upright_tilt_deg": 2.755694985302964, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.21540641784668e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2908237328263049, + -0.00561664832142326, + 1.0432124417122082 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2807900563009201, + 0.017750350758124055, + 1.0432124417122082 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2858068945636125, + 0.0060668512183503975, + 1.0432124417122082 + ], + "valid_pour_held_grasp_object_position": [ + 0.2908237328263049, + 0.017750350758124055, + 1.0432124417122082 + ], + "valid_pour_held_grasp_finger_gap": 0.025430126043722703, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023704361966514834, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03631609917320641, + -0.9988436210953644, + 0.03150494465861231 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005450077791392238, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0382324530786054, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2908237328263049, + -0.00561664832142326, + 1.0432124417122082 + ], + "held_grasp_finger_b": [ + 0.2807900563009201, + 0.017750350758124055, + 1.0432124417122082 + ], + "held_grasp_midpoint": [ + 0.2858068945636125, + 0.0060668512183503975, + 1.0432124417122082 + ], + "held_grasp_object_position": [ + 0.2908237328263049, + 0.017750350758124055, + 1.0432124417122082 + ], + "held_grasp_finger_gap": 0.025430126043722703, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023704361966514834, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03631609917320641, + -0.9988436210953644, + 0.03150494465861231 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005450077791392238, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0382324530786054, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28935445726264075, + -0.06677171925576866, + 0.7611065814232845 + ], + "target_position": [ + 0.3117368474601799, + -0.0905242671680645, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.032636711281635054, + "xy_threshold": 0.08, + "gripper_dist": 0.2011548533031883, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065814232845, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08648311362791983, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08905095744149204, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17923324040836316, + "release_required_pad_clearance": 0.05452547872074602, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.084011997275679, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 179, + "max_placed_release_frames": 179 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "775c07040ea9b5ac91b72886010dc1a7a4d8d7d19adfce223b2c18a07da6f890", + "visual_seed": 6820562817207142685, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..363eecb296891e71f80b3031d3bb47a59f4480d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_67_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33052125783940584, + -0.09519171863301486, + 1.0026450842791441 + ], + "current_z": 1.0026450842791441, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14153857626437816, + "gripper_z": 1.0033073070783463, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3266552733864082, + -0.09936119285231362, + 1.0033073070783463 + ], + "object_minus_gripper": [ + 0.0038659844529976284, + 0.004169474219298766, + -0.000662222799202139 + ], + "object_to_gripper_xy": 0.0056859784607591005, + "object_to_gripper_z": -0.000662222799202139, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33052125783940584, + -0.11882463129973266, + 1.0026450842791441 + ], + "finger_b": [ + 0.3197614913383261, + -0.09519171863301486, + 1.0026450842791441 + ], + "finger_midpoint": [ + 0.32514137458886594, + -0.10700817496637376, + 1.0026450842791441 + ], + "object_minus_finger_midpoint": [ + 0.005379883250539896, + 0.011816456333358899, + 0.0 + ], + "finger_gap": 0.02596703942058987, + "fingertip_max_gap": 0.09334625590812448, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012983519710294945, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026450842791441, + "object_top_z": 1.0525962278446128, + "finger_top_clearance": 0.0499511435654687, + "fingertip_min_top_clearance": 0.014985343069640611, + "object_projection_between_fingers": 0.8283037463859917, + "object_to_finger_line_xy": 0.009792591982306042, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04917312795406224, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.889408075239058, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2754160276657765, + 0.05432426449530577, + 0.7701464494012565 + ], + "gripper_position": [ + 0.28608968286778697, + 0.020663569848628827, + 1.0452040265878983 + ], + "target_minus_gripper": [ + -0.010673655202010468, + 0.033660694646676946, + -0.2750575771866418 + ], + "held_position": [ + 0.29009247146806894, + 0.024680462496453462, + 1.0444605295982308 + ], + "held_minus_target": [ + 0.014676443802292438, + -0.02964380199885231, + 0.27431408019697423 + ], + "held_minus_gripper": [ + 0.00400278860028197, + 0.004016892647824635, + -0.0007434969896675803 + ], + "xy_dist": 0.035312452187128425, + "held_xy_dist": 0.03307798360887508, + "held_gripper_dist": 0.005719312099924226, + "max_held_gripper_dist": 0.005726642824694239, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0444605295982308, + "required_height": 0.8001464494012566, + "gripper_z": 1.0452040265878983, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24783675333813, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4086389757489677, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1328304883608564, + "max_source_tilt_deg": 89.9746787933623, + "source_upright_tilt_deg": 2.201538749138065, + "max_source_upright_tilt_deg": 89.91387550545663, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1328304883608564, + "source_upright_return_tilt_deg": 2.201538749138065, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1828894262453654e-08, + "max_target_xy_drift": 1.117587089621841e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2754, + 0.0543, + 0.7701 + ], + "controller_target_position": [ + 0.2754, + 0.0543, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.002, + -0.0018, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.2774, + 0.0274, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019675784235602626, + -0.0017568633789670947, + -0.00022348600573693844 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.201858806157358, + "source_return_step_error_deg": 2.132969278061295, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1822219981659985, + "source_return_best_wrist_position": -1.6118124723434448, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6118124723434448 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2754, + 0.0543, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2754, + 0.0543, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.002, + -0.0018, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2774, + 0.0274, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019675784235602626, + -0.0017568633789670947, + -0.00022348600573693844 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.201858806157358, + "pour_controller_source_return_step_error_deg": 2.132969278061295, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1822219981659985, + "pour_controller_source_return_best_wrist_position": -1.6118124723434448, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6118124723434448, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035312452187128425, + "valid_pour_held_xy_dist": 0.03307798360887508, + "valid_pour_held_gripper_dist": 0.005719312099924226, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0444605295982308, + "valid_pour_source_tilt_deg": 2.1328304883608564, + "valid_pour_source_upright_tilt_deg": 2.201538749138065, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1828894262453654e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.29009247146806894, + 0.0009031593484357931, + 1.0444605295982308 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2801950164877087, + 0.024680462496453462, + 1.0444605295982308 + ], + "valid_pour_held_grasp_midpoint": [ + 0.28514374397788883, + 0.012791810922444628, + 1.0444605295982308 + ], + "valid_pour_held_grasp_object_position": [ + 0.29009247146806894, + 0.024680462496453462, + 1.0444605295982308 + ], + "valid_pour_held_grasp_finger_gap": 0.02575499485693965, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02394346830801842, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.018561875671761367, + -0.9992618940549187, + 0.03363218490260034 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005183874245875411, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037932231244898154, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29009247146806894, + 0.0009031593484357931, + 1.0444605295982308 + ], + "held_grasp_finger_b": [ + 0.2801950164877087, + 0.024680462496453462, + 1.0444605295982308 + ], + "held_grasp_midpoint": [ + 0.28514374397788883, + 0.012791810922444628, + 1.0444605295982308 + ], + "held_grasp_object_position": [ + 0.29009247146806894, + 0.024680462496453462, + 1.0444605295982308 + ], + "held_grasp_finger_gap": 0.02575499485693965, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02394346830801842, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.018561875671761367, + -0.9992618940549187, + 0.03363218490260034 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005183874245875411, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037932231244898154, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30898499620471853, + -0.09397104053319001, + 0.7611063921408411 + ], + "target_position": [ + 0.30738238026405135, + -0.09791651201583702, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004258535320231755, + "xy_threshold": 0.08, + "gripper_dist": 0.21720298949604236, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063921408411, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570743983373152, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496533422675938, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18841424870540113, + "release_required_pad_clearance": 0.05248266711337969, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956468062184083, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ce1f7ba2e9e2fd69c0efa9efe5bb0083f4cb907914f94c1cb91ff3032b9ab65e", + "visual_seed": 8599873474943805332, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..37eaf14b98314001173897caee1b33a6628f3e86 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_68_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3361615063011258, + -0.09279334466474007, + 1.001532990854208 + ], + "current_z": 1.001532990854208, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14042648283944215, + "gripper_z": 1.0028368169731574, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3322862530061429, + -0.09683527928823003, + 1.0028368169731574 + ], + "object_minus_gripper": [ + 0.0038752532949828944, + 0.004041934623489965, + -0.0013038261189493028 + ], + "object_to_gripper_xy": 0.005599537802430013, + "object_to_gripper_z": -0.0013038261189493028, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3361615063011258, + -0.1168160190980674, + 1.001532990854208 + ], + "finger_b": [ + 0.3261114819782519, + -0.09279334466474007, + 1.001532990854208 + ], + "finger_midpoint": [ + 0.3311364941396888, + -0.10480468188140374, + 1.001532990854208 + ], + "object_minus_finger_midpoint": [ + 0.00502501216143697, + 0.01201133721666367, + 0.0 + ], + "finger_gap": 0.026040197307624132, + "fingertip_max_gap": 0.0926595926966586, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013020098653812083, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001532990854208, + "object_top_z": 1.0514097136309826, + "finger_top_clearance": 0.04987672277677446, + "fingertip_min_top_clearance": 0.014963016833032354, + "object_projection_between_fingers": 0.8510482244486162, + "object_to_finger_line_xy": 0.009271376076890698, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048829796348329305, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.628188314954972, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.26961253202025337, + 0.04694567885869003, + 0.7701463897966114 + ], + "gripper_position": [ + 0.28077812269048985, + 0.0162330336220413, + 1.0425395700386595 + ], + "target_minus_gripper": [ + -0.01116559067023648, + 0.030712645236648732, + -0.27239318024204806 + ], + "held_position": [ + 0.2846197505062814, + 0.020267543883707752, + 1.0411597211490506 + ], + "held_minus_target": [ + 0.01500721848602804, + -0.02667813497498228, + 0.2710133313524392 + ], + "held_minus_gripper": [ + 0.0038416278157915595, + 0.0040345102616664505, + -0.0013798488896088479 + ], + "xy_dist": 0.03267930526262016, + "held_xy_dist": 0.03060946736600875, + "held_gripper_dist": 0.005739282209885665, + "max_held_gripper_dist": 0.00576756169616843, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0411597211490506, + "required_height": 0.8001463897966115, + "gripper_z": 1.0425395700386595, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.29581883225748, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.6043061178542484, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9153561749468822, + "max_source_tilt_deg": 89.93444083691075, + "source_upright_tilt_deg": 3.7594361480512735, + "max_source_upright_tilt_deg": 89.94236786792209, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9153561749468822, + "source_upright_return_tilt_deg": 3.7594361480512735, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.064333243705223e-08, + "max_target_xy_drift": 1.2910160013410045e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2696, + 0.0469, + 0.7701 + ], + "controller_target_position": [ + 0.2696, + 0.0469, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.0012, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.2712, + 0.023, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015637694202853066, + 0.0012458776850587947, + -0.0017476948243691295 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.759437207119628, + "source_return_step_error_deg": 1.915356033641676, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.756718933816745, + "source_return_best_wrist_position": -1.6168651580810547, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6168651580810547 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2696, + 0.0469, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2696, + 0.0469, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.0012, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2712, + 0.023, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015637694202853066, + 0.0012458776850587947, + -0.0017476948243691295 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.759437207119628, + "pour_controller_source_return_step_error_deg": 1.915356033641676, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.756718933816745, + "pour_controller_source_return_best_wrist_position": -1.6168651580810547, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6168651580810547, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03267930526262016, + "valid_pour_held_xy_dist": 0.03060946736600875, + "valid_pour_held_gripper_dist": 0.005739282209885665, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0411597211490506, + "valid_pour_source_tilt_deg": 1.9153561749468822, + "valid_pour_source_upright_tilt_deg": 3.7594361480512735, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.064333243705223e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2846197505062814, + -0.003088702403801666, + 1.0411597211490506 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2744266423159356, + 0.020267543883707752, + 1.0411597211490506 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2795231964111085, + 0.008589420739953044, + 1.0411597211490506 + ], + "valid_pour_held_grasp_object_position": [ + 0.2846197505062814, + 0.020267543883707752, + 1.0411597211490506 + ], + "valid_pour_held_grasp_finger_gap": 0.025483596591197484, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02389246981234895, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05753718386422762, + -0.9978481467168278, + 0.0314411921969634 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005771434356465984, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03836049790401648, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2846197505062814, + -0.003088702403801666, + 1.0411597211490506 + ], + "held_grasp_finger_b": [ + 0.2744266423159356, + 0.020267543883707752, + 1.0411597211490506 + ], + "held_grasp_midpoint": [ + 0.2795231964111085, + 0.008589420739953044, + 1.0411597211490506 + ], + "held_grasp_object_position": [ + 0.2846197505062814, + 0.020267543883707752, + 1.0411597211490506 + ], + "held_grasp_finger_gap": 0.025483596591197484, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02389246981234895, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05753718386422762, + -0.9978481467168278, + 0.0314411921969634 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005771434356465984, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03836049790401648, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29488087082038, + -0.08075095403685717, + 0.7611071401534873 + ], + "target_position": [ + 0.31338483367735415, + -0.09488589179921553, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02328504041134614, + "xy_threshold": 0.08, + "gripper_dist": 0.203026932056336, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071401534873, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.078724607103076, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08838555398566937, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17926032191574753, + "release_required_pad_clearance": 0.05419277699283469, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.400155945219635, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 182, + "max_placed_release_frames": 182 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ae1f979b6cc0ff6e45d0adb2b5d87a5958bcb34731cd196721e10db3fe882580", + "visual_seed": 1542398458939994176, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..481ebacb000f439e5f9d6e174b3acd452204ef25 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_69_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33769053793344656, + -0.08837785668447114, + 1.0049546363762758 + ], + "current_z": 1.0049546363762758, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14384812836150962, + "gripper_z": 1.0058808834382078, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3337862349564522, + -0.09249223935195845, + 1.0058808834382078 + ], + "object_minus_gripper": [ + 0.003904302976994345, + 0.004114382667487315, + -0.0009262470619320062 + ], + "object_to_gripper_xy": 0.00567201255910871, + "object_to_gripper_z": -0.0009262470619320062, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33769053793344656, + -0.11235310773991641, + 1.0049546363762758 + ], + "finger_b": [ + 0.32744489146806205, + -0.08837785668447114, + 1.0049546363762758 + ], + "finger_midpoint": [ + 0.3325677147007543, + -0.10036548221219377, + 1.0049546363762758 + ], + "object_minus_finger_midpoint": [ + 0.005122823232692253, + 0.011987625527722631, + 0.0 + ], + "finger_gap": 0.02607270478230588, + "fingertip_max_gap": 0.09278758001546902, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013036352391152934, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049546363762758, + "object_top_z": 1.054860656476983, + "finger_top_clearance": 0.049906020100707105, + "fingertip_min_top_clearance": 0.014971806030212115, + "object_projection_between_fingers": 0.8455789298651282, + "object_to_finger_line_xy": 0.009421421685395405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048893790007734514, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.807685890234305, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2717771044975942, + 0.04820296805971125, + 0.7701463897966117 + ], + "gripper_position": [ + 0.28341059301781735, + 0.01633098479105373, + 1.0442943704419647 + ], + "target_minus_gripper": [ + -0.011633488520223167, + 0.03187198326865752, + -0.27414798064535306 + ], + "held_position": [ + 0.2873672450746957, + 0.020360197775690987, + 1.0432916111588835 + ], + "held_minus_target": [ + 0.015590140577101508, + -0.02784277028402026, + 0.2731452213622718 + ], + "held_minus_gripper": [ + 0.00395665205687834, + 0.004029212984637258, + -0.0010027592830812448 + ], + "xy_dist": 0.03392876909980303, + "held_xy_dist": 0.03191037982071834, + "held_gripper_dist": 0.005735431889106059, + "max_held_gripper_dist": 0.005748111143896038, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0432916111588835, + "required_height": 0.8001463897966117, + "gripper_z": 1.0442943704419647, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2525154329196, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.4400136894988496, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2097152368554296, + "max_source_tilt_deg": 89.9979529882585, + "source_upright_tilt_deg": 2.779222510591655, + "max_source_upright_tilt_deg": 89.66362318929087, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2097152368554296, + "source_upright_return_tilt_deg": 2.779222510591655, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.024520883366157e-08, + "max_target_xy_drift": 3.0719530773294425e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2718, + 0.0482, + 0.7701 + ], + "controller_target_position": [ + 0.2718, + 0.0482, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.0016, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.2727, + 0.0214, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009148025627018822, + -0.0016315741442894862, + 7.076376888741917e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7792173202827612, + "source_return_step_error_deg": 2.209724932623321, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.77647933294984, + "source_return_best_wrist_position": -1.615408182144165, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.615408182144165 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2718, + 0.0482, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2718, + 0.0482, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.0016, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2727, + 0.0214, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009148025627018822, + -0.0016315741442894862, + 7.076376888741917e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7792173202827612, + "pour_controller_source_return_step_error_deg": 2.209724932623321, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.77647933294984, + "pour_controller_source_return_best_wrist_position": -1.615408182144165, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.615408182144165, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03392876909980303, + "valid_pour_held_xy_dist": 0.03191037982071834, + "valid_pour_held_gripper_dist": 0.005735431889106059, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0432916111588835, + "valid_pour_source_tilt_deg": 2.2097152368554296, + "valid_pour_source_upright_tilt_deg": 2.779222510591655, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.024520883366157e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2873672450746957, + -0.003332362329575666, + 1.0432916111588835 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2774881045789055, + 0.020360197775690987, + 1.0432916111588835 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2824276748268006, + 0.00851391772305766, + 1.0432916111588835 + ], + "valid_pour_held_grasp_object_position": [ + 0.2873672450746957, + 0.020360197775690987, + 1.0432916111588835 + ], + "valid_pour_held_grasp_finger_gap": 0.025669725773315825, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024047104511834724, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03870900869279645, + -0.9988237941093315, + 0.029200016559257524 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005405326326802309, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0380791095495066, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2873672450746957, + -0.003332362329575666, + 1.0432916111588835 + ], + "held_grasp_finger_b": [ + 0.2774881045789055, + 0.020360197775690987, + 1.0432916111588835 + ], + "held_grasp_midpoint": [ + 0.2824276748268006, + 0.00851391772305766, + 1.0432916111588835 + ], + "held_grasp_object_position": [ + 0.2873672450746957, + 0.020360197775690987, + 1.0432916111588835 + ], + "held_grasp_finger_gap": 0.025669725773315825, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024047104511834724, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03870900869279645, + -0.9988237941093315, + 0.029200016559257524 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005405326326802309, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0380791095495066, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29701445649033476, + -0.07268856352598685, + 0.7611143652107089 + ], + "target_position": [ + 0.3147995576170002, + -0.0932931225889129, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02721870085553908, + "xy_threshold": 0.08, + "gripper_dist": 0.20518131782756113, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611143652107089, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08446570749071805, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861613092438923, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18167419592278694, + "release_required_pad_clearance": 0.05308065462194615, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.182970705042904, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 185, + "max_placed_release_frames": 185 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "87154250ee386b02bb797372a8e0d37f6a5a914333559fe729af38bc0ccce5d4", + "visual_seed": 3035811899874717615, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..211d40212b476f1cd638bec316d3aba79d34ffee --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_6_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33724889597847085, + -0.09240390698998564, + 1.0036663932424137 + ], + "current_z": 1.0036663932424137, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14255988522764773, + "gripper_z": 1.004039915895612, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33304848747683535, + -0.09664366569200268, + 1.004039915895612 + ], + "object_minus_gripper": [ + 0.0042004085016355, + 0.004239758702017038, + -0.00037352265319823275 + ], + "object_to_gripper_xy": 0.005968164326821186, + "object_to_gripper_z": -0.00037352265319823275, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33724889597847085, + -0.11647598385045482, + 1.0036663932424137 + ], + "finger_b": [ + 0.3266621217764525, + -0.09240390698998564, + 1.0036663932424137 + ], + "finger_midpoint": [ + 0.33195550887746167, + -0.10443994542022023, + 1.0036663932424137 + ], + "object_minus_finger_midpoint": [ + 0.005293387101009184, + 0.012036038430234583, + 0.0 + ], + "finger_gap": 0.026297236972367598, + "fingertip_max_gap": 0.09260285917046349, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013148618486183794, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0036663932424137, + "object_top_z": 1.053418819498801, + "finger_top_clearance": 0.049752426256387317, + "fingertip_min_top_clearance": 0.014925727876916178, + "object_projection_between_fingers": 0.8379283472481219, + "object_to_finger_line_xy": 0.009690966490631793, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048801429585231745, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6001877533772744, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27457417166296894, + 0.05076742437355972, + 0.7701464494012568 + ], + "gripper_position": [ + 0.2852319720816365, + 0.019619318667962973, + 1.0425670144229555 + ], + "target_minus_gripper": [ + -0.01065780041866754, + 0.03114810570559675, + -0.27242056502169876 + ], + "held_position": [ + 0.2894891838471355, + 0.023783566207372576, + 1.0421125011384396 + ], + "held_minus_target": [ + 0.014915012184166576, + -0.026983858166187147, + 0.2719660517371828 + ], + "held_minus_gripper": [ + 0.004257211765499036, + 0.004164247539409603, + -0.0004545132845159561 + ], + "xy_dist": 0.03292101454711229, + "held_xy_dist": 0.030831577805664475, + "held_gripper_dist": 0.005972553215466886, + "max_held_gripper_dist": 0.00597771319434678, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012568, + "held_z": 1.0421125011384396, + "required_height": 0.8001464494012568, + "gripper_z": 1.0425670144229555, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2539497726453, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.1568889263354634, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.224656042696829, + "max_source_tilt_deg": 89.88229369085428, + "source_upright_tilt_deg": 2.726381966825368, + "max_source_upright_tilt_deg": 89.79651683866103, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.224656042696829, + "source_upright_return_tilt_deg": 2.726381966825368, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.21540641784668e-08, + "max_target_xy_drift": 1.4919776012792811e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2746, + 0.0508, + 0.7701 + ], + "controller_target_position": [ + 0.2746, + 0.0508, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + 0.0019, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.2762, + 0.0275, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001664008707760227, + 0.001945325206205801, + -0.0017613349695931274 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.726383044219231, + "source_return_step_error_deg": 2.224649222476146, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.718069363295636, + "source_return_best_wrist_position": -1.6143763065338135, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6143763065338135 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2746, + 0.0508, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2746, + 0.0508, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + 0.0019, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2762, + 0.0275, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001664008707760227, + 0.001945325206205801, + -0.0017613349695931274 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.726383044219231, + "pour_controller_source_return_step_error_deg": 2.224649222476146, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.718069363295636, + "pour_controller_source_return_best_wrist_position": -1.6143763065338135, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6143763065338135, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03292101454711229, + "valid_pour_held_xy_dist": 0.030831577805664475, + "valid_pour_held_gripper_dist": 0.005972553215466886, + "valid_pour_required_height": 0.8001464494012568, + "valid_pour_held_z": 1.0421125011384396, + "valid_pour_source_tilt_deg": 2.224656042696829, + "valid_pour_source_upright_tilt_deg": 2.726381966825368, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.21540641784668e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2894891838471355, + -8.434539964564634e-05, + 1.0421125011384396 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2793462085129369, + 0.023783566207372576, + 1.0421125011384396 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2844176961800362, + 0.011849610403863465, + 1.0421125011384396 + ], + "valid_pour_held_grasp_object_position": [ + 0.2894891838471355, + 0.023783566207372576, + 1.0421125011384396 + ], + "valid_pour_held_grasp_finger_gap": 0.025933706891044263, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024167695701894247, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03221938895939536, + -0.9988680881232135, + 0.03499219204564885 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005469106426189165, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03796320268664603, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2894891838471355, + -8.434539964564634e-05, + 1.0421125011384396 + ], + "held_grasp_finger_b": [ + 0.2793462085129369, + 0.023783566207372576, + 1.0421125011384396 + ], + "held_grasp_midpoint": [ + 0.2844176961800362, + 0.011849610403863465, + 1.0421125011384396 + ], + "held_grasp_object_position": [ + 0.2894891838471355, + 0.023783566207372576, + 1.0421125011384396 + ], + "held_grasp_finger_gap": 0.025933706891044263, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024167695701894247, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03221938895939536, + -0.9988680881232135, + 0.03499219204564885 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005469106426189165, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03796320268664603, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3182284626320589, + -0.10449037624986851, + 0.7611064159619718 + ], + "target_position": [ + 0.3140068642117272, + -0.09767606193619079, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008016032234724376, + "xy_threshold": 0.08, + "gripper_dist": 0.2171003562575217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064159619718, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565220878295897, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874337387981322, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18608497953008385, + "release_required_pad_clearance": 0.0537168693990661, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.442824940115673, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bb22aaf403bf594ffd73cb3c3e9f7be9caff1ea6107096bfb505fbed3c09c8c5", + "visual_seed": 6796557683111032434, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b047287afd037bb3d53ffffae36a1767ab1ce780 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_70_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3344272399682202, + -0.09381213651068421, + 1.0021931276643257 + ], + "current_z": 1.0021931276643257, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1410866196495597, + "gripper_z": 1.0027710271875503, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33057526132543846, + -0.09792177246882285, + 1.0027710271875503 + ], + "object_minus_gripper": [ + 0.0038519786427817504, + 0.004109635958138638, + -0.0005778995232246231 + ], + "object_to_gripper_xy": 0.005632658978925745, + "object_to_gripper_z": -0.0005778995232246231, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3344272399682202, + -0.11756146773900367, + 1.0021931276643257 + ], + "finger_b": [ + 0.3239147616025068, + -0.09381213651068421, + 1.0021931276643257 + ], + "finger_midpoint": [ + 0.32917100078536354, + -0.10568680212484394, + 1.0021931276643257 + ], + "object_minus_finger_midpoint": [ + 0.00525623918285667, + 0.01187466561415973, + 0.0 + ], + "finger_gap": 0.02597196440745332, + "fingertip_max_gap": 0.09327105316634257, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012985982203726648, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0021931276643257, + "object_top_z": 1.0521400803830916, + "finger_top_clearance": 0.049946952718765925, + "fingertip_min_top_clearance": 0.014984085815629777, + "object_projection_between_fingers": 0.8361672836143914, + "object_to_finger_line_xy": 0.009612839707504832, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04913552658317129, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.739347429917073, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2709008268124286, + 0.05386147913210845, + 0.770146330191967 + ], + "gripper_position": [ + 0.2825045748626015, + 0.021506850069333033, + 1.0454888148418444 + ], + "target_minus_gripper": [ + -0.01160374805017289, + 0.03235462906277542, + -0.27534248464987743 + ], + "held_position": [ + 0.2863882748002294, + 0.025566986705580205, + 1.0448345876412 + ], + "held_minus_target": [ + 0.015487447987800773, + -0.028294492426528248, + 0.274688257449233 + ], + "held_minus_gripper": [ + 0.0038836999376278825, + 0.004060136636247172, + -0.0006542272006444527 + ], + "xy_dist": 0.03437250340899951, + "held_xy_dist": 0.03225584205767536, + "held_gripper_dist": 0.005656487243916528, + "max_held_gripper_dist": 0.00566360903803771, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0448345876412, + "required_height": 0.800146330191967, + "gripper_z": 1.0454888148418444, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.25414101794206, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.741126726332505, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7693462109622822, + "max_source_tilt_deg": 89.9047195301812, + "source_upright_tilt_deg": 3.059344616579615, + "max_source_upright_tilt_deg": 89.87933424624515, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7693462109622822, + "source_upright_return_tilt_deg": 3.059344616579615, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.012260442327338e-08, + "max_target_xy_drift": 1.30385160446167e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2709, + 0.0539, + 0.7701 + ], + "controller_target_position": [ + 0.2709, + 0.0539, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + -0.0005, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.2726, + 0.0281, + 1.0365 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017136911006930947, + -0.0005220633284746543, + 0.001138274660068642 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0593422965755432, + "source_return_step_error_deg": 1.7693565696984457, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0537606565669497, + "source_return_best_wrist_position": -1.6132043600082397, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6132043600082397 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2709, + 0.0539, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2709, + 0.0539, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + -0.0005, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2726, + 0.0281, + 1.0365 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017136911006930947, + -0.0005220633284746543, + 0.001138274660068642 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0593422965755432, + "pour_controller_source_return_step_error_deg": 1.7693565696984457, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0537606565669497, + "pour_controller_source_return_best_wrist_position": -1.6132043600082397, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6132043600082397, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03437250340899951, + "valid_pour_held_xy_dist": 0.03225584205767536, + "valid_pour_held_gripper_dist": 0.005656487243916528, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0448345876412, + "valid_pour_source_tilt_deg": 1.7693462109622822, + "valid_pour_source_upright_tilt_deg": 3.059344616579615, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.012260442327338e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2863882748002294, + 0.002115549471195919, + 1.0448345876412 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27615057145024136, + 0.025566986705580205, + 1.0448345876412 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2812694231252354, + 0.013841268088388063, + 1.0448345876412 + ], + "valid_pour_held_grasp_object_position": [ + 0.2863882748002294, + 0.025566986705580205, + 1.0448345876412 + ], + "valid_pour_held_grasp_finger_gap": 0.02558867871228645, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023844275097885993, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.041636373334429266, + -0.9985748005577872, + 0.03338832290684136 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005616042932937214, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03822437335991931, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2863882748002294, + 0.002115549471195919, + 1.0448345876412 + ], + "held_grasp_finger_b": [ + 0.27615057145024136, + 0.025566986705580205, + 1.0448345876412 + ], + "held_grasp_midpoint": [ + 0.2812694231252354, + 0.013841268088388063, + 1.0448345876412 + ], + "held_grasp_object_position": [ + 0.2863882748002294, + 0.025566986705580205, + 1.0448345876412 + ], + "held_grasp_finger_gap": 0.02558867871228645, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023844275097885993, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.041636373334429266, + -0.9985748005577872, + 0.03338832290684136 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005616042932937214, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03822437335991931, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2920470253162184, + -0.0774456958746321, + 0.7611070785285496 + ], + "target_position": [ + 0.3113929686664117, + -0.09819103682506647, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.028366083537539288, + "xy_threshold": 0.08, + "gripper_dist": 0.20463864820350885, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070785285496, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08324482369707883, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08501756003633641, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18261079277946024, + "release_required_pad_clearance": 0.05250878001816821, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08846724906799532, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 178, + "max_placed_release_frames": 178 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cb39813cf5aaaf279a84b92a20ba8ecf13214d5420eb6c132330cfd36581c273", + "visual_seed": 2447041368412557417, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..243eaa2eb1844dee759d9b7f07bf30d5eee3e802 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_72_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3341848412827856, + -0.09749708421742126, + 1.0046505284211447 + ], + "current_z": 1.0046505284211447, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14354408001102348, + "gripper_z": 1.0052313624517633, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3303314221353667, + -0.10162432579723532, + 1.0052313624517633 + ], + "object_minus_gripper": [ + 0.0038534191474188795, + 0.004127241579814062, + -0.0005808340306185933 + ], + "object_to_gripper_xy": 0.005646499994141549, + "object_to_gripper_z": -0.0005808340306185933, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3341848412827856, + -0.12120809952866482, + 1.0046505284211447 + ], + "finger_b": [ + 0.32359695172695546, + -0.09749708421742126, + 1.0046505284211447 + ], + "finger_midpoint": [ + 0.3288908965048705, + -0.10935259187304304, + 1.0046505284211447 + ], + "object_minus_finger_midpoint": [ + 0.005293944777915061, + 0.01185550765562178, + 0.0 + ], + "finger_gap": 0.025967588496748847, + "fingertip_max_gap": 0.09347803458540468, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012983794248374423, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0046505284211447, + "object_top_z": 1.0546761824741016, + "finger_top_clearance": 0.05002565405295689, + "fingertip_min_top_clearance": 0.01500769621588705, + "object_projection_between_fingers": 0.8337523311849255, + "object_to_finger_line_xy": 0.00966780613469267, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049239017292702345, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7499848543888348, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27109025037352474, + 0.050233549295596855, + 0.7701464494012563 + ], + "gripper_position": [ + 0.28092505927011313, + 0.017622532977186675, + 1.0434805473081608 + ], + "target_minus_gripper": [ + -0.009834808896588387, + 0.03261101631841018, + -0.27333409790690444 + ], + "held_position": [ + 0.28479772764742506, + 0.021708968745732526, + 1.042823737208395 + ], + "held_minus_target": [ + 0.013707477273900315, + -0.02852458054986433, + 0.27267728780713874 + ], + "held_minus_gripper": [ + 0.0038726683773119275, + 0.004086435768545851, + -0.0006568100997657034 + ], + "xy_dist": 0.03406173588283529, + "held_xy_dist": 0.031647221501423975, + "held_gripper_dist": 0.0056681493592033155, + "max_held_gripper_dist": 0.005675304481728363, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.042823737208395, + "required_height": 0.8001464494012563, + "gripper_z": 1.0434805473081608, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2842894729385, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.58752723624436, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7789758972804188, + "max_source_tilt_deg": 89.96171919411634, + "source_upright_tilt_deg": 3.1916761875217086, + "max_source_upright_tilt_deg": 89.87262244725018, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7789758972804188, + "source_upright_return_tilt_deg": 3.1916761875217086, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 1.1372817696983924e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2711, + 0.0502, + 0.7701 + ], + "controller_target_position": [ + 0.2711, + 0.0502, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + -0.0014, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.2703, + 0.0236, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007543588240450489, + -0.001397072084637308, + -0.00038786720237076583 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.191669588843405, + "source_return_step_error_deg": 1.7789828071322753, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.188020344997151, + "source_return_best_wrist_position": -1.6141936779022217, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6141936779022217 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2711, + 0.0502, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2711, + 0.0502, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + -0.0014, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2703, + 0.0236, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007543588240450489, + -0.001397072084637308, + -0.00038786720237076583 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.191669588843405, + "pour_controller_source_return_step_error_deg": 1.7789828071322753, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.188020344997151, + "pour_controller_source_return_best_wrist_position": -1.6141936779022217, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6141936779022217, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03406173588283529, + "valid_pour_held_xy_dist": 0.031647221501423975, + "valid_pour_held_gripper_dist": 0.0056681493592033155, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.042823737208395, + "valid_pour_source_tilt_deg": 1.7789758972804188, + "valid_pour_source_upright_tilt_deg": 3.1916761875217086, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28479772764742506, + -0.0016461113149927424, + 1.042823737208395 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27443018715434475, + 0.021708968745732526, + 1.042823737208395 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2796139574008849, + 0.010031428715369892, + 1.042823737208395 + ], + "valid_pour_held_grasp_object_position": [ + 0.28479772764742506, + 0.021708968745732526, + 1.042823737208395 + ], + "valid_pour_held_grasp_finger_gap": 0.025552801422124873, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023780203113124485, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04449944197463176, + -0.9984488721897736, + 0.033461160872203966 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005711396296255113, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03829149828012429, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28479772764742506, + -0.0016461113149927424, + 1.042823737208395 + ], + "held_grasp_finger_b": [ + 0.27443018715434475, + 0.021708968745732526, + 1.042823737208395 + ], + "held_grasp_midpoint": [ + 0.2796139574008849, + 0.010031428715369892, + 1.042823737208395 + ], + "held_grasp_object_position": [ + 0.28479772764742506, + 0.021708968745732526, + 1.042823737208395 + ], + "held_grasp_finger_gap": 0.025552801422124873, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023780203113124485, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04449944197463176, + -0.9984488721897736, + 0.033461160872203966 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005711396296255113, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03829149828012429, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2928835366962854, + -0.07794840010618449, + 0.7611097043248785 + ], + "target_position": [ + 0.31109345248960224, + -0.09887484455267845, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.027740171419295287, + "xy_threshold": 0.08, + "gripper_dist": 0.20344234937412747, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611097043248785, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08374073569176116, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08519041218983457, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18097768486822788, + "release_required_pad_clearance": 0.05259520609491729, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.24049103405764163, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 181, + "max_placed_release_frames": 181 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ed2a2a4d53a3a0d2bf7fa8cb360c88ee35f11137319e66ffa3c0d89e28eb1eb4", + "visual_seed": 1918231128609093729, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..404bb0c50418310f21322313815ad9fa24f6f411 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_73_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33459096021389734, + -0.08721993887735681, + 1.0052086330061165 + ], + "current_z": 1.0052086330061165, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14410218459599544, + "gripper_z": 1.0058671610374976, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3305100920621419, + -0.09136501100410063, + 1.0058671610374976 + ], + "object_minus_gripper": [ + 0.004080868151755457, + 0.004145072126743823, + -0.0006585280313811115 + ], + "object_to_gripper_xy": 0.0058167953211300605, + "object_to_gripper_z": -0.0006585280313811115, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33459096021389734, + -0.11128450588778305, + 1.0052086330061165 + ], + "finger_b": [ + 0.32421851537199703, + -0.08721993887735681, + 1.0052086330061165 + ], + "finger_midpoint": [ + 0.3294047377929472, + -0.09925222238256992, + 1.0052086330061165 + ], + "object_minus_finger_midpoint": [ + 0.005186222420950126, + 0.012032283505213112, + 0.0 + ], + "finger_gap": 0.02620478958888163, + "fingertip_max_gap": 0.09367584431461726, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013102394794440798, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0052086330061165, + "object_top_z": 1.0552456878481615, + "finger_top_clearance": 0.050037054842045015, + "fingertip_min_top_clearance": 0.015011116452613521, + "object_projection_between_fingers": 0.8433245631499425, + "object_to_finger_line_xy": 0.009525296629962843, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04933792215730863, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0687542678192026, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2702912650114719, + 0.051518614261083374, + 0.7701465090059013 + ], + "gripper_position": [ + 0.280035433606878, + 0.020205089622282443, + 1.0445267250863728 + ], + "target_minus_gripper": [ + -0.00974416859540611, + 0.03131352463880093, + -0.2743802160804715 + ], + "held_position": [ + 0.2841237618255815, + 0.024322380198116333, + 1.0437969018877733 + ], + "held_minus_target": [ + 0.01383249681410964, + -0.02719623406296704, + 0.273650392881872 + ], + "held_minus_gripper": [ + 0.00408832821870353, + 0.00411729057583389, + -0.0007298231985994885 + ], + "xy_dist": 0.03279459783135771, + "held_xy_dist": 0.030511852046705427, + "held_gripper_dist": 0.005848004036499302, + "max_held_gripper_dist": 0.005855356631319129, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0437969018877733, + "required_height": 0.8001465090059013, + "gripper_z": 1.0445267250863728, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21830984555616, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.8357235079137406, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9526757564748494, + "max_source_tilt_deg": 89.87518528912328, + "source_upright_tilt_deg": 3.697146904912789, + "max_source_upright_tilt_deg": 89.98352575158236, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9526757564748494, + "source_upright_return_tilt_deg": 3.697146904912789, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.862645149230957e-08, + "max_target_xy_drift": 1.0457388198091238e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2703, + 0.0515, + 0.7701 + ], + "controller_target_position": [ + 0.2703, + 0.0515, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.0004, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.2688, + 0.0267, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014785759047662474, + 0.0003533449492677241, + 0.0016645103322674003 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.697340141914906, + "source_return_step_error_deg": 1.9527356863966603, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6940102573308526, + "source_return_best_wrist_position": -1.612809181213379, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612809181213379 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2703, + 0.0515, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2703, + 0.0515, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.0004, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2688, + 0.0267, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014785759047662474, + 0.0003533449492677241, + 0.0016645103322674003 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.697340141914906, + "pour_controller_source_return_step_error_deg": 1.9527356863966603, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6940102573308526, + "pour_controller_source_return_best_wrist_position": -1.612809181213379, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612809181213379, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03279459783135771, + "valid_pour_held_xy_dist": 0.030511852046705427, + "valid_pour_held_gripper_dist": 0.005848004036499302, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0437969018877733, + "valid_pour_source_tilt_deg": 1.9526757564748494, + "valid_pour_source_upright_tilt_deg": 3.697146904912789, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.862645149230957e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2841237618255815, + 0.0006803861250739606, + 1.0437969018877733 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27389624821389846, + 0.024322380198116333, + 1.0437969018877733 + ], + "valid_pour_held_grasp_midpoint": [ + 0.27901000501974, + 0.012501383161595147, + 1.0437969018877733 + ], + "valid_pour_held_grasp_object_position": [ + 0.2841237618255815, + 0.024322380198116333, + 1.0437969018877733 + ], + "valid_pour_held_grasp_finger_gap": 0.025759385055294567, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024139923145655967, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05349607579864728, + -0.997918840067522, + 0.03600220149431155 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005754204952328055, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03819742034066937, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2841237618255815, + 0.0006803861250739606, + 1.0437969018877733 + ], + "held_grasp_finger_b": [ + 0.27389624821389846, + 0.024322380198116333, + 1.0437969018877733 + ], + "held_grasp_midpoint": [ + 0.27901000501974, + 0.012501383161595147, + 1.0437969018877733 + ], + "held_grasp_object_position": [ + 0.2841237618255815, + 0.024322380198116333, + 1.0437969018877733 + ], + "held_grasp_finger_gap": 0.025759385055294567, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024139923145655967, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05349607579864728, + -0.997918840067522, + 0.03600220149431155 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005754204952328055, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03819742034066937, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31338867598629877, + -0.11419202240524311, + 0.7611086744759415 + ], + "target_position": [ + 0.3113105226591902, + -0.09032467777797713, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.023957647230219717, + "xy_threshold": 0.08, + "gripper_dist": 0.21627174776588204, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611086744759415, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528326527021469, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09063710067713975, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18273430301066204, + "release_required_pad_clearance": 0.055318550338569875, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.748657677534866, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 169, + "max_placed_release_frames": 169 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "25c8fc202515cb35d20a93285fa26c4cd4357ad2b0831a776b5155182e2cbd4d", + "visual_seed": 3393691743141402936, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..72fad0acd3da0546ce7cb08f76deefb86f4c4423 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_75_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3386677128050355, + -0.09553148531309234, + 1.0051580451325586 + ], + "current_z": 1.0051580451325586, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14405165632708217, + "gripper_z": 1.0056530226462057, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33457658721523814, + -0.0996546558468318, + 1.0056530226462057 + ], + "object_minus_gripper": [ + 0.004091125589797351, + 0.004123170533739451, + -0.0004949775136471324 + ], + "object_to_gripper_xy": 0.005808428689567601, + "object_to_gripper_z": -0.0004949775136471324, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3386677128050355, + -0.11965081240929479, + 1.0051580451325586 + ], + "finger_b": [ + 0.3283952399901824, + -0.09553148531309234, + 1.0051580451325586 + ], + "finger_midpoint": [ + 0.33353147639760894, + -0.10759114886119356, + 1.0051580451325586 + ], + "object_minus_finger_midpoint": [ + 0.005136236407426553, + 0.012059663548101215, + 0.0 + ], + "finger_gap": 0.02621575170208746, + "fingertip_max_gap": 0.09324780799624002, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013107875851043723, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0051580451325586, + "object_top_z": 1.055088255669792, + "finger_top_clearance": 0.049930210537233455, + "fingertip_min_top_clearance": 0.014979063161170036, + "object_projection_between_fingers": 0.8464586442214497, + "object_to_finger_line_xy": 0.009451002386803973, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049123903998120014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0146137358159004, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27072177445952345, + 0.04854260650151229, + 0.7701463897966115 + ], + "gripper_position": [ + 0.28189067167596327, + 0.017240454216791504, + 1.0445532746480242 + ], + "target_minus_gripper": [ + -0.011168897216439821, + 0.03130215228472079, + -0.2744068848514126 + ], + "held_position": [ + 0.2859582424431649, + 0.021369965256645217, + 1.043984955358755 + ], + "held_minus_target": [ + 0.015236467983641477, + -0.027172641244867075, + 0.2738385655621435 + ], + "held_minus_gripper": [ + 0.004067570767201656, + 0.004129511039853713, + -0.000568319289269148 + ], + "xy_dist": 0.03323505683291738, + "held_xy_dist": 0.031152887327481914, + "held_gripper_dist": 0.005824172060389575, + "max_held_gripper_dist": 0.005830556838506783, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.043984955358755, + "required_height": 0.8001463897966116, + "gripper_z": 1.0445532746480242, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2284390160953, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 4.00632526202813, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9070737582434842, + "max_source_tilt_deg": 89.79519385507658, + "source_upright_tilt_deg": 4.041998266431463, + "max_source_upright_tilt_deg": 89.96350332568517, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9070737582434842, + "source_upright_return_tilt_deg": 4.041998266431463, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0956407464930968e-07, + "max_target_xy_drift": 1.8495606761137262e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2707, + 0.0485, + 0.7701 + ], + "controller_target_position": [ + 0.2707, + 0.0485, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + 0.0009, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.2717, + 0.0242, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009805811912938322, + 0.000892070514097116, + 0.0009438266505632804 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.042005420438723, + "source_return_step_error_deg": 1.907064462686857, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.036813815405457, + "source_return_best_wrist_position": -1.6138330698013306, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6138330698013306 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2707, + 0.0485, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2707, + 0.0485, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + 0.0009, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2717, + 0.0242, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009805811912938322, + 0.000892070514097116, + 0.0009438266505632804 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.042005420438723, + "pour_controller_source_return_step_error_deg": 1.907064462686857, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.036813815405457, + "pour_controller_source_return_best_wrist_position": -1.6138330698013306, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6138330698013306, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03323505683291738, + "valid_pour_held_xy_dist": 0.031152887327481914, + "valid_pour_held_gripper_dist": 0.005824172060389575, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.043984955358755, + "valid_pour_source_tilt_deg": 1.9070737582434842, + "valid_pour_source_upright_tilt_deg": 4.041998266431463, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0956407464930968e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2859582424431649, + -0.0022113583446686756, + 1.043984955358755 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2756625094088656, + 0.021369965256645217, + 1.043984955358755 + ], + "valid_pour_held_grasp_midpoint": [ + 0.28081037592601527, + 0.00957930345598827, + 1.043984955358755 + ], + "valid_pour_held_grasp_object_position": [ + 0.2859582424431649, + 0.021369965256645217, + 1.043984955358755 + ], + "valid_pour_held_grasp_finger_gap": 0.02573093355289399, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02413613940010964, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0595849329513514, + -0.9975126602420772, + 0.03765804591262457 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005857678206812214, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03826565093257399, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2859582424431649, + -0.0022113583446686756, + 1.043984955358755 + ], + "held_grasp_finger_b": [ + 0.2756625094088656, + 0.021369965256645217, + 1.043984955358755 + ], + "held_grasp_midpoint": [ + 0.28081037592601527, + 0.00957930345598827, + 1.043984955358755 + ], + "held_grasp_object_position": [ + 0.2859582424431649, + 0.021369965256645217, + 1.043984955358755 + ], + "held_grasp_finger_gap": 0.02573093355289399, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02413613940010964, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0595849329513514, + -0.9975126602420772, + 0.03765804591262457 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005857678206812214, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03826565093257399, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32332865842893566, + -0.1060348391763656, + 0.7611103422681667 + ], + "target_position": [ + 0.31542637776730154, + -0.09730145532189823, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011777861996334816, + "xy_threshold": 0.08, + "gripper_dist": 0.22243033098978582, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611103422681667, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552568250752141, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08611718046168919, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19073620062399377, + "release_required_pad_clearance": 0.053058590230844596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1370817953935919, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a3d9378d7278d7090002d87ad9d98f553aa3118a027eebd157f014ee11b7a120", + "visual_seed": 9180366992003542516, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9ce07f5f64b7078c186b3c52e184c3ece570447b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_76_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3384700058517958, + -0.09203599435092569, + 1.005176663132377 + ], + "current_z": 1.005176663132377, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14407027432690067, + "gripper_z": 1.005613380647339, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33450594566747516, + -0.0961514460520107, + 1.005613380647339 + ], + "object_minus_gripper": [ + 0.003964060184320661, + 0.004115451701085016, + -0.00043671751496199285 + ], + "object_to_gripper_xy": 0.005714080490234619, + "object_to_gripper_z": -0.00043671751496199285, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3384700058517958, + -0.11598195127975625, + 1.005176663132377 + ], + "finger_b": [ + 0.32809630268703693, + -0.09203599435092569, + 1.005176663132377 + ], + "finger_midpoint": [ + 0.33328315426941635, + -0.10400897281534097, + 1.005176663132377 + ], + "object_minus_finger_midpoint": [ + 0.00518685158237947, + 0.01197297846441528, + 0.0 + ], + "finger_gap": 0.026096409151221106, + "fingertip_max_gap": 0.09341693095739137, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013048204575610565, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005176663132377, + "object_top_z": 1.055111179638498, + "finger_top_clearance": 0.04993451650612091, + "fingertip_min_top_clearance": 0.014980354951836238, + "object_projection_between_fingers": 0.8419821574230293, + "object_to_finger_line_xy": 0.009518867049345202, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04920846547869569, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.170837052449136, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2686083427674, + 0.05289531391733146, + 0.7701463897966114 + ], + "gripper_position": [ + 0.27967922843416254, + 0.021126973912930405, + 1.044159475260142 + ], + "target_minus_gripper": [ + -0.011070885666762564, + 0.031768340004401055, + -0.27401308546353054 + ], + "held_position": [ + 0.28369356842191884, + 0.025173989812044252, + 1.0436482194701138 + ], + "held_minus_target": [ + 0.015085225654518863, + -0.027721324105287208, + 0.27350182967350234 + ], + "held_minus_gripper": [ + 0.004014339987756299, + 0.004047015899113847, + -0.0005112557900281978 + ], + "xy_dist": 0.033642115511390736, + "held_xy_dist": 0.031560035538606916, + "held_gripper_dist": 0.005723167454112876, + "max_held_gripper_dist": 0.005728889716963957, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0436482194701138, + "required_height": 0.8001463897966115, + "gripper_z": 1.044159475260142, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23686063934193, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.6912568625729274, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.141558829330646, + "max_source_tilt_deg": 89.82182581169515, + "source_upright_tilt_deg": 3.261915533556353, + "max_source_upright_tilt_deg": 89.82321594002462, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.141558829330646, + "source_upright_return_tilt_deg": 3.261915533556353, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4258667237315058e-07, + "max_target_xy_drift": 1.6340398937062404e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2686, + 0.0529, + 0.7701 + ], + "controller_target_position": [ + 0.2686, + 0.0529, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + -0.0004, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.2692, + 0.0273, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005479247289175994, + -0.0003597567795783237, + 0.0004287676632052685 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.26191627843213, + "source_return_step_error_deg": 2.1415683349431007, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.254699668880764, + "source_return_best_wrist_position": -1.6131024360656738, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6131024360656738 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2686, + 0.0529, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2686, + 0.0529, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + -0.0004, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2692, + 0.0273, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005479247289175994, + -0.0003597567795783237, + 0.0004287676632052685 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.26191627843213, + "pour_controller_source_return_step_error_deg": 2.1415683349431007, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.254699668880764, + "pour_controller_source_return_best_wrist_position": -1.6131024360656738, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6131024360656738, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033642115511390736, + "valid_pour_held_xy_dist": 0.031560035538606916, + "valid_pour_held_gripper_dist": 0.005723167454112876, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0436482194701138, + "valid_pour_source_tilt_deg": 2.141558829330646, + "valid_pour_source_upright_tilt_deg": 3.261915533556353, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4258667237315058e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28369356842191884, + 0.0014448212038098397, + 1.0436482194701138 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27374023191304486, + 0.025173989812044252, + 1.0436482194701138 + ], + "valid_pour_held_grasp_midpoint": [ + 0.27871690016748185, + 0.013309405507927046, + 1.0436482194701138 + ], + "valid_pour_held_grasp_object_position": [ + 0.28369356842191884, + 0.025173989812044252, + 1.0436482194701138 + ], + "valid_pour_held_grasp_finger_gap": 0.025732126816431267, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024121460741189465, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0432755892429408, + -0.9983798686741008, + 0.0369440279607085 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005502620307537746, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038090256201855126, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28369356842191884, + 0.0014448212038098397, + 1.0436482194701138 + ], + "held_grasp_finger_b": [ + 0.27374023191304486, + 0.025173989812044252, + 1.0436482194701138 + ], + "held_grasp_midpoint": [ + 0.27871690016748185, + 0.013309405507927046, + 1.0436482194701138 + ], + "held_grasp_object_position": [ + 0.28369356842191884, + 0.025173989812044252, + 1.0436482194701138 + ], + "held_grasp_finger_gap": 0.025732126816431267, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024121460741189465, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0432755892429408, + -0.9983798686741008, + 0.0369440279607085 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005502620307537746, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038090256201855126, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31730992449407797, + -0.09226500999311925, + 0.7611064198870708 + ], + "target_position": [ + 0.31534095924631755, + -0.09426413530863681, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0028059447916934164, + "xy_threshold": 0.08, + "gripper_dist": 0.21589535885423436, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064198870708, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551840919005262, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862274890241501, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1869019063539947, + "release_required_pad_clearance": 0.05311374451207505, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2542753168567167, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "67accacd8cf0ab27bb8d6b70293ce271b43187868b2de37e04b0086d429452b0", + "visual_seed": 2440737791903925558, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d5af26389bfe49f97b9b22db13ffd559e595ec9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_77_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3378230069453462, + -0.09417112660093309, + 1.0049046838681532 + ], + "current_z": 1.0049046838681532, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14379823545803194, + "gripper_z": 1.0060599189739667, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3338231494684597, + -0.09830239035524535, + 1.0060599189739667 + ], + "object_minus_gripper": [ + 0.003999857476886526, + 0.0041312637543122616, + -0.0011552351058135013 + ], + "object_to_gripper_xy": 0.0057503217338770955, + "object_to_gripper_z": -0.0011552351058135013, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3378230069453462, + -0.1182139258570159, + 1.0049046838681532 + ], + "finger_b": [ + 0.3275550963828656, + -0.09417112660093309, + 1.0049046838681532 + ], + "finger_midpoint": [ + 0.3326890516641059, + -0.10619252622897449, + 1.0049046838681532 + ], + "object_minus_finger_midpoint": [ + 0.005133955281240332, + 0.012021399628041399, + 0.0 + ], + "finger_gap": 0.026143568681176583, + "fingertip_max_gap": 0.0930022076907144, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013071784340588295, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049046838681532, + "object_top_z": 1.054775856962372, + "finger_top_clearance": 0.049871173094218735, + "fingertip_min_top_clearance": 0.014961351928265636, + "object_projection_between_fingers": 0.8457467175172676, + "object_to_finger_line_xy": 0.009442831445229572, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049001103845357205, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.002321322322568, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.26958882427279407, + 0.05434821066134432, + 0.7701463897966114 + ], + "gripper_position": [ + 0.2809651971811463, + 0.022784962597463196, + 1.0454027721979664 + ], + "target_minus_gripper": [ + -0.01137637290835225, + 0.031563248063881125, + -0.27525638240135497 + ], + "held_position": [ + 0.2849226542562449, + 0.026918968863719688, + 1.0441689166097532 + ], + "held_minus_target": [ + 0.015333829983450842, + -0.027429241797624633, + 0.27402252681314176 + ], + "held_minus_gripper": [ + 0.003957457075098592, + 0.004134006266256492, + -0.0012338555882132063 + ], + "xy_dist": 0.03355086420484556, + "held_xy_dist": 0.0314243480052321, + "held_gripper_dist": 0.005854389286959042, + "max_held_gripper_dist": 0.005867691317105491, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0441689166097532, + "required_height": 0.8001463897966115, + "gripper_z": 1.0454027721979664, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2615107920565, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.790153688006349, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8549525800028401, + "max_source_tilt_deg": 89.90816437013675, + "source_upright_tilt_deg": 4.1336676852148235, + "max_source_upright_tilt_deg": 89.99980782699598, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8549525800028401, + "source_upright_return_tilt_deg": 4.1336676852148235, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.470348358154297e-08, + "max_target_xy_drift": 1.2128666487410446e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2696, + 0.0543, + 0.7701 + ], + "controller_target_position": [ + 0.2696, + 0.0543, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0014, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.2699, + 0.0278, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003350334676286183, + -0.0013849891561275656, + 0.0014394770714852467 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.133658101469664, + "source_return_step_error_deg": 1.854916781220717, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.131475702088817, + "source_return_best_wrist_position": -1.615939736366272, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.615939736366272 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2696, + 0.0543, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2696, + 0.0543, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0014, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2699, + 0.0278, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003350334676286183, + -0.0013849891561275656, + 0.0014394770714852467 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.133658101469664, + "pour_controller_source_return_step_error_deg": 1.854916781220717, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.131475702088817, + "pour_controller_source_return_best_wrist_position": -1.615939736366272, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.615939736366272, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03355086420484556, + "valid_pour_held_xy_dist": 0.0314243480052321, + "valid_pour_held_gripper_dist": 0.005854389286959042, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0441689166097532, + "valid_pour_source_tilt_deg": 1.8549525800028401, + "valid_pour_source_upright_tilt_deg": 4.1336676852148235, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.470348358154297e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2849226542562449, + 0.0035453812648324886, + 1.0441689166097532 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27448470929379154, + 0.026918968863719688, + 1.0441689166097532 + ], + "valid_pour_held_grasp_midpoint": [ + 0.27970368177501825, + 0.015232175064276088, + 1.0441689166097532 + ], + "valid_pour_held_grasp_object_position": [ + 0.2849226542562449, + 0.026918968863719688, + 1.0441689166097532 + ], + "valid_pour_held_grasp_finger_gap": 0.025598345498919633, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023993018242153018, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06516939416684706, + -0.9973986061820029, + 0.030805363982982392 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005980029505975437, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038403975498568534, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2849226542562449, + 0.0035453812648324886, + 1.0441689166097532 + ], + "held_grasp_finger_b": [ + 0.27448470929379154, + 0.026918968863719688, + 1.0441689166097532 + ], + "held_grasp_midpoint": [ + 0.27970368177501825, + 0.015232175064276088, + 1.0441689166097532 + ], + "held_grasp_object_position": [ + 0.2849226542562449, + 0.026918968863719688, + 1.0441689166097532 + ], + "held_grasp_finger_gap": 0.025598345498919633, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023993018242153018, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06516939416684706, + -0.9973986061820029, + 0.030805363982982392 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005980029505975437, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038403975498568534, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3087808521145886, + -0.09569204781211257, + 0.7611063668474396 + ], + "target_position": [ + 0.3149000198064544, + -0.09672030752464468, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00620496021563317, + "xy_threshold": 0.08, + "gripper_dist": 0.21174217905847773, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063668474396, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591950288610591, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08885499657348865, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18297641777448892, + "release_required_pad_clearance": 0.05442749828674433, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.88176116824411, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f17dcf01c40e8ab55ce567e90a6ca51fb92d2fa08870861d20da89cebc3c64aa", + "visual_seed": 7934127818357146759, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5e3c072a8bde3c7a6c577cc5ba50e967843b7852 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_78_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32986851862771094, + -0.08645271918406067, + 1.0013064783342625 + ], + "current_z": 1.0013064783342625, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.1402000299241415, + "gripper_z": 1.0023990900608948, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3261549129879474, + -0.09057282246476284, + 1.0023990900608948 + ], + "object_minus_gripper": [ + 0.0037136056397635286, + 0.00412010328070217, + -0.001092611726632331 + ], + "object_to_gripper_xy": 0.005546721364133615, + "object_to_gripper_z": -0.001092611726632331, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32986851862771094, + -0.11006766244432445, + 1.0013064783342625 + ], + "finger_b": [ + 0.31931639976694043, + -0.08645271918406067, + 1.0013064783342625 + ], + "finger_midpoint": [ + 0.3245924591973257, + -0.09826019081419256, + 1.0013064783342625 + ], + "object_minus_finger_midpoint": [ + 0.005276059430385227, + 0.011807471630131891, + 0.0 + ], + "finger_gap": 0.02586528093095659, + "fingertip_max_gap": 0.09331038696544522, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012932640465478283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013064783342625, + "object_top_z": 1.051348833946403, + "finger_top_clearance": 0.05004235561214054, + "fingertip_min_top_clearance": 0.015012706683642163, + "object_projection_between_fingers": 0.8335648891882662, + "object_to_finger_line_xy": 0.00963406076422766, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915519348272261, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3573129061184384, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.26917883372370643, + 0.04608086761706329, + 0.7701464494012565 + ], + "gripper_position": [ + 0.2805007586316741, + 0.013859113492012298, + 1.0455738644889845 + ], + "target_minus_gripper": [ + -0.011321924907967684, + 0.03222175412505099, + -0.27542741508772794 + ], + "held_position": [ + 0.28434068528681644, + 0.017828487253159032, + 1.0444049574181924 + ], + "held_minus_target": [ + 0.015161851563110007, + -0.028252380363904255, + 0.27425850801693585 + ], + "held_minus_gripper": [ + 0.003839926655142323, + 0.003969373761146734, + -0.0011689070707920912 + ], + "xy_dist": 0.03415300019788744, + "held_xy_dist": 0.032063666961975885, + "held_gripper_dist": 0.005645113684656884, + "max_held_gripper_dist": 0.0056564722451407255, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0444049574181924, + "required_height": 0.8001464494012566, + "gripper_z": 1.0455738644889845, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23046075208963, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.9557629976028923, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1814879545664665, + "max_source_tilt_deg": 89.87898010223722, + "source_upright_tilt_deg": 2.229524129002243, + "max_source_upright_tilt_deg": 89.8899911346854, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1814879545664665, + "source_upright_return_tilt_deg": 2.229524129002243, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1073424255447017e-08, + "max_target_xy_drift": 1.0437463019879088e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2692, + 0.0461, + 0.7701 + ], + "controller_target_position": [ + 0.2692, + 0.0461, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + -0.0011, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.2698, + 0.0198, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006524791905515442, + -0.001072139310923799, + 0.0015721160514076322 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.2295242126637906, + "source_return_step_error_deg": 2.1815048348669093, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2235541782664154, + "source_return_best_wrist_position": -1.614174246788025, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.614174246788025 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2692, + 0.0461, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2692, + 0.0461, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + -0.0011, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2698, + 0.0198, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006524791905515442, + -0.001072139310923799, + 0.0015721160514076322 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.2295242126637906, + "pour_controller_source_return_step_error_deg": 2.1815048348669093, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2235541782664154, + "pour_controller_source_return_best_wrist_position": -1.614174246788025, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.614174246788025, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03415300019788744, + "valid_pour_held_xy_dist": 0.032063666961975885, + "valid_pour_held_gripper_dist": 0.005645113684656884, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0444049574181924, + "valid_pour_source_tilt_deg": 2.1814879545664665, + "valid_pour_source_upright_tilt_deg": 2.229524129002243, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1073424255447017e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28434068528681644, + -0.005825397877350608, + 1.0444049574181924 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2745892031789202, + 0.017828487253159032, + 1.0444049574181924 + ], + "valid_pour_held_grasp_midpoint": [ + 0.27946494423286833, + 0.006001544687904212, + 1.0444049574181924 + ], + "valid_pour_held_grasp_object_position": [ + 0.28434068528681644, + 0.017828487253159032, + 1.0444049574181924 + ], + "valid_pour_held_grasp_finger_gap": 0.02558510670425209, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02392533496830538, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029672987318067542, + -0.9992430094665027, + 0.025157938229286574 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005232897002345406, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038046938190862335, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28434068528681644, + -0.005825397877350608, + 1.0444049574181924 + ], + "held_grasp_finger_b": [ + 0.2745892031789202, + 0.017828487253159032, + 1.0444049574181924 + ], + "held_grasp_midpoint": [ + 0.27946494423286833, + 0.006001544687904212, + 1.0444049574181924 + ], + "held_grasp_object_position": [ + 0.28434068528681644, + 0.017828487253159032, + 1.0444049574181924 + ], + "held_grasp_finger_gap": 0.02558510670425209, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02392533496830538, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029672987318067542, + -0.9992430094665027, + 0.025157938229286574 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005232897002345406, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038046938190862335, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3027141345486584, + -0.0934736315684221, + 0.7611124602947182 + ], + "target_position": [ + 0.30709285228281946, + -0.09034143469625952, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005383662901913665, + "xy_threshold": 0.08, + "gripper_dist": 0.21059343165656375, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611124602947182, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521799447769577, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09118275412689601, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18189365426360454, + "release_required_pad_clearance": 0.05559137706344801, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.335852018657757, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ef5b423e6e9bf951c5984b7ced6adfb74d16b418601d02cbd808595714fbc8d9", + "visual_seed": 6622578835588213963, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aac004a090d76c8715c080815299247c19bb4143 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_79_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33064425629421285, + -0.08464753465054517, + 1.0024013571471166 + ], + "current_z": 1.0024013571471166, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.14129496834164001, + "gripper_z": 1.00356831154388, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3270973151374826, + -0.08861402698340916, + 1.00356831154388 + ], + "object_minus_gripper": [ + 0.0035469411567302656, + 0.003966492332863988, + -0.0011669543967633977 + ], + "object_to_gripper_xy": 0.005321076300521901, + "object_to_gripper_z": -0.0011669543967633977, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33064425629421285, + -0.10813211818574002, + 1.0024013571471166 + ], + "finger_b": [ + 0.32029346096404976, + -0.08464753465054517, + 1.0024013571471166 + ], + "finger_midpoint": [ + 0.32546885862913133, + -0.09638982641814259, + 1.0024013571471166 + ], + "object_minus_finger_midpoint": [ + 0.005175397665081516, + 0.011742291767597418, + 0.0 + ], + "finger_gap": 0.025664462351439803, + "fingertip_max_gap": 0.09241688272362084, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012832231175719883, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024013571471166, + "object_top_z": 1.0522883190175785, + "finger_top_clearance": 0.04988696187046182, + "fingertip_min_top_clearance": 0.014966088561138513, + "object_projection_between_fingers": 0.8373391260941775, + "object_to_finger_line_xy": 0.00947162322195626, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870844136181042, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2997029778063176, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27197463429037977, + 0.04981934916847208, + 0.770146330191967 + ], + "gripper_position": [ + 0.2824643396440951, + 0.017474776908219886, + 1.043330257611422 + ], + "target_minus_gripper": [ + -0.01048970535371535, + 0.0323445722602522, + -0.2731839274194551 + ], + "held_position": [ + 0.2860709910756219, + 0.021352832586088562, + 1.042089644005145 + ], + "held_minus_target": [ + 0.014096356785242126, + -0.02846651658238352, + 0.27194331381317804 + ], + "held_minus_gripper": [ + 0.003606651431526775, + 0.003878055677868676, + -0.00124061360627703 + ], + "xy_dist": 0.03400301858815538, + "held_xy_dist": 0.03176554487100698, + "held_gripper_dist": 0.005439335668007934, + "max_held_gripper_dist": 0.005458159038719833, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.042089644005145, + "required_height": 0.800146330191967, + "gripper_z": 1.043330257611422, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.30727305949559, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.981280777132501, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8483025642376951, + "max_source_tilt_deg": 89.72727790312727, + "source_upright_tilt_deg": 2.401818591850089, + "max_source_upright_tilt_deg": 89.75867103936838, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8483025642376951, + "source_upright_return_tilt_deg": 2.401818591850089, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1828894267326476e-08, + "max_target_xy_drift": 1.2731557705468744e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.272, + 0.0498, + 0.7701 + ], + "controller_target_position": [ + 0.272, + 0.0498, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + -0.0019, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.272, + 0.0227, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 7.523717133360803e-05, + -0.0018939121173113392, + -0.0011871334731713206 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.4018358028017874, + "source_return_step_error_deg": 1.84833926223817, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.395876072422386, + "source_return_best_wrist_position": -1.6156976222991943, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6156976222991943 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.272, + 0.0498, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.272, + 0.0498, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + -0.0019, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.272, + 0.0227, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 7.523717133360803e-05, + -0.0018939121173113392, + -0.0011871334731713206 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.4018358028017874, + "pour_controller_source_return_step_error_deg": 1.84833926223817, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.395876072422386, + "pour_controller_source_return_best_wrist_position": -1.6156976222991943, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6156976222991943, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03400301858815538, + "valid_pour_held_xy_dist": 0.03176554487100698, + "valid_pour_held_gripper_dist": 0.005439335668007934, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.042089644005145, + "valid_pour_source_tilt_deg": 1.8483025642376951, + "valid_pour_source_upright_tilt_deg": 2.401818591850089, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1828894267326476e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2860709910756219, + -0.001893392995152035, + 1.042089644005145 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27612788666118554, + 0.021352832586088562, + 1.042089644005145 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2810994388684037, + 0.009729719795468264, + 1.042089644005145 + ], + "valid_pour_held_grasp_object_position": [ + 0.2860709910756219, + 0.021352832586088562, + 1.042089644005145 + ], + "valid_pour_held_grasp_finger_gap": 0.025283439820766248, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023506479686532782, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028228177103291577, + -0.9991215086938018, + 0.030973874198213396 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005309741477226841, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0382476859391959, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2860709910756219, + -0.001893392995152035, + 1.042089644005145 + ], + "held_grasp_finger_b": [ + 0.27612788666118554, + 0.021352832586088562, + 1.042089644005145 + ], + "held_grasp_midpoint": [ + 0.2810994388684037, + 0.009729719795468264, + 1.042089644005145 + ], + "held_grasp_object_position": [ + 0.2860709910756219, + 0.021352832586088562, + 1.042089644005145 + ], + "held_grasp_finger_gap": 0.025283439820766248, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023506479686532782, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028228177103291577, + -0.9991215086938018, + 0.030973874198213396 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005309741477226841, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0382476859391959, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2872484566548485, + -0.06894250240922666, + 0.7611066613810183 + ], + "target_position": [ + 0.3080039133121852, + -0.0897066976467647, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02935882805762484, + "xy_threshold": 0.08, + "gripper_dist": 0.20204762711689306, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066613810183, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08463005504411018, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0866800726439501, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17923584821398847, + "release_required_pad_clearance": 0.05334003632197505, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6957669244605462, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 183, + "max_placed_release_frames": 183 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6d0b70bd7869decb19cf55c7fedecd475c105377807fb47646618f30ac8f5000", + "visual_seed": 8556191915743083217, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c20494c11d5cf69cce185b44993ee03b13b44fb1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_7_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33541165950581153, + -0.09157721737375171, + 1.002526253040982 + ], + "current_z": 1.002526253040982, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14141980463086057, + "gripper_z": 1.0035417149704329, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3313935293941287, + -0.09569524472928398, + 1.0035417149704329 + ], + "object_minus_gripper": [ + 0.004018130111682838, + 0.004118027355532267, + -0.0010154619294509004 + ], + "object_to_gripper_xy": 0.005753565754844939, + "object_to_gripper_z": -0.0010154619294509004, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33541165950581153, + -0.11559048193528111, + 1.002526253040982 + ], + "finger_b": [ + 0.32509324371404075, + -0.09157721737375171, + 1.002526253040982 + ], + "finger_midpoint": [ + 0.3302524516099261, + -0.10358384965451642, + 1.002526253040982 + ], + "object_minus_finger_midpoint": [ + 0.00515920789588542, + 0.012006632280764706, + 0.0 + ], + "finger_gap": 0.02613630768402202, + "fingertip_max_gap": 0.09313721771552594, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013068153842011028, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002526253040982, + "object_top_z": 1.052413451556255, + "finger_top_clearance": 0.04988719851527312, + "fingertip_min_top_clearance": 0.014966159554581903, + "object_projection_between_fingers": 0.8441389562481284, + "object_to_finger_line_xy": 0.00948025448962439, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906860885776297, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8074226544801264, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2745632640129749, + 0.05142162632816292, + 0.7701465090059011 + ], + "gripper_position": [ + 0.2858607439499654, + 0.018697285563457164, + 1.0456012464268198 + ], + "target_minus_gripper": [ + -0.01129747993699054, + 0.032724340764705755, + -0.27545473742091875 + ], + "held_position": [ + 0.2899226628986822, + 0.022741646927678383, + 1.0445091784755376 + ], + "held_minus_target": [ + 0.01535939888570731, + -0.028679979400484536, + 0.2743626694696365 + ], + "held_minus_gripper": [ + 0.0040619189487167695, + 0.004044361364221219, + -0.0010920679512822495 + ], + "xy_dist": 0.034619583062354846, + "held_xy_dist": 0.03253386470345145, + "held_gripper_dist": 0.005835122689418576, + "max_held_gripper_dist": 0.005845438596482296, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0445091784755376, + "required_height": 0.8001465090059011, + "gripper_z": 1.0456012464268198, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22610992158832, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.545196829694058, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.164770501955403, + "max_source_tilt_deg": 89.92997380333945, + "source_upright_tilt_deg": 3.012176591746399, + "max_source_upright_tilt_deg": 89.84035467285291, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.164770501955403, + "source_upright_return_tilt_deg": 3.012176591746399, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.450580596923828e-09, + "max_target_xy_drift": 1.3457530638715954e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2746, + 0.0514, + 0.7701 + ], + "controller_target_position": [ + 0.2746, + 0.0514, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.0018, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.2754, + 0.0244, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008783943067582341, + -0.0018481917995961346, + 0.0013815351251747162 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0121850764523534, + "source_return_step_error_deg": 2.1647780123799425, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0053913885506423, + "source_return_best_wrist_position": -1.6141551733016968, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6141551733016968 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2746, + 0.0514, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2746, + 0.0514, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.0018, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2754, + 0.0244, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008783943067582341, + -0.0018481917995961346, + 0.0013815351251747162 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0121850764523534, + "pour_controller_source_return_step_error_deg": 2.1647780123799425, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0053913885506423, + "pour_controller_source_return_best_wrist_position": -1.6141551733016968, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6141551733016968, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034619583062354846, + "valid_pour_held_xy_dist": 0.03253386470345145, + "valid_pour_held_gripper_dist": 0.005835122689418576, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0445091784755376, + "valid_pour_source_tilt_deg": 2.164770501955403, + "valid_pour_source_upright_tilt_deg": 3.012176591746399, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.450580596923828e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2899226628986822, + -0.0009696766972789237, + 1.0445091784755376 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2799239770460449, + 0.022741646927678383, + 1.0445091784755376 + ], + "valid_pour_held_grasp_midpoint": [ + 0.28492331997236353, + 0.010885985115199729, + 1.0445091784755376 + ], + "valid_pour_held_grasp_object_position": [ + 0.2899226628986822, + 0.022741646927678383, + 1.0445091784755376 + ], + "valid_pour_held_grasp_finger_gap": 0.025733258379521003, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024087282495636103, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.040877219025527246, + -0.9986183984747093, + 0.033020405699290996 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005493516059632589, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03808532729384271, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2899226628986822, + -0.0009696766972789237, + 1.0445091784755376 + ], + "held_grasp_finger_b": [ + 0.2799239770460449, + 0.022741646927678383, + 1.0445091784755376 + ], + "held_grasp_midpoint": [ + 0.28492331997236353, + 0.010885985115199729, + 1.0445091784755376 + ], + "held_grasp_object_position": [ + 0.2899226628986822, + 0.022741646927678383, + 1.0445091784755376 + ], + "held_grasp_finger_gap": 0.025733258379521003, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024087282495636103, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.040877219025527246, + -0.9986183984747093, + 0.033020405699290996 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005493516059632589, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03808532729384271, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30473026917062024, + -0.11094435384376013, + 0.7611066712408143 + ], + "target_position": [ + 0.3123773483093949, + -0.09625328045091563, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016562169446924093, + "xy_threshold": 0.08, + "gripper_dist": 0.21158135118882382, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066712408143, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588263910067428, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544796201218828, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1794145619583519, + "release_required_pad_clearance": 0.05272398100609414, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5004583935652899, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "39305e8ec384712341a50e179c7fdf6ef5a577ca95c87f7eb0cda7b9f2aec263", + "visual_seed": 9182798280694297824, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cbdc074e7d56f342bcbc8ad9bc69af34dc56be1d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_80_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33410266214023, + -0.09548139444400877, + 1.0032427763608784 + ], + "current_z": 1.0032427763608784, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.1421363875554018, + "gripper_z": 1.0045671679924604, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33034475119572276, + -0.09957547672805045, + 1.0045671679924604 + ], + "object_minus_gripper": [ + 0.0037579109445072256, + 0.004094082284041678, + -0.0013243916315819337 + ], + "object_to_gripper_xy": 0.005557283906311708, + "object_to_gripper_z": -0.0013243916315819337, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33410266214023, + -0.11926042749330994, + 1.0032427763608784 + ], + "finger_b": [ + 0.3237750919811036, + -0.09548139444400877, + 1.0032427763608784 + ], + "finger_midpoint": [ + 0.3289388770606668, + -0.10737091096865936, + 1.0032427763608784 + ], + "object_minus_finger_midpoint": [ + 0.005163785079563166, + 0.01188951652465059, + 0.0 + ], + "finger_gap": 0.025924913078956214, + "fingertip_max_gap": 0.09336852573722895, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012962456539478102, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0032427763608784, + "object_top_z": 1.0531839593931107, + "finger_top_clearance": 0.04994118303223227, + "fingertip_min_top_clearance": 0.014982354909669697, + "object_projection_between_fingers": 0.8413055677023201, + "object_to_finger_line_xy": 0.009472727310016901, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04918426286861448, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.314379073848364, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27494285619322706, + 0.05250370022528629, + 0.7701463897966115 + ], + "gripper_position": [ + 0.28364019764669923, + 0.02180632837132601, + 1.044052044089865 + ], + "target_minus_gripper": [ + -0.008697341453472174, + 0.03069737185396028, + -0.27390565429325353 + ], + "held_position": [ + 0.2874020583361228, + 0.025855350213004676, + 1.0426508179285618 + ], + "held_minus_target": [ + 0.012459202142895753, + -0.026648350012281614, + 0.2725044281319503 + ], + "held_minus_gripper": [ + 0.0037618606894235795, + 0.004049021841678664, + -0.0014012261613032262 + ], + "xy_dist": 0.031905679542968496, + "held_xy_dist": 0.029417108566523117, + "held_gripper_dist": 0.005701719782323742, + "max_held_gripper_dist": 0.005732393460420342, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0426508179285618, + "required_height": 0.8001463897966116, + "gripper_z": 1.044052044089865, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24062407357461, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.4679833731968226, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8921220041634648, + "max_source_tilt_deg": 89.80583461694535, + "source_upright_tilt_deg": 3.8379309645753437, + "max_source_upright_tilt_deg": 89.93945878676969, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8921220041634648, + "source_upright_return_tilt_deg": 3.8379309645753437, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.470348355378739e-08, + "max_target_xy_drift": 1.2293457983536538e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2749, + 0.0525, + 0.7701 + ], + "controller_target_position": [ + 0.2749, + 0.0525, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + 0.0015, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.2731, + 0.0288, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018113556174643134, + 0.0014673244356690524, + 0.000943087114982056 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.8379446512524558, + "source_return_step_error_deg": 1.8920471600334408, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.836315055139361, + "source_return_best_wrist_position": -1.6152077913284302, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6152077913284302 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2749, + 0.0525, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2749, + 0.0525, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + 0.0015, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2731, + 0.0288, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018113556174643134, + 0.0014673244356690524, + 0.000943087114982056 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.8379446512524558, + "pour_controller_source_return_step_error_deg": 1.8920471600334408, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.836315055139361, + "pour_controller_source_return_best_wrist_position": -1.6152077913284302, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6152077913284302, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.031905679542968496, + "valid_pour_held_xy_dist": 0.029417108566523117, + "valid_pour_held_gripper_dist": 0.005701719782323742, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0426508179285618, + "valid_pour_source_tilt_deg": 1.8921220041634648, + "valid_pour_source_upright_tilt_deg": 3.8379309645753437, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.470348355378739e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2874020583361228, + 0.0025842139841730513, + 1.0426508179285618 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27716245456808386, + 0.025855350213004676, + 1.0426508179285618 + ], + "valid_pour_held_grasp_midpoint": [ + 0.28228225645210336, + 0.014219782098588863, + 1.0426508179285618 + ], + "valid_pour_held_grasp_object_position": [ + 0.2874020583361228, + 0.025855350213004676, + 1.0426508179285618 + ], + "valid_pour_held_grasp_finger_gap": 0.02542430464550166, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023833090937154487, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05997721888881361, + -0.9977573828929388, + 0.02971427429699003 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005818463210547638, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03841784755804821, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2874020583361228, + 0.0025842139841730513, + 1.0426508179285618 + ], + "held_grasp_finger_b": [ + 0.27716245456808386, + 0.025855350213004676, + 1.0426508179285618 + ], + "held_grasp_midpoint": [ + 0.28228225645210336, + 0.014219782098588863, + 1.0426508179285618 + ], + "held_grasp_object_position": [ + 0.2874020583361228, + 0.025855350213004676, + 1.0426508179285618 + ], + "held_grasp_finger_gap": 0.02542430464550166, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023833090937154487, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05997721888881361, + -0.9977573828929388, + 0.02971427429699003 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005818463210547638, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03841784755804821, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31060779966849456, + -0.09596448574409565, + 0.761106762201521 + ], + "target_position": [ + 0.3113981891557029, + -0.09874691412452158, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002892511578834062, + "xy_threshold": 0.08, + "gripper_dist": 0.21666808983658098, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106762201521, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593652214490729, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855135646437296, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1873891427090012, + "release_required_pad_clearance": 0.0527567823218648, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5637105104966744, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b60bea106f8e8e8c394d4c979d658a08bdceef4222360bf3dc43b6b3ab00c3eb", + "visual_seed": 1217721195182393566, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad98b2d2c1cf6cc311121b159b7a5dcc034db809 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_82_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3320430258310756, + -0.09414672992272402, + 1.0036414838257224 + ], + "current_z": 1.0036414838257224, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14253497581095642, + "gripper_z": 1.0042381228418473, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32828429717173235, + -0.09826950192207033, + 1.0042381228418473 + ], + "object_minus_gripper": [ + 0.0037587286593432356, + 0.004122771999346311, + -0.0005966390161249446 + ], + "object_to_gripper_xy": 0.005579004399815631, + "object_to_gripper_z": -0.0005966390161249446, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3320430258310756, + -0.11768620940664035, + 1.0036414838257224 + ], + "finger_b": [ + 0.32132246193560565, + -0.09414672992272402, + 1.0036414838257224 + ], + "finger_midpoint": [ + 0.3266827438833406, + -0.10591646966468218, + 1.0036414838257224 + ], + "object_minus_finger_midpoint": [ + 0.005360281947734968, + 0.011769739741958163, + 0.0 + ], + "finger_gap": 0.025865760855048728, + "fingertip_max_gap": 0.09338251139551038, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012932880427524364, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0036414838257224, + "object_top_z": 1.0536131261642416, + "finger_top_clearance": 0.04997164233851925, + "fingertip_min_top_clearance": 0.014991492701555758, + "object_projection_between_fingers": 0.8282151961556068, + "object_to_finger_line_xy": 0.009756391674988011, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04919125569775519, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.911970521608302, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2742831817871753, + 0.054772614358596566, + 0.7701463897966119 + ], + "gripper_position": [ + 0.28263734207693036, + 0.0234426240181609, + 1.0420380554407036 + ], + "target_minus_gripper": [ + -0.008354160289755053, + 0.03132999034043567, + -0.27189166564409173 + ], + "held_position": [ + 0.28650559996798586, + 0.02744103143259084, + 1.0413670441432747 + ], + "held_minus_target": [ + 0.012222418180810546, + -0.027331582926005727, + 0.27122065434666287 + ], + "held_minus_gripper": [ + 0.0038682578910554932, + 0.003998407414429941, + -0.0006710112974288585 + ], + "xy_dist": 0.03242468641141673, + "held_xy_dist": 0.029939988834796448, + "held_gripper_dist": 0.005603653908367163, + "max_held_gripper_dist": 0.005610888403515618, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0413670441432747, + "required_height": 0.8001463897966119, + "gripper_z": 1.0420380554407036, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2388482243904, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.287391273601833, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8966420726132247, + "max_source_tilt_deg": 89.8424477416672, + "source_upright_tilt_deg": 2.4384040631328516, + "max_source_upright_tilt_deg": 89.79723206617976, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8966420726132247, + "source_upright_return_tilt_deg": 2.4384040631328516, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.686408848491962e-08, + "max_target_xy_drift": 1.2202813740193247e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2743, + 0.0548, + 0.7701 + ], + "controller_target_position": [ + 0.2743, + 0.0548, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + 0.0016, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.273, + 0.0312, + 1.0334 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001297295459683467, + 0.0016086475073302875, + -0.0019248973159268394 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.4384062652865417, + "source_return_step_error_deg": 1.896655089013933, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.429126452950492, + "source_return_best_wrist_position": -1.6114578247070312, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6114578247070312 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2743, + 0.0548, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2743, + 0.0548, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + 0.0016, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.273, + 0.0312, + 1.0334 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001297295459683467, + 0.0016086475073302875, + -0.0019248973159268394 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.4384062652865417, + "pour_controller_source_return_step_error_deg": 1.896655089013933, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.429126452950492, + "pour_controller_source_return_best_wrist_position": -1.6114578247070312, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6114578247070312, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03242468641141673, + "valid_pour_held_xy_dist": 0.029939988834796448, + "valid_pour_held_gripper_dist": 0.005603653908367163, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0413670441432747, + "valid_pour_source_tilt_deg": 1.8966420726132247, + "valid_pour_source_upright_tilt_deg": 2.4384040631328516, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.686408848491962e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28650559996798586, + 0.0038634483919492923, + 1.0413670441432747 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2765205438577625, + 0.02744103143259084, + 1.0413670441432747 + ], + "valid_pour_held_grasp_midpoint": [ + 0.28151307191287417, + 0.015652239912270067, + 1.0413670441432747 + ], + "valid_pour_held_grasp_object_position": [ + 0.28650559996798586, + 0.02744103143259084, + 1.0413670441432747 + ], + "valid_pour_held_grasp_finger_gap": 0.025604760642557414, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02380612554824145, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02502649052616358, + -0.9990945465228978, + 0.03440584078538522 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005301370336614699, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03806707820812005, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28650559996798586, + 0.0038634483919492923, + 1.0413670441432747 + ], + "held_grasp_finger_b": [ + 0.2765205438577625, + 0.02744103143259084, + 1.0413670441432747 + ], + "held_grasp_midpoint": [ + 0.28151307191287417, + 0.015652239912270067, + 1.0413670441432747 + ], + "held_grasp_object_position": [ + 0.28650559996798586, + 0.02744103143259084, + 1.0413670441432747 + ], + "held_grasp_finger_gap": 0.025604760642557414, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02380612554824145, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02502649052616358, + -0.9990945465228978, + 0.03440584078538522 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005301370336614699, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03806707820812005, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29302926320082534, + -0.0816935319156807, + 0.7611063415281869 + ], + "target_position": [ + 0.308959332669605, + -0.09812235973269862, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.022883913492262813, + "xy_threshold": 0.08, + "gripper_dist": 0.20579290653602153, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063415281869, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08078537038764316, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564816784995154, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18159009851440505, + "release_required_pad_clearance": 0.05282408392497577, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.69323028481429, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09d2c8d2bb48cf14866266c33503e710f4b8d8e8a91962adffaaf52eb2a0790f", + "visual_seed": 6970963009587879208, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2656eca3797c7eb9adb110deebe43777edbc3ef0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_83_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3340972459001281, + -0.08980610039607838, + 1.0021757165909022 + ], + "current_z": 1.0021757165909022, + "required_z": 0.8611063292008317, + "initial_z": 0.7611063292008318, + "lift_margin": 0.14106938739007047, + "gripper_z": 1.0027532025604802, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3305928034068186, + -0.09378847765672697, + 1.0027532025604802 + ], + "object_minus_gripper": [ + 0.003504442493309501, + 0.003982377260648595, + -0.0005774859695779622 + ], + "object_to_gripper_xy": 0.005304756906310064, + "object_to_gripper_z": -0.0005774859695779622, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3340972459001281, + -0.11317886647932499, + 1.0021757165909022 + ], + "finger_b": [ + 0.3235988068027883, + -0.08980610039607838, + 1.0021757165909022 + ], + "finger_midpoint": [ + 0.3288480263514582, + -0.10149248343770167, + 1.0021757165909022 + ], + "object_minus_finger_midpoint": [ + 0.0052492195486699145, + 0.011686383041623297, + 0.0 + ], + "finger_gap": 0.025622322647697583, + "fingertip_max_gap": 0.0940573270651199, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012811161323848784, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0021757165909022, + "object_top_z": 1.05219080654513, + "finger_top_clearance": 0.050015089954227765, + "fingertip_min_top_clearance": 0.015004526986268328, + "object_projection_between_fingers": 0.8321147758234498, + "object_to_finger_line_xy": 0.009576710301998496, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049528663532559955, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3755154906347244, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27090122914378095, + 0.052620029865436346, + 0.7701464494012565 + ], + "gripper_position": [ + 0.2813686325079987, + 0.020486564087212653, + 1.043307631284117 + ], + "target_minus_gripper": [ + -0.010467403364217753, + 0.032133465778223694, + -0.2731611818828604 + ], + "held_position": [ + 0.28502383621842414, + 0.024311287001844047, + 1.0426556210053861 + ], + "held_minus_target": [ + 0.01412260707464319, + -0.0283087428635923, + 0.2725091716041296 + ], + "held_minus_gripper": [ + 0.0036552037104254365, + 0.003824722914631394, + -0.0006520102787308524 + ], + "xy_dist": 0.03379535702000366, + "held_xy_dist": 0.031635944005225285, + "held_gripper_dist": 0.005330491247716764, + "max_held_gripper_dist": 0.00533808052149311, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0426556210053861, + "required_height": 0.8001464494012566, + "gripper_z": 1.043307631284117, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.25116305546393, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6853734826720337, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.244606607829289, + "max_source_tilt_deg": 89.70473095075893, + "source_upright_tilt_deg": 2.249900880185221, + "max_source_upright_tilt_deg": 89.76997409462176, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.244606607829289, + "source_upright_return_tilt_deg": 2.249900880185221, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 1.431209796093296e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2709, + 0.0526, + 0.7701 + ], + "controller_target_position": [ + 0.2709, + 0.0526, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + 0.0, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.2715, + 0.0274, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006290357396470372, + 1.9044619817118816e-05, + -0.000996977118160237 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.2499201656270373, + "source_return_step_error_deg": 2.2445806613085093, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2414021924532195, + "source_return_best_wrist_position": -1.61278235912323, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.61278235912323 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2709, + 0.0526, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2709, + 0.0526, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + 0.0, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2715, + 0.0274, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006290357396470372, + 1.9044619817118816e-05, + -0.000996977118160237 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.2499201656270373, + "pour_controller_source_return_step_error_deg": 2.2445806613085093, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2414021924532195, + "pour_controller_source_return_best_wrist_position": -1.61278235912323, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.61278235912323, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03379535702000366, + "valid_pour_held_xy_dist": 0.031635944005225285, + "valid_pour_held_gripper_dist": 0.005330491247716764, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0426556210053861, + "valid_pour_source_tilt_deg": 2.244606607829289, + "valid_pour_source_upright_tilt_deg": 2.249900880185221, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28502383621842414, + 0.00071454213668254, + 1.0426556210053861 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27553126248855886, + 0.024311287001844047, + 1.0426556210053861 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2802775493534915, + 0.012512914569263293, + 1.0426556210053861 + ], + "valid_pour_held_grasp_object_position": [ + 0.28502383621842414, + 0.024311287001844047, + 1.0426556210053861 + ], + "valid_pour_held_grasp_finger_gap": 0.02543453015584236, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023787824888256974, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.022045701980660738, + -0.9992291128082904, + 0.03248333635168498 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005019758217853111, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03803560807744463, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28502383621842414, + 0.00071454213668254, + 1.0426556210053861 + ], + "held_grasp_finger_b": [ + 0.27553126248855886, + 0.024311287001844047, + 1.0426556210053861 + ], + "held_grasp_midpoint": [ + 0.2802775493534915, + 0.012512914569263293, + 1.0426556210053861 + ], + "held_grasp_object_position": [ + 0.28502383621842414, + 0.024311287001844047, + 1.0426556210053861 + ], + "held_grasp_finger_gap": 0.02543453015584236, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023787824888256974, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.022045701980660738, + -0.9992291128082904, + 0.03248333635168498 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005019758217853111, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03803560807744463, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3097495199329939, + -0.08993423714477604, + 0.7611063365266513 + ], + "target_position": [ + 0.31142541225195286, + -0.09323341090120565, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0037004273455723486, + "xy_threshold": 0.08, + "gripper_dist": 0.214233692871828, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063365266513, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758872991231979, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0870246093132651, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18549203821185115, + "release_required_pad_clearance": 0.05351230465663255, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0367434650385894, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "399b5f14ba5425e5362610190d1fb0ed8b8bec046a2f8faace4d7e7d55de276f", + "visual_seed": 2133323116549359942, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f9812baeabaeb0102a602ccdd3ea0fc311b2445e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_84_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33412606947387125, + -0.09533658133304952, + 1.0017736247317583 + ], + "current_z": 1.0017736247317583, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.14066705711234762, + "gripper_z": 1.0031018347151974, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33037629111770606, + -0.0994195889942399, + 1.0031018347151974 + ], + "object_minus_gripper": [ + 0.00374977835616519, + 0.00408300766119038, + -0.001328209983439077 + ], + "object_to_gripper_xy": 0.005543626004854967, + "object_to_gripper_z": -0.001328209983439077, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33412606947387125, + -0.1191314999475821, + 1.0017736247317583 + ], + "finger_b": [ + 0.32384076869315015, + -0.09533658133304952, + 1.0017736247317583 + ], + "finger_midpoint": [ + 0.3289834190835107, + -0.1072340406403158, + 1.0017736247317583 + ], + "object_minus_finger_midpoint": [ + 0.005142650390360548, + 0.011897459307266281, + 0.0 + ], + "finger_gap": 0.025922684352167907, + "fingertip_max_gap": 0.09313689961684982, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012961342176083947, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0017736247317583, + "object_top_z": 1.0517085146093446, + "finger_top_clearance": 0.04993488987758621, + "fingertip_min_top_clearance": 0.014980466963275846, + "object_projection_between_fingers": 0.8425748739054489, + "object_to_finger_line_xy": 0.009441070673021563, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906844980842491, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0775304411083213, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2662363759285633, + 0.04644814398758865, + 0.7701463897966117 + ], + "gripper_position": [ + 0.2771991953252215, + 0.015165688979998024, + 1.0424662321242228 + ], + "target_minus_gripper": [ + -0.010962819396658219, + 0.03128245500759062, + -0.2723198423276112 + ], + "held_position": [ + 0.2809740082487755, + 0.019183536889827543, + 1.0410567587011579 + ], + "held_minus_target": [ + 0.01473763232021219, + -0.027264607097761104, + 0.27091036890454623 + ], + "held_minus_gripper": [ + 0.003774812923553972, + 0.004017847909829519, + -0.0014094734230649664 + ], + "xy_dist": 0.03314778122930217, + "held_xy_dist": 0.030992847668470998, + "held_gripper_dist": 0.005690248655786317, + "max_held_gripper_dist": 0.005717032202414171, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0410567587011579, + "required_height": 0.8001463897966117, + "gripper_z": 1.0424662321242228, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.31693777717115, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.3014316559329218, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8907016572717408, + "max_source_tilt_deg": 89.79171998973428, + "source_upright_tilt_deg": 3.370325912046404, + "max_source_upright_tilt_deg": 89.86114386541784, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8907016572717408, + "source_upright_return_tilt_deg": 3.370325912046404, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.996002811937585e-08, + "max_target_xy_drift": 1.4102081381341592e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2662, + 0.0464, + 0.7701 + ], + "controller_target_position": [ + 0.2662, + 0.0464, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + -0.0003, + -0.002 + ], + "controller_last_pour_pose_position": [ + 0.2669, + 0.021, + 1.0334 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006753841546700743, + -0.00029597612728938074, + -0.0019904394115314574 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.3703155367546676, + "source_return_step_error_deg": 1.8906619633739636, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.365538588367223, + "source_return_best_wrist_position": -1.6172022819519043, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6172022819519043 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2662, + 0.0464, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2662, + 0.0464, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + -0.0003, + -0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2669, + 0.021, + 1.0334 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006753841546700743, + -0.00029597612728938074, + -0.0019904394115314574 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.3703155367546676, + "pour_controller_source_return_step_error_deg": 1.8906619633739636, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.365538588367223, + "pour_controller_source_return_best_wrist_position": -1.6172022819519043, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6172022819519043, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03314778122930217, + "valid_pour_held_xy_dist": 0.030992847668470998, + "valid_pour_held_gripper_dist": 0.005690248655786317, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0410567587011579, + "valid_pour_source_tilt_deg": 1.8907016572717408, + "valid_pour_source_upright_tilt_deg": 3.370325912046404, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.996002811937585e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2809740082487755, + -0.004190390116273518, + 1.0410567587011579 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2708766500292581, + 0.019183536889827543, + 1.0410567587011579 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2759253291390168, + 0.007496573386777013, + 1.0410567587011579 + ], + "valid_pour_held_grasp_object_position": [ + 0.2809740082487755, + 0.019183536889827543, + 1.0410567587011579 + ], + "valid_pour_held_grasp_finger_gap": 0.025461679180678484, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023848401538492842, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.050993701780743535, + -0.9982704172295449, + 0.029254340926554316 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056482006715446505, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03831095097466805, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2809740082487755, + -0.004190390116273518, + 1.0410567587011579 + ], + "held_grasp_finger_b": [ + 0.2708766500292581, + 0.019183536889827543, + 1.0410567587011579 + ], + "held_grasp_midpoint": [ + 0.2759253291390168, + 0.007496573386777013, + 1.0410567587011579 + ], + "held_grasp_object_position": [ + 0.2809740082487755, + 0.019183536889827543, + 1.0410567587011579 + ], + "held_grasp_finger_gap": 0.025461679180678484, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023848401538492842, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.050993701780743535, + -0.9982704172295449, + 0.029254340926554316 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056482006715446505, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03831095097466805, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2851151285687421, + -0.0716183772274299, + 0.7611064927533014 + ], + "target_position": [ + 0.31141061079374127, + -0.09793430153729304, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.037201885136746674, + "xy_threshold": 0.08, + "gripper_dist": 0.19862620266464495, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064927533014, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08729703044468917, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09213593827194348, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17873797058533442, + "release_required_pad_clearance": 0.05606796913597174, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.38971328150325, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 170, + "max_placed_release_frames": 170 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c096bf89350067724578fab8b9fce2b68b4b630a50af3547649a3c2ed1725efa", + "visual_seed": 2122553468411898550, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc6ef6b4802c86f29bab702772ab242a3b474f6c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_85_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3330072206803961, + -0.0976220551732369, + 1.00344099750775 + ], + "current_z": 1.00344099750775, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.1423344298883391, + "gripper_z": 1.0037189298446576, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3292516788786866, + -0.10173126308032797, + 1.0037189298446576 + ], + "object_minus_gripper": [ + 0.0037555418017095055, + 0.0041092079070910725, + -0.00027793233690753816 + ], + "object_to_gripper_xy": 0.005566837867954057, + "object_to_gripper_z": -0.00027793233690753816, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3330072206803961, + -0.12118561613223346, + 1.00344099750775 + ], + "finger_b": [ + 0.32235993291093534, + -0.0976220551732369, + 1.00344099750775 + ], + "finger_midpoint": [ + 0.32768357679566573, + -0.10940383565273518, + 1.00344099750775 + ], + "object_minus_finger_midpoint": [ + 0.005323643884730389, + 0.01178178047949828, + 0.0 + ], + "finger_gap": 0.025857419475153666, + "fingertip_max_gap": 0.09342930051794654, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012928709737576833, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00344099750775, + "object_top_z": 1.0534306254610462, + "finger_top_clearance": 0.04998962795329609, + "fingertip_min_top_clearance": 0.014996888385988843, + "object_projection_between_fingers": 0.8304461629365629, + "object_to_finger_line_xy": 0.009702747586422757, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04921465025897327, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9130249289476455, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2680394462353412, + 0.052119552014999175, + 0.7701463897966114 + ], + "gripper_position": [ + 0.27755145098198186, + 0.02012166234604297, + 1.0433062266851714 + ], + "target_minus_gripper": [ + -0.009512004746640657, + 0.031997889668956205, + -0.27315983688855994 + ], + "held_position": [ + 0.2814457114614704, + 0.024089926477034188, + 1.042951048270372 + ], + "held_minus_target": [ + 0.0134062652261292, + -0.028029625537964988, + 0.2728046584737607 + ], + "held_minus_gripper": [ + 0.0038942604794885427, + 0.003968264130991217, + -0.00035517841479926204 + ], + "xy_dist": 0.03338177912524748, + "held_xy_dist": 0.031070691255777685, + "held_gripper_dist": 0.005571223976987205, + "max_held_gripper_dist": 0.0055768034114800575, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.042951048270372, + "required_height": 0.8001463897966115, + "gripper_z": 1.0433062266851714, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.240760677358, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4150695777747524, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2750467602599067, + "max_source_tilt_deg": 89.82767138525469, + "source_upright_tilt_deg": 2.1384594349843016, + "max_source_upright_tilt_deg": 89.93968231236677, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2750467602599067, + "source_upright_return_tilt_deg": 2.1384594349843016, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1828894262453654e-08, + "max_target_xy_drift": 1.0058283807234947e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.268, + 0.0521, + 0.7701 + ], + "controller_target_position": [ + 0.268, + 0.0521, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0004, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.267, + 0.0265, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009982175421424126, + -0.00042269638565397595, + -0.0005834732606047419 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.1384376239776826, + "source_return_step_error_deg": 2.2750605659585483, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2642849256351436, + "source_return_best_wrist_position": -1.6136994361877441, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6136994361877441 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.268, + 0.0521, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.268, + 0.0521, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0004, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.267, + 0.0265, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009982175421424126, + -0.00042269638565397595, + -0.0005834732606047419 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.1384376239776826, + "pour_controller_source_return_step_error_deg": 2.2750605659585483, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2642849256351436, + "pour_controller_source_return_best_wrist_position": -1.6136994361877441, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6136994361877441, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03338177912524748, + "valid_pour_held_xy_dist": 0.031070691255777685, + "valid_pour_held_gripper_dist": 0.005571223976987205, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.042951048270372, + "valid_pour_source_tilt_deg": 2.2750467602599067, + "valid_pour_source_upright_tilt_deg": 2.1384594349843016, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1828894262453654e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2814457114614704, + 0.00038483650100029805, + 1.042951048270372 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2717140499253773, + 0.024089926477034188, + 1.042951048270372 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2765798806934239, + 0.012237381489017242, + 1.042951048270372 + ], + "valid_pour_held_grasp_object_position": [ + 0.2814457114614704, + 0.024089926477034188, + 1.042951048270372 + ], + "valid_pour_held_grasp_finger_gap": 0.025624920039386205, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023863255427482726, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01794905605154377, + -0.999303580498794, + 0.03271368810068498 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0050924625068008746, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03796329649473969, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2814457114614704, + 0.00038483650100029805, + 1.042951048270372 + ], + "held_grasp_finger_b": [ + 0.2717140499253773, + 0.024089926477034188, + 1.042951048270372 + ], + "held_grasp_midpoint": [ + 0.2765798806934239, + 0.012237381489017242, + 1.042951048270372 + ], + "held_grasp_object_position": [ + 0.2814457114614704, + 0.024089926477034188, + 1.042951048270372 + ], + "held_grasp_finger_gap": 0.025624920039386205, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023863255427482726, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01794905605154377, + -0.999303580498794, + 0.03271368810068498 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0050924625068008746, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03796329649473969, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.310022469740992, + -0.0975378374712044, + 0.7611064048349937 + ], + "target_position": [ + 0.3100954050243332, + -0.09914965795536285, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0016134698102873931, + "xy_threshold": 0.08, + "gripper_dist": 0.2159625030362576, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064048349937, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536900865487559, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873022439187726, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18746902130105486, + "release_required_pad_clearance": 0.0536511219593863, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.312120151450873, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "659b155ef32a51c6ab5b336303acc96df62c78954164fa49df9bf9bb171c46c2", + "visual_seed": 8453829980341553523, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bed41d26c05b89ef3fe5ee4a17582ca2f5dac290 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_86_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3318359610094149, + -0.08725017903826941, + 1.003919298135529 + ], + "current_z": 1.003919298135529, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14281279012076276, + "gripper_z": 1.0053368903489805, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3277227606821901, + -0.09144785247382438, + 1.0053368903489805 + ], + "object_minus_gripper": [ + 0.004113200327224842, + 0.004197673435554966, + -0.0014175922134516128 + ], + "object_to_gripper_xy": 0.005876978747915154, + "object_to_gripper_z": -0.0014175922134516128, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3318359610094149, + -0.11141828144163926, + 1.003919298135529 + ], + "finger_b": [ + 0.3215326007203053, + -0.08725017903826941, + 1.003919298135529 + ], + "finger_midpoint": [ + 0.3266842808648601, + -0.09933423023995433, + 1.003919298135529 + ], + "object_minus_finger_midpoint": [ + 0.005151680144554804, + 0.012084051201684917, + 0.0 + ], + "finger_gap": 0.026272731244143085, + "fingertip_max_gap": 0.09304027334558754, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013136365622071535, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003919298135529, + "object_top_z": 1.0538760635310385, + "finger_top_clearance": 0.04995676539550953, + "fingertip_min_top_clearance": 0.014987029618652841, + "object_projection_between_fingers": 0.8462031903413356, + "object_to_finger_line_xy": 0.009477989336244868, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902013667279377, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8970477726807347, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27142856633726986, + 0.049606810181073914, + 0.7701463897966119 + ], + "gripper_position": [ + 0.28165895699304677, + 0.017800216271154884, + 1.044612524011848 + ], + "target_minus_gripper": [ + -0.010230390655776911, + 0.03180659390991903, + -0.27446613421523613 + ], + "held_position": [ + 0.28577035269947526, + 0.021959303338169235, + 1.043117033991904 + ], + "held_minus_target": [ + 0.0143417863622054, + -0.02764750684290468, + 0.27297064419529216 + ], + "held_minus_gripper": [ + 0.004111395706428489, + 0.004159087067014351, + -0.0014954900199439791 + ], + "xy_dist": 0.0334113799343922, + "held_xy_dist": 0.03114597037640025, + "held_gripper_dist": 0.006036395471272296, + "max_held_gripper_dist": 0.00606895487835019, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.043117033991904, + "required_height": 0.8001463897966119, + "gripper_z": 1.044612524011848, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.25066445165452, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.8411172205753856, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.004779292377492, + "max_source_tilt_deg": 89.84310608849177, + "source_upright_tilt_deg": 3.5586318916157236, + "max_source_upright_tilt_deg": 89.6925294072479, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.004779292377492, + "source_upright_return_tilt_deg": 3.5586318916157236, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.819089469244073e-08, + "max_target_xy_drift": 9.778443536465383e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2714, + 0.0496, + 0.7701 + ], + "controller_target_position": [ + 0.2714, + 0.0496, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0015, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.2704, + 0.0229, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009810350365673846, + -0.0015210724705276952, + 0.0008660716175068199 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.5586293043497914, + "source_return_step_error_deg": 2.0047722718624157, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.555649307885833, + "source_return_best_wrist_position": -1.6156736612319946, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6156736612319946 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2714, + 0.0496, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2714, + 0.0496, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0015, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2704, + 0.0229, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009810350365673846, + -0.0015210724705276952, + 0.0008660716175068199 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.5586293043497914, + "pour_controller_source_return_step_error_deg": 2.0047722718624157, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.555649307885833, + "pour_controller_source_return_best_wrist_position": -1.6156736612319946, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6156736612319946, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0334113799343922, + "valid_pour_held_xy_dist": 0.03114597037640025, + "valid_pour_held_gripper_dist": 0.006036395471272296, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.043117033991904, + "valid_pour_source_tilt_deg": 2.004779292377492, + "valid_pour_source_upright_tilt_deg": 3.5586318916157236, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.819089469244073e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28577035269947526, + -0.0016709344102377834, + 1.043117033991904 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2755005467887844, + 0.021959303338169235, + 1.043117033991904 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2806354497441298, + 0.010144184463965726, + 1.043117033991904 + ], + "valid_pour_held_grasp_object_position": [ + 0.28577035269947526, + 0.021959303338169235, + 1.043117033991904 + ], + "valid_pour_held_grasp_finger_gap": 0.02576542352629782, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024144823839454217, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05454335238367623, + -0.9980718115434684, + 0.02962569346174792 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00578204804868359, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03820798779306672, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28577035269947526, + -0.0016709344102377834, + 1.043117033991904 + ], + "held_grasp_finger_b": [ + 0.2755005467887844, + 0.021959303338169235, + 1.043117033991904 + ], + "held_grasp_midpoint": [ + 0.2806354497441298, + 0.010144184463965726, + 1.043117033991904 + ], + "held_grasp_object_position": [ + 0.28577035269947526, + 0.021959303338169235, + 1.043117033991904 + ], + "held_grasp_finger_gap": 0.02576542352629782, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024144823839454217, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05454335238367623, + -0.9980718115434684, + 0.02962569346174792 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00578204804868359, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03820798779306672, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3117362921833845, + -0.08654848386126533, + 0.7611110902147052 + ], + "target_position": [ + 0.30880869671913547, + -0.09125337732634403, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005541375074837631, + "xy_threshold": 0.08, + "gripper_dist": 0.2170214409832775, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611110902147052, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571106650567543, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08590092101203377, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1882299713905009, + "release_required_pad_clearance": 0.052950460506016886, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9167459909077714, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "46b55a71ff596303cccb4aeaac6bbb3c8cd8b080c598fe7e9fd7b14c7bcfabdd", + "visual_seed": 3772612202566794363, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e501530133714053c5b177d9b1e98e65b24f3486 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_87_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33656337670906, + -0.08899755559135535, + 1.0037964687770384 + ], + "current_z": 1.0037964687770384, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14268996076227225, + "gripper_z": 1.0046378989697426, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3328428750334589, + -0.09316422673217092, + 1.0046378989697426 + ], + "object_minus_gripper": [ + 0.0037205016756011178, + 0.004166671140815578, + -0.0008414301927042178 + ], + "object_to_gripper_xy": 0.005585989716590616, + "object_to_gripper_z": -0.0008414301927042178, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33656337670906, + -0.11251177268540456, + 1.0037964687770384 + ], + "finger_b": [ + 0.3258049957483469, + -0.08899755559135535, + 1.0037964687770384 + ], + "finger_midpoint": [ + 0.3311841862287035, + -0.10075466413837995, + 1.0037964687770384 + ], + "object_minus_finger_midpoint": [ + 0.0053791904803565105, + 0.011757108547024608, + 0.0 + ], + "finger_gap": 0.02585848345208802, + "fingertip_max_gap": 0.09331898030419464, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012929241726043999, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0037964687770384, + "object_top_z": 1.0538202144009956, + "finger_top_clearance": 0.05002374562395717, + "fingertip_min_top_clearance": 0.015007123687187167, + "object_projection_between_fingers": 0.8269037193953916, + "object_to_finger_line_xy": 0.009783052666619793, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915949015209732, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.351813980839327, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2730392626530353, + 0.050085252939395676, + 0.7701463897966115 + ], + "gripper_position": [ + 0.2842334346727001, + 0.01823682089522516, + 1.0436613484925172 + ], + "target_minus_gripper": [ + -0.011194172019664828, + 0.03184843204417052, + -0.2735149586959057 + ], + "held_position": [ + 0.28804384064676947, + 0.022294057603079957, + 1.0427408229569863 + ], + "held_minus_target": [ + 0.01500457799373417, + -0.02779119533631572, + 0.2725944331603748 + ], + "held_minus_gripper": [ + 0.003810405974069342, + 0.004057236707854798, + -0.0009205255355309028 + ], + "xy_dist": 0.03375843762495525, + "held_xy_dist": 0.031583031820762685, + "held_gripper_dist": 0.005641607098367647, + "max_held_gripper_dist": 0.005650818820679476, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0427408229569863, + "required_height": 0.8001463897966116, + "gripper_z": 1.0436613484925172, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.28021868019317, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5466268007582546, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8071271725931408, + "max_source_tilt_deg": 89.90012501142719, + "source_upright_tilt_deg": 2.6181966799454135, + "max_source_upright_tilt_deg": 89.74387533808074, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8071271725931408, + "source_upright_return_tilt_deg": 2.6181966799454135, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.450580596923828e-08, + "max_target_xy_drift": 1.4336318824361158e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.273, + 0.0501, + 0.7701 + ], + "controller_target_position": [ + 0.273, + 0.0501, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + -0.0003, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.2742, + 0.0246, + 1.0346 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011299393563118745, + -0.0002934797522296075, + -0.0007396432302288348 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6181993323533588, + "source_return_step_error_deg": 1.8071218476372932, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.613121653220889, + "source_return_best_wrist_position": -1.6146454811096191, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6146454811096191 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.273, + 0.0501, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.273, + 0.0501, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + -0.0003, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2742, + 0.0246, + 1.0346 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011299393563118745, + -0.0002934797522296075, + -0.0007396432302288348 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6181993323533588, + "pour_controller_source_return_step_error_deg": 1.8071218476372932, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.613121653220889, + "pour_controller_source_return_best_wrist_position": -1.6146454811096191, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6146454811096191, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03375843762495525, + "valid_pour_held_xy_dist": 0.031583031820762685, + "valid_pour_held_gripper_dist": 0.005641607098367647, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0427408229569863, + "valid_pour_source_tilt_deg": 1.8071271725931408, + "valid_pour_source_upright_tilt_deg": 2.6181966799454135, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.450580596923828e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28804384064676947, + -0.0011345142216098794, + 1.0427408229569863 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2778802193710689, + 0.022294057603079957, + 1.0427408229569863 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2829620300089192, + 0.010579771690735039, + 1.0427408229569863 + ], + "valid_pour_held_grasp_object_position": [ + 0.28804384064676947, + 0.022294057603079957, + 1.0427408229569863 + ], + "valid_pour_held_grasp_finger_gap": 0.02553815136576107, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023792505944200106, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03821381634908178, + -0.9989561191546811, + 0.025027509733436808 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055333896510583866, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03821238785486625, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28804384064676947, + -0.0011345142216098794, + 1.0427408229569863 + ], + "held_grasp_finger_b": [ + 0.2778802193710689, + 0.022294057603079957, + 1.0427408229569863 + ], + "held_grasp_midpoint": [ + 0.2829620300089192, + 0.010579771690735039, + 1.0427408229569863 + ], + "held_grasp_object_position": [ + 0.28804384064676947, + 0.022294057603079957, + 1.0427408229569863 + ], + "held_grasp_finger_gap": 0.02553815136576107, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023792505944200106, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03821381634908178, + -0.9989561191546811, + 0.025027509733436808 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0055333896510583866, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03821238785486625, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29847282331214425, + -0.07327832154230189, + 0.7611103411358487 + ], + "target_position": [ + 0.3137110085971609, + -0.09186788336652128, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.024036931992185952, + "xy_threshold": 0.08, + "gripper_dist": 0.20659567117252675, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611103411358487, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08115217856203734, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531318081891169, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18394003519497903, + "release_required_pad_clearance": 0.05265659040945585, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3690273286351403, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 185, + "max_placed_release_frames": 185 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1c5d602d56ec50b03c8997ed27c2514a7b5473f412ca191d41ac73438760924", + "visual_seed": 6157019112415252818, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9a057a482440ecfc7937292c2f9af7cdf154576a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_88_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3326442706222401, + -0.08724136002236539, + 1.0024312457739306 + ], + "current_z": 1.0024312457739306, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14132479736380943, + "gripper_z": 1.003617161271812, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32895764392132953, + -0.09133622178049869, + 1.003617161271812 + ], + "object_minus_gripper": [ + 0.003686626700910578, + 0.0040948617581332974, + -0.0011859154978814956 + ], + "object_to_gripper_xy": 0.00550991009455593, + "object_to_gripper_z": -0.0011859154978814956, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3326442706222401, + -0.11069355741721927, + 1.0024312457739306 + ], + "finger_b": [ + 0.321938493758676, + -0.08724136002236539, + 1.0024312457739306 + ], + "finger_midpoint": [ + 0.32729138219045806, + -0.09896745871979233, + 1.0024312457739306 + ], + "object_minus_finger_midpoint": [ + 0.005352888431782055, + 0.01172609869742694, + 0.0 + ], + "finger_gap": 0.025780209869192605, + "fingertip_max_gap": 0.09374239616036387, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012890104934596303, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024312457739306, + "object_top_z": 1.0523845215176246, + "finger_top_clearance": 0.049953275743694014, + "fingertip_min_top_clearance": 0.014985982723108237, + "object_projection_between_fingers": 0.8275498892474313, + "object_to_finger_line_xy": 0.009739020494538316, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049371198080181936, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.376684069564499, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27145114159647865, + 0.052302631406717065, + 0.7701463897966114 + ], + "gripper_position": [ + 0.281183910317208, + 0.021390849753909355, + 1.0435321548695775 + ], + "target_minus_gripper": [ + -0.009732768720729368, + 0.03091178165280771, + -0.2733857650729661 + ], + "held_position": [ + 0.28500855940865927, + 0.025322478281985077, + 1.042272623152638 + ], + "held_minus_target": [ + 0.013557417812180617, + -0.02698015312473199, + 0.2721262333560266 + ], + "held_minus_gripper": [ + 0.0038246490914512488, + 0.0039316285280757216, + -0.0012595317169394882 + ], + "xy_dist": 0.032407792765353015, + "held_xy_dist": 0.03019490421193645, + "held_gripper_dist": 0.005627793857409337, + "max_held_gripper_dist": 0.005650969355914143, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.042272623152638, + "required_height": 0.8001463897966115, + "gripper_z": 1.0435321548695775, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22599380837244, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6238274469922604, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0899212732468504, + "max_source_tilt_deg": 89.79662092962424, + "source_upright_tilt_deg": 2.458761447284398, + "max_source_upright_tilt_deg": 89.95508422697212, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0899212732468504, + "source_upright_return_tilt_deg": 2.458761447284398, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.712160915387242e-08, + "max_target_xy_drift": 1.367744784853296e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2715, + 0.0523, + 0.7701 + ], + "controller_target_position": [ + 0.2715, + 0.0523, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + 0.0017, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.2711, + 0.0288, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00035906918887416246, + 0.00169696814720606, + 0.00010828674867097415 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.4587630722230407, + "source_return_step_error_deg": 2.0899285209039826, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4499692497388246, + "source_return_best_wrist_position": -1.6136595010757446, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6136595010757446 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2715, + 0.0523, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2715, + 0.0523, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + 0.0017, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2711, + 0.0288, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00035906918887416246, + 0.00169696814720606, + 0.00010828674867097415 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.4587630722230407, + "pour_controller_source_return_step_error_deg": 2.0899285209039826, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4499692497388246, + "pour_controller_source_return_best_wrist_position": -1.6136595010757446, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6136595010757446, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032407792765353015, + "valid_pour_held_xy_dist": 0.03019490421193645, + "valid_pour_held_gripper_dist": 0.005627793857409337, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.042272623152638, + "valid_pour_source_tilt_deg": 2.0899212732468504, + "valid_pour_source_upright_tilt_deg": 2.458761447284398, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.712160915387242e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28500855940865927, + 0.0017937665010232448, + 1.042272623152638 + ], + "valid_pour_held_grasp_finger_b": [ + 0.275172951731424, + 0.025322478281985077, + 1.042272623152638 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2800907555700416, + 0.013558122391504161, + 1.042272623152638 + ], + "valid_pour_held_grasp_object_position": [ + 0.28500855940865927, + 0.025322478281985077, + 1.042272623152638 + ], + "valid_pour_held_grasp_finger_gap": 0.025501753987756646, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023783316003082956, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02808830456264708, + -0.9990793664320672, + 0.032426327520942544 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005259992601727869, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038104857612550475, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28500855940865927, + 0.0017937665010232448, + 1.042272623152638 + ], + "held_grasp_finger_b": [ + 0.275172951731424, + 0.025322478281985077, + 1.042272623152638 + ], + "held_grasp_midpoint": [ + 0.2800907555700416, + 0.013558122391504161, + 1.042272623152638 + ], + "held_grasp_object_position": [ + 0.28500855940865927, + 0.025322478281985077, + 1.042272623152638 + ], + "held_grasp_finger_gap": 0.025501753987756646, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023783316003082956, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02808830456264708, + -0.9990793664320672, + 0.032426327520942544 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005259992601727869, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038104857612550475, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28858517454586957, + -0.059748262640944516, + 0.7611063497751545 + ], + "target_position": [ + 0.3098708611050748, + -0.08988112537267849, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.03689268042181608, + "xy_threshold": 0.08, + "gripper_dist": 0.20501888929989479, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063497751545, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.09003245158269792, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0859462771531496, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18496561769441372, + "release_required_pad_clearance": 0.052973138576574805, + "release_pad_clearance_ok": true, + "release_gap_ok": true, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9811751983083217, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 182, + "max_placed_release_frames": 182 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "601c1e7859c87d911d33ef5523c05922a9d45d74d4a4e081ce15e4c49216a9fa", + "visual_seed": 48416317576596833, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f88febed7862f12521338cf9ff7005f78fb81e52 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_89_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33125330648724377, + -0.0899081481379952, + 1.0025511166403538 + ], + "current_z": 1.0025511166403538, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.14144460862558805, + "gripper_z": 1.00328054690802, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32795090973311003, + -0.09372226811637818, + 1.00328054690802 + ], + "object_minus_gripper": [ + 0.0033023967541337407, + 0.0038141199783829766, + -0.0007294302676661424 + ], + "object_to_gripper_xy": 0.005045129882491949, + "object_to_gripper_z": -0.0007294302676661424, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33125330648724377, + -0.11329634984559576, + 1.0025511166403538 + ], + "finger_b": [ + 0.3212028130612156, + -0.0899081481379952, + 1.0025511166403538 + ], + "finger_midpoint": [ + 0.3262280597742297, + -0.10160224899179549, + 1.0025511166403538 + ], + "object_minus_finger_midpoint": [ + 0.0050252467130140754, + 0.01169410085380028, + 0.0 + ], + "finger_gap": 0.02545624475884149, + "fingertip_max_gap": 0.09242958689819733, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012728122379420745, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025511166403538, + "object_top_z": 1.0524678808042778, + "finger_top_clearance": 0.04991676416392399, + "fingertip_min_top_clearance": 0.014975029249177195, + "object_projection_between_fingers": 0.8441215453407663, + "object_to_finger_line_xy": 0.009234000133787102, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871479344909867, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0413739490624767, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.26784115648333473, + 0.053821551470689545, + 0.7701463301919672 + ], + "gripper_position": [ + 0.27837976423592636, + 0.022718608791106376, + 1.0436576965032938 + ], + "target_minus_gripper": [ + -0.010538607752591633, + 0.03110294267958317, + -0.27351136631132655 + ], + "held_position": [ + 0.28173937529762916, + 0.026458669456044095, + 1.042859884936802 + ], + "held_minus_target": [ + 0.013898218814294427, + -0.02736288201464545, + 0.27271355474483483 + ], + "held_minus_gripper": [ + 0.003359611061702794, + 0.0037400606649377194, + -0.000797811566491724 + ], + "xy_dist": 0.03283984312831626, + "held_xy_dist": 0.030690190588483074, + "held_gripper_dist": 0.0050903382558488315, + "max_held_gripper_dist": 0.005099383752055851, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919672, + "held_z": 1.042859884936802, + "required_height": 0.8001463301919672, + "gripper_z": 1.0436576965032938, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.26444777339961, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8497665616590888, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8373004526017598, + "max_source_tilt_deg": 89.79560487461475, + "source_upright_tilt_deg": 2.247220215814735, + "max_source_upright_tilt_deg": 89.70455365902534, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8373004526017598, + "source_upright_return_tilt_deg": 2.247220215814735, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.0978193283081055e-08, + "max_target_xy_drift": 9.835048602852289e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2678, + 0.0538, + 0.7701 + ], + "controller_target_position": [ + 0.2678, + 0.0538, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + 0.0016, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.269, + 0.0302, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011498413971903223, + 0.0015760639421787824, + -0.0006601562172344386 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.247227820217237, + "source_return_step_error_deg": 1.8373154220986163, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2397520212123396, + "source_return_best_wrist_position": -1.6132384538650513, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6132384538650513 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2678, + 0.0538, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2678, + 0.0538, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + 0.0016, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.269, + 0.0302, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011498413971903223, + 0.0015760639421787824, + -0.0006601562172344386 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.247227820217237, + "pour_controller_source_return_step_error_deg": 1.8373154220986163, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2397520212123396, + "pour_controller_source_return_best_wrist_position": -1.6132384538650513, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6132384538650513, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03283984312831626, + "valid_pour_held_xy_dist": 0.030690190588483074, + "valid_pour_held_gripper_dist": 0.0050903382558488315, + "valid_pour_required_height": 0.8001463301919672, + "valid_pour_held_z": 1.042859884936802, + "valid_pour_source_tilt_deg": 1.8373004526017598, + "valid_pour_source_upright_tilt_deg": 2.247220215814735, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.0978193283081055e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28173937529762916, + 0.003258005209856895, + 1.042859884936802 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2721355888229934, + 0.026458669456044095, + 1.042859884936802 + ], + "valid_pour_held_grasp_midpoint": [ + 0.27693748206031127, + 0.014858337332950495, + 1.042859884936802 + ], + "valid_pour_held_grasp_object_position": [ + 0.28173937529762916, + 0.026458669456044095, + 1.042859884936802 + ], + "valid_pour_held_grasp_finger_gap": 0.025109829472035574, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02339928275411459, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.022539132614340634, + -0.9992309483541114, + 0.032085812321590024 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005075672649606161, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03823706970998939, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28173937529762916, + 0.003258005209856895, + 1.042859884936802 + ], + "held_grasp_finger_b": [ + 0.2721355888229934, + 0.026458669456044095, + 1.042859884936802 + ], + "held_grasp_midpoint": [ + 0.27693748206031127, + 0.014858337332950495, + 1.042859884936802 + ], + "held_grasp_object_position": [ + 0.28173937529762916, + 0.026458669456044095, + 1.042859884936802 + ], + "held_grasp_finger_gap": 0.025109829472035574, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02339928275411459, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.022539132614340634, + -0.9992309483541114, + 0.032085812321590024 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005075672649606161, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03823706970998939, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2923424031587727, + -0.078857138497028, + 0.7611094824478558 + ], + "target_position": [ + 0.30872662761115816, + -0.09415422561578086, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.022415255635947158, + "xy_threshold": 0.08, + "gripper_dist": 0.20533445830835134, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611094824478558, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08104917581982149, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08615501910978494, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18032456518800882, + "release_required_pad_clearance": 0.053077509554892474, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1836434226891617, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "699b25a5a75bbe43872be113deca328b79f42d56ae9a92a60a4e0dec14598520", + "visual_seed": 7566778093572243138, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd10a38e34ca11a6181aafd2bd0edb9a4c98581f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_8_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33690962844454614, + -0.08887109383494098, + 1.0045227227908904 + ], + "current_z": 1.0045227227908904, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14341627438076898, + "gripper_z": 1.0050807962781947, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3328866146511302, + -0.09306886204169083, + 1.0050807962781947 + ], + "object_minus_gripper": [ + 0.004023013793415964, + 0.004197768206749858, + -0.0005580734873043003 + ], + "object_to_gripper_xy": 0.005814283954161081, + "object_to_gripper_z": -0.0005580734873043003, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33690962844454614, + -0.11274086103796016, + 1.0045227227908904 + ], + "finger_b": [ + 0.3262727434200531, + -0.08887109383494098, + 1.0045227227908904 + ], + "finger_midpoint": [ + 0.33159118593229964, + -0.10080597743645056, + 1.0045227227908904 + ], + "object_minus_finger_midpoint": [ + 0.005318442512246502, + 0.011934883601509585, + 0.0 + ], + "finger_gap": 0.026132529715865913, + "fingertip_max_gap": 0.09298536491238837, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01306626485793294, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0045227227908904, + "object_top_z": 1.0543597476835829, + "finger_top_clearance": 0.04983702489269248, + "fingertip_min_top_clearance": 0.014951107467807711, + "object_projection_between_fingers": 0.8343215495662756, + "object_to_finger_line_xy": 0.00971585881889497, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899268245619419, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7210543968343432, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2698146513706868, + 0.048137339620523224, + 0.7701464494012563 + ], + "gripper_position": [ + 0.2805361572867352, + 0.017276743626565574, + 1.0440148754644185 + ], + "target_minus_gripper": [ + -0.010721505916048424, + 0.03086059599395765, + -0.2738684260631622 + ], + "held_position": [ + 0.28464215453214586, + 0.02137478334968436, + 1.0433841720595871 + ], + "held_minus_target": [ + 0.014827503161459088, + -0.026762556270838865, + 0.2732377226583308 + ], + "held_minus_gripper": [ + 0.004105997245410664, + 0.004098039723118785, + -0.0006307034048314009 + ], + "xy_dist": 0.03266997205707615, + "held_xy_dist": 0.030595575957201655, + "held_gripper_dist": 0.00583531744950053, + "max_held_gripper_dist": 0.0058424225943628375, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0433841720595871, + "required_height": 0.8001464494012563, + "gripper_z": 1.0440148754644185, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21188946773636, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.820756871981379, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.14565574988855, + "max_source_tilt_deg": 89.74808670436362, + "source_upright_tilt_deg": 2.6068396019212483, + "max_source_upright_tilt_deg": 89.7636409628098, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.14565574988855, + "source_upright_return_tilt_deg": 2.6068396019212483, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.0133885226201597e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2698, + 0.0481, + 0.7701 + ], + "controller_target_position": [ + 0.2698, + 0.0481, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + 0.0013, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.2701, + 0.0242, + 1.0361 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00024369481078866193, + 0.0013095890728691095, + 0.0007789782351334896 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6068371403622725, + "source_return_step_error_deg": 2.1456615367903162, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5972808816820954, + "source_return_best_wrist_position": -1.6135600805282593, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6135600805282593 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2698, + 0.0481, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2698, + 0.0481, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + 0.0013, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2701, + 0.0242, + 1.0361 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00024369481078866193, + 0.0013095890728691095, + 0.0007789782351334896 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6068371403622725, + "pour_controller_source_return_step_error_deg": 2.1456615367903162, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5972808816820954, + "pour_controller_source_return_best_wrist_position": -1.6135600805282593, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6135600805282593, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03266997205707615, + "valid_pour_held_xy_dist": 0.030595575957201655, + "valid_pour_held_gripper_dist": 0.00583531744950053, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0433841720595871, + "valid_pour_source_tilt_deg": 2.14565574988855, + "valid_pour_source_upright_tilt_deg": 2.6068396019212483, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28464215453214586, + -0.0023676290405188205, + 1.0433841720595871 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27458365706001936, + 0.02137478334968436, + 1.0433841720595871 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2796129057960826, + 0.00950357715458277, + 1.0433841720595871 + ], + "valid_pour_held_grasp_object_position": [ + 0.28464215453214586, + 0.02137478334968436, + 1.0433841720595871 + ], + "valid_pour_held_grasp_finger_gap": 0.025785180191405462, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02401268719156933, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029312974067468058, + -0.9989651567924865, + 0.03477592652802708 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005390701970313832, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03800875094986853, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28464215453214586, + -0.0023676290405188205, + 1.0433841720595871 + ], + "held_grasp_finger_b": [ + 0.27458365706001936, + 0.02137478334968436, + 1.0433841720595871 + ], + "held_grasp_midpoint": [ + 0.2796129057960826, + 0.00950357715458277, + 1.0433841720595871 + ], + "held_grasp_object_position": [ + 0.28464215453214586, + 0.02137478334968436, + 1.0433841720595871 + ], + "held_grasp_finger_gap": 0.025785180191405462, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02401268719156933, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029312974067468058, + -0.9989651567924865, + 0.03477592652802708 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005390701970313832, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03800875094986853, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3152714247934679, + -0.09112043771098575, + 0.7611065379198082 + ], + "target_position": [ + 0.31375860130527766, + -0.09340629135639802, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0027411241844660585, + "xy_threshold": 0.08, + "gripper_dist": 0.21839423227906035, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065379198082, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593980568724008, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510521120962238, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18891335693837327, + "release_required_pad_clearance": 0.05255260560481119, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.17245828073274516, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d490c8165beea9b83e0f8bdd1c112e23729d13f45fd3094fc34bdbf153eb00bb", + "visual_seed": 8733810424944085900, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b1a796275c49ce3b71cb65185c4f52ef539ff76 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_90_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33687107031853847, + -0.08930851376325871, + 1.002402184680749 + ], + "current_z": 1.002402184680749, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14129573627062775, + "gripper_z": 1.00286332548549, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.333244416427662, + -0.09338677069730145, + 1.00286332548549 + ], + "object_minus_gripper": [ + 0.0036266538908764634, + 0.004078256934042734, + -0.0004611408047410226 + ], + "object_to_gripper_xy": 0.0054575450583826636, + "object_to_gripper_z": -0.0004611408047410226, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33687107031853847, + -0.1126883814728613, + 1.002402184680749 + ], + "finger_b": [ + 0.3261485868932808, + -0.08930851376325871, + 1.002402184680749 + ], + "finger_midpoint": [ + 0.3315098286059096, + -0.10099844761806001, + 1.002402184680749 + ], + "object_minus_finger_midpoint": [ + 0.005361241712628861, + 0.011689933854801299, + 0.0 + ], + "finger_gap": 0.025721389249483452, + "fingertip_max_gap": 0.09330654225830984, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012860694624741745, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002402184680749, + "object_top_z": 1.052224589745269, + "finger_top_clearance": 0.04982240506451996, + "fingertip_min_top_clearance": 0.014946721519355954, + "object_projection_between_fingers": 0.8262191473894033, + "object_to_finger_line_xy": 0.009746372622775999, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915327112915492, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1734565820623075, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27365450179640693, + 0.05225753304236389, + 0.7701463897966118 + ], + "gripper_position": [ + 0.283557101959376, + 0.020124792804927447, + 1.0436079368721358 + ], + "target_minus_gripper": [ + -0.009902600162969066, + 0.032132740237436445, + -0.27346154707552406 + ], + "held_position": [ + 0.28731218406521053, + 0.024068478363107035, + 1.0430718061057551 + ], + "held_minus_target": [ + 0.013657682268803595, + -0.028189054679256857, + 0.27292541630914335 + ], + "held_minus_gripper": [ + 0.0037550821058345285, + 0.003943685558179588, + -0.0005361307663807047 + ], + "xy_dist": 0.03362401649348576, + "held_xy_dist": 0.0313233952288976, + "held_gripper_dist": 0.005471812643175284, + "max_held_gripper_dist": 0.005478477290710411, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0430718061057551, + "required_height": 0.8001463897966118, + "gripper_z": 1.0436079368721358, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.25797275406643, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.266639997670494, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9786298421697197, + "max_source_tilt_deg": 89.88395067051191, + "source_upright_tilt_deg": 2.3613078705663564, + "max_source_upright_tilt_deg": 89.96860142231371, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9786298421697197, + "source_upright_return_tilt_deg": 2.3613078705663564, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 1.299587156065733e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2737, + 0.0523, + 0.7701 + ], + "controller_target_position": [ + 0.2737, + 0.0523, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + -0.0014, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.2725, + 0.0257, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011308337189513832, + -0.0013865297396919271, + 0.0001740557515234444 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.361323520018861, + "source_return_step_error_deg": 1.978603114473565, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3562365269004504, + "source_return_best_wrist_position": -1.6139943599700928, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6139943599700928 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2737, + 0.0523, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2737, + 0.0523, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + -0.0014, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2725, + 0.0257, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011308337189513832, + -0.0013865297396919271, + 0.0001740557515234444 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.361323520018861, + "pour_controller_source_return_step_error_deg": 1.978603114473565, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3562365269004504, + "pour_controller_source_return_best_wrist_position": -1.6139943599700928, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6139943599700928, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03362401649348576, + "valid_pour_held_xy_dist": 0.0313233952288976, + "valid_pour_held_gripper_dist": 0.005471812643175284, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0430718061057551, + "valid_pour_source_tilt_deg": 1.9786298421697197, + "valid_pour_source_upright_tilt_deg": 2.3613078705663564, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28731218406521053, + 0.0005823910788853609, + 1.0430718061057551 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2774499812700031, + 0.024068478363107035, + 1.0430718061057551 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2823810826676068, + 0.012325434720996198, + 1.0430718061057551 + ], + "valid_pour_held_grasp_object_position": [ + 0.28731218406521053, + 0.024068478363107035, + 1.0430718061057551 + ], + "valid_pour_held_grasp_finger_gap": 0.02547271756008527, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023712163188145157, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.024945560752826765, + -0.9991508898515225, + 0.03279052161277573 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005236531530660683, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038110186655007025, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28731218406521053, + 0.0005823910788853609, + 1.0430718061057551 + ], + "held_grasp_finger_b": [ + 0.2774499812700031, + 0.024068478363107035, + 1.0430718061057551 + ], + "held_grasp_midpoint": [ + 0.2823810826676068, + 0.012325434720996198, + 1.0430718061057551 + ], + "held_grasp_object_position": [ + 0.28731218406521053, + 0.024068478363107035, + 1.0430718061057551 + ], + "held_grasp_finger_gap": 0.02547271756008527, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023712163188145157, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.024945560752826765, + -0.9991508898515225, + 0.03279052161277573 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005236531530660683, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038110186655007025, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29416683038754154, + -0.0769892100871634, + 0.7611121386348294 + ], + "target_position": [ + 0.3141286907375892, + -0.09457892159938269, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02660589821295091, + "xy_threshold": 0.08, + "gripper_dist": 0.2049630460196118, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611121386348294, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08171145857520073, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09367872646992496, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1816760680255375, + "release_required_pad_clearance": 0.056839363234962484, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.127620390753052, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 184, + "max_placed_release_frames": 184 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "43887c511e02524ca675139fb3e6e3eb6a042e8bcdd33b12155fb196d41917e8", + "visual_seed": 4624527636762502401, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9be719f7998fac808d5951d906a15e2763e514d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_91_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33460652089422677, + -0.09058740033181527, + 1.0036693937558865 + ], + "current_z": 1.0036693937558865, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1425629453457652, + "gripper_z": 1.0042000151689245, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33060378617282815, + -0.09477036236648813, + 1.0042000151689245 + ], + "object_minus_gripper": [ + 0.004002734721398615, + 0.00418296203467286, + -0.0005306214130380571 + ], + "object_to_gripper_xy": 0.005789564459733095, + "object_to_gripper_z": -0.0005306214130380571, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33460652089422677, + -0.11444752211091903, + 1.0036693937558865 + ], + "finger_b": [ + 0.3240079968168717, + -0.09058740033181527, + 1.0036693937558865 + ], + "finger_midpoint": [ + 0.32930725885554923, + -0.10251746122136715, + 1.0036693937558865 + ], + "object_minus_finger_midpoint": [ + 0.005299262038677532, + 0.011930060889551883, + 0.0 + ], + "finger_gap": 0.026108123715271783, + "fingertip_max_gap": 0.0928014377137246, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013054061857635892, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0036693937558865, + "object_top_z": 1.0534317211963073, + "finger_top_clearance": 0.04976232744042086, + "fingertip_min_top_clearance": 0.01492869823212624, + "object_projection_between_fingers": 0.8352067352932416, + "object_to_finger_line_xy": 0.00968595361054357, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0489007188568623, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.72720661552101, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.26874705767695345, + 0.05254083764427162, + 0.7701464494012562 + ], + "gripper_position": [ + 0.2807804225025323, + 0.020359172390427685, + 1.0454689505506485 + ], + "target_minus_gripper": [ + -0.012033364825578874, + 0.03218166525384394, + -0.2753225011493923 + ], + "held_position": [ + 0.28481022759673225, + 0.024494104541196972, + 1.0448599250175508 + ], + "held_minus_target": [ + 0.016063169919778797, + -0.02804673310307465, + 0.27471347561629456 + ], + "held_minus_gripper": [ + 0.004029805094199923, + 0.004134932150769287, + -0.0006090255330977179 + ], + "xy_dist": 0.03435784404667943, + "held_xy_dist": 0.03232096325338695, + "held_gripper_dist": 0.0058058509357948665, + "max_held_gripper_dist": 0.0058125401345933015, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012562, + "held_z": 1.0448599250175508, + "required_height": 0.8001464494012562, + "gripper_z": 1.0454689505506485, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.25448252740055, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8539027581850682, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8547523114539344, + "max_source_tilt_deg": 89.88805686918901, + "source_upright_tilt_deg": 3.099209540333929, + "max_source_upright_tilt_deg": 89.85072754827911, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8547523114539344, + "source_upright_return_tilt_deg": 3.099209540333929, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.332993508609764e-08, + "max_target_xy_drift": 2.062411686265169e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2687, + 0.0525, + 0.7701 + ], + "controller_target_position": [ + 0.2687, + 0.0525, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0009, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.2705, + 0.0264, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017743373627097116, + -0.0009377779967197442, + 0.00108292127029232 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0994537190493268, + "source_return_step_error_deg": 1.8548896352207171, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.093055148435585, + "source_return_best_wrist_position": -1.6148121356964111, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6148121356964111 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2687, + 0.0525, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2687, + 0.0525, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0009, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2705, + 0.0264, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017743373627097116, + -0.0009377779967197442, + 0.00108292127029232 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0994537190493268, + "pour_controller_source_return_step_error_deg": 1.8548896352207171, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.093055148435585, + "pour_controller_source_return_best_wrist_position": -1.6148121356964111, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6148121356964111, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03435784404667943, + "valid_pour_held_xy_dist": 0.03232096325338695, + "valid_pour_held_gripper_dist": 0.0058058509357948665, + "valid_pour_required_height": 0.8001464494012562, + "valid_pour_held_z": 1.0448599250175508, + "valid_pour_source_tilt_deg": 1.8547523114539344, + "valid_pour_source_upright_tilt_deg": 3.099209540333929, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.332993508609764e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28481022759673225, + 0.0009614350507789592, + 1.0448599250175508 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2744805328426071, + 0.024494104541196972, + 1.0448599250175508 + ], + "valid_pour_held_grasp_midpoint": [ + 0.27964538021966967, + 0.012727769795987966, + 1.0448599250175508 + ], + "valid_pour_held_grasp_object_position": [ + 0.28481022759673225, + 0.024494104541196972, + 1.0448599250175508 + ], + "valid_pour_held_grasp_finger_gap": 0.02569998301669967, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023932564724484465, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.042045145572197046, + -0.9985374253608962, + 0.03398846697698499 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056688602362579684, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03818828122750638, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28481022759673225, + 0.0009614350507789592, + 1.0448599250175508 + ], + "held_grasp_finger_b": [ + 0.2744805328426071, + 0.024494104541196972, + 1.0448599250175508 + ], + "held_grasp_midpoint": [ + 0.27964538021966967, + 0.012727769795987966, + 1.0448599250175508 + ], + "held_grasp_object_position": [ + 0.28481022759673225, + 0.024494104541196972, + 1.0448599250175508 + ], + "held_grasp_finger_gap": 0.02569998301669967, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023932564724484465, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.042045145572197046, + -0.9985374253608962, + 0.03398846697698499 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056688602362579684, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03818828122750638, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3143153424855599, + -0.09265510944794116, + 0.7611078920093475 + ], + "target_position": [ + 0.31149664018138884, + -0.09461923604698931, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003435531396542294, + "xy_threshold": 0.08, + "gripper_dist": 0.2179000196984498, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611078920093475, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580712820259067, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08664328613936038, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.188328185763906, + "release_required_pad_clearance": 0.053321643069680194, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6574850578193496, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c9efa60d1797eb82f926119b07e5b31e2874ccc1ec9c4b35728f02aed02a5a75", + "visual_seed": 8439643318605085910, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0f81383fcaf34969f0070f652ce2a62dc27cdd69 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_92_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3371297262671902, + -0.09204322339913543, + 1.005601758754605 + ], + "current_z": 1.005601758754605, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14449531034448382, + "gripper_z": 1.006141452144877, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33356178468114955, + -0.09608513770653385, + 1.006141452144877 + ], + "object_minus_gripper": [ + 0.003567941586040624, + 0.00404191430739842, + -0.0005396933902721557 + ], + "object_to_gripper_xy": 0.00539140783374344, + "object_to_gripper_z": -0.0005396933902721557, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3371297262671902, + -0.11539046375857301, + 1.005601758754605 + ], + "finger_b": [ + 0.32646904061499843, + -0.09204322339913543, + 1.005601758754605 + ], + "finger_midpoint": [ + 0.3317993834410943, + -0.10371684357885422, + 1.005601758754605 + ], + "object_minus_finger_midpoint": [ + 0.005330342826095902, + 0.011673620179718791, + 0.0 + ], + "finger_gap": 0.025666005746438188, + "fingertip_max_gap": 0.09260664901965801, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012833002873219106, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005601758754605, + "object_top_z": 1.0555478331560368, + "finger_top_clearance": 0.04994607440143195, + "fingertip_min_top_clearance": 0.0149838223204296, + "object_projection_between_fingers": 0.8274743386121514, + "object_to_finger_line_xy": 0.009697558427168558, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04880332450982901, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3117061980368714, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27069532489840425, + 0.05446166437738395, + 0.7701463897966118 + ], + "gripper_position": [ + 0.2816757797146135, + 0.022954090410201772, + 1.0430784455955135 + ], + "target_minus_gripper": [ + -0.01098045481620924, + 0.03150757396718218, + -0.2729320557989018 + ], + "held_position": [ + 0.28531396264483855, + 0.02691301621846783, + 1.0424648986169434 + ], + "held_minus_target": [ + 0.014618637746434293, + -0.027548648158916122, + 0.2723185088203316 + ], + "held_minus_gripper": [ + 0.0036381829302250535, + 0.003958925808266057, + -0.0006135469785701897 + ], + "xy_dist": 0.03336611462649298, + "held_xy_dist": 0.031187057971941278, + "held_gripper_dist": 0.0054116456354835925, + "max_held_gripper_dist": 0.005419695607821178, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0424648986169434, + "required_height": 0.8001463897966118, + "gripper_z": 1.0430784455955135, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.30161083267365, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3997574104619555, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7640504445201424, + "max_source_tilt_deg": 89.81804767259774, + "source_upright_tilt_deg": 2.2346811793987986, + "max_source_upright_tilt_deg": 89.91464456499142, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7640504445201424, + "source_upright_return_tilt_deg": 2.2346811793987986, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.82310962677002e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2707, + 0.0545, + 0.7701 + ], + "controller_target_position": [ + 0.2707, + 0.0545, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + 0.0003, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.272, + 0.0296, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013070095107278927, + 0.0003194491862786894, + -0.0013626886499975384 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.2347002403361436, + "source_return_step_error_deg": 1.764077540930925, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2273225058594837, + "source_return_best_wrist_position": -1.6147007942199707, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6147007942199707 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2707, + 0.0545, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2707, + 0.0545, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + 0.0003, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.272, + 0.0296, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013070095107278927, + 0.0003194491862786894, + -0.0013626886499975384 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.2347002403361436, + "pour_controller_source_return_step_error_deg": 1.764077540930925, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2273225058594837, + "pour_controller_source_return_best_wrist_position": -1.6147007942199707, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6147007942199707, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03336611462649298, + "valid_pour_held_xy_dist": 0.031187057971941278, + "valid_pour_held_gripper_dist": 0.0054116456354835925, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0424648986169434, + "valid_pour_source_tilt_deg": 1.7640504445201424, + "valid_pour_source_upright_tilt_deg": 2.2346811793987986, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.82310962677002e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28531396264483855, + 0.0036973278945302045, + 1.0424648986169434 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2751702870227833, + 0.02691301621846783, + 1.0424648986169434 + ], + "valid_pour_held_grasp_midpoint": [ + 0.28024212483381095, + 0.015305172056499016, + 1.0424648986169434 + ], + "valid_pour_held_grasp_object_position": [ + 0.28531396264483855, + 0.02691301621846783, + 1.0424648986169434 + ], + "valid_pour_held_grasp_finger_gap": 0.025335002259318864, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02344276933195199, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02412699539425613, + -0.9992395053399478, + 0.030631667620651164 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005362101247982693, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03824360181913322, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28531396264483855, + 0.0036973278945302045, + 1.0424648986169434 + ], + "held_grasp_finger_b": [ + 0.2751702870227833, + 0.02691301621846783, + 1.0424648986169434 + ], + "held_grasp_midpoint": [ + 0.28024212483381095, + 0.015305172056499016, + 1.0424648986169434 + ], + "held_grasp_object_position": [ + 0.28531396264483855, + 0.02691301621846783, + 1.0424648986169434 + ], + "held_grasp_finger_gap": 0.025335002259318864, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02344276933195199, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02412699539425613, + -0.9992395053399478, + 0.030631667620651164 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005362101247982693, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03824360181913322, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3165614081726096, + -0.09356181684098037, + 0.761106396479363 + ], + "target_position": [ + 0.3144094990804775, + -0.09646097905099263, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0036105199432718664, + "xy_threshold": 0.08, + "gripper_dist": 0.21767351630024576, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106396479363, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580678555430943, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552356274392962, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18822114583584607, + "release_required_pad_clearance": 0.052761781371964814, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5733473082040873, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c0dd1b1511c54b5611620e928197d2ec8614d02e97d0977c393992d18b30f36a", + "visual_seed": 2650723124941327513, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ea4c3f52cb0f12ebb632d35676e263d417e22794 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_93_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33715369708265236, + -0.09161696994266075, + 1.0023164647968565 + ], + "current_z": 1.0023164647968565, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14121007599138014, + "gripper_z": 1.0031331887008583, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33357384288611613, + -0.09562764778397935, + 1.0031331887008583 + ], + "object_minus_gripper": [ + 0.003579854196536225, + 0.004010677841318602, + -0.0008167239040017815 + ], + "object_to_gripper_xy": 0.005375955060759164, + "object_to_gripper_z": -0.0008167239040017815, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33715369708265236, + -0.11522386802901446, + 1.0023164647968565 + ], + "finger_b": [ + 0.32686706060790405, + -0.09161696994266075, + 1.0023164647968565 + ], + "finger_midpoint": [ + 0.3320103788452782, + -0.1034204189858376, + 1.0023164647968565 + ], + "object_minus_finger_midpoint": [ + 0.005143318237374184, + 0.011803449043176859, + 0.0 + ], + "finger_gap": 0.025750738382095243, + "fingertip_max_gap": 0.09312618560109634, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012875369191047634, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0023164647968565, + "object_top_z": 1.0523273364573542, + "finger_top_clearance": 0.05001087166049767, + "fingertip_min_top_clearance": 0.015003261498149317, + "object_projection_between_fingers": 0.840424059973611, + "object_to_finger_line_xy": 0.00943023750649413, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906309280054817, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.138584524899642, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27430738127295423, + 0.05016907197111107, + 0.7701464494012568 + ], + "gripper_position": [ + 0.2862480682915295, + 0.01731155632748252, + 1.0460386333464446 + ], + "target_minus_gripper": [ + -0.011940687018575258, + 0.03285751564362855, + -0.2758921839451879 + ], + "held_position": [ + 0.2899420177511754, + 0.02119126142008534, + 1.0451450970107887 + ], + "held_minus_target": [ + 0.015634636478221164, + -0.028977810551025728, + 0.27499864760953197 + ], + "held_minus_gripper": [ + 0.0036939494596459066, + 0.003879705092602822, + -0.0008935363356559201 + ], + "xy_dist": 0.03495992478176786, + "held_xy_dist": 0.03292651457620836, + "held_gripper_dist": 0.005431001878026187, + "max_held_gripper_dist": 0.005440050447673958, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012568, + "held_z": 1.0451450970107887, + "required_height": 0.8001464494012568, + "gripper_z": 1.0460386333464446, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22333003459613, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.01247389566976, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2669801494376007, + "max_source_tilt_deg": 89.98455745206071, + "source_upright_tilt_deg": 2.0962083412290733, + "max_source_upright_tilt_deg": 89.98699754037925, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2669801494376007, + "source_upright_return_tilt_deg": 2.0962083412290733, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2743, + 0.0502, + 0.7701 + ], + "controller_target_position": [ + 0.2743, + 0.0502, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0019, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.2761, + 0.0231, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018057511107970009, + -0.0018956005640247686, + 0.0013875310755696005 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.0958536431153485, + "source_return_step_error_deg": 2.2669452268839327, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.254245606393556, + "source_return_best_wrist_position": -1.6134241819381714, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6134241819381714 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2743, + 0.0502, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2743, + 0.0502, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0019, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2761, + 0.0231, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018057511107970009, + -0.0018956005640247686, + 0.0013875310755696005 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.0958536431153485, + "pour_controller_source_return_step_error_deg": 2.2669452268839327, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.254245606393556, + "pour_controller_source_return_best_wrist_position": -1.6134241819381714, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6134241819381714, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03495992478176786, + "valid_pour_held_xy_dist": 0.03292651457620836, + "valid_pour_held_gripper_dist": 0.005431001878026187, + "valid_pour_required_height": 0.8001464494012568, + "valid_pour_held_z": 1.0451450970107887, + "valid_pour_source_tilt_deg": 2.2669801494376007, + "valid_pour_source_upright_tilt_deg": 2.0962083412290733, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2899420177511754, + -0.0024563834929770397, + 1.0451450970107887 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2804209969242894, + 0.02119126142008534, + 1.0451450970107887 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2851815073377324, + 0.00936743896355415, + 1.0451450970107887 + ], + "valid_pour_held_grasp_object_position": [ + 0.2899420177511754, + 0.02119126142008534, + 1.0451450970107887 + ], + "valid_pour_held_grasp_finger_gap": 0.02549237037861097, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02388994818080379, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.027111349739280553, + -0.9993308230976299, + 0.024553629514349917 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00508751991873705, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038033403705205845, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2899420177511754, + -0.0024563834929770397, + 1.0451450970107887 + ], + "held_grasp_finger_b": [ + 0.2804209969242894, + 0.02119126142008534, + 1.0451450970107887 + ], + "held_grasp_midpoint": [ + 0.2851815073377324, + 0.00936743896355415, + 1.0451450970107887 + ], + "held_grasp_object_position": [ + 0.2899420177511754, + 0.02119126142008534, + 1.0451450970107887 + ], + "held_grasp_finger_gap": 0.02549237037861097, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02388994818080379, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.027111349739280553, + -0.9993308230976299, + 0.024553629514349917 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00508751991873705, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038033403705205845, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3177373163467238, + -0.09177047098493948, + 0.7611064408382235 + ], + "target_position": [ + 0.31454511719846906, + -0.09326731136615583, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0035257150379686456, + "xy_threshold": 0.08, + "gripper_dist": 0.21649217250778693, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064408382235, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583964723812466, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08648422139179777, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1868880721277097, + "release_required_pad_clearance": 0.05324211069589889, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5050296813215358, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0246871de70e0e65d8671381b9e7623054727175ada06e40f28d44da7cbab9eb", + "visual_seed": 7548931376719408626, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..771699e89bec0d51e0218497cbd0356a3497f339 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_94_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3353752417907166, + -0.09689710521975982, + 1.002324014546716 + ], + "current_z": 1.002324014546716, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.14121756613659509, + "gripper_z": 1.0028613648320146, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3318058228419687, + -0.10081119686842055, + 1.0028613648320146 + ], + "object_minus_gripper": [ + 0.0035694189487479044, + 0.003914091648660731, + -0.0005373502852985546 + ], + "object_to_gripper_xy": 0.005297250708225567, + "object_to_gripper_z": -0.0005373502852985546, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3353752417907166, + -0.12051775412265305, + 1.002324014546716 + ], + "finger_b": [ + 0.3252426251962825, + -0.09689710521975982, + 1.002324014546716 + ], + "finger_midpoint": [ + 0.33030893349349955, + -0.10870742967120643, + 1.002324014546716 + ], + "object_minus_finger_midpoint": [ + 0.005066308297217048, + 0.011810324451446613, + 0.0 + ], + "finger_gap": 0.025702236743979156, + "fingertip_max_gap": 0.0943685124310075, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012851118371989578, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002324014546716, + "object_top_z": 1.052363553671211, + "finger_top_clearance": 0.05003953912449499, + "fingertip_min_top_clearance": 0.01501186173734848, + "object_projection_between_fingers": 0.8445819769059147, + "object_to_finger_line_xy": 0.009311990292083195, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04968425621550375, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5961851769672326, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2727946749931995, + 0.05202144649498917, + 0.7701464494012566 + ], + "gripper_position": [ + 0.28358058280790605, + 0.019871626848958837, + 1.0453915308096255 + ], + "target_minus_gripper": [ + -0.010785907814706563, + 0.03214981964603033, + -0.2752450814083689 + ], + "held_position": [ + 0.28716788207512817, + 0.02374828771914503, + 1.0447831761313124 + ], + "held_minus_target": [ + 0.014373207081928685, + -0.028273158775844135, + 0.2746367267300558 + ], + "held_minus_gripper": [ + 0.0035872992672221216, + 0.0038766608701861945, + -0.0006083546783131055 + ], + "xy_dist": 0.033910864198065285, + "held_xy_dist": 0.031716881766404734, + "held_gripper_dist": 0.005316701134131069, + "max_held_gripper_dist": 0.005323962822106419, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0447831761313124, + "required_height": 0.8001464494012567, + "gripper_z": 1.0453915308096255, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22196399676213, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.787189970480853, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8412945839259494, + "max_source_tilt_deg": 89.90136468400092, + "source_upright_tilt_deg": 3.9175156354817875, + "max_source_upright_tilt_deg": 89.67115705694466, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8412945839259494, + "source_upright_return_tilt_deg": 3.9175156354817875, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-08, + "max_target_xy_drift": 1.9371509552001953e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2728, + 0.052, + 0.7701 + ], + "controller_target_position": [ + 0.2728, + 0.052, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + 0.0003, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.2732, + 0.0271, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00037283657466079777, + 0.0002579913739943706, + 0.0019623668100098267 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.917690353310888, + "source_return_step_error_deg": 1.8414143420615992, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9146553042076757, + "source_return_best_wrist_position": -1.6134066581726074, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6134066581726074 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2728, + 0.052, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2728, + 0.052, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + 0.0003, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2732, + 0.0271, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00037283657466079777, + 0.0002579913739943706, + 0.0019623668100098267 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.917690353310888, + "pour_controller_source_return_step_error_deg": 1.8414143420615992, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9146553042076757, + "pour_controller_source_return_best_wrist_position": -1.6134066581726074, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6134066581726074, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033910864198065285, + "valid_pour_held_xy_dist": 0.031716881766404734, + "valid_pour_held_gripper_dist": 0.005316701134131069, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0447831761313124, + "valid_pour_source_tilt_deg": 1.8412945839259494, + "valid_pour_source_upright_tilt_deg": 3.9175156354817875, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28716788207512817, + 0.00048645668015618194, + 1.0447831761313124 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27725724660476947, + 0.02374828771914503, + 1.0447831761313124 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2822125643399488, + 0.012117372199650606, + 1.0447831761313124 + ], + "valid_pour_held_grasp_object_position": [ + 0.28716788207512817, + 0.02374828771914503, + 1.0447831761313124 + ], + "valid_pour_held_grasp_finger_gap": 0.025285044566161975, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02379578742047979, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.059361364640013806, + -0.9976634485742684, + 0.033821173352999945 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005650368118634529, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03841066520582538, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28716788207512817, + 0.00048645668015618194, + 1.0447831761313124 + ], + "held_grasp_finger_b": [ + 0.27725724660476947, + 0.02374828771914503, + 1.0447831761313124 + ], + "held_grasp_midpoint": [ + 0.2822125643399488, + 0.012117372199650606, + 1.0447831761313124 + ], + "held_grasp_object_position": [ + 0.28716788207512817, + 0.02374828771914503, + 1.0447831761313124 + ], + "held_grasp_finger_gap": 0.025285044566161975, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02379578742047979, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.059361364640013806, + -0.9976634485742684, + 0.033821173352999945 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005650368118634529, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03841066520582538, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29253444625506453, + -0.08093061188219335, + 0.7611208546803384 + ], + "target_position": [ + 0.3126892401221029, + -0.09890589826991426, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02700604814746862, + "xy_threshold": 0.08, + "gripper_dist": 0.20279199014716712, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611208546803384, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08099295818410412, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08785401297364002, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18040454181873036, + "release_required_pad_clearance": 0.053927006486820014, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.804450546073685, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 185, + "max_placed_release_frames": 185 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3deb7c41e587f4dc6ad217a3d1df1d5e874c527d880d174669ef8d144cce0ab5", + "visual_seed": 4857738957705112720, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0e254d1bbd5fba8e843f410c639dd0effe1dc95c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_95_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3372931823437959, + -0.09106828910476279, + 1.0037719854570282 + ], + "current_z": 1.0037719854570282, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1426654774422622, + "gripper_z": 1.004861082785053, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3336071903537031, + -0.09510593884898806, + 1.004861082785053 + ], + "object_minus_gripper": [ + 0.003685991990092785, + 0.004037649744225269, + -0.0010890973280248684 + ], + "object_to_gripper_xy": 0.0054670972561379, + "object_to_gripper_z": -0.0010890973280248684, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3372931823437959, + -0.11473411197613909, + 1.0037719854570282 + ], + "finger_b": [ + 0.3269577574862688, + -0.09106828910476279, + 1.0037719854570282 + ], + "finger_midpoint": [ + 0.33212546991503233, + -0.10290120054045093, + 1.0037719854570282 + ], + "object_minus_finger_midpoint": [ + 0.005167712428763571, + 0.01183291143568814, + 0.0 + ], + "finger_gap": 0.025824255636222045, + "fingertip_max_gap": 0.09352680959940288, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012912127818111028, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0037719854570282, + "object_top_z": 1.053699487381154, + "finger_top_clearance": 0.04992750192412587, + "fingertip_min_top_clearance": 0.014978250577237761, + "object_projection_between_fingers": 0.8398226725055532, + "object_to_finger_line_xy": 0.009471573447235211, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04926340479970144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2619765598941437, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2690042517191593, + 0.04810231444113708, + 0.7701464494012564 + ], + "gripper_position": [ + 0.2813688866458094, + 0.01602938831333424, + 1.045637304014698 + ], + "target_minus_gripper": [ + -0.012364634926650075, + 0.03207292612780284, + -0.2754908546134416 + ], + "held_position": [ + 0.28515233505801807, + 0.01994254998149093, + 1.0444719694055222 + ], + "held_minus_target": [ + 0.016148083338858754, + -0.028159764459646148, + 0.2743255200042658 + ], + "held_minus_gripper": [ + 0.0037834484122086787, + 0.0039131616681566915, + -0.0011653346091757832 + ], + "xy_dist": 0.034373780520461125, + "held_xy_dist": 0.032461252747567795, + "held_gripper_dist": 0.00556644598287975, + "max_held_gripper_dist": 0.005578047189475684, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0444719694055222, + "required_height": 0.8001464494012565, + "gripper_z": 1.045637304014698, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2246550912951, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.2630879141481977, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2133445970466186, + "max_source_tilt_deg": 89.83661778338987, + "source_upright_tilt_deg": 2.7266624555743655, + "max_source_upright_tilt_deg": 89.63423349592107, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2133445970466186, + "source_upright_return_tilt_deg": 2.7266624555743655, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.869095904598301e-08, + "max_target_xy_drift": 1.6429332696795422e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.269, + 0.0481, + 0.7701 + ], + "controller_target_position": [ + 0.269, + 0.0481, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + -0.0019, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.2703, + 0.021, + 1.0371 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012985018866100823, + -0.0018537613428622418, + 0.0017537834528152407 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7266609327898306, + "source_return_step_error_deg": 2.213313192092294, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.720118097699509, + "source_return_best_wrist_position": -1.6153098344802856, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6153098344802856 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.269, + 0.0481, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.269, + 0.0481, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + -0.0019, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2703, + 0.021, + 1.0371 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012985018866100823, + -0.0018537613428622418, + 0.0017537834528152407 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7266609327898306, + "pour_controller_source_return_step_error_deg": 2.213313192092294, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.720118097699509, + "pour_controller_source_return_best_wrist_position": -1.6153098344802856, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6153098344802856, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034373780520461125, + "valid_pour_held_xy_dist": 0.032461252747567795, + "valid_pour_held_gripper_dist": 0.00556644598287975, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0444719694055222, + "valid_pour_source_tilt_deg": 2.2133445970466186, + "valid_pour_source_upright_tilt_deg": 2.7266624555743655, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.869095904598301e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28515233505801807, + -0.0036337207062668623, + 1.0444719694055222 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27545752180631894, + 0.01994254998149093, + 1.0444719694055222 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2803049284321685, + 0.008154414637612035, + 1.0444719694055222 + ], + "valid_pour_held_grasp_object_position": [ + 0.28515233505801807, + 0.01994254998149093, + 1.0444719694055222 + ], + "valid_pour_held_grasp_finger_gap": 0.025491762267990582, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023893371093557828, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03546145433805701, + -0.9988678543780487, + 0.031709537152457605 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00527544797545328, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03811735670075726, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28515233505801807, + -0.0036337207062668623, + 1.0444719694055222 + ], + "held_grasp_finger_b": [ + 0.27545752180631894, + 0.01994254998149093, + 1.0444719694055222 + ], + "held_grasp_midpoint": [ + 0.2803049284321685, + 0.008154414637612035, + 1.0444719694055222 + ], + "held_grasp_object_position": [ + 0.28515233505801807, + 0.01994254998149093, + 1.0444719694055222 + ], + "held_grasp_finger_gap": 0.025491762267990582, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023893371093557828, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03546145433805701, + -0.9988678543780487, + 0.031709537152457605 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00527544797545328, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03811735670075726, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2957468110750834, + -0.06659824620511139, + 0.7611063313590782 + ], + "target_position": [ + 0.31465428124735983, + -0.09510697621007584, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.034208772483260555, + "xy_threshold": 0.08, + "gripper_dist": 0.20573371283759725, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063313590782, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08937151203470688, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09213136911083412, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18502736499145467, + "release_required_pad_clearance": 0.056065684555417064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.384836203497484, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 176, + "max_placed_release_frames": 176 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9c2aed47088bafb01a72a3b876c8b779ca9f9326b1bb74d2f4df15bbe07c0c93", + "visual_seed": 535939182173957845, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9a026f69251f96727c5a1cebe30f3b7e632d5af3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_96_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33608940150936795, + -0.0940451606125324, + 1.0043215923066833 + ], + "current_z": 1.0043215923066833, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14321514389656198, + "gripper_z": 1.0049047126663992, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3320527770718218, + -0.09814314188401765, + 1.0049047126663992 + ], + "object_minus_gripper": [ + 0.004036624437546155, + 0.0040979812714852515, + -0.0005831203597159718 + ], + "object_to_gripper_xy": 0.00575219847981958, + "object_to_gripper_z": -0.0005831203597159718, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33608940150936795, + -0.11811478842856765, + 1.0043215923066833 + ], + "finger_b": [ + 0.325839036408733, + -0.0940451606125324, + 1.0043215923066833 + ], + "finger_midpoint": [ + 0.3309642189590505, + -0.10607997452055003, + 1.0043215923066833 + ], + "object_minus_finger_midpoint": [ + 0.005125182550317464, + 0.012034813908017625, + 0.0 + ], + "finger_gap": 0.026161364029782017, + "fingertip_max_gap": 0.09358699625442132, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013080682014891008, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043215923066833, + "object_top_z": 1.0542970203532829, + "finger_top_clearance": 0.0499754280465996, + "fingertip_min_top_clearance": 0.014992628413979896, + "object_projection_between_fingers": 0.8464824958696017, + "object_to_finger_line_xy": 0.009430795453550946, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049293498127210664, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1518036140005847, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27241812264983106, + 0.05120333921783426, + 0.770146330191967 + ], + "gripper_position": [ + 0.2811007504160033, + 0.01977267613508532, + 1.0419277503064204 + ], + "target_minus_gripper": [ + -0.008682627766172235, + 0.03143066308274894, + -0.2717814201144534 + ], + "held_position": [ + 0.28509897294855235, + 0.02389633963323011, + 1.0412851451723921 + ], + "held_minus_target": [ + 0.012680850298721291, + -0.02730699958460415, + 0.27113881498042514 + ], + "held_minus_gripper": [ + 0.003998222532549056, + 0.004123663498144789, + -0.0006426051340282513 + ], + "xy_dist": 0.03260789178630201, + "held_xy_dist": 0.030107743034178947, + "held_gripper_dist": 0.005779561006165968, + "max_held_gripper_dist": 0.005782680443589166, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0412851451723921, + "required_height": 0.800146330191967, + "gripper_z": 1.0419277503064204, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.28536181263819, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 4.075434264001055, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 0.6802053890504893, + "max_source_tilt_deg": 89.78350011394988, + "source_upright_tilt_deg": 3.7464837166230662, + "max_source_upright_tilt_deg": 89.95784897888522, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 0.6802053890504893, + "source_upright_return_tilt_deg": 3.7464837166230662, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.607703207535561e-08, + "max_target_xy_drift": 1.0168063693126602e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2724, + 0.0512, + 0.7701 + ], + "controller_target_position": [ + 0.2724, + 0.0512, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0001, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.2706, + 0.0259, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018074174183630265, + -0.0001410536068157614, + -0.0018069341945564075 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.746273532284496, + "source_return_step_error_deg": 0.6802535536043797, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.7470985368855216, + "source_return_best_wrist_position": -1.5896109342575073, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5896109342575073 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2724, + 0.0512, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2724, + 0.0512, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0001, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2706, + 0.0259, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018074174183630265, + -0.0001410536068157614, + -0.0018069341945564075 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.746273532284496, + "pour_controller_source_return_step_error_deg": 0.6802535536043797, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.7470985368855216, + "pour_controller_source_return_best_wrist_position": -1.5896109342575073, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5896109342575073, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03260789178630201, + "valid_pour_held_xy_dist": 0.030107743034178947, + "valid_pour_held_gripper_dist": 0.005779561006165968, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0412851451723921, + "valid_pour_source_tilt_deg": 0.6802053890504893, + "valid_pour_source_upright_tilt_deg": 3.7464837166230662, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.607703207535561e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28509897294855235, + 7.212882277894565e-05, + 1.0412851451723921 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27462623529458063, + 0.02389633963323011, + 1.0412851451723921 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2798626041215665, + 0.011984234228004528, + 1.0412851451723921 + ], + "valid_pour_held_grasp_object_position": [ + 0.28509897294855235, + 0.02389633963323011, + 1.0412851451723921 + ], + "valid_pour_held_grasp_finger_gap": 0.026024435723176306, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024440986817874048, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06375503913699791, + -0.9978629390084451, + 0.014312579713938619 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005987532248570433, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038167446460158516, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28509897294855235, + 7.212882277894565e-05, + 1.0412851451723921 + ], + "held_grasp_finger_b": [ + 0.27462623529458063, + 0.02389633963323011, + 1.0412851451723921 + ], + "held_grasp_midpoint": [ + 0.2798626041215665, + 0.011984234228004528, + 1.0412851451723921 + ], + "held_grasp_object_position": [ + 0.28509897294855235, + 0.02389633963323011, + 1.0412851451723921 + ], + "held_grasp_finger_gap": 0.026024435723176306, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024440986817874048, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06375503913699791, + -0.9978629390084451, + 0.014312579713938619 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005987532248570433, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038167446460158516, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31488500283681087, + -0.09498629428934308, + 0.7611065340451407 + ], + "target_position": [ + 0.3128881308717069, + -0.09578044983230703, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0021489952702224585, + "xy_threshold": 0.08, + "gripper_dist": 0.21520972599076418, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065340451407, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754428698224208, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0902637707552567, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18626165803119363, + "release_required_pad_clearance": 0.05513188537762835, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.353867650126447, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ad25d8b5104286abcd8dad426ca94852669f43ec86ffa614a21ca5df57e653d", + "visual_seed": 8260599000617829482, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b9405a0bea4252b832829b56282b90657af8a321 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_97_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3349404278052204, + -0.09246622781685705, + 1.0024170042601173 + ], + "current_z": 1.0024170042601173, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.14131061545464074, + "gripper_z": 1.0029610318170725, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33141670520261124, + -0.09647783159815666, + 1.0029610318170725 + ], + "object_minus_gripper": [ + 0.003523722602609136, + 0.004011603781299611, + -0.0005440275569552622 + ], + "object_to_gripper_xy": 0.0053394368502938435, + "object_to_gripper_z": -0.0005440275569552622, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3349404278052204, + -0.11580763928136656, + 1.0024170042601173 + ], + "finger_b": [ + 0.3243517808369056, + -0.09246622781685705, + 1.0024170042601173 + ], + "finger_midpoint": [ + 0.329646104321063, + -0.1041369335491118, + 1.0024170042601173 + ], + "object_minus_finger_midpoint": [ + 0.0052943234841573705, + 0.011670705732254746, + 0.0 + ], + "finger_gap": 0.025630859013601903, + "fingertip_max_gap": 0.0927262066221485, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012815429506800934, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024170042601173, + "object_top_z": 1.0523529478626448, + "finger_top_clearance": 0.04993594360252751, + "fingertip_min_top_clearance": 0.014980783080758252, + "object_projection_between_fingers": 0.8293310115792251, + "object_to_finger_line_xy": 0.009642828030410767, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048863103311074255, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3685712505933822, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27301938450400276, + 0.053571383325986655, + 0.7701464494012566 + ], + "gripper_position": [ + 0.282979343168072, + 0.021616397800248183, + 1.04323402845656 + ], + "target_minus_gripper": [ + -0.009959958664069235, + 0.03195498552573847, + -0.27308757905530334 + ], + "held_position": [ + 0.2866571602669995, + 0.025469567030975804, + 1.0426183007593122 + ], + "held_minus_target": [ + 0.01363777576299674, + -0.02810181629501085, + 0.2724718513580555 + ], + "held_minus_gripper": [ + 0.003677817098927505, + 0.003853169230727621, + -0.0006157276972478254 + ], + "xy_dist": 0.033471209666519716, + "held_xy_dist": 0.03123621306817327, + "held_gripper_dist": 0.005362123863819982, + "max_held_gripper_dist": 0.005369501014295666, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0426183007593122, + "required_height": 0.8001464494012567, + "gripper_z": 1.04323402845656, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24075384716883, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.518400343206317, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1564765957314123, + "max_source_tilt_deg": 89.76002607661721, + "source_upright_tilt_deg": 1.7694551403132237, + "max_source_upright_tilt_deg": 89.85665945604903, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1564765957314123, + "source_upright_return_tilt_deg": 1.7694551403132237, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.9600379076554516e-08, + "max_target_xy_drift": 1.431209796093296e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.273, + 0.0536, + 0.7701 + ], + "controller_target_position": [ + 0.273, + 0.0536, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + 0.0, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.273, + 0.0284, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 1.7515996462756558e-05, + 3.3258771283958995e-05, + -0.0009043275482197312 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7694753201538151, + "source_return_step_error_deg": 2.1564980584411972, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1476721349863612, + "source_return_best_wrist_position": -1.6124988794326782, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6124988794326782 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.273, + 0.0536, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.273, + 0.0536, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + 0.0, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.273, + 0.0284, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 1.7515996462756558e-05, + 3.3258771283958995e-05, + -0.0009043275482197312 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7694753201538151, + "pour_controller_source_return_step_error_deg": 2.1564980584411972, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1476721349863612, + "pour_controller_source_return_best_wrist_position": -1.6124988794326782, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6124988794326782, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033471209666519716, + "valid_pour_held_xy_dist": 0.03123621306817327, + "valid_pour_held_gripper_dist": 0.005362123863819982, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0426183007593122, + "valid_pour_source_tilt_deg": 2.1564765957314123, + "valid_pour_source_upright_tilt_deg": 1.7694551403132237, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.9600379076554516e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2866571602669995, + 0.0018917021195584646, + 1.0426183007593122 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2770841857320226, + 0.025469567030975804, + 1.0426183007593122 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2818706729995111, + 0.013680634575267135, + 1.0426183007593122 + ], + "valid_pour_held_grasp_object_position": [ + 0.2866571602669995, + 0.025469567030975804, + 1.0426183007593122 + ], + "valid_pour_held_grasp_finger_gap": 0.02544715220271929, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02360420452910288, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.00392586523401167, + -0.999523171827914, + 0.030627056032711878 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.004846179592631799, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03795573001345657, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2866571602669995, + 0.0018917021195584646, + 1.0426183007593122 + ], + "held_grasp_finger_b": [ + 0.2770841857320226, + 0.025469567030975804, + 1.0426183007593122 + ], + "held_grasp_midpoint": [ + 0.2818706729995111, + 0.013680634575267135, + 1.0426183007593122 + ], + "held_grasp_object_position": [ + 0.2866571602669995, + 0.025469567030975804, + 1.0426183007593122 + ], + "held_grasp_finger_gap": 0.02544715220271929, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02360420452910288, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00392586523401167, + -0.999523171827914, + 0.030627056032711878 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004846179592631799, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03795573001345657, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3162251139237162, + -0.09153334494099943, + 0.7611149741582917 + ], + "target_position": [ + 0.31221255227539424, + -0.09521781678864069, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0054475667758775905, + "xy_threshold": 0.08, + "gripper_dist": 0.21949268780382936, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611149741582917, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543478841526711, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499362783742968, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19084108191303928, + "release_required_pad_clearance": 0.052496813918714844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03217185884585966, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c7dc02af910cd7f55e21d14daf61fd151f3de796b4b9035096253a9a2018d6e9", + "visual_seed": 7185629990239504449, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4f7e1642cc54109e760dcffb21c47b962fb243 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_98_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33661862348642346, + -0.09000102390527785, + 1.0015936840194826 + ], + "current_z": 1.0015936840194826, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.14048711640007183, + "gripper_z": 1.002111400674479, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33264982796421433, + -0.09407719406473017, + 1.002111400674479 + ], + "object_minus_gripper": [ + 0.003968795522209134, + 0.004076170159452316, + -0.0005177166549963363 + ], + "object_to_gripper_xy": 0.005689156445899234, + "object_to_gripper_z": -0.0005177166549963363, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33661862348642346, + -0.11398915152569364, + 1.0015936840194826 + ], + "finger_b": [ + 0.3263519507686441, + -0.09000102390527785, + 1.0015936840194826 + ], + "finger_midpoint": [ + 0.3314852871275338, + -0.10199508771548574, + 1.0015936840194826 + ], + "object_minus_finger_midpoint": [ + 0.005133336358889684, + 0.011994063810207886, + 0.0 + ], + "finger_gap": 0.02609281194941147, + "fingertip_max_gap": 0.09364161275292279, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013046405974705728, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0015936840194826, + "object_top_z": 1.0516078974900125, + "finger_top_clearance": 0.05001421347052992, + "fingertip_min_top_clearance": 0.01500426404115896, + "object_projection_between_fingers": 0.8451833496036754, + "object_to_finger_line_xy": 0.009438547898502257, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0493208063764614, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.140244894821469, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2662567905193988, + 0.049731517999105225, + 0.7701463897966115 + ], + "gripper_position": [ + 0.27815905913769723, + 0.0189364402431257, + 1.043992849945161 + ], + "target_minus_gripper": [ + -0.011902268618298406, + 0.030795077755979526, + -0.2738464601485494 + ], + "held_position": [ + 0.28212176456161964, + 0.022997641247441185, + 1.0434040095469945 + ], + "held_minus_target": [ + 0.015864974042220814, + -0.02673387675166404, + 0.273257619750383 + ], + "held_minus_gripper": [ + 0.003962705423922408, + 0.004061201004315486, + -0.0005888403981664236 + ], + "xy_dist": 0.033015160339743256, + "held_xy_dist": 0.031086935640772046, + "held_gripper_dist": 0.0057046578239847105, + "max_held_gripper_dist": 0.005711011346008069, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0434040095469945, + "required_height": 0.8001463897966116, + "gripper_z": 1.043992849945161, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.25065079127619, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.8890975310410916, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.914135608888378, + "max_source_tilt_deg": 89.8935222762511, + "source_upright_tilt_deg": 3.910085663653533, + "max_source_upright_tilt_deg": 89.95050182017783, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.914135608888378, + "source_upright_return_tilt_deg": 3.910085663653533, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.360340502381185e-08, + "max_target_xy_drift": 1.5287313259156937e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2663, + 0.0497, + 0.7701 + ], + "controller_target_position": [ + 0.2663, + 0.0497, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.002, + 0.0017, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.2682, + 0.0262, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019715606838466224, + 0.0016759982969556837, + 5.34744266898245e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.910081824381589, + "source_return_step_error_deg": 1.9141375671291518, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.905240977528885, + "source_return_best_wrist_position": -1.6140822172164917, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6140822172164917 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2663, + 0.0497, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2663, + 0.0497, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.002, + 0.0017, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2682, + 0.0262, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019715606838466224, + 0.0016759982969556837, + 5.34744266898245e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.910081824381589, + "pour_controller_source_return_step_error_deg": 1.9141375671291518, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.905240977528885, + "pour_controller_source_return_best_wrist_position": -1.6140822172164917, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6140822172164917, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033015160339743256, + "valid_pour_held_xy_dist": 0.031086935640772046, + "valid_pour_held_gripper_dist": 0.0057046578239847105, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0434040095469945, + "valid_pour_source_tilt_deg": 1.914135608888378, + "valid_pour_source_upright_tilt_deg": 3.910085663653533, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.360340502381185e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28212176456161964, + -0.0005228476932342558, + 1.0434040095469945 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2719403943988082, + 0.022997641247441185, + 1.0434040095469945 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2770310794802139, + 0.011237396777103465, + 1.0434040095469945 + ], + "valid_pour_held_grasp_object_position": [ + 0.28212176456161964, + 0.022997641247441185, + 1.0434040095469945 + ], + "valid_pour_held_grasp_finger_gap": 0.02562954737018629, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02404865250013271, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05725282325120933, + -0.9976723006453054, + 0.03704179740333002 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005771695489506222, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03827883600641529, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28212176456161964, + -0.0005228476932342558, + 1.0434040095469945 + ], + "held_grasp_finger_b": [ + 0.2719403943988082, + 0.022997641247441185, + 1.0434040095469945 + ], + "held_grasp_midpoint": [ + 0.2770310794802139, + 0.011237396777103465, + 1.0434040095469945 + ], + "held_grasp_object_position": [ + 0.28212176456161964, + 0.022997641247441185, + 1.0434040095469945 + ], + "held_grasp_finger_gap": 0.02562954737018629, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02404865250013271, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05725282325120933, + -0.9976723006453054, + 0.03704179740333002 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005771695489506222, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03827883600641529, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31670145189828125, + -0.0923100527370269, + 0.7611085198479995 + ], + "target_position": [ + 0.3134987321356939, + -0.09489164055751623, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004113637022461557, + "xy_threshold": 0.08, + "gripper_dist": 0.21848053299109962, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085198479995, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549427715854902, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08553782263701458, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18974236427524882, + "release_required_pad_clearance": 0.05276891131850729, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5814684573225589, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "93e8d2d6cdffa82963eec31a04bec97dcff18a7b2552c60a936dbe90d4e3484d", + "visual_seed": 3307608366747658154, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..87855139d44db77d778b783db63ecd4c10dcb5ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_99_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3378986914800911, + -0.08772342768178497, + 1.0035765615436905 + ], + "current_z": 1.0035765615436905, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1424700535289244, + "gripper_z": 1.0050008457869122, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33377177988787543, + -0.09186416528475727, + 1.0050008457869122 + ], + "object_minus_gripper": [ + 0.004126911592215676, + 0.0041407376029723025, + -0.0014242842432217184 + ], + "object_to_gripper_xy": 0.005846118984987642, + "object_to_gripper_z": -0.0014242842432217184, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3378986914800911, + -0.11184451838007167, + 1.0035765615436905 + ], + "finger_b": [ + 0.3275930514971852, + -0.08772342768178497, + 1.0035765615436905 + ], + "finger_midpoint": [ + 0.33274587148863816, + -0.09978397303092831, + 1.0035765615436905 + ], + "object_minus_finger_midpoint": [ + 0.0051528199914529504, + 0.012060545349143345, + 0.0 + ], + "finger_gap": 0.02623038756732813, + "fingertip_max_gap": 0.09319261006668592, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013115193783664058, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035765615436905, + "object_top_z": 1.0533561903538953, + "finger_top_clearance": 0.04977962881020481, + "fingertip_min_top_clearance": 0.014933888643061444, + "object_projection_between_fingers": 0.8456379568193183, + "object_to_finger_line_xy": 0.009476919702139331, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04909630503334296, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.204322276667501, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27441115295950813, + 0.04870733138792968, + 0.7701463897966117 + ], + "gripper_position": [ + 0.28435564059941604, + 0.01695794831111469, + 1.0438419521568685 + ], + "target_minus_gripper": [ + -0.009944487639907906, + 0.03174938307681499, + -0.2736955623602568 + ], + "held_position": [ + 0.28848797117200076, + 0.02105403710688425, + 1.042343547966158 + ], + "held_minus_target": [ + 0.014076818212492626, + -0.027653294281045432, + 0.27219715816954637 + ], + "held_minus_gripper": [ + 0.004132330572584719, + 0.004096088795769559, + -0.0014984041907104562 + ], + "xy_dist": 0.03327034956502001, + "held_xy_dist": 0.031030009596867098, + "held_gripper_dist": 0.006008270508447995, + "max_held_gripper_dist": 0.006047817395798956, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.042343547966158, + "required_height": 0.8001463897966117, + "gripper_z": 1.0438419521568685, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23977029992835, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 4.189465834970114, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0744719004037324, + "max_source_tilt_deg": 89.77068741988961, + "source_upright_tilt_deg": 3.881879271636424, + "max_source_upright_tilt_deg": 89.98269012993906, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0744719004037324, + "source_upright_return_tilt_deg": 3.881879271636424, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2649541233740484e-07, + "max_target_xy_drift": 1.9556887072930765e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2744, + 0.0487, + 0.7701 + ], + "controller_target_position": [ + 0.2744, + 0.0487, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + -0.0015, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.2728, + 0.022, + 1.0361 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015708230559376363, + -0.0014703822570169703, + 0.0007860770301027636 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.8818764985765615, + "source_return_step_error_deg": 2.0744511090034297, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.878105419402878, + "source_return_best_wrist_position": -1.6155258417129517, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6155258417129517 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2744, + 0.0487, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2744, + 0.0487, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + -0.0015, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2728, + 0.022, + 1.0361 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015708230559376363, + -0.0014703822570169703, + 0.0007860770301027636 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.8818764985765615, + "pour_controller_source_return_step_error_deg": 2.0744511090034297, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.878105419402878, + "pour_controller_source_return_best_wrist_position": -1.6155258417129517, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6155258417129517, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03327034956502001, + "valid_pour_held_xy_dist": 0.031030009596867098, + "valid_pour_held_gripper_dist": 0.006008270508447995, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.042343547966158, + "valid_pour_source_tilt_deg": 2.0744719004037324, + "valid_pour_source_upright_tilt_deg": 3.881879271636424, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2649541233740484e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.28848797117200076, + -0.0025479707088109475, + 1.042343547966158 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27825906952164603, + 0.02105403710688425, + 1.042343547966158 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2833735203468234, + 0.00925303319903665, + 1.042343547966158 + ], + "valid_pour_held_grasp_object_position": [ + 0.28848797117200076, + 0.02105403710688425, + 1.042343547966158 + ], + "valid_pour_held_grasp_finger_gap": 0.02572324244539881, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024147596141195563, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05863163791651395, + -0.9977057489019703, + 0.033846264833589434 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005810957661306256, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03824618925734451, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28848797117200076, + -0.0025479707088109475, + 1.042343547966158 + ], + "held_grasp_finger_b": [ + 0.27825906952164603, + 0.02105403710688425, + 1.042343547966158 + ], + "held_grasp_midpoint": [ + 0.2833735203468234, + 0.00925303319903665, + 1.042343547966158 + ], + "held_grasp_object_position": [ + 0.28848797117200076, + 0.02105403710688425, + 1.042343547966158 + ], + "held_grasp_finger_gap": 0.02572324244539881, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024147596141195563, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05863163791651395, + -0.9977057489019703, + 0.033846264833589434 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005810957661306256, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03824618925734451, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31381883544729394, + -0.08907704152008027, + 0.7611075136670085 + ], + "target_position": [ + 0.3148377490057175, + -0.08965000619044186, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0011689625113843007, + "xy_threshold": 0.08, + "gripper_dist": 0.21638279938525132, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611075136670085, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537418132055393, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08619123723252224, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.187777114383481, + "release_required_pad_clearance": 0.05309561861626112, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2169002499567527, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "269cf5513c8770b9b64940c22bfb83dd2714497d564d7a780ec73419265f3553", + "visual_seed": 5249265148243824322, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e17ea1f25c436150cc4d8a00fbe86a55ce711072 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/episode_9_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32894299527952214, + -0.09071057161941978, + 1.003977649244936 + ], + "current_z": 1.003977649244936, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14287120083481486, + "gripper_z": 1.0051595329689087, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3253689601205807, + -0.09467155732982936, + 1.0051595329689087 + ], + "object_minus_gripper": [ + 0.0035740351589414465, + 0.003960985710409579, + -0.0011818837239727653 + ], + "object_to_gripper_xy": 0.005335085295983419, + "object_to_gripper_z": -0.0011818837239727653, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32894299527952214, + -0.114294155036135, + 1.003977649244936 + ], + "finger_b": [ + 0.3187133008501473, + -0.09071057161941978, + 1.003977649244936 + ], + "finger_midpoint": [ + 0.32382814806483473, + -0.1025023633277774, + 1.003977649244936 + ], + "object_minus_finger_midpoint": [ + 0.0051148472146874124, + 0.011791791708357618, + 0.0 + ], + "finger_gap": 0.02570665390305684, + "fingertip_max_gap": 0.09291296864259421, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012853326951528427, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003977649244936, + "object_top_z": 1.0540053582027646, + "finger_top_clearance": 0.05002770895782871, + "fingertip_min_top_clearance": 0.015008312687348629, + "object_projection_between_fingers": 0.841644110112733, + "object_to_finger_line_xy": 0.0093848407035962, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04895648432129711, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.627716552713865, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.27558271205489077, + 0.05209855627887702, + 0.7701464494012565 + ], + "gripper_position": [ + 0.2846967999387549, + 0.019992230486924528, + 1.0432985836330624 + ], + "target_minus_gripper": [ + -0.009114087883864141, + 0.032106325791952495, + -0.27315213423180584 + ], + "held_position": [ + 0.2883784248614294, + 0.02381799185571145, + 1.042040910838332 + ], + "held_minus_target": [ + 0.012795712806538628, + -0.028280564423165573, + 0.2718944614370754 + ], + "held_minus_gripper": [ + 0.003681624922674487, + 0.0038257613687869216, + -0.0012576727947304356 + ], + "xy_dist": 0.03337488207939907, + "held_xy_dist": 0.031040628059371397, + "held_gripper_dist": 0.005456423094002643, + "max_held_gripper_dist": 0.005476550522068835, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.042040910838332, + "required_height": 0.8001464494012566, + "gripper_z": 1.0432985836330624, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24338346999929, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6022502638721248, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2909371901812143, + "max_source_tilt_deg": 89.63476660941039, + "source_upright_tilt_deg": 2.071581211886492, + "max_source_upright_tilt_deg": 89.98453014275495, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2909371901812143, + "source_upright_return_tilt_deg": 2.071581211886492, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.485843546238652e-08, + "max_target_xy_drift": 1.666000468656264e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2756, + 0.0521, + 0.7701 + ], + "controller_target_position": [ + 0.2756, + 0.0521, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0002, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.2753, + 0.0271, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00027251384801322935, + 0.00023896265035468081, + -0.0008448287461762525 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.0715843045914917, + "source_return_step_error_deg": 2.290937905958807, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2792778069080035, + "source_return_best_wrist_position": -1.6143285036087036, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6143285036087036 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2756, + 0.0521, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2756, + 0.0521, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0002, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2753, + 0.0271, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00027251384801322935, + 0.00023896265035468081, + -0.0008448287461762525 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.0715843045914917, + "pour_controller_source_return_step_error_deg": 2.290937905958807, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2792778069080035, + "pour_controller_source_return_best_wrist_position": -1.6143285036087036, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6143285036087036, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03337488207939907, + "valid_pour_held_xy_dist": 0.031040628059371397, + "valid_pour_held_gripper_dist": 0.005456423094002643, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.042040910838332, + "valid_pour_source_tilt_deg": 2.2909371901812143, + "valid_pour_source_upright_tilt_deg": 2.071581211886492, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.485843546238652e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2883784248614294, + 0.00026989159950089854, + 1.042040910838332 + ], + "valid_pour_held_grasp_finger_b": [ + 0.27885812635613766, + 0.02381799185571145, + 1.042040910838332 + ], + "valid_pour_held_grasp_midpoint": [ + 0.2836182756087835, + 0.012043941727606174, + 1.042040910838332 + ], + "valid_pour_held_grasp_object_position": [ + 0.2883784248614294, + 0.02381799185571145, + 1.042040910838332 + ], + "valid_pour_held_grasp_finger_gap": 0.025399785615363046, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02373442663524222, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.021188006452465546, + -0.9993464539831066, + 0.029287084080888315 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005020304081350306, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03805475289863347, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2883784248614294, + 0.00026989159950089854, + 1.042040910838332 + ], + "held_grasp_finger_b": [ + 0.27885812635613766, + 0.02381799185571145, + 1.042040910838332 + ], + "held_grasp_midpoint": [ + 0.2836182756087835, + 0.012043941727606174, + 1.042040910838332 + ], + "held_grasp_object_position": [ + 0.2883784248614294, + 0.02381799185571145, + 1.042040910838332 + ], + "held_grasp_finger_gap": 0.025399785615363046, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02373442663524222, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.021188006452465546, + -0.9993464539831066, + 0.029287084080888315 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005020304081350306, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03805475289863347, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2903841773244174, + -0.07235345249880284, + 0.7611064470606593 + ], + "target_position": [ + 0.30628705905472925, + -0.09571810107033135, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.028263199574699877, + "xy_threshold": 0.08, + "gripper_dist": 0.20753570357782275, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064470606593, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08464504565699167, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08827508487241363, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1856363832681278, + "release_required_pad_clearance": 0.05413754243620682, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2896967818148535, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 184, + "max_placed_release_frames": 184 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 4283508074911090697, + "physical_seed": 1839996099705671880, + "layout_id": "layout_00024", + "step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "workflow_spec_digest": "3169d2f37bdfa216c96497d36260524c1057953d2f2a947ea6b83b3e27391017", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b3ca2cb2c3eaf48608f1341030c91d4e36c31de9bf0ebc7911f55be83262e184", + "visual_seed": 7288505661571301306, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 624659677329847726, + 1272775230356696008, + 6598834107714139108 + ], + "runtime_workflow_digest": "b8bbf6173aded6e373b643d11a75731fa3452edb8beb6e2d53a8e2bcfe732136" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/summary.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..27a9dfcad86395e6d28262270fd6f7f27edd99e7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00024/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_3beaker_preloaded_mix_s03_pol_lou_00024", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1c52bb1f950026c8362a14de119866ed4f78c761 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47d79997099eb5caabf0dba2ab7ce8b9c6e9e12fc42970e3e5a39d63f6ff98b0 +size 6536907 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..02fb1561948adce9c9d42e6ab90ca0531f4e62e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c75aebbf9266e15724c4984232656b116bb7ccd0965119fd05ff0af5a0c20f1b +size 4580409 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e2190a9c518c49984d800655614107e7894d0b81 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82ebee67830e9a23b364d7156b2b93c27b52fc80b79c8435ca024919de9066c2 +size 3956013 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..03744d545b1d3266ed1a7b244a72fc44412181be --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83abb88ecd21e276e07c19516390089ef87071921c1c9959afe1b3e668346d4b +size 4918016 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3f595a11306c8fb6d074762507867932be983e8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:346631659dd6992ea7949374a29e78d7061fc6d72ac4d61c01bdbb16e03fd02b +size 4597918 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a85c88d2449dabed1fd2817a5a7df3007d19fb55 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abc47095b880ed568a7d70dfb5aba209183a37d2b3fec691c9bfe49f8f13a21c +size 4357582 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8645d681efbed512260e3b6eba837e6444992894 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00ef7e47248ecf28a579a892d7a6f94da11884ee29eaa9875f692741e5d24f96 +size 5009061 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fc3e692b79b0ef36fb0a0c6df4587e4d8eb1c8c3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba7ee5c80608ff1aa6eff8f3485996ada37dcf2f4ca4f7771184c38146838f3a +size 4697849 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c55d453ba0ae5daadba113b6ccdc6c4613da3331 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2003abc2bc48f71eb5b4cc9cb8b7470c9194aace0b9cea22a9534c458d835b5 +size 5651885 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b0b1b0b3caee5ee649a367129ae8faf7618bf6d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd5ad1585699f4198ff19df17321de2445cc7d467f036c88ec0e4f331a837ff0 +size 4704464 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..edda115393fbac95920dd7b9e53ca6bc48d3dce1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0562fe9b259cdab1457e3cb76f8206c5316568806cb9497137ac9ea2133d792 +size 3996954 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bc428d9aa18dbb0bddc5ba24f3ff9c10ef320872 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccd25e8a00a99662b03cbeeb6a533a286a7f9f16afba4b643c0d35f3bb6b6d2e +size 4086829 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f5aae558d683e0659205a645f630abdc720d0374 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30688a6bb68a76f399327426152b43a36d5a28f084b5b39a0c85cfdd870ca453 +size 5296753 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..499784a68c172f1c28d663b0eaa92bf826984c72 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47a21fc62688dbbabdd7f7c75e18863904971dfe3d5468e4ca59925e7a6b9495 +size 4986316 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7b1910bf10768ad828293ef7d4790d6b32f514a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c095f5fde488a359869a3805f69791d6b834903e0e7a71f83bec83211ecd0fba +size 5928279 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5c1d68ba8cceff3a3f06ee8742f66f95041d39de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39dd4086529b43d0feb210ac2030afca7df29cbffa5b5d1f3b81dd795704a5d1 +size 6459597 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..07ab1aa3a5374d5fda5d530413729db02f05c648 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5526bf29218fd466071ef94b699e80cd9549ba53ebb0ed95e1b1c1db3f92cedc +size 3886208 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9837408bae2c16c44e082a467290c7013f8359fd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6daf10968a25f1e9d78a2bd5791dfb935111e5e7fe4d025e9f9225076471bed +size 4945148 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8beb3dd9f38b6915e5813e71c73f52900cb006f3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e00e0bfeb08aacfd7a9eb0d2d40acb05e8a3c17ab6db6d3ceb1b0bf476d9899 +size 3846294 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..281f49f3c573a592aa8b6a7d65058ff92575be9e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1d629afc91515079edc5e676b7c6424243a96b5ea3085bd5dc919f6cfe342ce +size 3682281 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..83908cfb457c7f7ea63776618cb342b0a5384b4d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:228408ccd0afe0a08abefbab4ac912327f5257fdb17056ca0b5fbb3b763647e6 +size 4498588 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1aded08f83914012702b2aaf520f185b782d5523 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d02b9468ce95cca10531576b8030edc41f1e579e7186e2bdfcb7d6c9473e313a +size 5188602 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..09e8ef7670f2face1b5946d8b2831d2032917765 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d58c5c9af6a5ea060c30aef8953c9724128f7351f271c4c3796186b6f6633e7 +size 4243680 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4736a334567f690e6beb3ff94dadd34a83480767 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:caf1dfa42ea5beae9cd8deb93cc57738e0b0b03a287319d789d6780de175469f +size 4691916 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bcee904d083de70a8424fc62f2f2c9b381f156b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19fed8f9a25e8083b1965e5b5e35e0108a148058ee4962db77b0d93500929b52 +size 4947170 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..73c0f6bab9f0f367a2e8718523f60a0d4778cb18 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:834336285fae610a4560b63b597494e391805387e4c20ca14aac96323a2725b8 +size 4834290 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c50daa564c91605f218685b2e520e90edf52a52f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d3349d23cea5fde5f3accce71f4b3f44989087347791c0d372b9eb7cf3ebe56 +size 4779515 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..99143dd000ca2d5e710177f75409c334f7bd7369 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:721b5d12cd413244216f712362b553f43b5e3b3baeed842767b453d96ea3e452 +size 3723976 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e2fdceb3b1a75e12ca9d34fb7c533fec86c9fe12 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d327dc5787de32514d8e98ee08d9dbcfe968df3391f2c3400884b576a1fe033e +size 4376136 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e561a9c21c9cef58ffe0125ee4acd3d8c32ea10a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:068b13e3ae1d81c877921f10c04dad31610c0f73e6437efe7c6952f980ff8a3b +size 4182726 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4dd5f9e9802d6022fd266cff2b2bc8b1435317f1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16c14fbda840a1ba0387e27bc9a83b47b749eb9c4aa96aa7d7107c86611dbf01 +size 4661896 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d65ddf879ad9bcc408618d560fb065bd7da95e2e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f8e1da8d30b3744e0c5bf99d29b7b4b17cb5754989dab686d5ac6171a8a0f4f +size 4948940 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..467a900eb4dadcf76eb84592920177b26c391daf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:002df405c804b35386180efd3e120f1f3fe144c470ce218d5a3c155362984498 +size 4857122 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e77d32a5cc9ce5f338957d53ae4bb5f60f4c6e09 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbdea5bac32bb8a5b9b5d75528277808533a1818d026cd352348b212caa07834 +size 5167892 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..99a731213ac203bdf48882156fcdc669a1b789c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a23a356fd68730726ae79d053c72ff782a4a1e4d778f1b5ba84d7067756bb15 +size 4346260 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8ff05549cb03e529c07ff652a21c30b106111c52 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1d5ac7caf55b15dd9f9700df15f2e49cbebbbe712da2bba0d932e3813c6dc72 +size 4983142 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b9f5f830821b2130e268c8ffb8acd6ed5adf9a4a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f094406c1dfb32aa365101f71cc70245ea15a527d005e8b5e566809d50d5703 +size 4496150 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7eb60b8495191193607dbd34d5962902995c357e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74bb7085675f1ace94f148b6ede1d65a92d7bc3cbabc7bb59fc908438a19fa42 +size 4372472 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7ab03dce86b6db16ff480bf1f5112208d4523f25 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:993bf7979e38948fc5933c9de3d53217fa7712f2200c6495a4142ec7e0ac9be8 +size 4510034 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e784c2a6bbd0d72b34e6f4f4ec667f55cba63cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:764ff10d83f1172809ded9ee75febcbc0b224dde3dfca7bcc5e9aee64bb18a13 +size 5646871 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66d1b004e0a79dc444cae53355f73a425aa9114b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82f8ab4d0ac8623ea8ce64e47b74b14b9f43935bf75bd036bcfb28492771981d +size 4292729 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2813a8f525561ef12d25e6da3b32d6b6473cf35c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64bae96b660af866a1de265a7c2bdedb2d02de132c40264634a87ecc3079e9d8 +size 4288723 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b7c686cba403a6d834f70ba9048a76aca14f41d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8093b9867a4b6939c7ca5d74bed649913e7fa56950dbdddd15bf5a5f49ddba99 +size 4920355 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d3a63381f79f397eb5b0585a553e1af588e57519 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a878cb2dfb68dbc18684d0eab29d848045b30c7c2c002d67d1eee91aef16eeb2 +size 4806458 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0222db1cce9de02d8132e0a7cca6fc12374c946d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fc6f5f28ce3ab282568109bbf73e8ec26a2c7ab5ea791222ef49b7fe628f07a +size 6803259 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d8f1edfbb2b30d1ccaa14be427c0a9b9575ddb34 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:319a83ce092d8eceb4ab4e9fe21ef0cb571e6df2e30a3595dce4eb155f7e38ff +size 3842009 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95748eb0ff7525cc98f3382e797e466195f1e788 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e60d7a196360ccb33fd919be9839680dcc2b1c0a41182d2d9f7189d051ee380a +size 5634022 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d1382261321565dd362bea9de528299c182cbd9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed2b39e1144790e8bd2e43245522786a1e017982db48dce54b6a3fad36c596cf +size 3748513 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8a92d1d43c950c13a3750c19fb6461cb43f20c89 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92af47245a4e99432ba895a5642e0c0bd077d96a66bafb3952a308fd2656efbb +size 4266917 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1aad17f5ef29d3da8b80fe553d52d93e760205d5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f9b5baa3ed550aa040fc013451d854fb4027804c83c4db43593febd9aa1fcdc +size 5518787 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4df51cc28e95efbdcf1832c8a21ef8fd9e9dca44 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4673944b124d80deb5fd1fd5fc066074bd5a6f13726ef41a7efcab78f057c40 +size 5111221 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..76f078e7a57b69e3ca0e4d3fdc0f41fcce89a007 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f2c518c530e16cf2a6d32c2a640cc5d5b1a842150f203ec31ee4cf2551c1024 +size 5133701 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2887503663587e86a61f48aaf9842109104a6e7c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb54db171764263d07301ac3b3d8ca4cadaafb9f7df1bc153351b99f93c8b1ea +size 4187375 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..52113a435b051333b7a72bf0f29655d2c96accc3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d81ea97c5d97b8978328afb4cce336e50972d26657485d328066de55ac2c6bc +size 3757588 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2127eee377aadb2d76622cd46290678da1b3cb6a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4fec2fc55272633b2a0ec0f8ed7fbf807ea0a80a6dae25c923cc50fc8c47d53 +size 3847692 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..35e67efe0e48517425c1230db6de46a1ccae5528 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1431b474bab55faeacf6f45234a193e5374574febb7f17322a571aa718cfcf16 +size 5194627 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4a4d13c4ee8d674d2c50385bc86a2734a862aec9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1858ad69ab3b4134afe19a5bbf6cdd133b5c169c01548d74750101696031696 +size 5234410 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b419f4ebb263b4e166bc993ee2552b9eeb93ffdb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e24bb1708d544018c20c9b9e69b10509f8fe1a862302693f09cc540b8eac1b6 +size 5944012 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..04c92dc609be364b6d914b3c6cc79333d79b6775 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efc16304de72d6f3f450b695822df805503baec2ec5c4134e3bacd953009e271 +size 4357560 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d14633c6260f9494f53ca89dda97e59de229f993 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b49a83209b83e4252bde2b5a09f256ed83a2c1f273544e53bb965169ea782ab4 +size 4977712 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f8422bef5712491eb1cd09069f81204e51c71760 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb5f0d493a11df74cb0409c05dba73b275e6dcc3ca799b0f201db289fa163b15 +size 4059425 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..751c6f46174cb981e722eda405c7f9533251e4fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:681ed1a366aab7ce7d5af0398b9b71fef8b9025c6cd2b79e2591bf500d637947 +size 4464499 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..595d37575a93216bbe639272048f2b8d0d74e7a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a396f3bde4d44dd27b5ae2ed0981bdd09d544ec9b9433d8a2354f89007d809b4 +size 4178777 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2d185145e04a4bd7bfd1f70e7e5c64fb0f5666c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9959b41fdfce14fbdfc3526b244a0cd9d384a05fed25e5c941aeca55b8ea979 +size 4433526 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c5f00535502b42e2bb164f62a49015200cd60849 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b78430e9e1ead3f3bf75c9ef8daf921e38109d4a6a588e54ba3e91ce81b1732 +size 4678386 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..741a12e98a6be5af7dbfd29d37c800728da0e3d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbdba2a04f65b6e8a20333a764fa334ea2917f9c9863dad395cf4671ab4f5cb4 +size 4765036 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4aa04b45437188d3f7bae949383bfdbc86c6684e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fda23287813f003e8ece124dd566fe94c33f7d9c7d5abcbdc273622381d144e5 +size 4753182 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8bfafa1f28df86879915ba93228f012f04c7b3f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:897aec04eb04f31f32d56d8190bd45547e027768678e6c66064f8d6a94f2f583 +size 4578032 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2e407d49c6fd90d138c46a6b7229031119deb298 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:857a84e784c6508af3886c303097b363a3a2afd6950bfb9e84ee996e3054bf8f +size 5333107 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ad4da6b2feeb57e98595f3926f6c6c58281f1cdc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:843819693f13d21b0d1df434620c56a33aff67e0beec9af2a929ea4b89e032c9 +size 4906220 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..89b8498cc9cac2443e1eb2a4d9044d7f5af976d3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95862a7d884cde07f826474150a24c7f5f392afac20f696db38d7e5e5ab6c1fb +size 4569063 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3b582d58c18aff28271fe770c9e8c99c142272cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f69c9fcbc070d34842a5988bb970062be32e48e5548a05d4d9eaa917d256f0a +size 6793935 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..97672034a292b1d79da43c484068d2b2e6d0fade --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4601d7d02b56fb223d49f317b438be30d85ded40c21b03e8b61f4c5a3bef62f6 +size 4713129 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..63c7feeec8fbcba43e9905bc49fffcc563ea5de0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e19dc55fe1f02c3a71dc23b3e3a2ae52a4c2c2eb880112af314556ebe7c2c5e8 +size 5126580 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c4db119fe182ce60d37dcce8949fca9c2c0d2bb0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0da63a7f67a082d9c256075c0adeb0c13e2f945a54e80068a642d4e8a0e74833 +size 4296527 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..74bc38a03a0d8e3a245f259160ae2663e76713b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdb99925b4b64c17ed0fd81e7b0c5fa77a9b7c74be09b6b8b4503de95b7e1e5f +size 4362126 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aae0e0bdf8277334096a47e46d6eef4a2028f6c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5dc029c5c6ebdc1545cae8afee83dbfef91d4e68440c8d1b569d25cdea1b6303 +size 5631336 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..81887071a768b3e8212063f748bcebccafedb306 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bb756fe04baea48ac60ef53b0fcfa4f80baa7d221e951ede8d1fde80dd49d9d +size 4778844 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..563dca5abd507ee64cea1f9a3b496ba24b9fcd1c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c377960d9f473889aa9d1615e93a6217f8efe1eabc1b7233f7e96bfec1b3eab0 +size 4794950 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8bcb2bc9bef000cd19e995fa554169ec35baa637 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:040d1dad36db7530b3aa2bc34cd545f3bc9586f25e97c5d32d1b0ec349375dc0 +size 4750036 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16a22177f72630e5ba0eeabd168a273e0a6008f3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c024b6dfafcd7f4f328fdd5a73c14cde9c51b540d6b0fd0710fb803e2bcb3048 +size 4875264 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1fd0a873a9f6fe0a2332dc0b3886723bb1e76a40 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96476a1bd14bb215bbef1dad11764e777a5528db9a226f7d6d967ff35a3f153c +size 5400976 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e57d140554d68ef99a5ba70dd509f3fe5445aa76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb366bffb6a1b1812f2a88b087a29ef914a253b5dc870ce2f12a47a877ccf977 +size 4181245 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aec420c6e077dc3faac26124396b889307ab1b74 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77d457c9248131997c53fd481a0da709792a3537aa8ef21dbb9ede46c7911bff +size 4710573 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..373c6be3d314a369d6ec4204a2ae68de4adabe7f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd0c038d92267b1bc660713c36e3bd57d63446cde5304bfe0ab2526fceba2cf8 +size 4197164 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..65061ad9c675d8d1b6860438611ce6f78b081225 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:009eef9e083bf215a25314680e75a0ac555315d5ac20432b0fc15a73c4fc4392 +size 4400492 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f60c34fdcaf86febc0c7515c97308a6d5fe58e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58169e7ece22ca57a28ec7fab7e19c1945893ea334aecee7026d4141b9353c8c +size 4991492 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..028d813af213b490e7c590a40b8a29163e062832 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d5704caefa165e63f389ad468fd36bf54b3b1e818375d0a5c90f6e264a4cbde +size 4566830 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..10dd6178e5e2bef94d832f298afca79add651bf4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15be9c5d9947fea7cb255421a8c91cb3f1d3030e80e921821963adc392688770 +size 4542242 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f4ea5414f4270a6ff717b628a200a0e967474b2b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f8e18e63445461f59452017e57be870dbc27ffb3f6a4974e4084e24d43f0cb6 +size 4135227 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f6dcc5bbb2eef64783ca81c74698e7495b0da601 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24a200432950d9a3aa22042eacb74befeac92f5058cd69d73bde3764f2e57b92 +size 4789423 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2e34c8b5bf6de07bb14ced943d28a96d1591fe7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68fc3234d9a6cd78a35a6f15083c7bc817492005f79f3996b19e8c012db1a222 +size 4666859 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a54dd9043a07169652e845e670e04c5a04d9e32 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4048e6b2b1c56dcfac57f51753659fc36154dd07994b0b25ca65e186acdce7f +size 4532979 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a875f632e1084b5dec5ac793553d7f963b7dffa0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f49f4f157a602898990dec4baa5d88577ef48da359d1ac3bb7b25f9e1a72322 +size 4988348 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4912e7b6f91f18a60d93ea2c0a21f1c5ab041c38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90e69d5673976de99442c9aaee74b200560c068e12e8cdca42faffc40d7f69f2 +size 4275807 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..46e8c4e180c3eb6152d7538d492d3f847ef2045d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cc019127517a6312de49e3a612f1c04d3210b0ef236b936d34a96ba4b427bf8 +size 5975806 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d73d7a8d636b99ed6510cfc941b53f79c0f7ed4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82b74ba5c9f060c15ed243710565e0b2ce6f4a1d0da2aaeeb3ddbac12dc67c21 +size 6142191 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..37669805f2365242b1f8b816d31895cadc8c50b1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd19eaf64535b0c2022b2b341b3ae5d3cd37299bf106cbae738f521d0a2a9df1 +size 5251573 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c2aaa20e9d80d99ef0d9985051bbaad3b0f6ad5d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:692c2586b622358d72602d7e0cc72516a848a4b64a0690e730d5f25f33f5a315 +size 5418736 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7829716c4c7ac9c5d67dbef4303c4d482835eda --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03aad8b58fe5fec2d022aa6f293a580964fe4be080a7b972b3096639e48555e4 +size 4988672 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..268b3c39eefadf31a804519909a6dae966cdd41a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b470313b36af753cc814b064e18e256876ba7af --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T18:27:20","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[0.40266079107864616,0.7109765772394967,0.71338606911949],"aabb_xy":[[0.3376607884408526,0.6594969785400497],[0.4676607937164396,0.7624561759389437]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.5483449892736185,0.5355587035089413,0.71338606911949],"aabb_xy":[[0.5449043130335613,0.5316972705345768],[0.5517856655136757,0.5394201364833058]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[-0.4591806454051329,-2.1952269678812737,0.71338606911949],"aabb_xy":[[-0.4695922040856166,-2.2005727012171716],[-0.44876908672464916,-2.189881234545375]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.42701154186208207,-0.5416209069390137,0.71338606911949],"aabb_xy":[[-0.43825659743269985,-0.5528627046631088],[-0.4157664862914642,-0.5303791092149183]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[0.0433637889806292,-1.14417371789491,0.71338606911949],"aabb_xy":[[0.027301861522111556,-1.2291737197075017],[0.05942571643914684,-1.059173716082318]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.3239993032003962,-0.4615859871346939,0.71338606911949],"aabb_xy":[[-0.37397672006564975,-0.5115859886239424],[-0.2740218863351426,-0.41158598564544535]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.18721492396229,1.0803149478150473,0.71338606911949],"aabb_xy":[[-0.25121492564028736,1.0317975563357331],[-0.12321492228429265,1.1288323392943616]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.30614035063647604,1.424195403147928,0.71338606911949],"aabb_xy":[[-0.316707830294575,1.4136503730349192],[-0.295572870978377,1.4347404332609364]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[-0.36340133115122036,0.11826041650027719,0.71338606911949],"aabb_xy":[[-0.37068364752788396,0.028260412890768163],[-0.35611901477455665,0.20826042010978613]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[-0.031085056938046196,0.916304055158109,0.71338606911949],"aabb_xy":[[-0.049290880599293874,0.9052786545761174],[-0.012879233276798518,0.9273294557401007]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.6089776292638291,1.7682571265209943,0.71338606911949],"aabb_xy":[[0.5590043352605686,1.7182571259664468],[0.6589509232670895,1.8182571270755414]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.46873128620899046,1.0541397180595924,0.71338606911949],"aabb_xy":[[-0.5487312848658765,1.0396348591353295],[-0.38873128755210445,1.0686445769838553]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.3768378157412632,-0.6989530107905433,0.71338606911949],"aabb_xy":[[-0.43683781633727936,-0.7537654833357669],[-0.316837815145247,-0.6441405382453199]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[0.013291047518545929,1.0040454235961875,0.71338606911949],"aabb_xy":[[0.008335027333664731,0.9815454233940661],[0.01824706770342713,1.0265454237983094]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[0.23632677684112346,-2.1288889225147902,0.71338606911949],"aabb_xy":[[0.21341106395607365,-2.151793219651214],[0.2592424897261735,-2.105984625378367]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[0.6726660734075547,-2.287281539997509,0.71338606911949],"aabb_xy":[[0.6351660722227618,-2.2916997626935687],[0.7101660745923474,-2.2828633173014476]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.357483607248305,-1.2189082398249858,0.71338606911949],"aabb_xy":[[-0.37212701280233795,-1.2335669594817698],[-0.342840201694272,-1.2042495201682013]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[0.22332005286110446,-1.4825184743331117,0.71338606911949],"aabb_xy":[[0.16568958397383357,-1.5425184732598218],[0.28095052174837526,-1.4225184754064009]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[0.18980546372135276,-0.9132707162734599,0.71338606911949],"aabb_xy":[[0.1398061885529166,-0.9632707175494071],[0.23980473888978893,-0.8632707149975127]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.1366596394608225,1.3320200960646993,0.71338606911949],"aabb_xy":[[0.1234286939261412,1.3187926770426999],[0.14989058499550378,1.3452475150866987]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[-0.49129340914802944,0.5159594173499773,0.71338606911949],"aabb_xy":[[-0.5552934105560201,0.46417046582605254],[-0.4272934077400388,0.5677483688739019]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.6283521184222074,-0.5430273776936119,0.71338606911949],"aabb_xy":[[0.5983845615123817,-0.5730273779914977],[0.6583196753320331,-0.5130273773957262]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[-0.16278016714900878,-0.5036532981301711,0.71338606911949],"aabb_xy":[[-0.20028016709277519,-0.5119463881650077],[-0.12528016720524238,-0.49536020809533454]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[0.6566927568246292,-0.771948629637621,0.71338606911949],"aabb_xy":[[0.6154439457947143,-0.8269486291498385],[0.6979415678545438,-0.7169486301254036]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[-0.26659385111603273,-0.1510543034112053,0.71338606911949],"aabb_xy":[[-0.30513954394123377,-0.18960007446739396],[-0.2280481582908317,-0.11250853235501664]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.713359473968355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/661.png","name":"661"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/661.png","name":"661"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/699.png","name":"699"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6892.png","name":"6892"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9392.png","name":"9392"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4560.png","name":"4560"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":696.6578778545379,"rotation_z_degrees":337.3538515783779,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018524059919873135,-0.008763782833658107,0.017190667030796126]},{"name":"camera_2","offset_m":[-0.01467796688689699,0.006273532795100092,-0.007790476202766522]},{"name":"camera_3","offset_m":[0.003623618852575502,-0.0026770246556294466,-0.019460855404010668]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001974629191851811,0.0015118453487000683,0.0007223403662723338],"end_effector_yaw_offset_degrees":-0.8489335833742178},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000696723787202616,-0.00042668349191902913,-0.0014031670675345076],"end_effector_yaw_offset_degrees":0.4531562767084507},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002603621549314807,0.0017314584999341964,0.0017438483762519793],"end_effector_yaw_offset_degrees":-0.8540138626176401}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016936233748440603,0.0016479558514294742],"position_m":[0.18709362337484406,-0.13105204414857055,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002420000149631096,0.004658744778580619],"position_m":[0.26992000014963113,-0.39654125522141936,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0041233067379619045,0.0038389566301117945],"position_m":[0.1917233067379619,0.0884389566301118,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00021123675599178573,0.0023961270122613452],"position_m":[0.3493112367559918,0.29249612701226135,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0c325744724517da934a55360825ad3acf2a572a1234e3ab1f7a2640f6bf6593","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_661/tex_ceiling_textures_4560/tex_floor_textures_9392/tex_table_textures_699/tex_wall_textures_6892","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1036254655038263871,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1036254655038263871,"visual_seed":1036254655038263871,"scene_id":"lab_003","finished_at":"2026-09-03T18:30:02"} +{"episode_id":"ep_000001","started_at":"2026-09-03T18:30:07","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[-0.6209503173818747,-1.0834473905485855,0.71338606911949],"aabb_xy":[[-0.6859503183390018,-1.135395602482291],[-0.5559503164247473,-1.03149917861488]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.49570820522304765,-1.4323575745578478,0.71338606911949],"aabb_xy":[[-0.5757082021860869,-1.5094332162016213],[-0.4157082082600084,-1.3552819329140744]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.5029832195085326,-2.010281718431661,0.71338606911949],"aabb_xy":[[-0.5669832197690035,-2.0552905177845884],[-0.4389832192480619,-1.9652729190787326]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.6117738709830378,-0.7907869559673639,0.71338606911949],"aabb_xy":[[-0.661656567860734,-0.8407869552136389],[-0.5618911741053416,-0.7407869567210893]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[0.12833582176446656,-2.346120426111584,0.71338606911949],"aabb_xy":[[0.12105350538780284,-2.436120429721092],[0.13561813814113013,-2.256120422502074]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[0.4743525513446556,0.9884802847782206,0.71338606911949],"aabb_xy":[[0.4629908166913694,0.9771118183719325],[0.4857142859979417,0.9998487511845087]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.3776328894823634,-2.368229285419383,0.71338606911949],"aabb_xy":[[-0.3822680046345967,-2.3720966204965315],[-0.37299777433013,-2.364361950342234]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.41969017922830054,1.669823451971641,0.71338606911949],"aabb_xy":[[0.409608472149727,1.5898234540795264],[0.42977188630687396,1.7498234498637557]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.37298810310171987,-1.0517226191823488,0.71338606911949],"aabb_xy":[[-0.38091138334046826,-1.074222619420352],[-0.3650648228629716,-1.0292226189443452]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.08899758354111875,-1.0578758045009735,0.71338606911949],"aabb_xy":[[-0.11149758405315933,-1.0803676628663719],[-0.06649758302907814,-1.0353839461355752]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[0.6512481947109285,-2.1006110816276906,0.71338606911949],"aabb_xy":[[0.5962527168902692,-2.1556110830615975],[0.7062436725315879,-2.0456110801937837]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[-0.15947436318598962,0.5326933559637754,0.71338606911949],"aabb_xy":[[-0.22347435961331152,0.485523732141679],[-0.09547436675866772,0.5798629797858719]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[-0.5711072042634864,1.6368008339118698,0.71338606911949],"aabb_xy":[[-0.5798211733134208,1.6143008332526816],[-0.5623932352135518,1.659300834571058]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.5939987905318146,0.964545976303095,0.71338606911949],"aabb_xy":[[-0.6055677712787512,0.9395459761861634],[-0.582429809784878,0.9895459764200268]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[-0.3138917340458366,1.3237183809389363,0.71338606911949],"aabb_xy":[[-0.3450386528894197,1.2537183822521292],[-0.2827448152022535,1.3937183796257435]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[0.1306313132471616,-1.6246008511439158,0.71338606911949],"aabb_xy":[[0.06563131509124254,-1.650897095693828],[0.19563131140308065,-1.5983046065940036]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.595992057664112,-0.16632443204059788,0.71338606911949],"aabb_xy":[[0.5871900023551392,-0.17413575819552696],[0.6047941129730846,-0.1585131058856688]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[0.30722309095884737,-2.487569074498317,0.71338606911949],"aabb_xy":[[0.2456323317348546,-2.5515690726073643],[0.36881385018284024,-2.4235690763892705]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.29000816437875954,-0.41635389322901073,0.71338606911949],"aabb_xy":[[-0.3540081657867502,-0.46814284475293544],[-0.2260081629707689,-0.364564941705086]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[-0.17116801894439648,0.9343775460412931,0.71338606911949],"aabb_xy":[[-0.2163393367925655,0.8703775488967548],[-0.12599670109622754,0.9983775431858316]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.039775750192653225,-1.8618544386861586,0.71338606911949],"aabb_xy":[[-0.010223524975782938,-1.9118544399621062],[0.08977502536108939,-1.811854437410212]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.1467947092605164,-1.1069782589150028,0.71338606911949],"aabb_xy":[[0.06679470898690944,-1.1799278067407193],[0.2267947095341234,-1.0340287110892858]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.7015472690061613,1.0683983550627536,0.71338606911949],"aabb_xy":[[0.685991499595896,1.0528479218183466],[0.7171030384164265,1.083948788307161]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.48416532327216094,1.0078814429857625,0.71338606911949],"aabb_xy":[[-0.5227110160973618,0.9693356719295739],[-0.44561963044695985,1.0464272140419513]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7165198692563027,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5044.png","name":"5044"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5044.png","name":"5044"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2550.png","name":"2550"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4469.png","name":"4469"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7827.png","name":"7827"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":719.3603846737167,"rotation_z_degrees":281.8492405597299,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015155338267103791,0.016941282131078043,0.0014105143435854534]},{"name":"camera_2","offset_m":[0.013243319415837913,0.0007791864656472962,0.01318797411557197]},{"name":"camera_3","offset_m":[-0.016169109386064844,0.005172532855185576,-0.018305533762819598]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006051626107081592,0.0017049450678075177,-0.0016082556958995848],"end_effector_yaw_offset_degrees":0.8469040170156115},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008155777189690449,0.001714713223768951,0.0018624228743294815],"end_effector_yaw_offset_degrees":-0.2562460495905914},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016587421007631317,-2.514112974399095e-05,0.0014445514507200456],"end_effector_yaw_offset_degrees":0.022182838363947743}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025272425934467027,-0.002577195223107116],"position_m":[0.18287275740655332,-0.13527719522310713,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002590087913851768,-0.0049204816233972114],"position_m":[0.26724099120861483,-0.4061204816233972,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003902499077396984,0.0017820653530903844],"position_m":[0.19150249907739697,0.08638206535309038,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026559777142471357,-0.000339837652936866],"position_m":[0.35175597771424716,0.28976016234706314,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"88c439e5eb9383c28828797f3f5218a890ecdcfa4dc8759b752479aab16186bd","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0001.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5044/tex_ceiling_textures_7827/tex_floor_textures_4469/tex_table_textures_2550/tex_wall_textures_9934","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":569126768096412137,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":569126768096412137,"visual_seed":569126768096412137,"scene_id":"lab_003","finished_at":"2026-09-03T18:33:10"} +{"episode_id":"ep_000002","started_at":"2026-09-03T18:33:13","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[0.49046273209984226,-1.9828432721257232,0.71338606911949],"aabb_xy":[[0.4529627319279703,-2.0155440075086304],[0.5279627322717142,-1.9501425367428158]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[0.510901770300388,-2.380064656729015,0.71338606911949],"aabb_xy":[[0.5053200986662592,-2.3925646565467904],[0.5164834419345168,-2.36756465691124]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.5120401293344378,0.7306682286876214,0.71338606911949],"aabb_xy":[[-0.5370401288861761,0.7205257448224865],[-0.48704012978269917,0.740810712552756]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[-0.33257586231855985,-0.5057528249140257,0.71338606911949],"aabb_xy":[[-0.3431433419766588,-0.5162978550270342],[-0.3220083826604608,-0.49520779480101706]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[0.37569808277936256,0.6874114935366911,0.71338606911949],"aabb_xy":[[0.3216824864974625,0.6234114906444338],[0.4297136790612625,0.7514114964289481]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.2611643712373208,-1.5557335041530727,0.71338606911949],"aabb_xy":[[-0.351164367972931,-1.608916967470367],[-0.17116437450171057,-1.502550040835778]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[0.06562856943483941,-2.4290118608045352,0.71338606911949],"aabb_xy":[[0.043719887295488355,-2.4509125276246255],[0.08753725157419044,-2.407111193984444]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.6146074524636089,1.0945648753508568,0.71338606911949],"aabb_xy":[[0.6027353694521077,1.0095648756572064],[0.6264795354751099,1.1795648750445071]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.28527499602781314,-1.1844545285747825,0.71338606911949],"aabb_xy":[[0.26277857459394904,-1.20695452838153],[0.30777141746167724,-1.161954528768035]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[-0.6072369020463473,1.6211631059123506,0.71338606911949],"aabb_xy":[[-0.6372044589561731,1.5911631056144648],[-0.5772693451365217,1.6511631062102363]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.6711984063706133,0.7478766261388397,0.71338606911949],"aabb_xy":[[0.6534048994356969,0.7300768805430421],[0.6889919133055298,0.7656763717346374]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[-0.29611379710830826,0.781506095893834,0.71338606911949],"aabb_xy":[[-0.30422745178168537,0.773400279439805],[-0.28800014243493116,0.7896119123478632]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.04771624475201708,1.6771176007496504,0.71338606911949],"aabb_xy":[[-0.03228375322876797,1.6695160597877985],[0.1277162427328021,1.6847191417115024]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.1739099385570515,-0.6405011676365444,0.71338606911949],"aabb_xy":[[-0.18475041678356638,-0.6576874489271932],[-0.16306946033053657,-0.6233148863458956]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.6201728146291582,0.6388844873792179,0.71338606911949],"aabb_xy":[[-0.6294664328663088,0.601384488891084],[-0.6108791963920076,0.6763844858673518]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.2835558500223997,-1.0251157548645715,0.71338606911949],"aabb_xy":[[-0.3335291440256601,-1.0751157554191189],[-0.2335825560191392,-0.9751157543100242]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[-0.4285231227390046,-0.06113560202881674,0.71338606911949],"aabb_xy":[[-0.5085231213263239,-0.14045120396697763],[-0.3485231241516851,0.01817999990934414]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.2439615001695452,-0.8162770483477639,0.71338606911949],"aabb_xy":[[0.17996149876155454,-0.8680659998716886],[0.3079615015775359,-0.7644880968238392]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.04334354752721836,-1.1368428252187373,0.71338606911949],"aabb_xy":[[0.02633345023716771,-1.1529773137170112],[0.060353644817269014,-1.1207083367204633]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.616683287254159,-1.155576792643695,0.71338606911949],"aabb_xy":[[0.6086469525528742,-1.1636149119481116],[0.6247196219554438,-1.147538673339278]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[0.05127402236159562,-1.8532778148034676,0.71338606911949],"aabb_xy":[[0.017833847165576015,-1.8867214406343975],[0.08471419755761522,-1.8198341889725373]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.3162952670588992,-0.9903806795138435,0.71338606911949],"aabb_xy":[[0.31186463770405903,-0.9958290512485262],[0.3207258964137394,-0.984932307779161]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[0.31327777068998897,-2.2765275656943658,0.71338606911949],"aabb_xy":[[0.26328275973053705,-2.3265275647299575],[0.3632727816494411,-2.226527566658774]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[-0.5628238832104933,1.7987647959307096,0.71338606911949],"aabb_xy":[[-0.5702363387518817,1.7929135855090816],[-0.5554114276691048,1.8046160063523375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7106078342048284,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5673.png","name":"5673"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5673.png","name":"5673"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4609.png","name":"4609"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8792.png","name":"8792"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5930.png","name":"5930"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8180.png","name":"8180"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":809.8012004289744,"rotation_z_degrees":160.09102543540845,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019191574884943562,0.010800827951610609,0.007461847935567003]},{"name":"camera_2","offset_m":[-0.0017926285783387008,0.014894767891407767,0.0005362080642404218]},{"name":"camera_3","offset_m":[0.010053611175405527,-0.009857786784968448,0.004648323703023465]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001808309024950321,-0.0010981919417251387,3.0200752000095633e-05],"end_effector_yaw_offset_degrees":0.5234936903125345},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006583980993273555,-0.0011881355941976857,0.0007629670365914931],"end_effector_yaw_offset_degrees":-0.6626894572297668},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001406347898287203,-0.00048511916745047493,0.001742878925857071],"end_effector_yaw_offset_degrees":0.6021542222290963}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002104650507134348,0.0016774522308894676],"position_m":[0.18750465050713436,-0.13102254776911054,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003757540927698183,0.00043215482643870623],"position_m":[0.2637424590723018,-0.4007678451735613,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004428129060092855,0.002216474189239064],"position_m":[0.18317187093990714,0.08681647418923906,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004914307939665056,0.002071111730526214],"position_m":[0.3540143079396651,0.29217111173052623,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"adff723f25d6f85563c7823e56ae1f7a5cc6f1c018a4007b4d47c1b1258699e9","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5673/tex_ceiling_textures_8180/tex_floor_textures_5930/tex_table_textures_4609/tex_wall_textures_8792","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4409630182579309518,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4409630182579309518,"visual_seed":4409630182579309518,"scene_id":"lab_003","finished_at":"2026-09-03T18:36:05"} +{"episode_id":"ep_000003","started_at":"2026-09-03T18:36:10","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.12488870327962653,1.5871111134712756,0.71338606911949],"aabb_xy":[[-0.13811964881430783,1.573883694449276],[-0.11165775774494523,1.6003385324932748]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[0.11299035281179493,-1.8491697009230488,0.71338606911949],"aabb_xy":[[0.10162861815850874,-1.8605381673293366],[0.12435208746508106,-1.8378012345167605]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.5694515553951791,1.6964880058513558,0.71338606911949],"aabb_xy":[[0.5369898545132515,1.6663551737364528],[0.6019132562771065,1.726620837966258]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.5729834820879063,-1.11950995176406,0.71338606911949],"aabb_xy":[[0.5664818455799017,-1.12927777379037],[0.5794851185959109,-1.1097421297377505]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.6722564155593715,-0.9704177432077687,0.71338606911949],"aabb_xy":[[0.6436070831989552,-0.9990633024848445],[0.7009057479197877,-0.941772183930693]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[0.5699446741566461,-1.6233809284507321,0.71338606911949],"aabb_xy":[[0.5343155182566863,-1.659013595207585],[0.6055738300566058,-1.5877482616938792]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.2368037011087778,1.2298640392944855,0.71338606911949],"aabb_xy":[[0.23134575547175773,1.1498640359868262],[0.24226164674579787,1.3098640426021444]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.31623898827663144,0.7769046958473966,0.71338606911949],"aabb_xy":[[0.2586085193893605,0.7169046969206859],[0.37386945716390224,0.836904694774107]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[0.39662767178044667,-1.0641602708635713,0.71338606911949],"aabb_xy":[[0.35977712384345906,-1.101660271686605],[0.4334782197174343,-1.0266602700405376]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[-0.14864201970274205,-0.7228332253203336,0.71338606911949],"aabb_xy":[[-0.19381333755091104,-0.7868332224648721],[-0.10347070185457308,-0.6588332281757951]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[-0.11427790257294956,1.7752800530974437,0.71338606911949],"aabb_xy":[[-0.1642621382811268,1.725280054283948],[-0.06429366686477234,1.8252800519109391]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[0.2750738915212251,-1.828860419693821,0.71338606911949],"aabb_xy":[[0.24007389016974331,-1.849220155650642],[0.31007389287270676,-1.8085006837370003]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.21189662745606352,1.4222232114370539,0.71338606911949],"aabb_xy":[[0.2039026388783601,1.4142231313419633],[0.2198906160337669,1.430223291532144]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.4832911454004287,1.361788715201758,0.71338606911949],"aabb_xy":[[0.433291145824094,1.3118081362496523],[0.5332911449767634,1.4117692941538642]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.6097141779140762,-2.0831338579010423,0.71338606911949],"aabb_xy":[[-0.6185162332230488,-2.090945184055971],[-0.6009121226051034,-2.075322531746113]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.2035435823208953,0.6488802989289053,0.71338606911949],"aabb_xy":[[-0.22604000375475938,0.6263802991221579],[-0.18104716088703118,0.6713802987356527]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[0.2197130232801383,-2.353404217777303,0.71338606911949],"aabb_xy":[[0.18856610443655514,-2.42340421646411],[0.25085994212372137,-2.2834042190904955]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[0.598503995670163,1.2350456932759561,0.71338606911949],"aabb_xy":[[0.5869350149232264,1.2100456931590244],[0.6100729764170996,1.2600456933928879]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.32375775616566044,-2.115580831752631,0.71338606911949],"aabb_xy":[[-0.3737351730309139,-2.165580833241879],[-0.27378033930040674,-2.065580830263382]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[-0.4504438343642317,0.93073676464501,0.71338606911949],"aabb_xy":[[-0.4854438334941874,0.9249915435693459],[-0.4154438352342761,0.9364819857206741]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.1063660461445648,0.392748013497775,0.71338606911949],"aabb_xy":[[-0.17036604943427291,0.3494130944938574],[-0.042366042854856685,0.4360829325016926]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[-0.5156028004658235,1.6666396411107054,0.71338606911949],"aabb_xy":[[-0.5531027990414442,1.6539033454471475],[-0.47810280189020266,1.6793759367742633]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.41009373214118927,-2.4683339937147393,0.71338606911949],"aabb_xy":[[0.35510148150567833,-2.5233339954580525],[0.46508598277670027,-2.413333991971427]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[0.1448714363460607,1.663698819072612,0.71338606911949],"aabb_xy":[[0.1378299853953131,1.6566720673348176],[0.1519128872968083,1.6707255708104065]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[0.5469636319616036,-0.41968488065651366,0.71338606911949],"aabb_xy":[[0.5094636312970248,-0.43537193865673585],[0.5844636326261822,-0.40399782265629147]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[-0.1373188582544832,-1.5802487839564767,0.71338606911949],"aabb_xy":[[-0.22731885499009338,-1.633432247273771],[-0.04731886151887296,-1.527065320639182]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[-0.24741639944966903,1.2300842468631488,0.71338606911949],"aabb_xy":[[-0.2973952079599849,1.18008424685743],[-0.19743759093935315,1.2800842468688676]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_27","position":[-0.5974351335185571,-1.3572139227287234,0.71338606911949],"aabb_xy":[[-0.6474351338791231,-1.4071939099383262],[-0.547435133157991,-1.3072339355191203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7148205367960485,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5950.png","name":"5950"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5950.png","name":"5950"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8232.png","name":"8232"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7933.png","name":"7933"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5825.png","name":"5825"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7270.png","name":"7270"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":831.9227688477499,"rotation_z_degrees":53.512685947655044,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01953365733483883,-0.011213262448128255,0.014418522141736983]},{"name":"camera_2","offset_m":[-0.0007610661528129961,0.008474532277334242,-0.008666315545472104]},{"name":"camera_3","offset_m":[-0.010534084100258459,-0.001859426558389634,-0.009887007165673518]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013266734630923032,0.000825430558112376,-0.000999472485336602],"end_effector_yaw_offset_degrees":0.8236324464854927},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001188579388245402,-0.001184632960280807,0.0017787820995086383],"end_effector_yaw_offset_degrees":-0.31690631349690657},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011957394729711006,0.0018294149512232526,0.0015536573457966035],"end_effector_yaw_offset_degrees":-0.6234148454118}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004469149879529039,-0.0029735415593328163],"position_m":[0.18093085012047097,-0.13567354155933284,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025563517184696103,0.0022390210999180234],"position_m":[0.27005635171846964,-0.398960978900082,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016349903916165797,-0.0002700795185315661],"position_m":[0.1859650096083834,0.08432992048146842,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033937146799858844,-0.004764050163690347],"position_m":[0.34570628532001413,0.28533594983630967,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e3d98529963fc0ffa9f6e1888681c13ce3f35c1333140523b5a519f88683aa5c","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5950/tex_ceiling_textures_7270/tex_floor_textures_5825/tex_table_textures_8232/tex_wall_textures_7933","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5800919307735297476,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5800919307735297476,"visual_seed":5800919307735297476,"scene_id":"lab_003","finished_at":"2026-09-03T18:39:15"} +{"episode_id":"ep_000004","started_at":"2026-09-03T18:39:18","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.594239196994053,-1.2941786280592213,0.71338606911949],"aabb_xy":[[0.5442617801287993,-1.3441786295484697],[0.6442166138593065,-1.2441786265699726]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.3893600458633939,-0.9304100468895866,0.71338606911949],"aabb_xy":[[0.33937709567591456,-0.980410046532147],[0.43934299605087324,-0.8804100472470262]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[-0.6374838529533017,1.3457825085026438,0.71338606911949],"aabb_xy":[[-0.6874838533138675,1.2958025212930406],[-0.5874838525927354,1.3957624957122465]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[0.7061434715913646,0.9065176335666658,0.71338606911949],"aabb_xy":[[0.7006855259543445,0.8265176302590067],[0.7116014172283847,0.9865176368743249]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[0.5796679221952381,1.4674110356385603,0.71338606911949],"aabb_xy":[[0.5572031522238329,1.4449110347596996],[0.6021326921666431,1.4899110365174206]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.06549943242986156,-1.5455326917601966,0.71338606911949],"aabb_xy":[[-0.08299936586384492,-1.563032691680431],[-0.04799949899587817,-1.5280326918399618]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.3100602887690771,-2.374080251471509,0.71338606911949],"aabb_xy":[[0.2848394519092373,-2.3993040023243952],[0.33528112562891665,-2.348856500618622]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.6250134194915653,0.37683871018690285,0.71338606911949],"aabb_xy":[[0.6004997953945594,0.3525741168848664],[0.6495270435885712,0.4011033034889393]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.3236824736317694,-0.690196803462874,0.71338606911949],"aabb_xy":[[0.3183448979657649,-0.7151968043920138],[0.329020049297774,-0.6651968025337343]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[-0.6477081442444201,-1.2715346680493782,0.71338606911949],"aabb_xy":[[-0.6850394207696626,-1.3061877228442305],[-0.6103768677191774,-1.236881613254526]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[-0.4366866777118221,0.05246470875275788,0.71338606911949],"aabb_xy":[[-0.4461041522816848,0.04304853161503885],[-0.4272692031419593,0.061880885890476904]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[-0.14391515021896384,-1.6835898862616587,0.71338606911949],"aabb_xy":[[-0.1499521632196286,-1.689616587330607],[-0.13787813721829914,-1.6775631851927109]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[0.20140808521630738,-1.5025888597575117,0.71338606911949],"aabb_xy":[[0.17782296175241255,-1.5675888620029435],[0.22499320868020226,-1.4375888575120799]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.2924548145633745,-1.0334372167144423,0.71338606911949],"aabb_xy":[[0.2883388644513018,-1.0375527717472877],[0.29657076467544713,-1.0293216616815966]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.08694066688542368,1.402227308283115,0.71338606911949],"aabb_xy":[[-0.10451896907437051,1.3846528187090097],[-0.06936236469647682,1.4198017978572197]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.6989659156346728,1.4262024503384674,0.71338606911949],"aabb_xy":[[0.6948300593019726,1.3887024508941104],[0.703101771967373,1.4637024497828244]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.024273268662811986,-1.4677225586823899,0.71338606911949],"aabb_xy":[[0.013432790436297078,-1.4849088399730386],[0.03511374688932689,-1.4505362773917412]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[-0.5784869844109974,-0.663693569393625,0.71338606911949],"aabb_xy":[[-0.628486983851193,-0.7136614938779412],[-0.5284869849708017,-0.6137256449093086]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[0.5644839836815752,-1.6523729889357388,0.71338606911949],"aabb_xy":[[0.5544022766030016,-1.732372986827853],[0.5745656907601485,-1.5723729910436237]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[-0.34887868795693777,0.6323845335513472,0.71338606911949],"aabb_xy":[[-0.3559201389076854,0.6253577818135526],[-0.34183723700619023,0.6394112852891417]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.27642519064886467,0.9193053544192935,0.71338606911949],"aabb_xy":[[-0.30690944077589477,0.8693053546377975],[-0.24594094052183446,0.9693053542007893]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[-0.34782705346439097,1.112655792987172,0.71338606911949],"aabb_xy":[[-0.3764763858248072,1.084010233710096],[-0.31917772110397474,1.1413013522642477]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[0.5591816167386807,-0.9996494458513698,0.71338606911949],"aabb_xy":[[0.5392905768583406,-1.0123052571360667],[0.5790726566190211,-0.9869936345666731]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[-0.6321749215071564,-1.8138645241624565,0.71338606911949],"aabb_xy":[[-0.6821749228680435,-1.8638424287378723],[-0.582174920146269,-1.763886619587041]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[0.46329438612413965,0.38397820847987285,0.71338606911949],"aabb_xy":[[0.41329438446264477,0.33397976622417014],[0.5132943877856342,0.43397665073557556]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[-0.44051325433938204,-0.03202084195575727,0.71338606911949],"aabb_xy":[[-0.47050491707325237,-0.062020841292557805],[-0.4105215916055117,-0.002020842618956742]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[-0.04512534954264047,-0.8311854175093762,0.71338606911949],"aabb_xy":[[-0.12512535001285643,-0.8394961251237247],[0.03487465092757548,-0.822874709895028]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_27","position":[0.49968368539239183,0.6374786371603025,0.71338606911949],"aabb_xy":[[0.4870809862553153,0.624883240935437],[0.5122863845294683,0.650074033385168]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[0.4007962017376199,-1.5294937503574821,0.71338606911949],"aabb_xy":[[0.3926685135443066,-1.5384073587681897],[0.40892388993093304,-1.5205801419467746]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_29","position":[-0.15305742153640245,-0.12703745234240094,0.71338606911949],"aabb_xy":[[-0.2170574218103807,-0.17710355253968887],[-0.08905742126242425,-0.07697135214511294]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7151143412378064,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3176.png","name":"3176"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3176.png","name":"3176"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/130.png","name":"130"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2859.png","name":"2859"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5185.png","name":"5185"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7422.png","name":"7422"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":594.2792185954215,"rotation_z_degrees":218.30043467180593,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012243504171761902,0.006576296154035842,-0.0013289743739312472]},{"name":"camera_2","offset_m":[0.017412275364650166,-0.005905233171910145,0.0020004150373210995]},{"name":"camera_3","offset_m":[-0.012918205027319591,0.008882271937839078,-0.0038042184213027026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009070772270172638,0.0015461070157678403,0.0010748245531440183],"end_effector_yaw_offset_degrees":-0.5224548638728117},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00032656179266499935,0.0012339535151168557,0.0009543131248969895],"end_effector_yaw_offset_degrees":0.6504059810638594},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016924233702651423,-0.0018577591129083416,0.0008991375924426695],"end_effector_yaw_offset_degrees":-0.5598356104057374}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001573849706049154,0.0007977097920238872],"position_m":[0.18382615029395086,-0.13190229020797611,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004188524306254091,0.004146856629790007],"position_m":[0.2716885243062541,-0.39705314337020997,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004176375406160486,0.003957535847236261],"position_m":[0.19177637540616047,0.08855753584723626,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002758056416163667,-0.0021670000895662746],"position_m":[0.34634194358383635,0.28793299991043375,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f452be9dd6fe45a123d75eecd8ee12b18e6addf5c58829fb889c57ffef7d9c9d","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3176/tex_ceiling_textures_7422/tex_floor_textures_5185/tex_table_textures_130/tex_wall_textures_2859","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1508247774240101470,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1508247774240101470,"visual_seed":1508247774240101470,"scene_id":"lab_003","finished_at":"2026-09-03T18:41:58"} +{"episode_id":"ep_000005","started_at":"2026-09-03T18:42:02","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[-0.6183377270467125,1.7500642744379076,0.71338606911949],"aabb_xy":[[-0.6833377252026316,1.7237680298879954],[-0.5533377288907935,1.7763605189878198]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.17617000421358175,1.3679680386436526,0.71338606911949],"aabb_xy":[[0.13089138933243247,1.303968039295469],[0.221448619094731,1.4319680379918363]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[0.6601634249091566,0.9838053523558767,0.71338606911949],"aabb_xy":[[0.6226634245609286,0.9720139567747931],[0.6976634252573841,0.9955967479369602]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[0.3715229020755946,-1.3587093758989819,0.71338606911949],"aabb_xy":[[0.3075229029058246,-1.4054760630179444],[0.4355229012453645,-1.3119426887800194]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.032676481194353735,1.6684123438942033,0.71338606911949],"aabb_xy":[[0.024682991399071715,1.660414211953728],[0.04066997098963577,1.6764104758346792]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.4736365384222514,1.191593268657095,0.71338606911949],"aabb_xy":[[0.436136538478485,1.1833001786222583],[0.5111365383660178,1.1998863586919315]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.661997532281991,0.9302837484669246,0.71338606911949],"aabb_xy":[[-0.6664281616368312,0.9248353767322421],[-0.6575669029271508,0.9357321202016073]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[0.6897813883620905,-0.8967125054247991,0.71338606911949],"aabb_xy":[[0.6832797518540858,-0.9064803274511091],[0.6962830248700951,-0.8869446833984895]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[0.4976910981331424,-1.0955605505975585,0.71338606911949],"aabb_xy":[[0.42769109653086285,-1.108993343799216],[0.5676910997354219,-1.082127757395901]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.1894885902249095,-1.8574129284832797,0.71338606911949],"aabb_xy":[[0.13547299394300946,-1.9214129313755366],[0.24350418650680947,-1.7934129255910223]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.028836139957963414,-1.4358147866805901,0.71338606911949],"aabb_xy":[[-0.1188361393763343,-1.46919028352478],[0.06116385946040748,-1.4024392898364006]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[0.6131331209963096,-0.9185172277822906,0.71338606911949],"aabb_xy":[[0.6057206654549211,-0.9243684382039187],[0.620545576537698,-0.9126660173606628]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.6222565211210314,-0.31370218790378823,0.71338606911949],"aabb_xy":[[0.5322565187870123,-0.39118454248890083],[0.7122565234550504,-0.23621983331867552]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.3343669080428212,-0.8787087906369786,0.71338606911949],"aabb_xy":[[-0.41936690646024444,-0.9635830860992636],[-0.24936690962539798,-0.7938344951746936]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.31085936471510056,-1.7633183477387209,0.71338606911949],"aabb_xy":[[-0.3190739098307845,-1.7719949380363622],[-0.3026448195994165,-1.7546417574410795]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.3985251059810206,0.545831279184688,0.71338606911949],"aabb_xy":[[-0.4625251091996585,0.49910816728567964],[-0.3345251027623828,0.5925543910836963]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.36854153940790907,-2.2542152936325386,0.71338606911949],"aabb_xy":[[-0.4060415379835299,-2.2669515892960965],[-0.33104154083228826,-2.2414789979689806]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[0.6427226054072066,-1.3463394046574642,0.71338606911949],"aabb_xy":[[0.5927233302387704,-1.3963394059334113],[0.6927218805756428,-1.296339403381517]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[0.04720214581489646,-1.8134619850685252,0.71338606911949],"aabb_xy":[[0.005017731654065723,-1.8774619853457364],[0.0893865599757272,-1.749461984791314]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.6008582825098842,1.2006134062975398,0.71338606911949],"aabb_xy":[[-0.6133256406196198,1.1881480816642165],[-0.5883909244001485,1.2130787309308635]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.07529734944864419,0.8912988821028622,0.71338606911949],"aabb_xy":[[-0.11279734955423713,0.884476720249881],[-0.03779734934305123,0.8981210439558432]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.6647648912777218,-0.9761655784334908,0.71338606911949],"aabb_xy":[[-0.6886011089183269,-1.0661655792419777],[-0.6409286736371168,-0.8861655776250047]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[0.34868612776954033,-2.098743748156886,0.71338606911949],"aabb_xy":[[0.28468612447983227,-2.142078667160803],[0.4126861310592485,-2.055408829152968]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[-0.5477001439064325,0.13710569567448783,0.71338606911949],"aabb_xy":[[-0.6077001445024487,0.08229322312926438],[-0.48770014331041633,0.19191816821971133]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.3694806009206041,-1.6839900519314126,0.71338606911949],"aabb_xy":[[-0.37481311557521707,-1.6893143801766481],[-0.3641480862659911,-1.678665723686177]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_25","position":[0.4532478719896038,-1.7359617686151418,0.71338606911949],"aabb_xy":[[0.391657112765611,-1.7999617667241887],[0.5148386312135966,-1.671961770506095]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[-0.283345762303953,0.21857787938754747,0.71338606911949],"aabb_xy":[[-0.3208457638195847,0.20735110637140242],[-0.24584576078832127,0.22980465240369252]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7180554290403407,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2532.png","name":"2532"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2532.png","name":"2532"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2653.png","name":"2653"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4600.png","name":"4600"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5650.png","name":"5650"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5116.png","name":"5116"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":593.8493613276563,"rotation_z_degrees":230.66875089166226,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003926850352316658,-0.015416425271840577,-0.001992592880178754]},{"name":"camera_2","offset_m":[0.009439422575883222,0.013238573635572261,-0.0018355548204139968]},{"name":"camera_3","offset_m":[0.0035318244501500416,0.014016081316279929,-0.00256316358097684]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00022243498959403007,-0.0010691918615162255,-0.001912203835180609],"end_effector_yaw_offset_degrees":0.8732540484186444},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014522399932949876,-0.0013971137901318022,-0.0007354215837507715],"end_effector_yaw_offset_degrees":0.3910239367921535},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017094592450096879,-0.0012408007669724324,0.0007713776612746784],"end_effector_yaw_offset_degrees":-0.6571596298762408}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003100916657123084,-0.00014570501696253412],"position_m":[0.18229908334287692,-0.13284570501696255,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020193049945999974,-0.0043141654480435025],"position_m":[0.26951930499460003,-0.40551416544804353,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00192103817075771,0.0009147205281185298],"position_m":[0.1895210381707577,0.08551472052811852,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016769284582277512,-0.0010110166044261437],"position_m":[0.3507769284582278,0.2890889833955739,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"48b9134b81914e943ef42f657657fbe9892a0b6c4789c2b70f680d2ccd5cf14b","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2532/tex_ceiling_textures_5116/tex_floor_textures_5650/tex_table_textures_2653/tex_wall_textures_4600","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3882142380478292578,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3882142380478292578,"visual_seed":3882142380478292578,"scene_id":"lab_003","finished_at":"2026-09-03T18:44:58"} +{"episode_id":"ep_000006","started_at":"2026-09-03T18:45:01","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[0.3837283036405019,1.5410707602320275,0.71338606911949],"aabb_xy":[[0.32860309801091114,1.4810707587907401],[0.4388535092700927,1.6010707616733144]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[-0.5410613060873001,0.577378655183534,0.71338606911949],"aabb_xy":[[-0.6247835315873825,0.487378651648838],[-0.4573390805872176,0.6673786587182299]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.18321509940420144,0.9740379011101039,0.71338606911949],"aabb_xy":[[0.11921510300862836,0.9100746126913704],[0.24721509579977452,1.0380011895288375]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.609361376854975,-1.804239054730031,0.71338606911949],"aabb_xy":[[0.5493613770084083,-1.86105767692307],[0.6693613767015418,-1.7474204325369926]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[-0.07153103201725686,-0.8826796947918323,0.71338606911949],"aabb_xy":[[-0.13553103392959923,-0.9385908440498427],[-0.007531030104914543,-0.8267685455338218]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.6598400555935866,-0.02758410801439437,0.71338606911949],"aabb_xy":[[-0.6668803655271236,-0.1075841074140658],[-0.6527997456600496,0.05241589138527704]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[0.40394175650534714,-2.18034335631071,0.71338606911949],"aabb_xy":[[0.3930359804177844,-2.2603433527095387],[0.41484753259290985,-2.1003433599118804]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[-0.039564511474926234,0.1587168327082873,0.71338606911949],"aabb_xy":[[-0.0695320683847519,0.12871683241040155],[-0.009596954565100568,0.18871683300617303]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[-0.4234796480188399,-2.065349208807596,0.71338606911949],"aabb_xy":[[-0.45396389814587007,-2.115349208589092],[-0.39299539789180976,-2.0153492090261]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.3943226290730811,0.877914811569239,0.71338606911949],"aabb_xy":[[-0.4843226276675511,0.8616642252558181],[-0.3043226304786112,0.8941653978826601]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.23403920600038164,-1.1833692333881456,0.71338606911949],"aabb_xy":[[0.22604521742267822,-1.1913693134832357],[0.242033194578085,-1.175369153293055]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.16345981252057784,-0.4316075895479665,0.71338606911949],"aabb_xy":[[-0.2009598137053706,-0.4360258122440269],[-0.12595981133578502,-0.4271893668519059]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.4111791866757841,1.2282662909937168,0.71338606911949],"aabb_xy":[[0.40633559191455415,1.2234146385147326],[0.4160227814370141,1.2331179434727009]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.5361920835241623,0.8006418161277984,0.71338606911949],"aabb_xy":[[-0.5403080336362348,0.7965262610949527],[-0.5320761334120895,0.8047573711606438]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.1052421906034181,-2.497976252785217,0.71338606911949],"aabb_xy":[[0.0971145024101049,-2.506889861195925],[0.11336987879673134,-2.4890626443745094]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.47847689003499316,-1.2867338092456686,0.71338606911949],"aabb_xy":[[-0.5334768892115826,-1.3417234840206262],[-0.4234768908584036,-1.231744134470711]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.327027454885366,1.3450417879470624,0.71338606911949],"aabb_xy":[[0.3095275214513826,1.3275417880268277],[0.34452738831934937,1.3625417878672967]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[0.6144192087803757,-0.6495186506600237,0.71338606911949],"aabb_xy":[[0.5504192085199049,-0.6945274500129516],[0.6784192090408465,-0.6045098513070956]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[-0.06380680082266088,1.0270334096829288,0.71338606911949],"aabb_xy":[[-0.11380680118322693,0.9770534224733259],[-0.013806800462094813,1.0770133968925317]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[0.03738995348611085,-1.7480642529559174,0.71338606911949],"aabb_xy":[[-0.0526100430147609,-1.7939758953743754],[0.12738994998698258,-1.702152610537459]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.11223448168401828,0.6125833882988361,0.71338606911949],"aabb_xy":[[-0.16222931461195989,0.5625833894035925],[-0.06223964875607668,0.6625833871940796]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.20045928023250265,-1.5107537095349122,0.71338606911949],"aabb_xy":[[-0.22500549585525334,-1.5410026060839492],[-0.1759130646097519,-1.480504812985875]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[-0.3404220096076835,1.6600345067875213,0.71338606911949],"aabb_xy":[[-0.410422011209963,1.6466017135858637],[-0.27042200800540406,1.6734672999891789]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[0.307799663974091,-1.4373819418159106,0.71338606911949],"aabb_xy":[[0.2825788271142512,-1.462605692668797],[0.33302050083393053,-1.4121581909630234]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_24","position":[-0.2913779353353107,-0.8908625930102774,0.71338606911949],"aabb_xy":[[-0.341377936354446,-0.9273288087481054],[-0.2413779343161755,-0.8543963772724495]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[-0.5425496200265878,-2.472289957382681,0.71338606911949],"aabb_xy":[[-0.6025496205344406,-2.529136691068602],[-0.4825496195187348,-2.415443223696759]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[-0.6159277021897769,0.4083511155846038,0.71338606911949],"aabb_xy":[[-0.6334277024348262,0.39085132774503684],[-0.5984277019447274,0.42585090342417053]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_27","position":[-0.5842345166224157,-1.1296353863017061,0.71338606911949],"aabb_xy":[[-0.5961672509842437,-1.1420175391095655],[-0.5723017822605876,-1.1172532334938468]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_28","position":[0.23296018330978374,-1.7969568478947937,0.71338606911949],"aabb_xy":[[0.22699364436904795,-1.8029179925541579],[0.23892672225051953,-1.7909957032354296]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_29","position":[-0.2902331194453614,-1.1593477824346454,0.71338606911949],"aabb_xy":[[-0.296734755953366,-1.1691156044609552],[-0.2837314829373568,-1.1495799604083357]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[-0.08632200292760794,1.5601725614511266,0.71338606911949],"aabb_xy":[[-0.14791276215160076,1.49617256334208],[-0.024731243703615124,1.6241725595601737]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7130258559989848,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7617.png","name":"7617"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7617.png","name":"7617"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8257.png","name":"8257"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3374.png","name":"3374"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7013.png","name":"7013"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2798.png","name":"2798"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":633.8513247166884,"rotation_z_degrees":198.85278991235862,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018079255518558216,-0.008861677877407135,-0.011249323626216926]},{"name":"camera_2","offset_m":[0.0005348659372594461,0.002736590502320859,0.005670487298626327]},{"name":"camera_3","offset_m":[0.0020640822230747584,-0.01282957471979751,0.012218134239127005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014774734917595927,0.000687618175636417,-0.0018010315721416275],"end_effector_yaw_offset_degrees":-0.14474450877656064},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005126785405935004,-0.0009045207348568085,-0.001341489737757696],"end_effector_yaw_offset_degrees":-0.8198294800123278},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011577997051884395,-0.0017327119222027485,0.0002230389918484411],"end_effector_yaw_offset_degrees":-0.6419639468424498}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010750158999711787,-0.004457770677399796],"position_m":[0.18647501589997117,-0.13715777067739982,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019620255416366596,-0.0012260820397579299],"position_m":[0.26553797445836336,-0.40242608203975794,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004285571906254916,-0.0006434770467488296],"position_m":[0.1918855719062549,0.08395652295325116,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004620886698660334,-0.0026787040243765816],"position_m":[0.3444791133013397,0.28742129597562344,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a5ab48843f275b3d0bbe5a832724fabc6c2c90eccf914b653f122823d4ba5e53","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7617/tex_ceiling_textures_2798/tex_floor_textures_7013/tex_table_textures_8257/tex_wall_textures_3374","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4728041128537407089,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4728041128537407089,"visual_seed":4728041128537407089,"scene_id":"lab_003","finished_at":"2026-09-03T18:47:42"} +{"episode_id":"ep_000007","started_at":"2026-09-03T18:47:46","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[0.5498513998645329,-2.544830229278517,0.71338606911949],"aabb_xy":[[0.5405577816273822,-2.582330227766651],[0.5591450181016834,-2.5073302307903833]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.06186634842569161,-2.124802916350437,0.71338606911949],"aabb_xy":[[-0.07944465061463846,-2.142377405924542],[-0.04428804623674476,-2.107228426776332]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[-0.2616165626410295,-1.425092605617621,0.71338606911949],"aabb_xy":[[-0.2767794356179666,-1.4402580629127397],[-0.24645368966409242,-1.4099271483225022]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[-0.4266568186236159,-2.1829353696952474,0.71338606911949],"aabb_xy":[[-0.43822579937055245,-2.207935369812179],[-0.4150878378766793,-2.1579353695783157]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.2491592284423365,1.798811163213323,0.71338606911949],"aabb_xy":[[0.21165922777775775,1.7831241052131004],[0.2866592291069151,1.8144982212135448]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[-0.036201030020867386,1.4871474671314284,0.71338606911949],"aabb_xy":[[-0.060714654117873246,1.462882873829392],[-0.011687405923861527,1.5114120604334649]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[-0.0339929894779053,1.1337448647762773,0.71338606911949],"aabb_xy":[[-0.051492922911888665,1.1162448648560428],[-0.01649305604392192,1.1512448646965119]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.35427888252393136,-1.092386222383953,0.71338606911949],"aabb_xy":[[0.32083870732791164,-1.1258298482148827],[0.38771905771995085,-1.0589425965530226]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.03188543654134146,-1.4130693443046278,0.71338606911949],"aabb_xy":[[0.026547860875336893,-1.4380693452337676],[0.03722301220734603,-1.388069343375488]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.3588539338293103,-0.45165766270309105,0.71338606911949],"aabb_xy":[[-0.4088381695374876,-0.5016576615165866],[-0.30886969812113313,-0.4016576638895955]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.6235442034779659,1.6556066050714233,0.71338606911949],"aabb_xy":[[0.5685442038562201,1.600622912283951],[0.6785442030997118,1.7105902978588965]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[0.5105254089414231,0.38820025557181337,0.71338606911949],"aabb_xy":[[0.44652540689169107,0.3481057724825054],[0.5745254109911551,0.42829473866112133]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[0.6568289889933459,1.1904702608346431,0.71338606911949],"aabb_xy":[[0.6193289884959876,1.1865015772865244],[0.6943289894907041,1.1944389443827614]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[-0.50359717072412,-2.5788478515822955,0.71338606911949],"aabb_xy":[[-0.511300361398197,-2.5865572222810336],[-0.495893980050043,-2.5711384808835573]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[0.5058108790623805,-0.23193725331445902,0.71338606911949],"aabb_xy":[[0.494042692267723,-0.3169372532196806],[0.5175790658570381,-0.14693725340923747]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.5425006753972257,-0.9320242481240766,0.71338606911949],"aabb_xy":[[0.531594899309663,-1.0120242445229057],[0.5534064514847884,-0.8520242517252473]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.21621034236341213,-0.9236819652613488,0.71338606911949],"aabb_xy":[[-0.29620416594197035,-1.0036819678541904],[-0.1362165187848539,-0.8436819626685074]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[-0.543570469816782,-1.994935170405653,0.71338606911949],"aabb_xy":[[-0.6012009387040528,-2.054935169332363],[-0.48594000092951106,-1.934935171478942]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.39213338732518865,0.12262845725054516,0.71338606911949],"aabb_xy":[[-0.4421163375126679,0.07262845760798474],[-0.3421504371377092,0.17262845689310555]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[-0.20484041759097127,0.696468208300006,0.71338606911949],"aabb_xy":[[-0.2261184257344435,0.6314682059739328],[-0.183562409447499,0.761468210626079]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[-0.6719206477165587,0.9515793713231218,0.71338606911949],"aabb_xy":[[-0.6851515932512399,0.9383519523011222],[-0.6586897021818773,0.9648067903451211]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.34141542241811007,-1.2585110225375056,0.71338606911949],"aabb_xy":[[0.33064244849674235,-1.2935110207565446],[0.3521883963394779,-1.2235110243184666]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[-0.4576395780296435,1.3707948323783357,0.71338606911949],"aabb_xy":[[-0.5077370420107171,1.3067948318685239],[-0.4075421140485699,1.4347948328881475]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[0.23492957787489177,-1.3561483266127354,0.71338606911949],"aabb_xy":[[0.22934790624076298,-1.3686483264305112],[0.2405112495090205,-1.3436483267949602]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[-0.2599728019911808,1.0637016028069786,0.71338606911949],"aabb_xy":[[-0.2640509598982305,1.0596206225587153],[-0.25589464408413104,1.0677825830552419]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[-0.06906233205723322,0.178916802804447,0.71338606911949],"aabb_xy":[[-0.08685583899214966,0.16111705720864933],[-0.051268825122316786,0.19671654840024466]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.4908327998021459,-1.2071801952610741,0.71338606911949],"aabb_xy":[[-0.5548328020225528,-1.2515532793863624],[-0.42683279758173875,-1.1628071111357858]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_27","position":[-0.1188613004215825,-2.2744181369498246,0.71338606911949],"aabb_xy":[[-0.1838613013787097,-2.32636634888353],[-0.0538612994644553,-2.222469925016119]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_28","position":[0.17836490062221366,0.9788346129876473,0.71338606911949],"aabb_xy":[[0.09836490360796568,0.958700061314236],[0.25836489763646164,0.9989691646610586]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_29","position":[-0.5312788710596419,-2.4084811128420265,0.71338606911949],"aabb_xy":[[-0.5406963456295046,-2.4178972899797455],[-0.5218613964897791,-2.3990649357043075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7092345063630009,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7353.png","name":"7353"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7353.png","name":"7353"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5237.png","name":"5237"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8835.png","name":"8835"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4197.png","name":"4197"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1571.png","name":"1571"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":639.0059773108576,"rotation_z_degrees":123.63868695447884,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003473639908487546,0.0043584487859443626,0.019522527677822508]},{"name":"camera_2","offset_m":[0.010174866712955751,0.015001947778115737,-0.017117946665134318]},{"name":"camera_3","offset_m":[0.008739601596166251,-0.019732213346602922,0.009019323952165818]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011915144069923308,-0.0012105660897912625,-0.0010089814765254417],"end_effector_yaw_offset_degrees":0.5387893243894082},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011586925981481207,0.0008573441113562822,-0.0011874377140911677],"end_effector_yaw_offset_degrees":-0.5385070492903534},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001344744867194533,0.0017013613081601777,-0.00034047529579922606],"end_effector_yaw_offset_degrees":0.8572225569548286}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034623804845736704,-0.001240551916698206],"position_m":[0.18193761951542634,-0.1339405519166982,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002813330471466623,0.0042667730721258285],"position_m":[0.26468666952853337,-0.3969332269278742,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004216196587421544,0.004119486086073398],"position_m":[0.18338380341257846,0.0887194860860734,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012096020472008072,-0.003168419737022388],"position_m":[0.35030960204720085,0.28693158026297766,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6036b0c3e7dc95ba79d58067651a9505746f9687d95d6cabb56e9916270d7e04","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7353/tex_ceiling_textures_1571/tex_floor_textures_4197/tex_table_textures_5237/tex_wall_textures_8835","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":316026639662789723,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":316026639662789723,"visual_seed":316026639662789723,"scene_id":"lab_003","finished_at":"2026-09-03T18:50:26"} +{"episode_id":"ep_000008","started_at":"2026-09-03T18:50:29","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.633987174265916,-0.0724461910689822,0.71338606911949],"aabb_xy":[[0.5699871728579253,-0.12423514259290691],[0.6979871756739067,-0.020657239545057503]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.4112170859705685,1.570775277651911,0.71338606911949],"aabb_xy":[[-0.46620933660607955,1.5157752759085987],[-0.3562248353350576,1.6257752793952243]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[-0.14946006870399875,-2.39657385850415,0.71338606911949],"aabb_xy":[[-0.1716325956806496,-2.418749525660273],[-0.1272875417273479,-2.374398191348027]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[-0.2530316433700183,-0.09852329892351452,0.71338606911949],"aabb_xy":[[-0.29157733619521936,-0.1370690699797032],[-0.21448595054481728,-0.05997752786732587]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.2967340837935464,-0.7233380032974557,0.71338606911949],"aabb_xy":[[0.2875742048496698,-0.7298692213409926],[0.305893962737423,-0.7168067852539185]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[0.21941310658469748,-1.1050541443762039,0.71338606911949],"aabb_xy":[[0.1772286924238668,-1.169054144653415],[0.2615975207455283,-1.0410541440989927]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[-0.3352717704902952,1.2356641327103413,0.71338606911949],"aabb_xy":[[-0.42027176918236986,1.2036782693154624],[-0.2502717717982206,1.2676499961052201]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.04322143208362361,1.6774818922023598,0.71338606911949],"aabb_xy":[[0.005721431419044908,1.6617948342021374],[0.0807214327482023,1.6931689502025817]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.3065944169657181,-0.36205894102019487,0.71338606911949],"aabb_xy":[[-0.3440944184813498,-0.3732857140363399],[-0.2690944154500864,-0.3508321680040498]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.3434870227327822,-2.4846292112120816,0.71338606911949],"aabb_xy":[[0.2940066015188234,-2.5486292091249334],[0.392967443946741,-2.4206292132992298]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.4547252665056236,-2.1142641871547223,0.71338606911949],"aabb_xy":[[-0.4915758144426113,-2.1517641879777556],[-0.41787471856863606,-2.076764186331688]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.12450674039695253,-1.7544603917008632,0.71338606911949],"aabb_xy":[[0.12039079028487985,-1.7585759467337083],[0.1286226905090252,-1.7503448366680172]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[-0.24744001151913647,-1.3001908564448321,0.71338606911949],"aabb_xy":[[-0.2629957809294018,-1.3157412896892395],[-0.23188424210887124,-1.2846404232004252]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.4237051583914149,-0.030243921854240963,0.71338606911949],"aabb_xy":[[-0.44157426614587036,-0.04407682983145189],[-0.4058360506369594,-0.016411013877030037]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.5778657920753261,0.6657909205635386,0.71338606911949],"aabb_xy":[[-0.6028657916270644,0.655648436698404],[-0.5528657925235875,0.6759334044286734]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.6524005635926613,-2.461518616343582,0.71338606911949],"aabb_xy":[[-0.6749142554161184,-2.531518616944589],[-0.629886871769204,-2.391518615742574]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[0.543917152207172,-2.0406606024290452,0.71338606911949],"aabb_xy":[[0.5093260693531266,-2.105660602714076],[0.5785082350612171,-1.975660602144014]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[0.5800125345059344,0.300652963570351,0.71338606911949],"aabb_xy":[[0.5750565143210533,0.2781529633682294],[0.5849685546908157,0.32315296377247266]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[0.6049098317128085,1.3967399167108394,0.71338606911949],"aabb_xy":[[0.588232695719713,1.3800399927369091],[0.621586967705904,1.4134398406847697]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.24386498111095,0.5784489905096377,0.71338606911949],"aabb_xy":[[-0.2813649810547164,0.5701559004748011],[-0.2063649811671836,0.5867420805444743]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.5952028404454602,-1.886293368208614,0.71338606911949],"aabb_xy":[[-0.6451976733734018,-1.9362933671038578],[-0.5452080075175186,-1.8362933693133707]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.46856030479025423,-1.2370646512010894,0.71338606911949],"aabb_xy":[[0.4135603065885094,-1.277586617827527],[0.5235603029919991,-1.1965426845746518]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[-0.5894035898172278,0.41831437383414105,0.71338606911949],"aabb_xy":[[-0.6112933374061686,0.32831437654489193],[-0.567513842228287,0.5083143711233902]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_23","position":[-0.17124950299599806,-1.4806853266839697,0.71338606911949],"aabb_xy":[[-0.2362495030303008,-1.5273860033642972],[-0.10624950296169533,-1.4339846500036426]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[0.18070129716900551,1.5582530132767762,0.71338606911949],"aabb_xy":[[0.11070129503757592,1.5354910476510804],[0.250701299300435,1.5810149789024717]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[0.6657893593888708,1.6777565851301373,0.71338606911949],"aabb_xy":[[0.6157900842204347,1.6277565838541903],[0.715788634557307,1.7277565864060846]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[-0.17499031837499257,-0.6357896412482553,0.71338606911949],"aabb_xy":[[-0.19999031764695485,-0.6521350048444177],[-0.1499903191030303,-0.619444277652093]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[-0.1749171180800796,-1.1824436353330285,0.71338606911949],"aabb_xy":[[-0.24491712071666594,-1.2025485003288938],[-0.10491711544349325,-1.1623387703371628]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_28","position":[-0.05911288193375408,-0.7246615666921405,0.71338606911949],"aabb_xy":[[-0.10908617593701453,-0.7746615672466878],[-0.009139587930493624,-0.6746615661375931]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_29","position":[-0.23992270745191902,0.21703856982058056,0.71338606911949],"aabb_xy":[[-0.2949227066285085,0.1620488950456229],[-0.18492270827532953,0.2720282445955382]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_30","position":[0.03209711669081772,-2.185631832814461,0.71338606911949],"aabb_xy":[[-0.015709050922950937,-2.25063183552152],[0.07990328430458636,-2.120631830107402]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_31","position":[0.47097817739150427,0.9525799060005782,0.71338606911949],"aabb_xy":[[0.43347817896810387,0.9394156920327474],[0.5084781758149046,0.9657441199684087]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7108787535033553,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4684.png","name":"4684"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4684.png","name":"4684"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7029.png","name":"7029"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2409.png","name":"2409"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1691.png","name":"1691"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6955.png","name":"6955"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":688.9591444301655,"rotation_z_degrees":253.45494905673633,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0036940056036435104,0.003950032308063931,-0.016114463222223003]},{"name":"camera_2","offset_m":[0.016501188233580714,-0.003011694168448188,-0.0005328766970301678]},{"name":"camera_3","offset_m":[-0.006647822267601114,0.0027678446765372795,0.00675387669296636]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00015730532138857802,0.000970741694574233,-0.0016462929848939068],"end_effector_yaw_offset_degrees":-0.7681625544229846},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006645551209539847,-0.0013396820276862934,-0.0005132569088515755],"end_effector_yaw_offset_degrees":-0.6248235116908991},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010056803770915823,-0.000274009521466081,-0.000509461941194425],"end_effector_yaw_offset_degrees":-0.0937736329732386}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00157117674659611,-0.002930237548742395],"position_m":[0.1838288232534039,-0.1356302375487424,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035721313345801623,0.00022327128953155122],"position_m":[0.26392786866541984,-0.40097672871046847,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028469973315300113,-0.004410101505686739],"position_m":[0.18475300266846997,0.08018989849431325,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016148316231263805,0.003931588172154987],"position_m":[0.34748516837687365,0.294031588172155,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"88669b6ba81c95889a5a30d34ba1da4e9103fd9bfaf69f8021c8f14751b21b96","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4684/tex_ceiling_textures_6955/tex_floor_textures_1691/tex_table_textures_7029/tex_wall_textures_2409","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":402466413327655534,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":402466413327655534,"visual_seed":402466413327655534,"scene_id":"lab_003","finished_at":"2026-09-03T18:53:19"} +{"episode_id":"ep_000009","started_at":"2026-09-03T18:53:22","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[0.16513728998641997,-1.505057260567039,0.71338606911949],"aabb_xy":[[0.1596793443493999,-1.585057263874698],[0.17059523562344003,-1.4250572572593798]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[0.6637118266915123,-0.20469561315557572,0.71338606911949],"aabb_xy":[[0.633720163957642,-0.23469561249237622],[0.6937034894253826,-0.17469561381877516]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[-0.6260291120675665,1.4329158767459584,0.71338606911949],"aabb_xy":[[-0.6876198712915593,1.3689158786369116],[-0.5644383528435737,1.4969158748550053]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.4464501062229889,0.9217431904695994,0.71338606911949],"aabb_xy":[[-0.4962668856878236,0.8717431919852959],[-0.3966333267581541,0.9717431889539027]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[-0.20741123698049813,1.2518575571660753,0.71338606911949],"aabb_xy":[[-0.24304039288045784,1.2162248904092223],[-0.17178208108053836,1.2874902239229282]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[-0.16075865967408298,-2.107777562078735,0.71338606911949],"aabb_xy":[[-0.21075865832000418,-2.157697105738197],[-0.11075866102816179,-2.0578580184192723]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[0.052041726517377485,-2.548646939939305,0.71338606911949],"aabb_xy":[[0.04594709862925917,-2.5572163344909735],[0.05813635440549581,-2.540077545387636]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.23907833913036747,-1.3874438060211252,0.71338606911949],"aabb_xy":[[-0.2440343593152487,-1.409943806223247],[-0.2341223189454863,-1.3649438058190038]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[0.337350008150441,1.3848432137147344,0.71338606911949],"aabb_xy":[[0.3324507158438775,1.3571662944121654],[0.34224930045700447,1.412520133017303]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[0.5098532621996554,-2.130719704982176,0.71338606911949],"aabb_xy":[[0.4730027142626677,-2.16821970580521],[0.5467038101366429,-2.0932197041591425]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.4405419051382251,-0.7099065026914813,0.71338606911949],"aabb_xy":[[0.39054190556189045,-0.7598870816435872],[0.4905419047145599,-0.6599259237393753]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[0.09923753100133037,-0.8506980582182655,0.71338606911949],"aabb_xy":[[0.0531524397465989,-0.9146980554708206],[0.14532262225606185,-0.7866980609657104]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.24617017691468257,0.8756928903084793,0.71338606911949],"aabb_xy":[[-0.2832042863427423,0.8413156829747699],[-0.20913606748662283,0.9100700976421887]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.4845391459941585,-1.8838847449995766,0.71338606911949],"aabb_xy":[[-0.49462085307273196,-1.963884742891691],[-0.474457438915585,-1.8038847471074617]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[0.6222873411229342,-0.5778244153044536,0.71338606911949],"aabb_xy":[[0.5322873374460159,-0.6392568218815579],[0.7122873447998522,-0.5163920087273491]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.5046771218233481,-1.8601112854439683,0.71338606911949],"aabb_xy":[[0.49310814107641154,-1.8851112855609],[0.5162461025702847,-1.8351112853270366]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_16","position":[0.15006071636049645,-2.1652178997672444,0.71338606911949],"aabb_xy":[[0.10904277297412557,-2.2152179003982013],[0.19107865974686733,-2.1152178991362867]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.3791159338587185,1.1308455043473575,0.71338606911949],"aabb_xy":[[-0.46411593227614173,1.0459712088850726],[-0.2941159354412953,1.2157197998096425]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[-0.5836791726196264,0.35493210559766686,0.71338606911949],"aabb_xy":[[-0.6161408735015537,0.3247992734827641],[-0.5512174717376987,0.3850649377125694]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[0.46390761456333784,-1.1473552708524581,0.71338606911949],"aabb_xy":[[0.44140761405129725,-1.1698471292178565],[0.48640761507537844,-1.1248634124870598]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.10009909140268114,-0.7447556118558429,0.71338606911949],"aabb_xy":[[-0.1500765082679347,-0.7947556133450915],[-0.050121674537427545,-0.6947556103665944]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[-0.15230788761947722,-1.225341919336301,0.71338606911949],"aabb_xy":[[-0.2163078909091853,-1.2686768383402187],[-0.08830788432976909,-1.1820070003323835]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[-0.4756757944017488,-1.3270871426487911,0.71338606911949],"aabb_xy":[[-0.5169803374654848,-1.3910871422169082],[-0.4343712513380128,-1.263087143080674]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[-0.6105311076869486,0.9059053699518453,0.71338606911949],"aabb_xy":[[-0.6480311075039822,0.9012671586407034],[-0.5730311078699151,0.9105435812629871]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[-0.22433817234454562,-0.9908054242950024,0.71338606911949],"aabb_xy":[[-0.30433817450730805,-1.0707606079211458],[-0.1443381701817831,-0.9108502406688587]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_25","position":[-0.06017726269476098,-0.8968077767597238,0.71338606911949],"aabb_xy":[[-0.07074474235285999,-0.9073528068727322],[-0.04960978303666197,-0.8862627466467151]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[-0.17807098928357767,1.639044995213022,0.71338606911949],"aabb_xy":[[-0.24807099267513963,1.603729221509591],[-0.10807098589201568,1.6743607689164528]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7157493224766163,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4151.png","name":"4151"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4151.png","name":"4151"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8073.png","name":"8073"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4053.png","name":"4053"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5259.png","name":"5259"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3441.png","name":"3441"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":603.7041439858716,"rotation_z_degrees":359.8178502634385,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009221576478798604,-0.0008909282819000927,0.00943334509295089]},{"name":"camera_2","offset_m":[0.013780400763723801,-0.008852944004702911,-0.006827586505612082]},{"name":"camera_3","offset_m":[0.0024094515251148994,0.0050028276964756875,0.014151822957590678]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013874039054982776,-0.0015992892474516478,-0.0011072918743570334],"end_effector_yaw_offset_degrees":0.2349739807819866},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00016304195279538496,0.0018647999686082061,0.001867921281874236],"end_effector_yaw_offset_degrees":-0.9564041718488454},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006546007732704711,-0.0016511967842547785,-0.0014606972085301523],"end_effector_yaw_offset_degrees":0.013749789726667405}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018225532819443613,-0.0019647175508603486],"position_m":[0.18357744671805565,-0.13466471755086037,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0044103548951196685,0.003335903168144516],"position_m":[0.27191035489511967,-0.3978640968318555,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003611615120758474,0.0018299587521824912],"position_m":[0.19121161512075846,0.08642995875218248,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004387703415324472,-0.002028332559769821],"position_m":[0.3534877034153245,0.2880716674402302,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d33cdf054736be7a05391f46867d1de4e47012b25b287687d6909cf9ef9340b","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4151/tex_ceiling_textures_3441/tex_floor_textures_5259/tex_table_textures_8073/tex_wall_textures_4053","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4260731198413450684,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4260731198413450684,"visual_seed":4260731198413450684,"scene_id":"lab_003","finished_at":"2026-09-03T18:56:03"} +{"episode_id":"ep_000010","started_at":"2026-09-03T18:56:06","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[-0.5313684795108742,0.7328993559874522,0.71338606911949],"aabb_xy":[[-0.5953684811888716,0.6843819645081379],[-0.46736847783287694,0.7814167474667664]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.582832555792558,0.9598431489151755,0.71338606911949],"aabb_xy":[[0.5188325585069093,0.9183364299623316],[0.6468325530782066,1.0013498678680195]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.29241326883225516,-2.513505512488172,0.71338606911949],"aabb_xy":[[0.2502288546714244,-2.577505512765383],[0.3345976829930859,-2.4495055122109606]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[0.7032426442586084,-2.0038185771326718,0.71338606911949],"aabb_xy":[[0.6907752861488726,-2.0162839017659953],[0.7157100023683439,-1.9913532524993482]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[-0.010235050971207582,-1.5587127243280312,0.71338606911949],"aabb_xy":[[-0.014870166123440968,-1.56258005940518],[-0.0055999358189741935,-1.5548453892508824]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.40427207382919056,0.8607693959820999,0.71338606911949],"aabb_xy":[[-0.4135656920663411,0.8232693974939659],[-0.3949784555920399,0.8982693944702337]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[0.27469134457612165,-2.3584706436231926,0.71338606911949],"aabb_xy":[[0.22969875785767124,-2.4034706428976413],[0.31968393129457207,-2.313470644348744]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.3227865607931837,-1.6316189840102773,0.71338606911949],"aabb_xy":[[0.3072307913829185,-1.6471694172546847],[0.338342330203449,-1.6160685507658703]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.45506962029118836,-0.9831422175552744,0.71338606911949],"aabb_xy":[[0.41230291341176817,-1.0471422209770769],[0.49783632717060855,-0.919142214133472]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[0.4463266934413579,-0.7283402510318513,0.71338606911949],"aabb_xy":[[0.4345585066467004,-0.8133402509370731],[0.45809488023601547,-0.6433402511266298]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.47241678474305093,1.4758610815198563,0.71338606911949],"aabb_xy":[[0.4491349425449196,1.390861080222628],[0.4956986269411823,1.5608610828170841]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[0.70468644627886,-2.4637680359752783,0.71338606911949],"aabb_xy":[[0.6928143632673589,-2.548768035668928],[0.7165585292903611,-2.3787680362816275]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.23936550673825807,-0.900961563647025,0.71338606911949],"aabb_xy":[[0.20888125661122792,-0.9509615634285207],[0.2698497568652882,-0.8509615638655288]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[0.20614642954396312,1.3480497747867184,0.71338606911949],"aabb_xy":[[0.18092559268412345,1.3228260239338314],[0.23136726640380278,1.373273525639605]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.4111567169786261,-2.3888125703051677,0.71338606911949],"aabb_xy":[[0.3997949823253399,-2.4001810367114556],[0.4225184516319122,-2.377444103898879]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[0.5579212494814096,0.05800556497453657,0.71338606911949],"aabb_xy":[[0.5432778439273767,0.04334684531775229],[0.5725646550354426,0.07266428463132085]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.5224425953985631,1.3273667204526407,0.71338606911949],"aabb_xy":[[-0.5558827705945826,1.2939230946217104],[-0.4890024202025434,1.3608103462835706]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.4006166550281267,-1.7246608235029408,0.71338606911949],"aabb_xy":[[0.3106166556097558,-1.7580363203471303],[0.4906166544464976,-1.6912853266587509]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.634827269734082,1.6210261324911834,0.71338606911949],"aabb_xy":[[0.5548272727710428,1.5439504908474098],[0.7148272666971212,1.6981017741349567]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.1923410041475082,1.5642051957778311,0.71338606911949],"aabb_xy":[[-0.24234100550839544,1.5142272912024155],[-0.14234100278662098,1.6141831003532467]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[0.6131943211916457,-0.2832377379596185,0.71338606911949],"aabb_xy":[[0.5231943175147274,-0.3446701445367228],[0.7031943248685638,-0.22180533138251407]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[0.14452890108527805,0.9713916600887815,0.71338606911949],"aabb_xy":[[0.12069268344467299,0.8813916592802953],[0.1683651187258831,1.0613916608972682]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[-0.6223713738650752,-0.007996877688529747,0.71338606911949],"aabb_xy":[[-0.6400042094586027,-0.02561982370415272],[-0.6047385382715476,0.009626068327093227]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[-0.4031896314548428,-2.3088708701294878,0.71338606911949],"aabb_xy":[[-0.4158164187420392,-2.3184169438310605],[-0.3905628441676465,-2.299324796427915]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_24","position":[0.5099916164839995,-1.2972950152492475,0.71338606911949],"aabb_xy":[[0.42999161601378355,-1.305605722863596],[0.5899916169542154,-1.288984307634899]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[0.5167969979960663,-1.2113872120369433,0.71338606911949],"aabb_xy":[[0.49179699883043315,-1.2183394577423],[0.5417969971616994,-1.2044349663315868]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[-0.20045735813572352,0.18649682071684381,0.71338606911949],"aabb_xy":[[-0.2179573583950602,0.17240527852807122],[-0.18295735787638692,0.2005883629056165]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_27","position":[0.5953729103819603,-2.3694610359382557,0.71338606911949],"aabb_xy":[[0.5729081404105552,-2.3919610368171162],[0.6178376803533654,-2.3469610350593952]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[-0.301038288494282,-0.12760572724326114,0.71338606911949],"aabb_xy":[[-0.3360382898457637,-0.14796546320008197],[-0.26603828714280026,-0.10724599128644031]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_29","position":[0.5384953692217294,-0.7475821425364173,0.71338606911949],"aabb_xy":[[0.5206262614672738,-0.7614150505136282],[0.5563644769761847,-0.7337492345592064]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_30","position":[0.07073493546084919,-1.6314409542560504,0.71338606911949],"aabb_xy":[[0.06589134069961922,-1.6362926067350345],[0.07557853022207917,-1.6265893017770663]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_31","position":[0.22051787365822628,1.1537864706846852,0.71338606911949],"aabb_xy":[[0.2089488929112897,1.1287864705677535],[0.23208685440516286,1.178786470801617]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7153302902994426,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4847.png","name":"4847"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4847.png","name":"4847"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1314.png","name":"1314"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1757.png","name":"1757"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/938.png","name":"938"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1004.png","name":"1004"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":652.5615232999531,"rotation_z_degrees":112.41203632129508,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013824349323882684,-0.0028675692450068034,0.017672798746106385]},{"name":"camera_2","offset_m":[-0.008422066056947206,-0.0076097812578616395,0.017744753414166568]},{"name":"camera_3","offset_m":[0.016993010530808404,0.007172242651273756,-0.0085016515420183]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019074566001322567,0.001603449838013576,0.0017467291602126555],"end_effector_yaw_offset_degrees":-0.025143644884294103},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.262766421595085e-05,-0.0007427614728527418,-0.0001738869793858999],"end_effector_yaw_offset_degrees":0.07558367660366239},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001688560019104618,-0.00041004294909944335,-0.0018029225486586417],"end_effector_yaw_offset_degrees":-0.34086311798202895}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018524558969298843,-0.004825233375025233],"position_m":[0.18354754410307011,-0.13752523337502526,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023786818961440874,0.0010630278598167068],"position_m":[0.2698786818961441,-0.4001369721401833,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004503022900659501,0.0034289372007141198],"position_m":[0.18309697709934047,0.08802893720071411,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008305486863404389,0.0014250463875093988],"position_m":[0.3482694513136596,0.2915250463875094,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"889f32dd8fd03345afbf904959c112c02b490d5a34130b0eb547c1eb16b9f08f","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4847/tex_ceiling_textures_1004/tex_floor_textures_938/tex_table_textures_1314/tex_wall_textures_1757","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6786788845233132872,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6786788845233132872,"visual_seed":6786788845233132872,"scene_id":"lab_003","finished_at":"2026-09-03T18:59:03"} +{"episode_id":"ep_000011","started_at":"2026-09-03T18:59:06","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[0.20886876089317574,1.4355215771418366,0.71338606911949],"aabb_xy":[[0.20094548065442747,1.4130215769038332],[0.21679204113192413,1.45802157737984]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[0.23398598445887153,0.9601668720755345,0.71338606911949],"aabb_xy":[[0.22985012812617137,0.9226668726311776],[0.23812184079157175,0.9976668715198916]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[0.5714681621134559,-1.3517221357696914,0.71338606911949],"aabb_xy":[[0.5074681650013502,-1.400754505564102],[0.6354681592255615,-1.3026897659752807]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.00966622069597356,-1.1370029535735262,0.71338606911949],"aabb_xy":[[-0.012833779117928823,-1.141477569944007],[0.03216622050987594,-1.1325283372030455]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[0.6176615105743954,-2.3914878241538764,0.71338606911949],"aabb_xy":[[0.5842213353783757,-2.424931449984806],[0.6511016857704149,-2.358044198322945]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.1603917688900084,-1.7598505433337226,0.71338606911949],"aabb_xy":[[-0.2503917656256186,-1.8130340066510169],[-0.07039177215439815,-1.7066670800164279]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[-0.3199831797889071,-0.7951101593305869,0.71338606911949],"aabb_xy":[[-0.32961481600933673,-0.8047474721102958],[-0.3103515435684775,-0.785472846550878]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.15139551849090305,1.056189491452011,0.71338606911949],"aabb_xy":[[0.11639551859488419,1.0478152559400706],[0.18639551838692192,1.0645637269639507]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.28049221195410834,0.6520084917169431,0.71338606911949],"aabb_xy":[[0.2724659413234824,0.6432569967395906],[0.2885184825847344,0.6607599866942958]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[-0.23302053671974382,-2.1195009710024584,0.71338606911949],"aabb_xy":[[-0.26981516984465015,-2.1564068460990407],[-0.19622590359483758,-2.082595095905876]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.6083031660735078,-0.6044623659108854,0.71338606911949],"aabb_xy":[[-0.6883031640542928,-0.6120639068727374],[-0.5283031680927227,-0.5968608249490335]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.18860880745812236,-1.428912235937474,0.71338606911949],"aabb_xy":[[0.13360880828153288,-1.4839019107124314],[0.24360880663471185,-1.373922561162516]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[0.35597352733968424,-2.280980790492439,0.71338606911949],"aabb_xy":[[0.27597353018010895,-2.2925283914502557],[0.4359735244992595,-2.2694331895346216]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_13","position":[-0.13958472641652842,0.014319817606647689,0.71338606911949],"aabb_xy":[[-0.15649545885287017,0.0008476120140331593],[-0.12267399398018662,0.02779202319926221]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.6753605289072411,1.5668650166481508,0.71338606911949],"aabb_xy":[[0.6672328407139279,1.5579514082374435],[0.6834882171005543,1.575778625058859]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.12954747395270116,-1.6248683295981778,0.71338606911949],"aabb_xy":[[-0.14843185772121137,-1.6437542543785308],[-0.11066309018419096,-1.6059824048178253]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.1658018245250682,-1.9416958295025823,0.71338606911949],"aabb_xy":[[-0.22980182686786976,-1.9866366807467146],[-0.10180182218226665,-1.8967549782584496]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.6551441435649936,1.2786669570274776,0.71338606911949],"aabb_xy":[[0.6129597294041629,1.2146669567502664],[0.6973285577258244,1.3426669573046888]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.08374895379631198,1.1630476586953251,0.71338606911949],"aabb_xy":[[0.019748954626542036,1.1162809715763626],[0.14774895296608193,1.2098143458142876]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[0.09406229513004838,1.5640098749776947,0.71338606911949],"aabb_xy":[[0.02906229412954786,1.5132235098230198],[0.1590622961305489,1.6147962401323697]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[0.6182888432084972,-1.9560093289129246,0.71338606911949],"aabb_xy":[[0.5542888411587653,-1.9961038120022323],[0.6822888452582293,-1.9159148458236164]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7172012890064444,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/355.png","name":"355"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/355.png","name":"355"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/101.png","name":"101"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1945.png","name":"1945"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3817.png","name":"3817"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3072.png","name":"3072"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":543.2617113368161,"rotation_z_degrees":174.55653390136223,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008825375714317595,0.0060416653556374204,0.014441849781407976]},{"name":"camera_2","offset_m":[0.011259647688628308,0.0014229248843444474,-0.012602637636848716]},{"name":"camera_3","offset_m":[-0.0008139462333711309,-0.0009483313029138331,0.0012448223185201578]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012851362756665058,-0.0004353023229367592,0.0007495652156337962],"end_effector_yaw_offset_degrees":0.9641829843073126},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00040926119152114157,-0.0011766764400773931,-0.0018714833247885148],"end_effector_yaw_offset_degrees":-0.4414274473109261},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015535932882178973,-0.0008353440143576067,-0.0009336318028507638],"end_effector_yaw_offset_degrees":-0.26431510153541216}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022630698327745467,-0.0012261271539158393],"position_m":[0.18313693016722546,-0.13392612715391586,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036377768099412127,-0.00041562392274807364],"position_m":[0.2711377768099412,-0.4016156239227481,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017321505664461842,8.861892265782725e-06],"position_m":[0.18933215056644617,0.08460886189226578,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003496389177446854,0.004743244388741348],"position_m":[0.34560361082255314,0.2948432443887414,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"13ab0dfd629cd3548b802f5a8273c44e8b76995f4742b20eaa31dfa5ad79e3b3","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_355/tex_ceiling_textures_3072/tex_floor_textures_3817/tex_table_textures_101/tex_wall_textures_1945","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1272194349222466168,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1272194349222466168,"visual_seed":1272194349222466168,"scene_id":"lab_003","finished_at":"2026-09-03T19:01:58"} +{"episode_id":"ep_000012","started_at":"2026-09-03T19:02:01","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[-0.2641440144439204,1.0679722070475055,0.71338606911949],"aabb_xy":[[-0.3141440148044864,1.0179922198379023],[-0.2141440140833543,1.1179521942571082]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.5916277795573465,-2.2841996278324994,0.71338606911949],"aabb_xy":[[-0.6556277798313247,-2.3342657280297874],[-0.5276277792833682,-2.2341335276352114]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[0.22730471392133167,-1.6478562785404915,0.71338606911949],"aabb_xy":[[0.18980471397756526,-1.656149368575328],[0.2648047138650981,-1.6395631885056547]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[0.5993181203980564,0.17122253276039467,0.71338606911949],"aabb_xy":[[0.5443249090609197,0.1162225324216011],[0.6543113317351932,0.22622253309918833]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.11211642198618921,1.6510485524860292,0.71338606911949],"aabb_xy":[[0.10408008728490437,1.6430104331816122],[0.12015275668747405,1.6590866717904458]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.6301970068894083,1.496743737952317,0.71338606911949],"aabb_xy":[[0.6126187047004614,1.479169248378212],[0.6477753090783551,1.514318227526422]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.5040926846694964,0.5864327456269187,0.71338606911949],"aabb_xy":[[0.42037045916941385,0.49643274209222277],[0.5878149101695788,0.6764327491616147]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[-0.47310154880468747,-1.0093000318790046,0.71338606911949],"aabb_xy":[[-0.5371015480988557,-1.0732861722478588],[-0.40910154951051925,-0.9453138915101504]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.0702235354976457,1.0769023742551833,0.71338606911949],"aabb_xy":[[0.02025046996513025,1.0269023744426504],[0.1201966010301612,1.1269023740677162]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.5852802693848577,1.0771114232496575,0.71338606911949],"aabb_xy":[[-0.6552802709871371,1.0636786300480001],[-0.5152802677825782,1.0905442164513153]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[0.6377864071406292,1.2197763958765355,0.71338606911949],"aabb_xy":[[0.6177279955273889,1.1997113089673779],[0.6578448187538695,1.2398414827856927]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[0.6257250544715189,-2.074257069530037,0.71338606911949],"aabb_xy":[[0.5457250558841995,-2.1535726714681975],[0.7057250530588384,-1.994941467591876]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.20184911274773354,-1.513747006801044,0.71338606911949],"aabb_xy":[[0.15471973374589784,-1.5777470078454456],[0.24897849174956918,-1.4497470057566417]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[0.15369388897201575,-2.0724931460653817,0.71338606911949],"aabb_xy":[[0.09369388846416284,-2.1293398797513023],[0.21369388947986867,-2.01564641237946]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.429496733598403,-0.7689779224376534,0.71338606911949],"aabb_xy":[[0.38819219053466697,-0.8329779220057704],[0.47080127666213895,-0.7049779228695362]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[0.5323190936999151,-0.5837178986523948,0.71338606911949],"aabb_xy":[[0.49985739281798763,-0.6138507307672972],[0.5647807945818425,-0.5535850665374921]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[0.5477106896780315,1.347983520485911,0.71338606911949],"aabb_xy":[[0.5102106884932385,1.3435652977898502],[0.5852106908628241,1.3524017431819713]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.14267678822572882,-0.7637300716181141,0.71338606911949],"aabb_xy":[[0.13897352689658993,-0.767432089926832],[0.14638004955486766,-0.7600280533093963]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.5821173583211625,1.7495916946179952,0.71338606911949],"aabb_xy":[[-0.6046164940473895,1.7270916938397323],[-0.5596182225949355,1.7720916953962582]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[0.18572305045535287,1.1633195933545366,0.71338606911949],"aabb_xy":[[0.1682230513209857,1.1534399663169486],[0.20322304958972004,1.1731992203921242]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.4727232133836672,-2.0743541746006215,0.71338606911949],"aabb_xy":[[0.450258443412262,-2.096854175479482],[0.49518798335507225,-2.051854173721761]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.43747544913668385,0.24912648154981598,0.71338606911949],"aabb_xy":[[-0.48757291311775747,0.18512648104000415],[-0.3873779851556102,0.3131264820596278]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[0.4474516201528771,1.5974755462377837,0.71338606911949],"aabb_xy":[[0.35745162073450615,1.5641000493935937],[0.537451619571248,1.6308510430819732]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[0.4766573923523061,1.0720711255363042,0.71338606911949],"aabb_xy":[[0.44800805999188986,1.0434255662592282],[0.5053067247127223,1.1007166848133798]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[-0.2263121655975669,-0.7640620425223168,0.71338606911949],"aabb_xy":[[-0.29131216670351023,-0.7890274155904451],[-0.16131216449162364,-0.7390966694541885]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7122715835430722,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3714.png","name":"3714"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3714.png","name":"3714"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3167.png","name":"3167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2238.png","name":"2238"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9457.png","name":"9457"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7706.png","name":"7706"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":847.714716989533,"rotation_z_degrees":156.01888943582165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0009667979864925041,-0.010745091962183016,0.008477715799723375]},{"name":"camera_2","offset_m":[-0.011476662992483067,0.005174772889247961,0.0065037485733470575]},{"name":"camera_3","offset_m":[-0.012554344769061667,-0.01755945677173385,0.0001757330227316299]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00040237090877649523,0.0012342130906809502,0.00020966310655591612],"end_effector_yaw_offset_degrees":0.12489656699355467},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001528577064520758,0.0009947517063698058,0.0011845647249494507],"end_effector_yaw_offset_degrees":-0.3573984399914252},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011228784970279274,0.001955977345656062,0.0007419501822788378],"end_effector_yaw_offset_degrees":-0.2346893296754573}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009560976125693966,-0.004318244140799681],"position_m":[0.1844439023874306,-0.1370182441407997,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006662678958143523,0.003996245302972106],"position_m":[0.2681662678958144,-0.3972037546970279,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004865672927832308,0.0024714697338279745],"position_m":[0.1924656729278323,0.08707146973382797,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023026322621040652,-8.21925232458269e-05],"position_m":[0.34679736773789593,0.2900178074767542,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"03366e668dfa826d2d54170757e99622223a262495bbc8908518f92ccd9b4fa0","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3714/tex_ceiling_textures_7706/tex_floor_textures_9457/tex_table_textures_3167/tex_wall_textures_2238","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2956765040527688750,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2956765040527688750,"visual_seed":2956765040527688750,"scene_id":"lab_003","finished_at":"2026-09-03T19:04:52"} +{"episode_id":"ep_000013","started_at":"2026-09-03T19:04:55","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[0.4127645893910521,-1.3176483129960266,0.71338606911949],"aabb_xy":[[0.3487645890135184,-1.367393579846839],[0.47676458976858566,-1.2679030461452145]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.43938430061701894,-0.8020943176715307,0.71338606911949],"aabb_xy":[[-0.4475988457327028,-0.8107709079691718],[-0.43116975550133485,-0.7934177273738892]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[-0.11397059697932721,-0.8122558676088063,0.71338606911949],"aabb_xy":[[-0.1364842888027844,-0.8822558682098138],[-0.09145690515587002,-0.7422558670077988]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[0.007306301852394892,-0.8784576978110841,0.71338606911949],"aabb_xy":[[-0.009370834140700612,-0.8951576217850143],[0.023983437845490396,-0.8617577738371538]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[-0.5489333748601252,0.9417600203035512,0.71338606911949],"aabb_xy":[[-0.6289333735170112,0.9272551613792884],[-0.46893337620323916,0.956264879227814]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[-0.3874040221739102,-1.1267828667441333,0.71338606911949],"aabb_xy":[[-0.422404022150406,-1.1362474827917501],[-0.35240402219741435,-1.117318250696517]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.46574366414655044,-1.7957893122312107,0.71338606911949],"aabb_xy":[[0.4157436624850556,-1.845787754486913],[0.5157436658080451,-1.7457908699755076]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[0.3218582362831899,-2.0387465828922684,0.71338606911949],"aabb_xy":[[0.2848241268551301,-2.0731237902259774],[0.35889234571124956,-2.0043693755585585]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.2088492968563065,-1.1812133675295704,0.71338606911949],"aabb_xy":[[0.204935423660884,-1.1899623829361272],[0.21276317005172904,-1.1724643521230136]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.21402066311881762,-2.32417787683373,0.71338606911949],"aabb_xy":[[-0.24235037306735788,-2.328638619027447],[-0.18569095317027742,-2.3197171346400127]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.33417166565425055,-2.005441794840371,0.71338606911949],"aabb_xy":[[-0.37167166600247825,-2.017233190421454],[-0.29667166530602274,-1.993650399259287]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[-0.2805345598931904,-0.08802095723360503,0.71338606911949],"aabb_xy":[[-0.3455345584502632,-0.11777349064748767],[-0.21553456133611754,-0.05826842381972243]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.351505240686608,-0.4208638982655408,0.71338606911949],"aabb_xy":[[-0.40649749132211904,-0.4758639000088537],[-0.2965129900510971,-0.3658638965222281]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[0.40055768975517014,-2.1994168163179566,0.71338606911949],"aabb_xy":[[0.35275152214140154,-2.264416819025015],[0.4483638573689388,-2.134416813610897]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.28635704430424147,-1.8343900180261152,0.71338606911949],"aabb_xy":[[-0.29720865055311707,-1.8452493087537662],[-0.27550543805536587,-1.8235307272984642]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.6796429621892002,-1.1945216734845565,0.71338606911949],"aabb_xy":[[0.6708617350419641,-1.203301420773087],[0.6884241893364367,-1.1857419261960265]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.3751870741574002,-0.6252748010037144,0.71338606911949],"aabb_xy":[[-0.3884180196920815,-0.6385022200257137],[-0.3619561286227189,-0.6120473819817148]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[-0.6096615518693954,-1.2329996124272435,0.71338606911949],"aabb_xy":[[-0.6646615510459849,-1.2879892872022012],[-0.5546615526928059,-1.178009937652286]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[0.49886469022513036,0.3996515700519625,0.71338606911949],"aabb_xy":[[0.4743184746023796,0.36940267350292544],[0.523410905847881,0.42990046660099956]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[-0.055583201860435305,-2.332641878042523,0.71338606911949],"aabb_xy":[[-0.13930542736051776,-2.422641881577219],[0.028139023639647154,-2.242641874507827]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.2753783351159311,-1.5345354225249679,0.71338606911949],"aabb_xy":[[0.1953783340428108,-1.544313468862352],[0.35537833618905146,-1.5247573761875832]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[0.5874518662819859,0.8590262957556343,0.71338606911949],"aabb_xy":[[0.5499518656174069,0.8433392377554121],[0.6249518669465643,0.8747133537558565]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[0.603312239936324,-1.3494906471544545,0.71338606911949],"aabb_xy":[[0.5872503124778063,-1.4344906489670461],[0.6193741673948416,-1.2644906453418625]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[0.3703116475446202,-2.3503740718556076,0.71338606911949],"aabb_xy":[[0.36089417297475745,-2.3597902489933262],[0.37972912211448295,-2.340957894717888]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[-0.1015924694223641,0.644644772800028,0.71338606911949],"aabb_xy":[[-0.1147437153936535,0.6196447730433414],[-0.08844122345107476,0.6696447725567145]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[0.5803522705616151,1.4316273009552867,0.71338606911949],"aabb_xy":[[0.5342671793068836,1.3676273037027316],[0.6264373618163466,1.4956272982078418]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[-0.4800038846721514,-0.47032926654638185,0.71338606911949],"aabb_xy":[[-0.48741634021353986,-0.47618047696800986],[-0.4725914291307629,-0.46447805612475396]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[0.597542957307748,-2.3512374038505333,0.71338606911949],"aabb_xy":[[0.5739578338438531,-2.416237406095965],[0.6211280807716428,-2.2862374016051015]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_28","position":[0.3455142658960737,0.5111033036944592,0.71338606911949],"aabb_xy":[[0.29551426487693844,0.4746370879566313],[0.395514266915209,0.5475695194322872]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_29","position":[0.06371413620420308,1.0561079792012897,0.71338606911949],"aabb_xy":[[0.051087348917006725,1.0465619054997168],[0.07634092349139943,1.0656540529028626]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_30","position":[-0.5066755780924238,0.8162382220841558,0.71338606911949],"aabb_xy":[[-0.5295912909774737,0.7933339249477324],[-0.4837598652073739,0.8391425192205794]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_31","position":[0.38238719100432683,-1.141170990644735,0.71338606911949],"aabb_xy":[[0.347924843606185,-1.1756648730425572],[0.4168495384024686,-1.1066771082469118]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_32","position":[0.303228466407639,-1.7219053106452589,0.71338606911949],"aabb_xy":[[0.25322846776171776,-1.7718248543047213],[0.35322846505356015,-1.6719857669857965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7136266763643,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8544.png","name":"8544"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8544.png","name":"8544"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1023.png","name":"1023"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8220.png","name":"8220"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5214.png","name":"5214"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1625.png","name":"1625"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":627.9089882083211,"rotation_z_degrees":69.06892089798419,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009458773004753441,0.00713492422557644,-0.0010743704819724947]},{"name":"camera_2","offset_m":[0.007601987658287644,0.018649281431055206,-0.015028695330631222]},{"name":"camera_3","offset_m":[0.01003912934889438,0.0039141631498883535,0.014720817599464382]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00047623974011516213,-0.001885208221989572,0.0016762480575915305],"end_effector_yaw_offset_degrees":0.3210362925342334},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012681287170871127,0.0013075176913472505,0.0019511331281390938],"end_effector_yaw_offset_degrees":0.22950260648901666},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019939659419298764,-0.0010512261110500187,-0.0010740351942376174],"end_effector_yaw_offset_degrees":0.8299254220862555}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002650715444390151,-0.002848312281123766],"position_m":[0.18566507154443904,-0.13554831228112377,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009026082996810856,-0.0007398555655995205],"position_m":[0.26659739170031893,-0.4019398555655995,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002148975739578819,-0.0024227670726291806],"position_m":[0.1897489757395788,0.08217723292737081,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029071623275858673,0.0010622465052948626],"position_m":[0.34619283767241416,0.2911622465052949,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea06ad42a309ab67c1574bdc10253917979b16bd0979221eea721a8d85f63e9b","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8544/tex_ceiling_textures_1625/tex_floor_textures_5214/tex_table_textures_1023/tex_wall_textures_8220","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4209357939288775292,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4209357939288775292,"visual_seed":4209357939288775292,"scene_id":"lab_003","finished_at":"2026-09-03T19:07:20"} +{"episode_id":"ep_000014","started_at":"2026-09-03T19:07:23","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.517828702949594,-1.6627294796204406,0.71338606911949],"aabb_xy":[[0.4899836661689869,-1.6935139783587525],[0.5456737397302012,-1.6319449808821291]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.36563253511948157,1.1319466462003676,0.71338606911949],"aabb_xy":[[0.32813253669608117,1.1187824322325368],[0.40313253354288187,1.1451108601681983]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[-0.4036767812661485,-0.9991871499365632,0.71338606911949],"aabb_xy":[[-0.4142442609242475,-1.0097321800495718],[-0.39310930160804947,-0.9886421198235547]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[0.5359391351707312,0.4559131598326869,0.71338606911949],"aabb_xy":[[0.4559391340976109,0.44613511349530244],[0.6159391362438515,0.4656912061700713]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[0.620582731140112,1.6396294020846356,0.71338606911949],"aabb_xy":[[0.5753041162589626,1.575629402736452],[0.6658613460212611,1.7036294014328193]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[0.35952996081595767,-1.782824678411556,0.71338606911949],"aabb_xy":[[0.26952995713903943,-1.8442570849886601],[0.44952996449287574,-1.7213922718344514]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[0.14165180924513443,1.3085976194977356,0.71338606911949],"aabb_xy":[[0.061651807815007204,1.229080464485126],[0.2216518106752616,1.388114774510345]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.23959190397897567,0.7821434991111191,0.71338606911949],"aabb_xy":[[0.2020919031869802,0.775775658152929],[0.2770919047709711,0.7885113400693092]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.1386381894555072,-1.1247395442475994,0.71338606911949],"aabb_xy":[[-0.14567849938904423,-1.204739543647271],[-0.13159787952197025,-1.0447395448479282]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[-0.668691710163259,-0.8535874809247492,0.71338606911949],"aabb_xy":[[-0.6864852170981756,-0.8713872265205469],[-0.6508982032283427,-0.8357877353289516]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[-0.2541560869853417,-0.5523034366181818,0.71338606911949],"aabb_xy":[[-0.30914929832247845,-0.6073034369569754],[-0.19916287564820495,-0.4973034362793882]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.055911027814951386,-1.4876185175800707,0.71338606911949],"aabb_xy":[[-0.11991102986468338,-1.5277130006693787],[0.00808897423478061,-1.4475240344907627]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[0.17037342688009705,1.7273563644725338,0.71338606911949],"aabb_xy":[[0.1369332516840774,1.6939127386416035],[0.20381360207611662,1.7607999903034637]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.2658513870354226,-0.7499873067642899,0.71338606911949],"aabb_xy":[[-0.2996269462261155,-0.764025801977455],[-0.23207582784472958,-0.7359488115511249]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[0.6387203216418589,-0.19738548299985492,0.71338606911949],"aabb_xy":[[0.6283087629613751,-0.20273121633575333],[0.6491318803223425,-0.1920397496639564]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[-0.6016138106140491,-0.4853888156323145,0.71338606911949],"aabb_xy":[[-0.6366138119655307,-0.5057485515891353],[-0.5666138092625672,-0.4650290796754937]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[0.16853292050599433,1.55551472413288,0.71338606911949],"aabb_xy":[[0.15762714441843165,1.4755147277340506],[0.17943869659355707,1.6355147205317089]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[-0.6128507019825107,-0.5670237462653591,0.71338606911949],"aabb_xy":[[-0.618945329870629,-0.5755931408170278],[-0.6067560740943924,-0.5584543517136904]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[-0.21260337835275267,-1.2669905036083424,0.71338606911949],"aabb_xy":[[-0.2501033788501109,-1.270959187156461],[-0.1751033778553944,-1.263021820060224]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.07383750485236173,1.4317130984905364,0.71338606911949],"aabb_xy":[[-0.13883750585286225,1.3809267333358612],[-0.008837503851861217,1.4824994636452111]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[0.34939100284293967,0.8557458195813794,0.71338606911949],"aabb_xy":[[0.32439100329120113,0.8456033357162447],[0.3743910023946781,0.8658883034465141]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.17856217880076097,-1.1784852890719746,0.71338606911949],"aabb_xy":[[0.12856217778162574,-1.2149515048098025],[0.2285621798198963,-1.1420190733341467]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[0.2663345341012241,0.5435003462129737,0.71338606911949],"aabb_xy":[[0.22883453428419054,0.5388621349018318],[0.30383453391825765,0.5481385575241154]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[-0.2774149910354676,1.1087040248528894,0.71338606911949],"aabb_xy":[[-0.3350454599227383,1.0487040259261786],[-0.2197845221481966,1.1687040237795998]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[0.49889827312613666,1.3610466622425945,0.71338606911949],"aabb_xy":[[0.46240245249885786,1.324562719815837],[0.5353940937534154,1.397530604669352]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7172945902144285,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5555.png","name":"5555"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5555.png","name":"5555"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8201.png","name":"8201"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9008.png","name":"9008"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5204.png","name":"5204"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3581.png","name":"3581"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":607.1578504138781,"rotation_z_degrees":61.41671642443117,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018291515875741817,0.006653503800387307,0.017891137533638846]},{"name":"camera_2","offset_m":[0.014122896496686434,-0.008917115550908523,0.011538894357300666]},{"name":"camera_3","offset_m":[-0.006522290075904871,-0.006839630864615835,-0.014163206200503719]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006752246380714521,9.293773575517073e-05,0.0006638487735686231],"end_effector_yaw_offset_degrees":-0.7264856298676372},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015978056123057225,-0.0010735433124778922,0.001235706662949536],"end_effector_yaw_offset_degrees":-0.756990575449239},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012000315732962484,-0.001418168772618818,0.0015333414694897254],"end_effector_yaw_offset_degrees":-0.14616171125168198}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003602746651652845,-0.000567649216067851],"position_m":[0.18179725334834718,-0.13326764921606787,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001786943626670293,-0.0033058927531262137],"position_m":[0.2692869436266703,-0.4045058927531262,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004079136164682369,-0.0028726213023503302],"position_m":[0.18719208638353174,0.08172737869764966,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00031407716586080974,0.0025029370018565204],"position_m":[0.3494140771658608,0.2926029370018565,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"76464fc46cf2a6a584e0937a17ab8aa561e80cc3f6001690ee2e7555edffa8ea","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5555/tex_ceiling_textures_3581/tex_floor_textures_5204/tex_table_textures_8201/tex_wall_textures_9008","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8880186841478931609,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8880186841478931609,"visual_seed":8880186841478931609,"scene_id":"lab_003","finished_at":"2026-09-03T19:10:03"} +{"episode_id":"ep_000015","started_at":"2026-09-03T19:10:06","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[0.2816682227741981,-2.2284699335271725,0.71338606911949],"aabb_xy":[[0.27425576723280964,-2.2343211439488004],[0.2890806783155866,-2.2226187231055445]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[-0.6435245476617971,-0.6705215095777446,0.71338606911949],"aabb_xy":[[-0.6810245478336691,-0.7032222449606518],[-0.6060245474899252,-0.6378207741948374]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[0.3336306608984938,0.6471125166572205,0.71338606911949],"aabb_xy":[[0.2875455696437623,0.5831125194046654],[0.3797157521532253,0.7111125139097756]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.2817812317833179,-0.6620498911089867,0.71338606911949],"aabb_xy":[[-0.3457812336956603,-0.7179610403669971],[-0.2177812298709756,-0.6061387418509763]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[-0.3392792164858699,0.6497346511395605,0.71338606911949],"aabb_xy":[[-0.36055722462934214,0.5847346488134874],[-0.31800120834239765,0.7147346534656335]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[-0.6464759817121133,1.1530603705887765,0.71338606911949],"aabb_xy":[[-0.6814759800228086,1.1453453556652309],[-0.6114759834014177,1.1607753855123222]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.6633704858582382,-2.051739606669993,0.71338606911949],"aabb_xy":[[-0.6694074988589029,-2.057766307738941],[-0.6573334728575735,-2.045712905601045]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[0.12265471966725361,1.0397684977849635,0.71338606911949],"aabb_xy":[[0.08515471937507878,1.03572702238436],[0.16015471995942843,1.043809973185567]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[-0.5037041291014858,-0.8405705036464364,0.71338606911949],"aabb_xy":[[-0.5109653766718931,-0.853357513909946],[-0.49644288153107835,-0.827783493382927]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[-0.08926785653236258,-0.828540562242764,0.71338606911949],"aabb_xy":[[-0.15326785982207067,-0.8718754812466815],[-0.025267853242654455,-0.7852056432388462]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.6779579352373899,-1.0992619863847282,0.71338606911949],"aabb_xy":[[0.6445177600413702,-1.132705612215658],[0.7113981104334094,-1.0658183605537979]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[0.60491293744914,1.5387100321533844,0.71338606911949],"aabb_xy":[[0.5638949940627692,1.488710031522427],[0.645930880835511,1.5887100327843418]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[0.6034355862301912,1.791619062636285,0.71338606911949],"aabb_xy":[[0.5921905306595734,1.7803772649121894],[0.6146806418008091,1.80286086036038]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.49532972422569643,0.018115152654507582,0.71338606911949],"aabb_xy":[[0.49121377411362377,0.013999597621662082],[0.4994456743377691,0.022230707687353076]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.48984120890217725,0.05881940234828864,0.71338606911949],"aabb_xy":[[-0.5050133781838106,0.04365054542008529],[-0.4746690396205439,0.073988259276492]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[-0.6085414763307093,-1.09528253266102,0.71338606911949],"aabb_xy":[[-0.6165349661259915,-1.1032806646014959],[-0.6005479865354274,-1.0872844007205447]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[0.5553325829156852,-0.1267320189261847,0.71338606911949],"aabb_xy":[[0.5210356718979445,-0.16102890513612603],[0.5896294939334257,-0.09243513271624329]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[0.15496126890083173,1.7241506112187497,0.71338606911949],"aabb_xy":[[0.15104739570540918,1.7154015958121929],[0.15887514209625422,1.7328996266253065]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.6641319909027981,0.6548987703541846,0.71338606911949],"aabb_xy":[[-0.672245645576175,0.6467929539001556],[-0.6560183362294209,0.6630045868082137]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.38664887159807937,1.297456068817847,0.71338606911949],"aabb_xy":[[0.3493175950728368,1.2628030140229947],[0.42398014812332196,1.3321091236126992]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[0.6258743179874668,-1.3572799788101133,0.71338606911949],"aabb_xy":[[0.545874319330581,-1.3717848377343758],[0.705874316644353,-1.3427751198858504]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.07259302170464099,0.2856375880763431,0.71338606911949],"aabb_xy":[[-0.12258613381383289,0.23563758740214746],[-0.022599909595449098,0.33563758875053873]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.2686189241792958,1.6450572824501069,0.71338606911949],"aabb_xy":[[0.21861892460296112,1.595076703498001],[0.31861892375563056,1.6950378614022128]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[-0.4083346348016886,-1.764127478606595,0.71338606911949],"aabb_xy":[[-0.4699253940256814,-1.828127476715642],[-0.34674387557769576,-1.7001274804975481]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.08994632370967537,-1.6646276300489615,0.71338606911949],"aabb_xy":[[-0.1599463255184208,-1.685981398813149],[-0.01994632190092993,-1.6432738612847742]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7122959152978913,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3500.png","name":"3500"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3500.png","name":"3500"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7871.png","name":"7871"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6163.png","name":"6163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9684.png","name":"9684"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8228.png","name":"8228"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":711.1787962084617,"rotation_z_degrees":285.7447377766865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0047774783014179825,-0.005645620164139805,-0.01602681465180332]},{"name":"camera_2","offset_m":[-0.015477923321019472,0.007275102762174711,0.00829837850006887]},{"name":"camera_3","offset_m":[0.004281818023694588,0.004198338153100414,0.004639854578411106]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016564168648273703,0.0008854573369856985,-0.0008210205125836537],"end_effector_yaw_offset_degrees":0.035993552894187264},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00012255913058655042,-0.0007486683007745132,0.0008984549243702769],"end_effector_yaw_offset_degrees":-0.22222352850374327},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001797258739513818,-0.00012998679715820133,0.0011589819479630049],"end_effector_yaw_offset_degrees":-0.44530814685602116}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019762342886701346,-0.004963853423361143],"position_m":[0.18342376571132987,-0.13766385342336115,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00445411369909568,-0.0035638847831387867],"position_m":[0.2630458863009043,-0.4047638847831388,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001699572118135716,0.004914513437454945],"position_m":[0.18590042788186428,0.08951451343745494,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001206776315729509,0.00027918654749120066],"position_m":[0.35030677631572954,0.29037918654749123,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c196b1961ee83633997079c4ff5144acc53e86c64965de96610cadba4e2f96ac","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0015.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3500/tex_ceiling_textures_8228/tex_floor_textures_9684/tex_table_textures_7871/tex_wall_textures_6163","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1595225531561116728,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1595225531561116728,"visual_seed":1595225531561116728,"scene_id":"lab_003","finished_at":"2026-09-03T19:12:46"} +{"episode_id":"ep_000016","started_at":"2026-09-03T19:12:49","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.10185557228012831,1.808329909998879,0.71338606911949],"aabb_xy":[[0.0735258623315881,1.803869167805162],[0.13018528222866854,1.812790652192596]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.39840503284459133,1.6916485812683386,0.71338606911949],"aabb_xy":[[-0.44840503420547856,1.6416706766929228],[-0.3484050314837041,1.741626485843754]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.5898858200707351,-0.7399803830419849,0.71338606911949],"aabb_xy":[[0.5766548745360537,-0.7532078020639842],[0.6031167656054163,-0.7267529640199853]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[-0.5145320767969589,-2.5664069660801903,0.71338606911949],"aabb_xy":[[-0.5198645914515718,-2.5717312943254265],[-0.509199562142346,-2.561082637834955]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.558364609236315,0.4049922492100335,0.71338606911949],"aabb_xy":[[0.5401587855750674,0.39396684862804193],[0.5765704328975627,0.4160176497920252]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[0.2910879810906015,-1.3429698190170505,0.71338606911949],"aabb_xy":[[0.22708797780089338,-1.3863047380209679],[0.3550879843803096,-1.2996349000131326]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.28669341847943497,-1.5600097268201962,0.71338606911949],"aabb_xy":[[-0.3096091313644849,-1.5829140239566202],[-0.2637777055943851,-1.5371054296837732]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.4765763599357134,-0.9756934279745875,0.71338606911949],"aabb_xy":[[-0.5565763579164983,-0.9832949689364393],[-0.3965763619549283,-0.9680918870127354]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[0.5166329754264956,-1.5634975566822653,0.71338606911949],"aabb_xy":[[0.510131338918491,-1.5732653787085753],[0.5231346119345003,-1.5537297346559558]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.09176258227404233,0.07407744354862311,0.71338606911949],"aabb_xy":[[-0.09619321162888252,0.06862907181394053],[-0.08733195291920216,0.07952581528330573]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[0.530221925668982,1.0137983924958607,0.71338606911949],"aabb_xy":[[0.4502219287059427,0.9367227508520872],[0.610221922632021,1.0908740341396341]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.5750377447164277,-2.206604035422383,0.71338606911949],"aabb_xy":[[0.5250646791839122,-2.256604035234916],[0.6250108102489431,-2.1566040356098504]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.1092656590717378,-2.164780844068749,0.71338606911949],"aabb_xy":[[0.09581913243769447,-2.1782506957218404],[0.12271218570578113,-2.1513109924156577]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.5674177421735658,-1.357836145654235,0.71338606911949],"aabb_xy":[[0.5174335064653885,-1.4078361444677305],[0.617401977881743,-1.3078361468407393]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[-0.15645283851144431,-1.3938115749719093,0.71338606911949],"aabb_xy":[[-0.2464528408454634,-1.471293929557022],[-0.06645283617742528,-1.3163292203867967]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[0.5787261668445771,-0.5782761293384202,0.71338606911949],"aabb_xy":[[0.5562270311183501,-0.6007761301166832],[0.6012253025708041,-0.5557761285601572]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[-0.1912362862164173,1.0536840412286042,0.71338606911949],"aabb_xy":[[-0.2712362832306653,1.0335494895551929],[-0.11123628920216933,1.0738185929020154]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.12894936204812324,-1.2526414222340605,0.71338606911949],"aabb_xy":[[0.07394936287153372,-1.3076310970090181],[0.1839493612247127,-1.1976517474591029]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.06013766646919838,0.27324108462731234,0.71338606911949],"aabb_xy":[[-0.09763766641296479,0.26494799459247576],[-0.022637666525431976,0.2815341746621489]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[-0.5197314783330207,-1.2072269746360957,0.71338606911949],"aabb_xy":[[-0.5997314797631479,-1.286744129648705],[-0.4397314769028935,-1.127709819623486]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.3876295914272796,-2.0755540759252207,0.71338606911949],"aabb_xy":[[0.33765078291696377,-2.1255540759309395],[0.43760839993759554,-2.025554075919502]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[0.28614551592168846,-1.889109863811552,0.71338606911949],"aabb_xy":[[0.26368074595028335,-1.9116098646904125],[0.3086102858930936,-1.8666098629326915]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.709510564342348,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3672.png","name":"3672"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3672.png","name":"3672"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6937.png","name":"6937"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4902.png","name":"4902"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2693.png","name":"2693"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2790.png","name":"2790"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":698.4920619006605,"rotation_z_degrees":200.31088337976982,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007440392679841267,0.009066666952061354,-0.01621138113044379]},{"name":"camera_2","offset_m":[0.0032210379128583926,-0.010258709198513603,-0.008658189559001382]},{"name":"camera_3","offset_m":[0.010885031645683777,0.016962202192450263,0.012282965567261644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018887411108558694,-0.0019791384208334606,-0.0008880704326015665],"end_effector_yaw_offset_degrees":0.1785877525548285},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.050507194022613e-05,0.0016624323478302019,3.6432148139996234e-05],"end_effector_yaw_offset_degrees":0.3022735492138853},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003874883604657834,4.472422889881212e-05,0.0003444184999994121],"end_effector_yaw_offset_degrees":0.2600421603071814}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036372007810137785,0.0026991539076619856],"position_m":[0.18176279921898622,-0.13000084609233803,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022954509424002157,0.004540687669911842],"position_m":[0.2652045490575998,-0.39665931233008817,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00469392335711733,-0.0038445783925042643],"position_m":[0.18290607664288266,0.08075542160749573,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002489248439149595,-0.0003246500230145097],"position_m":[0.3466107515608504,0.2897753499769855,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ad05e9c7af332b4adccae42847b337ab49431dc1d1e0cc2e91d16e7ce13cea3","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3672/tex_ceiling_textures_2790/tex_floor_textures_2693/tex_table_textures_6937/tex_wall_textures_4902","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8299612944073942157,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8299612944073942157,"visual_seed":8299612944073942157,"scene_id":"lab_003","finished_at":"2026-09-03T19:15:31"} +{"episode_id":"ep_000017","started_at":"2026-09-03T19:15:35","dimensions":{"distractor":{"count":29,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.6709454736141074,0.34899422266817703,0.71338606911949],"aabb_xy":[[0.6538433956557392,0.33188741713690734],[0.6880475515724755,0.36610102819944684]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.679920124452408,-2.0140066326829937,0.71338606911949],"aabb_xy":[[0.6454577770542661,-2.048500515080815],[0.7143824718505497,-1.97951275028517]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.04452493432131055,0.20721337761400704,0.71338606911949],"aabb_xy":[[-0.05543071040887326,0.12721338121517786],[-0.03361915823374784,0.2872133740128362]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[0.016227529099256843,-0.8487036967848087,0.71338606911949],"aabb_xy":[[0.010895014444643858,-0.8540280250300444],[0.02156004375386983,-0.8433793685395733]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[-0.030924490084729528,-1.6003410166768695,0.71338606911949],"aabb_xy":[[-0.035823782391293024,-1.628017935979438],[-0.026025197778166028,-1.5726640973743005]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[-0.5858395897024008,0.22312074526674008,0.71338606911949],"aabb_xy":[[-0.5906831844636308,0.21826909278775597],[-0.5809959949411708,0.2279723977457242]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.5259041400810167,-0.6550862441229042,0.71338606911949],"aabb_xy":[[0.5153366604229177,-0.6656312742359126],[0.5364716197391157,-0.6445412140098955]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.1267556440911214,-2.32790868390068,0.71338606911949],"aabb_xy":[[-0.1637897535191811,-2.3622858912343894],[-0.08972153466306168,-2.2935314765669705]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.4051024661767937,-2.4182275741113735,0.71338606911949],"aabb_xy":[[0.37010246628077487,-2.426601809623313],[0.4401024660728126,-2.409853338599433]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[0.1555323753880029,-2.135029376955235,0.71338606911949],"aabb_xy":[[0.07553237213015995,-2.215025884747219],[0.23553237864584586,-2.055032869163251]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.5574515325584173,1.3234621848385277,0.71338606911949],"aabb_xy":[[-0.5750298347473641,1.3058876952644225],[-0.5398732303694704,1.3410366744126325]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.526096924941224,0.7167299179073203,0.71338606911949],"aabb_xy":[[0.4885969242766452,0.7010428599070981],[0.5635969256058025,0.7324169759075425]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[-0.5810903425545572,-1.442909571488444,0.71338606911949],"aabb_xy":[[-0.5929624255660583,-1.5279095711820943],[-0.569218259543056,-1.3579095717947935]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[0.2844071280084851,1.2416707032702385,0.71338606911949],"aabb_xy":[[0.23440712698934985,1.2052044875324108],[0.3344071290276204,1.2781369190080667]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[-0.3054050624162071,1.7352780773109306,0.71338606911949],"aabb_xy":[[-0.316245540642722,1.718091796020282],[-0.29456458418969217,1.7524643586015793]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.47920656912724136,0.67431057919653,0.71338606911949],"aabb_xy":[[-0.5442065702331846,0.6493452061284017],[-0.41420656802129807,0.6992759522646583]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[-0.6245557719421617,-0.8714391148094576,0.71338606911949],"aabb_xy":[[-0.6885557722026325,-0.9164479141623856],[-0.5605557716816909,-0.8264303154565296]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.6397493605759499,-0.07086546482631872,0.71338606911949],"aabb_xy":[[0.6324881130055425,-0.0836524750898282],[0.6470106081463575,-0.058078454562809245]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.5352062043923065,-2.341746063950712,0.71338606911949],"aabb_xy":[[-0.5439041666830218,-2.3538710382581867],[-0.5265082421015912,-2.329621089643237]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.3292178989402723,-0.8170716456859166,0.71338606911949],"aabb_xy":[[0.31744971214561485,-0.9020716455911384],[0.3409860857349299,-0.7320716457806952]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[0.2583543766532992,-1.25680084961594,0.71338606911949],"aabb_xy":[[0.25073010856312095,-1.2644340731524837],[0.26597864474347743,-1.2491676260793962]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[0.23707324178731493,-1.8408634111612994,0.71338606911949],"aabb_xy":[[0.17307324010931757,-1.8893808026406136],[0.3010732434653123,-1.7923460196819851]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[-0.45181764411696956,-2.135703894921695,0.71338606911949],"aabb_xy":[[-0.535539869617052,-2.225703898456391],[-0.3680954186168871,-2.045703891386999]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[0.5714352731001306,1.309956205872485,0.71338606911949],"aabb_xy":[[0.5253501818453992,1.2459562086199296],[0.6175203643548621,1.3739562031250399]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[0.3467402143273115,-2.1008476943934684,0.71338606911949],"aabb_xy":[[0.29674093915887534,-2.1508476956694156],[0.39673948949574767,-2.0508476931175212]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.6661779537468626,0.4483083606694467,0.71338606911949],"aabb_xy":[[-0.6734602701235262,0.3583083570599376],[-0.6588956373701989,0.5383083642789555]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[-0.1464490123310742,1.133356057002648,0.71338606911949],"aabb_xy":[[-0.18144901146102987,1.1276108359269839],[-0.11144901320111855,1.139101278078312]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_27","position":[-0.2194678843388479,-1.6565259418558211,0.71338606911949],"aabb_xy":[[-0.22826993964782058,-1.66433726801075],[-0.21066582902987516,-1.6487146157008918]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_28","position":[0.5422640950182742,-0.4237809335908409,0.71338606911949],"aabb_xy":[[0.5172640954665356,-0.4339234174559757],[0.5672640945700126,-0.41363844972570624]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7150516527545852,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/184.png","name":"184"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/184.png","name":"184"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5200.png","name":"5200"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/794.png","name":"794"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7600.png","name":"7600"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1266.png","name":"1266"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":615.1157127427437,"rotation_z_degrees":286.0550498732478,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006321259275664515,-0.019332186679275103,-0.0037968399219498183]},{"name":"camera_2","offset_m":[-0.018522257023874267,0.014386017213073494,-0.010186762992077618]},{"name":"camera_3","offset_m":[-0.011054856550090366,-0.01649423286285664,0.01903823435768184]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004646001244889618,0.0010799256789128038,-0.000984322898023275],"end_effector_yaw_offset_degrees":0.9747641700297605},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015514748316766262,0.000668822733138689,-0.0011662606741779924],"end_effector_yaw_offset_degrees":-0.8444141285623468},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012089686247359578,0.00018083556369712225,0.0013930159728427808],"end_effector_yaw_offset_degrees":0.8643419986412164}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035258233877297988,-0.0030437950486753465],"position_m":[0.1818741766122702,-0.13574379504867537,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009500295129905344,-0.0005501603952810033],"position_m":[0.2684500295129906,-0.401750160395281,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014495174149683344,-0.004159222915447488],"position_m":[0.18615048258503167,0.08044077708455251,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00492174080683334,0.0002512467899233317],"position_m":[0.35402174080683335,0.29035124678992336,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e5dbfe0fd8eff08767c2a4dd39acb63f1790bfc9f0a0a8c53c7c81015aa23eb","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_184/tex_ceiling_textures_1266/tex_floor_textures_7600/tex_table_textures_5200/tex_wall_textures_794","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6836627555250052550,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6836627555250052550,"visual_seed":6836627555250052550,"scene_id":"lab_003","finished_at":"2026-09-03T19:18:21"} +{"episode_id":"ep_000018","started_at":"2026-09-03T19:18:24","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.2947702110142002,-1.19385034432532,0.71338606911949],"aabb_xy":[[-0.33180432044225994,-1.228227551659029],[-0.25773610158614046,-1.1594731369916103]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.358499681090272,0.9882064779717945,0.71338606911949],"aabb_xy":[[-0.3820848045541669,0.9232064757263627],[-0.3349145576263772,1.0532064802172263]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.5669990934223499,1.5369722631300866,0.71338606911949],"aabb_xy":[[-0.6309990898496719,1.4898026393079906],[-0.5029990969950281,1.5841418869521835]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.015278758083580257,1.0210899336361265,0.71338606911949],"aabb_xy":[[-0.0222212422646475,1.009298538055043],[0.052778758431808015,1.03288132921721]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[0.5226358569003418,1.329634409451041,0.71338606911949],"aabb_xy":[[0.472819077435507,1.2796344109667375],[0.5724526363651765,1.3796344079353442]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[0.18218396313049257,-0.7584246181369887,0.71338606911949],"aabb_xy":[[0.13718396166426375,-0.8034244749984695],[0.22718396459672147,-0.713424761275508]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[0.3322176640868957,1.6402650006569153,0.71338606911949],"aabb_xy":[[0.2522176608290527,1.5602684928649313],[0.41221766734473864,1.7202615084488992]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.6213957480580384,-0.7025587334890291,0.71338606911949],"aabb_xy":[[-0.6435682750346892,-0.7247344006451522],[-0.5992232210813875,-0.6803830663329058]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.39717257336017403,-2.529467649166126,0.71338606911949],"aabb_xy":[[-0.43163492075831567,-2.5639615315639483],[-0.36271022596203206,-2.494973766768303]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[-0.2723459873057221,-2.311370491640665,0.71338606911949],"aabb_xy":[[-0.3523398108842804,-2.391370494233507],[-0.19235216372716396,-2.2313704890478236]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[0.5340578054318303,-0.8683533822552072,0.71338606911949],"aabb_xy":[[0.4700578030890287,-0.9132942334993397],[0.5980578077746318,-0.8234125310110747]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.30525000985050293,0.597320872328114,0.71338606911949],"aabb_xy":[[-0.370250008006422,0.5710246277782018],[-0.24025001169458388,0.6236171168780262]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[-0.4649721579983048,0.02134947654307373,0.71338606911949],"aabb_xy":[[-0.5199458800346377,-0.03365052302115945],[-0.4099984359619719,0.07634947610730691]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.6682729689180074,1.7957249007824747,0.71338606911949],"aabb_xy":[[0.6332729706478873,1.7886507730874865],[0.7032729671881272,1.8027990284774629]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[0.673764541654446,0.9158168855599489,0.71338606911949],"aabb_xy":[[0.6242841204404873,0.8518168876470971],[0.7232449628684049,0.9798168834728007]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[0.06243841800566041,1.670870934254133,0.71338606911949],"aabb_xy":[[0.03860220036505534,1.580870933445647],[0.08627463564626547,1.76087093506262]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[-0.010985707384410959,1.4261573132101337,0.71338606911949],"aabb_xy":[[-0.08098570379437274,1.4057193775584516],[0.05901428902555083,1.446595248861815]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.2564291461542282,-1.5537046588415453,0.71338606911949],"aabb_xy":[[0.20142914653248234,-1.6086883516290182],[0.311429145775974,-1.4987209660540728]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[0.5098985633730808,-1.3891342946871263,0.71338606911949],"aabb_xy":[[0.5038615503724162,-1.3951609957560749],[0.5159355763737457,-1.3831075936181783]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[0.298286556074859,-2.4675310267458643,0.71338606911949],"aabb_xy":[[0.24828655649852427,-2.5175116056979703],[0.3482865556511937,-2.4175504477937584]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.16388137369441869,-1.4140412098865176,0.71338606911949],"aabb_xy":[[0.14624853810089108,-1.4316641559021406],[0.18151420928794623,-1.3964182638708946]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[-0.3260994256787029,-0.6343372766367783,0.71338606911949],"aabb_xy":[[-0.33073454083093623,-0.6382046117139267],[-0.3214643105264694,-0.6304699415596294]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_22","position":[0.5788999973503919,-2.5435302320464905,0.71338606911949],"aabb_xy":[[0.5654534707163485,-2.557000083699582],[0.5923465239844352,-2.530060380393399]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[0.35791712526131025,-1.152390167524378,0.71338606911949],"aabb_xy":[[0.3101109576475416,-1.2173901702314367],[0.40572329287507886,-1.0873901648173188]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_24","position":[0.6641537553624779,-2.277799237789134,0.71338606911949],"aabb_xy":[[0.646575453173531,-2.295373727363239],[0.6817320575514247,-2.260224748215029]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[0.3766711696500564,0.9789906743805203,0.71338606911949],"aabb_xy":[[0.3541720339238295,0.9564906736022574],[0.39917030537628345,1.0014906751587833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7122203613730967,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6027.png","name":"6027"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6027.png","name":"6027"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9582.png","name":"9582"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8783.png","name":"8783"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2681.png","name":"2681"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1785.png","name":"1785"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":759.6252145605281,"rotation_z_degrees":15.224468836570303,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0029504770321800537,-0.01734333223696804,-0.01863110582364504]},{"name":"camera_2","offset_m":[-0.017754910397316248,0.008188140487384348,0.011515483201576384]},{"name":"camera_3","offset_m":[-0.0008687078693870691,0.010861008704506566,-0.014564507568039953]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012915475609560478,-0.0010561972385048728,-0.0017701009035839324],"end_effector_yaw_offset_degrees":0.3713917970266125},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010763929084219165,-0.0010522734400957216,-0.00024128367678868034],"end_effector_yaw_offset_degrees":0.26301988568828594},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016406252342025134,0.0008369474378330049,-0.0015023085710834075],"end_effector_yaw_offset_degrees":-0.606466128155625}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032920896212973146,0.004524363153623519],"position_m":[0.18869208962129733,-0.1281756368463765,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004053283586215975,-0.0028497045789760665],"position_m":[0.26344671641378403,-0.40404970457897604,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008345943081630655,0.0036019448928362547],"position_m":[0.18843459430816306,0.08820194489283625,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008381670108243621,-0.002144373752377271],"position_m":[0.34993816701082436,0.2879556262476228,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"295ed909d5c799ee02fbfc82d756a05bfc2a3188a99ab2183a9f49fb8542e7e7","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6027/tex_ceiling_textures_1785/tex_floor_textures_2681/tex_table_textures_9582/tex_wall_textures_8783","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4534209343896997607,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4534209343896997607,"visual_seed":4534209343896997607,"scene_id":"lab_003","finished_at":"2026-09-03T19:21:06"} +{"episode_id":"ep_000019","started_at":"2026-09-03T19:21:10","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.09353578020345865,-0.7977346982526139,0.71338606911949],"aabb_xy":[[-0.14350884573597414,-0.8477346980651471],[-0.0435627146709432,-0.7477346984400812]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.43921465946726784,0.07581569097622909,0.71338606911949],"aabb_xy":[[-0.5032146558945899,0.028646067154132662],[-0.37521466303994605,0.12298531479832554]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.1328813867470875,-2.2501527094978733,0.71338606911949],"aabb_xy":[[0.11070885977043668,-2.272328376653996],[0.15505391372373836,-2.2279770423417498]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.3405297480081103,0.8222703298179157,0.71338606911949],"aabb_xy":[[-0.34815401609828855,0.8146371062813721],[-0.33290547991793207,0.8299035533544595]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[0.6150515566800387,0.49763588965324557,0.71338606911949],"aabb_xy":[[0.6024247693928424,0.48808981595167267],[0.6276783439672351,0.5071819633548185]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[0.3379478784177985,-1.6738877703230441,0.71338606911949],"aabb_xy":[[0.28795286745834653,-1.723887769358636],[0.38794288937725063,-1.6238877712874527]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[-0.24176187217673362,-0.570007089655912,0.71338606911949],"aabb_xy":[[-0.30335263140072644,-0.634007087764959],[-0.18017111295274083,-0.5060070915468652]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.5254440539708394,-2.333224368485653,0.71338606911949],"aabb_xy":[[0.47546663710558573,-2.383224369974901],[0.5754214708360929,-2.283224366996404]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[0.5312141698524946,-2.4779586350070453,0.71338606911949],"aabb_xy":[[0.5059933329926547,-2.503182385859932],[0.556435006712334,-2.452734884154158]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.2582513666497255,-2.3360652373095814,0.71338606911949],"aabb_xy":[[0.24067306446077863,-2.3536397268836864],[0.2758296688386723,-2.3184907477354764]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.03689339499620381,1.1682226936049536,0.71338606911949],"aabb_xy":[[-0.07119030601394444,1.133925807395012],[-0.002596483978463182,1.2025195798148947]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.007305290611405946,-1.7076973033236054,0.71338606911949],"aabb_xy":[[-0.021639715737569398,-1.7197575188781438],[0.007029134514757507,-1.695637087769066]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.020508941772655498,-2.1827294212993222,0.71338606911949],"aabb_xy":[[-0.029491059511184466,-2.232708275689944],[0.07050894305649545,-2.1327505669086997]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.4160277204214158,-1.5368763279744144,0.71338606911949],"aabb_xy":[[-0.4535277203651822,-1.5451694180092506],[-0.3785277204776494,-1.5285832379395774]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[-0.48664335122335534,-0.4261372748622705,0.71338606911949],"aabb_xy":[[-0.521643352574837,-0.4464970108190913],[-0.4516433498718736,-0.40577753890544965]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.4969540144331609,-1.1362696017488783,0.71338606911949],"aabb_xy":[[-0.5219540139848994,-1.1464120856140132],[-0.4719540148814224,-1.1261271178837438]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.41041716387026644,-0.7504780248216045,0.71338606911949],"aabb_xy":[[-0.41575473953627107,-0.7754780257507443],[-0.40507958820426193,-0.7254780238924647]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.49097308307035625,-0.9446178796302438,0.71338606911949],"aabb_xy":[[-0.5381024620721919,-1.0086178806746458],[-0.44384370406852053,-0.8806178785858418]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[-0.04417487146130472,-2.4169476044391147,0.71338606911949],"aabb_xy":[[-0.06668856328476191,-2.4869476050401222],[-0.02166117963784752,-2.346947603838107]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[0.49666278782420625,0.8529691655986555,0.71338606911949],"aabb_xy":[[0.4896224778906693,0.7729691661989843],[0.5037030977577432,0.932969164998327]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[0.6619716030291232,1.4279223612861522,0.71338606911949],"aabb_xy":[[0.6295099021471955,1.3977895291712497],[0.6944333039110504,1.4580551934010548]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.5716936940323665,-1.7595761829210388,0.71338606911949],"aabb_xy":[[-0.5810407016146617,-1.773879805138683],[-0.5623466864500712,-1.745272560703395]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.2683305135384397,-1.8003740373230648,0.71338606911949],"aabb_xy":[[-0.3259609824257105,-1.8603740362497752],[-0.21070004465116876,-1.740374038396354]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7158047170686848,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8933.png","name":"8933"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8933.png","name":"8933"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7417.png","name":"7417"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7178.png","name":"7178"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9397.png","name":"9397"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5911.png","name":"5911"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":848.2554971482102,"rotation_z_degrees":197.9262297025534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003747658293901085,-0.011389323172494662,-0.00995496846354934]},{"name":"camera_2","offset_m":[0.013300754518850409,-0.014463123115604052,0.01489242492915355]},{"name":"camera_3","offset_m":[0.0008195442100647626,-0.000338045499919018,-0.01922111126275241]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005629779272276546,-0.0007038344835113533,0.0006485007874559206],"end_effector_yaw_offset_degrees":0.31641549957081105},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013474778542731853,-0.0004012781747961113,-0.0012619910361662532],"end_effector_yaw_offset_degrees":-0.674554514977695},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00022788252623551697,0.0015092264596152844,0.0018618745138024276],"end_effector_yaw_offset_degrees":0.09696156221472818}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004099165514880954,-0.0039299898943287725],"position_m":[0.18499008344851192,-0.13662998989432878,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004818433733118144,0.0038470232975513505],"position_m":[0.27231843373311815,-0.3973529767024486,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024054116246674043,-0.00017978220063599813],"position_m":[0.1900054116246674,0.084420217799364,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004567875651543144,0.0009269462523120667],"position_m":[0.3536678756515432,0.29102694625231207,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1863f3ddd43ace58fea6b7e02ee8707ede85ff775dc398624593d9f0bb402710","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0019.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8933/tex_ceiling_textures_5911/tex_floor_textures_9397/tex_table_textures_7417/tex_wall_textures_7178","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1827514413923822130,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1827514413923822130,"visual_seed":1827514413923822130,"scene_id":"lab_003","finished_at":"2026-09-03T19:23:46"} +{"episode_id":"ep_000020","started_at":"2026-09-03T19:23:49","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[0.5452800721676789,1.1249596916758224,0.71338606911949],"aabb_xy":[[0.48028007106173565,1.0999943186076941],[0.6102800732736222,1.1499250647439507]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.6666315981509208,-0.639551139543163,0.71338606911949],"aabb_xy":[[0.662515648038848,-0.6436666945760084],[0.6707475482629933,-0.6354355845103173]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[0.48966206785137967,-1.8384166566731532,0.71338606911949],"aabb_xy":[[0.4246620668508791,-1.8892030218278282],[0.5546620688518802,-1.7876302915184783]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[-0.5849924213466844,1.6394938716259095,0.71338606911949],"aabb_xy":[[-0.6000947228077023,1.624392349994847],[-0.5698901198856661,1.6545953932569708]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[-0.5092969216334757,-1.7587630189908015,0.71338606911949],"aabb_xy":[[-0.5642969208100651,-1.8137526937657589],[-0.45429692245688613,-1.7037733442158436]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.49918584804789484,1.122345002355277,0.71338606911949],"aabb_xy":[[-0.50853285563019,1.108041380137633],[-0.4898388404655996,1.136648624572921]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[-0.16058933887173055,-1.6709709657148766,0.71338606911949],"aabb_xy":[[-0.19058100160560087,-1.700970965051677],[-0.13059767613786022,-1.640970966378076]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.43998727972861773,-1.0531637208463906,0.71338606911949],"aabb_xy":[[0.41214224294801066,-1.0839482195847023],[0.4678323165092249,-1.022379222108079]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[0.39752559595490977,-0.5919926062750622,0.71338606911949],"aabb_xy":[[0.38990132786473164,-0.5996258298116061],[0.4051498640450881,-0.5843593827385186]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[-0.3782874794146375,-1.919142567650212,0.71338606911949],"aabb_xy":[[-0.41953629044455215,-1.9741425671624293],[-0.3370386683847227,-1.8641425681379944]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[0.655056200049362,-0.7651903572881409,0.71338606911949],"aabb_xy":[[0.6463582377586468,-0.7773153315956157],[0.6637541623400773,-0.7530653829806663]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.6085127573670042,0.8963870362419719,0.71338606911949],"aabb_xy":[[0.5915026600769535,0.8802525477436979],[0.6255228546570548,0.9125215247402457]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[0.48639195055133744,0.2428015302440958,0.71338606911949],"aabb_xy":[[0.45393024966940987,0.21266869812919315],[0.5188536514332647,0.2729343623589984]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.3935113941397531,0.03030436023272909,0.71338606911949],"aabb_xy":[[-0.417096517603648,-0.0346956420127027],[-0.3699262706758583,0.09530436247816088]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.01040020781715012,-1.6359688127029244,0.71338606911949],"aabb_xy":[[-0.060379016327466006,-1.685968812708643],[0.039578600693165766,-1.5859688126972054]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[0.6803525043002876,-1.5986257652767273,0.71338606911949],"aabb_xy":[[0.6716385352503529,-1.621125765935915],[0.6890664733502219,-1.5761257646175386]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[0.17544238445066518,-1.3721486415459718,0.71338606911949],"aabb_xy":[[0.15633007709268631,-1.3912834204232136],[0.19455469180864404,-1.3530138626687296]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[-0.6710528711360042,-0.8838572419610722,0.71338606911949],"aabb_xy":[[-0.688631173324951,-0.9014317315351771],[-0.6534745689470574,-0.8662827523869673]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[-0.4542820542339089,0.6789054745248433,0.71338606911949],"aabb_xy":[[-0.534282057491752,0.5989089667328593],[-0.374282050976066,0.7589019823168273]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[-0.634713489121407,-0.6069341220096038,0.71338606911949],"aabb_xy":[[-0.6798848069695761,-0.6709341191541422],[-0.5895421712732382,-0.5429341248650654]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[-0.5968754407767343,-2.3381167128184295,0.71338606911949],"aabb_xy":[[-0.6031875403130726,-2.343883652071648],[-0.5905633412403959,-2.332349773565211]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[0.4641976914235617,-1.1644490073320601,0.71338606911949],"aabb_xy":[[0.4141976904730289,-1.1959981543355815],[0.5141976923740945,-1.1328998603285387]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[-0.30467067331041847,-0.7850267552964358,0.71338606911949],"aabb_xy":[[-0.3499492881915678,-0.8490267546446194],[-0.25939205842926927,-0.721026755948252]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[0.4973021793198631,-0.42548480327569127,0.71338606911949],"aabb_xy":[[0.4859404446665769,-0.43685326968197935],[0.5086639139731493,-0.4141163368694032]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[0.39354526068156903,-0.7908554469035753,0.71338606911949],"aabb_xy":[[0.3560452594967762,-0.7952736695996357],[0.4310452618663618,-0.7864372242075147]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.19898637089351956,-1.0375206350693995,0.71338606911949],"aabb_xy":[[0.16148637010152408,-1.0438884760275897],[0.23648637168551498,-1.0311527941112093]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[-0.17290726355557107,-0.9613135570817715,0.71338606911949],"aabb_xy":[[-0.19540726336947345,-0.9657881734522521],[-0.15040726374166868,-0.9568389407112906]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_27","position":[0.5297495678043691,-2.3406275685322564,0.71338606911949],"aabb_xy":[[0.4497495656416066,-2.4205827521583996],[0.6097495699671316,-2.2606723849061123]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_28","position":[0.5411624325355808,-0.10773844006430489,0.71338606911949],"aabb_xy":[[0.4861701819000699,-0.16273844180761768],[0.5961546831710918,-0.052738438320992134]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[-0.19649991839391512,-1.2421899850478155,0.71338606911949],"aabb_xy":[[-0.23149991837041095,-1.2516546010954324],[-0.16149991841741929,-1.2327253690001991]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7083693905866142,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3681.png","name":"3681"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3681.png","name":"3681"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6767.png","name":"6767"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9002.png","name":"9002"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3035.png","name":"3035"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4100.png","name":"4100"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":800.2051293718885,"rotation_z_degrees":23.693703544106953,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01696592488822393,0.0046733145766594784,0.010293648457549029]},{"name":"camera_2","offset_m":[0.006048767095926673,0.011916263303284987,0.007131385417804]},{"name":"camera_3","offset_m":[0.0069949031266626355,-0.0184909160167952,0.016993617440073574]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001371491634476676,-0.0010564506704567557,0.0008204359225150023],"end_effector_yaw_offset_degrees":0.9432989281843314},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011190206049580254,-0.0008709695023853675,0.0013961838108457738],"end_effector_yaw_offset_degrees":-0.3523170746970328},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.087743859520614e-05,0.001252580987122383,0.0013949907161532184],"end_effector_yaw_offset_degrees":-0.07008638127928668}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008018604941953198,0.002735673777415182],"position_m":[0.18620186049419532,-0.12996432622258483,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00354644848687519,0.004726991129371308],"position_m":[0.26395355151312483,-0.3964730088706287,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007199572391817363,-0.002563202016286419],"position_m":[0.1883199572391817,0.08203679798371358,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004982046228795317,0.0016061835696305005],"position_m":[0.3441179537712047,0.2917061835696305,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d5c95e7a28bf458bb382d4ac6dbda9c655b0e0606e3ec4d09b6e57422de4d6ce","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0020.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3681/tex_ceiling_textures_4100/tex_floor_textures_3035/tex_table_textures_6767/tex_wall_textures_9002","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6733465675449543421,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6733465675449543421,"visual_seed":6733465675449543421,"scene_id":"lab_003","finished_at":"2026-09-03T19:26:31"} +{"episode_id":"ep_000021","started_at":"2026-09-03T19:26:34","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.0013368723112937575,-2.301168735743903,0.71338606911949],"aabb_xy":[[-0.009074686369189955,-2.306514469079801],[0.01174843099177747,-2.2958230024080044]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.4503610524035111,-0.43221711382662686,0.71338606911949],"aabb_xy":[[0.38636104918487324,-0.4789402257256352],[0.514361055622149,-0.3854940019276185]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.5334382346051216,1.6084015863408552,0.71338606911949],"aabb_xy":[[0.5182753616281845,1.5932361290457369],[0.5486011075820587,1.6235670436359744]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.6591025756218052,1.3313282918663414,0.71338606911949],"aabb_xy":[[-0.6941025755983009,1.321863675818725],[-0.6241025756453092,1.3407929079139582]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.49450863443769477,0.3500226632181329,0.71338606911949],"aabb_xy":[[0.41450863747465555,0.2729470215743594],[0.5745086314007339,0.4270983048619063]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.4459704791062679,-1.690126547898517,0.71338606911949],"aabb_xy":[[-0.46030490423243137,-1.7021867634530556],[-0.43163605398010446,-1.678066332343978]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.16110566287836425,-2.3053554402861325,0.71338606911949],"aabb_xy":[[0.14367494779935772,-2.322627554949983],[0.17853637795737073,-2.288083325622281]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[-0.5011660899105604,0.5685706506089354,0.71338606911949],"aabb_xy":[[-0.5200504736790706,0.5496847258285826],[-0.48228170614205024,0.5874565753892882]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.005650220410404749,-1.993725651390478,0.71338606911949],"aabb_xy":[[-0.010606240595285952,-2.0162256515926003],[-0.0006942002255235512,-1.9712256511883568]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.36010930438386474,-0.9998623922246606,0.71338606911949],"aabb_xy":[[-0.4241093016862111,-1.0442288191925173],[-0.2961093070815183,-0.9554959652568037]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[0.11170137336490726,-0.939004313285777,0.71338606911949],"aabb_xy":[[0.09705796781087428,-0.9536630329425612],[0.12634477891894025,-0.9243455936289927]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[-0.509813676869828,-1.915097688328884,0.71338606911949],"aabb_xy":[[-0.5397812337796538,-1.9450976886267695],[-0.4798461199600025,-1.885097688030998]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.5525486357513535,-1.1184629589223605,0.71338606911949],"aabb_xy":[[-0.6165486330370021,-1.1599696778752044],[-0.48854863846570484,-1.0769562399695165]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[0.25576454189596565,-1.7577886059498469,0.71338606911949],"aabb_xy":[[0.20077229126045476,-1.8127886076931599],[0.31075679253147664,-1.7027886042065343]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[0.6269636870423534,1.0641022062277932,0.71338606911949],"aabb_xy":[[0.5769903930390929,1.0141022056732456],[0.6769369810456138,1.1141022067823403]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.2819818241211128,1.712031354740502,0.71338606911949],"aabb_xy":[[-0.29069579317104716,1.6895313540813133],[-0.2732678550711782,1.7345313553996897]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[0.6748062899838561,0.31155803009960614,0.71338606911949],"aabb_xy":[[0.6677659800503192,0.23155803069993475],[0.6818465999173932,0.3915580294992776]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[-0.09444523664182569,-1.361874915929225,0.71338606911949],"aabb_xy":[[-0.15944523667612842,-1.4085755926095522],[-0.029445236607522948,-1.3151742392488976]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[0.005683170913861946,-2.201844869818902,0.71338606911949],"aabb_xy":[[-0.002531374201822033,-2.2105214601165426],[0.013897716029545926,-2.19316827952126]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[0.47739962495572974,-2.3005098473817913,0.71338606911949],"aabb_xy":[[0.46935626502977457,-2.3855098484771577],[0.4854429848816849,-2.215509846286425]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[-0.2584959381113811,-1.9497653623915052,0.71338606911949],"aabb_xy":[[-0.27604263302750004,-1.9872653639557563],[-0.24094924319526217,-1.9122653608272537]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[0.03599329132709739,-0.9675142633884812,0.71338606911949],"aabb_xy":[[0.02623730181792349,-0.9772767974477156],[0.04574928083627127,-0.9577517293292467]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[0.3886565659747252,-0.8710436507463062,0.71338606911949],"aabb_xy":[[0.30865656570111816,-0.9439931985720229],[0.46865656624833213,-0.7980941029205895]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[0.32085336445460055,-2.334161119349861,0.71338606911949],"aabb_xy":[[0.2983533646406982,-2.3386357357203416],[0.343353364268503,-2.3296865029793805]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[-0.2958280794079261,-2.178109697747826,0.71338606911949],"aabb_xy":[[-0.345806887918242,-2.2281096977535446],[-0.24584927089761022,-2.128109697742107]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[-0.14148695064247374,0.6011442600027213,0.71338606911949],"aabb_xy":[[-0.1540896497795502,0.5885488637778558],[-0.12888425150539728,0.6137396562275867]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_26","position":[0.003509897001844564,-1.8253750887180047,0.71338606911949],"aabb_xy":[[-0.016774405721554194,-1.8456577138607133],[0.023794199725243322,-1.8050924635752956]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[-0.10782551832573051,-1.1276146277047105,0.71338606911949],"aabb_xy":[[-0.14214179550034844,-1.1776146276778883],[-0.07350924115111257,-1.0776146277315328]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[-0.18234531770678952,1.7611764426796612,0.71338606911949],"aabb_xy":[[-0.20485900953024672,1.6911764420786537],[-0.15983162588333233,1.8311764432806688]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_29","position":[0.13013088493141056,1.3158645747351922,0.71338606911949],"aabb_xy":[[0.11502858347039242,1.3007630531041299],[0.1452331863924286,1.3309660963662537]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[-0.24171620397582533,0.9236087878234183,0.71338606911949],"aabb_xy":[[-0.2917162026217466,0.8736892441639558],[-0.19171620532990416,0.9735283314828805]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_31","position":[-0.158974445084494,0.6930423965200516,0.71338606911949],"aabb_xy":[[-0.17660728067802156,0.6754194505044286],[-0.1413416094909664,0.7106653425356746]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7107745367132516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5174.png","name":"5174"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5174.png","name":"5174"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6001.png","name":"6001"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4927.png","name":"4927"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6598.png","name":"6598"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1378.png","name":"1378"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":579.5327001779727,"rotation_z_degrees":0.4504545408822036,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016135748967482568,0.007878701373853346,-0.0095116974935684]},{"name":"camera_2","offset_m":[0.0032878003366898396,-0.009291055605945267,0.0008967518349494857]},{"name":"camera_3","offset_m":[0.008239379893783226,-0.018507271339452125,-0.004345501767587127]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001680419450583898,0.000683652202841987,0.0005555813954443191],"end_effector_yaw_offset_degrees":0.9155956449605085},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011685881355613735,-0.0015745432830178287,0.0008133365397369505],"end_effector_yaw_offset_degrees":0.03424906542786199},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015302318897189382,0.00023276199038462344,-0.0005155604881079987],"end_effector_yaw_offset_degrees":0.04965960670173808}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[4.099344121224341e-05,-0.002151635756054995],"position_m":[0.18544099344121226,-0.134851635756055,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026478903177760294,0.0017650216640161375],"position_m":[0.264852109682224,-0.39943497833598385,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029888011972971453,-0.0026561727161722825],"position_m":[0.18461119880270285,0.08194382728382771,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010008971178165548,-0.001460977495803385],"position_m":[0.35010089711781656,0.28863902250419665,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f07bc20b56f3d25f3bb9523cba00fc68acf4ce14a9c1ec20ffa422537c84006","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5174/tex_ceiling_textures_1378/tex_floor_textures_6598/tex_table_textures_6001/tex_wall_textures_4927","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3513321295651710635,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3513321295651710635,"visual_seed":3513321295651710635,"scene_id":"lab_003","finished_at":"2026-09-03T19:29:13"} +{"episode_id":"ep_000022","started_at":"2026-09-03T19:29:17","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.050224333146279165,-2.4360304551654424,0.71338606911949],"aabb_xy":[[0.03981277446579544,-2.4413761885013403],[0.060635891826762864,-2.4306847218295435]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.3190049056417093,-1.7285444055295454,0.71338606911949],"aabb_xy":[[-0.3741301112713,-1.7885444069708323],[-0.26387970001211847,-1.668544404088258]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[0.2583709571557148,1.720200350091742,0.71338606911949],"aabb_xy":[[0.2358572653322576,1.6502003494907342],[0.280884648979172,1.7902003506927493]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[-0.6365888848428574,-1.7600679703267632,0.71338606911949],"aabb_xy":[[-0.6438712012195208,-1.8500679739362718],[-0.6293065684661935,-1.6700679667172538]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[-0.40573407407116874,-1.4516816012922833,0.71338606911949],"aabb_xy":[[-0.45354024168493734,-1.516681603999342],[-0.3579279064574001,-1.3866815985852243]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.4608141904459757,-0.9906616234223231,0.71338606911949],"aabb_xy":[[0.37112711413786026,-1.0806616236767737],[0.5505012667540912,-0.9006616231678726]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.47739348308608975,0.5481596651191794,0.71338606911949],"aabb_xy":[[0.42240123245057887,0.4931596633758667],[0.5323857337216007,0.6031596668624922]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.6529148756877592,1.2405002308796957,0.71338606911949],"aabb_xy":[[0.6402880884005627,1.2309541571781228],[0.6655416629749554,1.2500463045812686]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[-0.41107717024558255,1.2274439340108136,0.71338606911949],"aabb_xy":[[-0.4455396482586703,1.2207802568278907],[-0.3766146922324948,1.2341076111937361]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[0.6342615690633706,-0.6261319770997318,0.71338606911949],"aabb_xy":[[0.5972274596353109,-0.6605091844334411],[0.6712956784914303,-0.5917547697660223]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.1749472486032102,-1.9774193057332017,0.71338606911949],"aabb_xy":[[-0.2389429459983068,-2.0414193040339104],[-0.11095155120811362,-1.9134193074324932]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.5074106559677501,0.3878320709922569,0.71338606911949],"aabb_xy":[[-0.5312468736083553,0.29783207018377045],[-0.4835744383271452,0.47783207180074344]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.14961481455184744,0.6993570619544762,0.71338606911949],"aabb_xy":[[-0.20724528343911824,0.6393570630277654],[-0.09198434566457657,0.7593570608811865]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.031736865873183584,-2.2035369865155037,0.71338606911949],"aabb_xy":[[0.01740244074702013,-2.2155972020700423],[0.04607129099934704,-2.191476770960965]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[0.18256788754185904,1.0665401313927863,0.71338606911949],"aabb_xy":[[0.12759416550552619,1.011540131828553],[0.23754160957819195,1.1215401309570194]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.059911181752678955,1.5801185955442798,0.71338606911949],"aabb_xy":[[0.039852770139438665,1.5600535086351224],[0.07996959336591924,1.6001836824534372]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[-0.47192192157668844,-1.6786141681080191,0.71338606911949],"aabb_xy":[[-0.4789622315102255,-1.7586141675076907],[-0.4648816116431515,-1.598614168708348]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[-0.3212038423786388,-2.3625107232567406,0.71338606911949],"aabb_xy":[[-0.39120384577020073,-2.397826496960171],[-0.25120383898707677,-2.3271949495533093]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.1249355984774766,-1.8372491523118364,0.71338606911949],"aabb_xy":[[-0.13306328667078982,-1.8461627607225444],[-0.11680791028416337,-1.8283355439011288]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.01606420343342818,-0.886585820301556,0.71338606911949],"aabb_xy":[[-0.02670250344599201,-0.9505858237233584],[0.05883091031284837,-0.8225858168797535]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.2849193720418556,1.7070906555424235,0.71338606911949],"aabb_xy":[[-0.3074193725538962,1.6845987971770249],[-0.262419371529815,1.7295825139078216]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.5760106248572292,1.160885801812555,0.71338606911949],"aabb_xy":[[0.5627796793225477,1.1476583827905553],[0.5892415703919103,1.1741132208345542]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[0.43833453275767886,1.5080891803721577,0.71338606911949],"aabb_xy":[[0.42891705818781606,1.4986730032344384],[0.44775200732754156,1.5175053575098765]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[-0.3460739327853853,-0.45816360703002523,0.71338606911949],"aabb_xy":[[-0.3580066671472133,-0.47054575983788455],[-0.33414119842355716,-0.4457814542221658]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[-0.6012988615768897,1.2439461075063,0.71338606911949],"aabb_xy":[[-0.6077126752200745,1.2375362872586315],[-0.5948850479337047,1.2503559277539682]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[-0.1509084328242697,1.2184879530154937,0.71338606911949],"aabb_xy":[[-0.24090843224264055,1.1851124561713038],[-0.06090843340589877,1.2518634498596832]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_26","position":[-0.2942889148366442,0.9146847259819402,0.71338606911949],"aabb_xy":[[-0.32776808209768515,0.8812056126108333],[-0.26080974757560327,0.9481638393530473]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_27","position":[0.6090258956730659,0.36142913438698043,0.71338606911949],"aabb_xy":[[0.5992699061638919,0.35166660032774594],[0.6187818851822396,0.3711916684462148]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[0.2692281716453643,-0.6979722969062425,0.71338606911949],"aabb_xy":[[0.2323776237083766,-0.7354722977292762],[0.30607871958235183,-0.6604722960832088]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_29","position":[-0.3876250205971591,0.2874500300178169,0.71338606911949],"aabb_xy":[[-0.42512502054092544,0.2791569399829803],[-0.3501250206533926,0.29574312005265346]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_30","position":[0.1740127692558815,-1.131793132945203,0.71338606911949],"aabb_xy":[[0.0840127655789633,-1.1932255395223068],[0.2640127729327996,-1.070360726368098]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_31","position":[-0.14509394616019644,1.5093403777345453,0.71338606911949],"aabb_xy":[[-0.1621040434502471,1.4932058892362712],[-0.1280838488701458,1.525474866232819]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_32","position":[0.5227258743576915,-1.624571301325624,0.71338606911949],"aabb_xy":[[0.4587258770720427,-1.6660780202784682],[0.58672587164334,-1.5830645823727802]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7150410795954003,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3017.png","name":"3017"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3017.png","name":"3017"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5441.png","name":"5441"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5317.png","name":"5317"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7037.png","name":"7037"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5161.png","name":"5161"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":772.236950585172,"rotation_z_degrees":61.786169357900164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010942760712593366,0.007533279100347751,-0.015394182801249672]},{"name":"camera_2","offset_m":[0.01715627012728876,0.012991567824472753,0.01949075795979931]},{"name":"camera_3","offset_m":[-0.014416491952352534,0.016821413436039576,0.0008174197164457463]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017900128613881888,0.0008270906583743667,0.0010697934817772512],"end_effector_yaw_offset_degrees":0.7226073080528317},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007826597130871726,-0.000574999704212257,0.0010279698901089701],"end_effector_yaw_offset_degrees":-0.8573395630824165},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007256891092213725,0.0017834204378449976,0.000905375291502664],"end_effector_yaw_offset_degrees":-0.44821594656713204}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0002994486491200987,0.0037340422893227454],"position_m":[0.1851005513508799,-0.12896595771067726,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015360900200738561,0.00033292159855162744],"position_m":[0.2690360900200739,-0.40086707840144836,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003489457350124023,0.003891860046482647],"position_m":[0.1879489457350124,0.08849186004648264,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004094100977138217,-0.0036280603408667955],"position_m":[0.34500589902286183,0.2864719396591332,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"585543356ff2f7699dec2eca4530da0f1247607cd055e475e813399728625504","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0022.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3017/tex_ceiling_textures_5161/tex_floor_textures_7037/tex_table_textures_5441/tex_wall_textures_5317","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1774862146454360858,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1774862146454360858,"visual_seed":1774862146454360858,"scene_id":"lab_003","finished_at":"2026-09-03T19:31:57"} +{"episode_id":"ep_000023","started_at":"2026-09-03T19:32:00","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.17060290952639856,-1.026857051453308,0.71338606911949],"aabb_xy":[[0.12060807659845696,-1.0768570503485515],[0.22059774245434016,-0.9768570525580644]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.2142121534410058,0.5302237163248851,0.71338606911949],"aabb_xy":[[-0.249212152633824,0.5192566703272223],[-0.17921215424818748,0.5411907623225476]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[0.35517407081711183,-2.3806002347888766,0.71338606911949],"aabb_xy":[[0.3463720155081391,-2.3884115609438057],[0.36397612612608454,-2.3727889086339475]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.5692971015397069,-1.5488667826511318,0.71338606911949],"aabb_xy":[[-0.5789287377601364,-1.5585040954308407],[-0.5596654653192772,-1.5392294698714228]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[0.47987857088630936,-0.9726256715757899,0.71338606911949],"aabb_xy":[[0.4697968638077359,-1.0526256694679046],[0.48996027796488284,-0.8926256736836754]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.0030640138721379495,1.051503470207897,0.71338606911949],"aabb_xy":[[-0.03736092488987857,1.0172065839979554],[0.03123289714560267,1.085800356417838]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.5543161516551063,0.15582344646602886,0.71338606911949],"aabb_xy":[[-0.5918161514721398,0.15118523515488697],[-0.5168161518380727,0.1604616577771707]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[0.3242106313008608,1.681549339259886,0.71338606911949],"aabb_xy":[[0.2742106299399736,1.6315714346844703],[0.37421063266174803,1.7315272438353015]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[0.6638372479036385,-2.5700057990345546,0.71338606911949],"aabb_xy":[[0.6263372479598721,-2.578298889069391],[0.7013372478474049,-2.561712708999718]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.34843905058289887,-1.7579933610912026,0.71338606911949],"aabb_xy":[[-0.37298526620564965,-1.7882422576402397],[-0.3238928349601482,-1.7277444645421656]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[0.610366503737142,-1.7976593745303868,0.71338606911949],"aabb_xy":[[0.5928665703031585,-1.8151593744506214],[0.6278664371711252,-1.7801593746101523]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.16634114712868686,0.7278594639098346,0.71338606911949],"aabb_xy":[[0.14182752303168097,0.7035948706077982],[0.1908547712256927,0.7521240572118711]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.3709957632670752,0.5588949707748663,0.71338606911949],"aabb_xy":[[-0.4209957636276412,0.5089149835652632],[-0.32099576290650905,0.6088749579844691]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.20998489851852536,1.7210570967212653,0.71338606911949],"aabb_xy":[[-0.2170252084520624,1.6410570973215943],[-0.20294458858498843,1.8010570961209371]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.15515008666657537,-2.4634944414634097,0.71338606911949],"aabb_xy":[[-0.23515008773969573,-2.4732724878007937],[-0.07515008559345507,-2.453716395126025]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.5574982969576346,-0.09855078360987335,0.71338606911949],"aabb_xy":[[-0.5800119887810918,-0.16855078421088088],[-0.5349846051341774,-0.02855078300886582]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.28148929527081035,0.8630973012001504,0.71338606911949],"aabb_xy":[[0.2742455292245651,0.783097302996548],[0.28873306131705573,0.9430972994037528]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[0.40265426353620093,-1.7510077741644787,0.71338606911949],"aabb_xy":[[0.39140920796558304,-1.762249571888574],[0.4138993191068187,-1.7397659764403834]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[0.005241621487275472,0.8998644084656635,0.71338606911949],"aabb_xy":[[-0.07475837567229981,0.8883168075078464],[0.08524161864685076,0.9114120094234804]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.5514633960398101,1.480688883317296,0.71338606911949],"aabb_xy":[[-0.6154633974478008,1.428899931793371],[-0.4874633946318195,1.5324778348412205]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.37750339019204376,-0.8295431718403228,0.71338606911949],"aabb_xy":[[-0.44250339129798705,-0.8545085449084512],[-0.3125033890861005,-0.8045777987721946]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[0.5681160509746341,-0.6936585949156842,0.71338606911949],"aabb_xy":[[0.5456160511607318,-0.6981332112861649],[0.5906160507885365,-0.6891839785452034]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[-0.6732390474983037,-0.5368650093888014,0.71338606911949],"aabb_xy":[[-0.6945170556417759,-0.6018650117148744],[-0.6519610393548314,-0.47186500706272827]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_23","position":[-0.11597941940126877,0.0008770223493894669,0.71338606911949],"aabb_xy":[[-0.13031384452743222,-0.011183193205149378],[-0.10164499427510533,0.012937237903928311]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[-0.11464764572137676,1.5792331601196934,0.71338606911949],"aabb_xy":[[-0.11960366590625797,1.5567331599175722],[-0.10969162553649557,1.6017331603218155]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[0.5845013475498024,-0.5863342594543415,0.71338606911949],"aabb_xy":[[0.566707840614886,-0.6041340050501391],[0.6022948544847189,-0.5685345138585438]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.37432078387648815,0.6211197056503117,0.71338606911949],"aabb_xy":[[0.2943207852891687,0.5418041037121508],[0.4543207824638076,0.7004353075884726]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[0.5542781917116566,1.156678231705659,0.71338606911949],"aabb_xy":[[0.531778191199616,1.1341863733402604],[0.5767781922236972,1.179170090071057]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[0.3767640939682735,-1.1995434022892242,0.71338606911949],"aabb_xy":[[0.3592640937232241,-1.2170431901287908],[0.39426409421332287,-1.182043614449657]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_29","position":[-0.2394838814399987,-2.1841143042045736,0.71338606911949],"aabb_xy":[[-0.3294838779408704,-2.2300259466230314],[-0.14948388493912693,-2.138202661786115]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_30","position":[0.3473010682068798,-1.5666131813399764,0.71338606911949],"aabb_xy":[[0.3412064403187615,-1.5751825758916453],[0.35339569609499816,-1.558043786788308]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_31","position":[0.4628920186886909,1.3796186889317839,0.71338606911949],"aabb_xy":[[0.45484865876273567,1.2946186878364174],[0.470935378614646,1.4646186900271503]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7114137653960213,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/13.png","name":"13"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/13.png","name":"13"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5061.png","name":"5061"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/933.png","name":"933"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3449.png","name":"3449"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4092.png","name":"4092"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":548.1759039157139,"rotation_z_degrees":356.88914425219525,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002839379397608841,-0.012465453881074735,0.0020437307093902485]},{"name":"camera_2","offset_m":[-0.0020230563177155818,-7.601138557659926e-05,0.007185391838592667]},{"name":"camera_3","offset_m":[-0.019097344924326274,0.009734895926760193,0.007333454945454804]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001373865336689046,-0.001064103565296251,0.001319163567519341],"end_effector_yaw_offset_degrees":-0.8130148454273023},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006730800083662248,-0.0018022161349335142,0.0003324739766057418],"end_effector_yaw_offset_degrees":0.4913926999864042},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015319096825454884,-0.0010674803746737438,0.0007606318927272813],"end_effector_yaw_offset_degrees":-0.0027406158621037235}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032174129804693396,0.0025481164233532583],"position_m":[0.18218258701953066,-0.13015188357664675,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028978869092216863,0.0002620075824671638],"position_m":[0.2646021130907783,-0.40093799241753286,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004574150680468107,0.0007369352746106851],"position_m":[0.1921741506804681,0.08533693527461068,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027025502579856066,-0.001262200569982165],"position_m":[0.3463974497420144,0.28883779943001786,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"172c1633d17294760d9e9e1cb62928975427e764a183e8937218a0c95ec9d5af","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_13/tex_ceiling_textures_4092/tex_floor_textures_3449/tex_table_textures_5061/tex_wall_textures_933","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8690433110079146224,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8690433110079146224,"visual_seed":8690433110079146224,"scene_id":"lab_003","finished_at":"2026-09-03T19:34:42"} +{"episode_id":"ep_000024","started_at":"2026-09-03T19:34:45","dimensions":{"distractor":{"count":31,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.4611997442596498,0.7622405579813556,0.71338606911949],"aabb_xy":[[-0.4836997440735521,0.7577659416108747],[-0.43869974444574733,0.7667151743518362]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.3946052515006613,0.5655283887077833,0.71338606911949],"aabb_xy":[[0.37332724335718903,0.5005283863817102],[0.41588325964413353,0.6305283910338563]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.5951733123488399,-0.4804941932967708,0.71338606911949],"aabb_xy":[[0.588133002415303,-0.5604941926964423],[0.602213622282377,-0.4004941938970995]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.20439832672734337,-2.3967208553209582,0.71338606911949],"aabb_xy":[[0.14039832343763523,-2.4400557743248754],[0.26839833001705143,-2.35338593631704]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.04679896212203993,1.6600633193998369,0.71338606911949],"aabb_xy":[[-0.08429896241421475,1.6560218439992331],[-0.009298961829865116,1.6641047948004402]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.332564467294856,-0.9576349917216311,0.71338606911949],"aabb_xy":[[0.2825911732915955,-1.0076349922761785],[0.3825377612981164,-0.9076349911670837]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[0.4047793656232379,1.7664424348011836,0.71338606911949],"aabb_xy":[[0.4006435092905378,1.728942435356827],[0.4089152219559382,1.803942434245541]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.512479405550649,-0.7114719328686403,0.71338606911949],"aabb_xy":[[-0.5492740386755552,-0.7483778079652226],[-0.4756847724257427,-0.674566057772058]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[0.4560013451360656,-2.542947190423186,0.71338606911949],"aabb_xy":[[0.44787365694275244,-2.551860798833894],[0.4641290333293789,-2.5340335820124786]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[0.5715242179368325,0.08419927254705462,0.71338606911949],"aabb_xy":[[0.5365242180408135,0.07582503703511466],[0.6065242178328513,0.09257350805899454]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.6613827519549793,0.9853238790207484,0.71338606911949],"aabb_xy":[[0.6447056159618838,0.968623955046818],[0.6780598879480748,1.0020238029946786]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.45340883917035324,-0.28972450598969157,0.71338606911949],"aabb_xy":[[0.40343142230509954,-0.33972450747894006],[0.5033862560356066,-0.239724504500443]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.11518108095827828,1.2584349492461615,0.71338606911949],"aabb_xy":[[0.09768108182391111,1.2485553222085735],[0.13268108009264545,1.268314576283749]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.6227212743102565,-0.5870300374905146,0.71338606911949],"aabb_xy":[[-0.6361678009442998,-0.6004998891436059],[-0.6092747476762131,-0.5735601858374234]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.19417970606087143,-2.056861197444974,0.71338606911949],"aabb_xy":[[0.18933611129964145,-2.0617128499239583],[0.1990233008221014,-2.05200954496599]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.6814040958479848,0.7804863358520331,0.71338606911949],"aabb_xy":[[0.6636105889130683,0.7626865902562355],[0.6991976027829012,0.7982860814478309]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.22317167072064426,1.083171591985204,0.71338606911949],"aabb_xy":[[0.17369124950668546,1.0191715940723522],[0.27265209193460305,1.147171589898056]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.5719006269612874,-1.2115654624057937,0.71338606911949],"aabb_xy":[[0.5626070087241367,-1.2490654608939273],[0.5811942451984379,-1.1740654639176595]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.43643786623880076,-1.621548738547514,0.71338606911949],"aabb_xy":[[-0.5164378632018398,-1.6986243801912873],[-0.3564378692757615,-1.5444730969037404]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[-0.1789954104120952,-1.8410468525492125,0.71338606911949],"aabb_xy":[[-0.242995410672566,-1.8860556519021403],[-0.11499541015162439,-1.7960380531962843]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.24210430715248665,1.5978096988347548,0.71338606911949],"aabb_xy":[[-0.3221043076227026,1.5894989912204067],[-0.16210430668227072,1.6061204064491033]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[0.2758445299723561,-1.1836658563181952,0.71338606911949],"aabb_xy":[[0.2705120153177431,-1.188990184563431],[0.2811770446269691,-1.1783415280729599]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[0.3805324037800206,-1.5414027068147318,0.71338606911949],"aabb_xy":[[0.33053240433982495,-1.5913706312990479],[0.4305324032202162,-1.4914347823304153]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_23","position":[-0.26377168912265775,-0.9524436112795052,0.71338606911949],"aabb_xy":[[-0.2676855623180803,-0.961192626686062],[-0.2598578159272352,-0.9436945958729483]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.24140794255349574,0.8921651610473957,0.71338606911949],"aabb_xy":[[0.1614079439661763,0.8128495591092347],[0.32140794114081517,0.9714807629855565]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_25","position":[-0.289046658723894,0.9987264870376067,0.71338606911949],"aabb_xy":[[-0.32654665938847266,0.9830394290373845],[-0.25154665805931525,1.0144135450378289]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_26","position":[-0.20320353293957455,1.0649924822321046,0.71338606911949],"aabb_xy":[[-0.20929816082769287,1.056423087680436],[-0.19710890505145623,1.0735618767837734]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[-0.25489716417725145,0.11320774627103747,0.71338606911949],"aabb_xy":[[-0.2773935856111155,0.09070774646429003],[-0.2324007427433873,0.1357077460777849]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_28","position":[-0.6376665426754806,1.0838924050915306,0.71338606911949],"aabb_xy":[[-0.6470135502577757,1.0695887828738866],[-0.6283195350931853,1.0981960273091746]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[-0.26156105636281246,1.2956545517624396,0.71338606911949],"aabb_xy":[[-0.2848428985609438,1.2106545504652115],[-0.23827921416468115,1.3806545530596677]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_30","position":[0.38119967631367757,-0.6352377323710174,0.71338606911949],"aabb_xy":[[0.32718408003177746,-0.6992377352632745],[0.43521527259557746,-0.5712377294787602]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7137687077983942,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9968.png","name":"9968"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9968.png","name":"9968"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2419.png","name":"2419"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2009.png","name":"2009"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6545.png","name":"6545"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7898.png","name":"7898"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":573.3779814693651,"rotation_z_degrees":342.2317501923822,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018447934585970535,0.0178100134012292,-0.008923513627594755]},{"name":"camera_2","offset_m":[0.019588678518142288,0.008713690436943963,-0.019858892890953973]},{"name":"camera_3","offset_m":[-0.010195661380937056,-0.004828326940664991,0.016518762370619087]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018702251570648176,0.001051025905826594,-0.0003840962987823272],"end_effector_yaw_offset_degrees":-0.9248992237272688},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006731903726198097,0.0010646477319296945,0.0005166089421904359],"end_effector_yaw_offset_degrees":-0.8929388834464591},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006957607281000153,0.00045728180154473545,0.0015099888036582939],"end_effector_yaw_offset_degrees":0.8241380255668649}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020918822961862827,0.00019063231589804518],"position_m":[0.1874918822961863,-0.13250936768410196,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021185188207162855,-0.00276884095794682],"position_m":[0.26538148117928373,-0.40396884095794683,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005477632773277742,0.004083265615282915],"position_m":[0.1870522367226722,0.0886832656152829,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002183809487394733,0.0018327498071969584],"position_m":[0.35128380948739474,0.29193274980719697,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c08dd51136ff4404319ded91dd4d839807aabfe809e55fa8a938732b1b181af4","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0024.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9968/tex_ceiling_textures_7898/tex_floor_textures_6545/tex_table_textures_2419/tex_wall_textures_2009","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6542204992656001143,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6542204992656001143,"visual_seed":6542204992656001143,"scene_id":"lab_003","finished_at":"2026-09-03T19:37:23"} +{"episode_id":"ep_000025","started_at":"2026-09-03T19:37:25","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[0.6625554458433047,0.4457950610175585,0.71338606911949],"aabb_xy":[[0.6025554442003829,0.3937949117256143],[0.7225554474862266,0.4977952103095027]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.5522850779326227,0.989624567455702,0.71338606911949],"aabb_xy":[[-0.5935896209963587,0.9256245678875848],[-0.5109805348688867,1.0536245670238191]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[-0.42261719835189243,0.3807532781084113,0.71338606911949],"aabb_xy":[[-0.4876171962335403,0.32962961440187044],[-0.35761720047024464,0.43187694181495223]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[0.12820092170663033,1.1515118079066395,0.71338606911949],"aabb_xy":[[0.04820709812807211,1.071511805313798],[0.20819474528518855,1.231511810499481]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[0.6625382178851222,0.7337833759059635,0.71338606911949],"aabb_xy":[[0.6075382196833774,0.6932614092795258],[0.7175382160868671,0.774305342532401]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[0.5365975461093297,-0.6290238347897013,0.71338606911949],"aabb_xy":[[0.5295572361757929,-0.7090238341893729],[0.5436378560428669,-0.5490238353900301]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.6245391236941701,-1.1800747075860418,0.71338606911949],"aabb_xy":[[-0.6845391239455713,-1.2343560326225063],[-0.5645391234427689,-1.125793382549577]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.5235227116970795,-0.7208184747462796,0.71338606911949],"aabb_xy":[[-0.5875227089994258,-0.7651849017141363],[-0.459522714394733,-0.6764520477784228]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.19088119918738355,-0.7682542839912836,0.71338606911949],"aabb_xy":[[-0.20096290626595703,-0.8482542818833981],[-0.18079949210881008,-0.6882542860991688]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[-0.24700798675383706,0.6380438907306583,0.71338606911949],"aabb_xy":[[-0.3170079885625825,0.6166901219664709],[-0.1770079849450916,0.6593976594948456]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.14265950747602663,-1.9269851615807623,0.71338606911949],"aabb_xy":[[0.10515950718385181,-1.9310266369813653],[0.18015950776820144,-1.9229436861801583]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[0.2132942424080122,-0.8019816287057269,0.71338606911949],"aabb_xy":[[0.18874802678526148,-0.8322305252547638],[0.23784045803076292,-0.7717327321566897]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.49714277533824613,0.6020502425822594,0.71338606911949],"aabb_xy":[[-0.5196427758502867,0.5795583842168609],[-0.47464277482620554,0.6245421009476576]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.17740837753113636,-1.15622708931804,0.71338606911949],"aabb_xy":[[0.13212976264998708,-1.2202270886662236],[0.2226869924122856,-1.0922270899698563]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[0.4163400804292645,-1.619170552962539,0.71338606911949],"aabb_xy":[[0.3663571302417852,-1.6691705526050993],[0.46632303061674385,-1.5691705533199785]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.2374287706141731,-1.5631746163346831,0.71338606911949],"aabb_xy":[[-0.24919695740883066,-1.6481746162399051],[-0.22566058381951562,-1.4781746164294618]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[-0.30752014590336885,0.16290961051662123,0.71338606911949],"aabb_xy":[[-0.3249508609823753,0.1456374958527704],[-0.2900894308243623,0.180181725180472]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[0.4201358269431752,-1.303012107717733,0.71338606911949],"aabb_xy":[[0.370253130065479,-1.353012106964008],[0.47001852382087145,-1.2530121084714585]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[-0.6078894889072484,-1.7243400672590503,0.71338606911949],"aabb_xy":[[-0.6578894892678143,-1.774320054468653],[-0.5578894885466822,-1.6743600800494471]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[0.374289255430609,-1.8549095891705085,0.71338606911949],"aabb_xy":[[0.3392892571199135,-1.8626246040940542],[0.40928925374130437,-1.8471945742469629]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.6383720144118809,-2.4251410274062675,0.71338606911949],"aabb_xy":[[-0.6491449883332486,-2.4601410256253065],[-0.6275990404905131,-2.3901410291872285]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[0.5666125451094424,1.2784345641212238,0.71338606911949],"aabb_xy":[[0.5291125465338216,1.2656982684576656],[0.6041125436850632,1.2911708597847815]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[0.47116319267926876,0.5519425719864839,0.71338606911949],"aabb_xy":[[0.3911631894214258,0.4719460641944999],[0.5511631959371117,0.6319390797784679]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.3975411410722797,0.8749416136173864,0.71338606911949],"aabb_xy":[[-0.4360868338974808,0.8363958425611978],[-0.35899544824707874,0.913487384673575]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[-0.1793911676913491,0.9051618573443556,0.71338606911949],"aabb_xy":[[-0.239391168199202,0.8483151236584343],[-0.11939116718349617,0.9620085910302769]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[0.10296349557353746,-2.36656060632804,0.71338606911949],"aabb_xy":[[0.07297183283966713,-2.3965606056648405],[0.13295515830740778,-2.3365606069912395]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[-0.2917294665325726,-0.19713240831846113,0.71338606911949],"aabb_xy":[[-0.3292294666381655,-0.20395457017144222],[-0.2542294664269796,-0.19031024646547998]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_27","position":[0.25176538802419013,-2.487288458755528,0.71338606911949],"aabb_xy":[[0.23861414205290077,-2.512288458512215],[0.2649166339954795,-2.462288458998842]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[0.088522880131784,-2.165636070455747,0.71338606911949],"aabb_xy":[[0.030892411244513134,-2.2256360693824573],[0.14615334901905483,-2.105636071529036]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_29","position":[0.6272717776175267,-0.15243027766233475,0.71338606911949],"aabb_xy":[[0.5897717769529479,-0.16811733566255693],[0.6647717782821053,-0.13674321966211256]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_30","position":[-0.12197652498911993,-1.3818119199225105,0.71338606911949],"aabb_xy":[[-0.15930780151436258,-1.4164649747173628],[-0.08464524846387732,-1.3471588651276583]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_31","position":[-0.15499042150893982,-0.41432070494161577,0.71338606911949],"aabb_xy":[[-0.20016173935710885,-0.47832070208615424],[-0.10981910366077088,-0.35032070779707736]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_32","position":[0.5684215950708347,0.979676290886832,0.71338606911949],"aabb_xy":[[0.5628399234367059,0.9671762910690564],[0.5740032667049635,0.9921762907046074]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7103246491156242,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4887.png","name":"4887"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4887.png","name":"4887"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/264.png","name":"264"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3605.png","name":"3605"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8139.png","name":"8139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1657.png","name":"1657"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":632.649195758238,"rotation_z_degrees":28.159175773212127,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019616705723538366,0.015061921316203392,0.0011129854151476458]},{"name":"camera_2","offset_m":[0.015584367429459577,-0.00443364619494801,-0.006343662311337393]},{"name":"camera_3","offset_m":[0.0009045880113606047,0.010660663470541523,-0.0049543938500564225]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001184336567085829,0.0014840786678479221,0.0015304045430173476],"end_effector_yaw_offset_degrees":-0.8847589851076094},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001122770612534889,0.0016909533142241014,-0.0019277075715142238],"end_effector_yaw_offset_degrees":0.4038776661179011},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-4.1148522202987415e-05,0.001442587135079274,-0.00014611043637543912],"end_effector_yaw_offset_degrees":-0.06675199066247117}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004941675903303283,0.00341319121198425],"position_m":[0.18045832409669674,-0.12928680878801577,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030101915644020027,0.0020323087351490944],"position_m":[0.264489808435598,-0.3991676912648509,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002881974912322972,0.002887922526788273],"position_m":[0.19048197491232297,0.08748792252678826,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013279329870672903,-0.004796368615250054],"position_m":[0.3504279329870673,0.28530363138474996,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6033115532c600b8bc8c0527314453db2bf320789b51c6862cf0c283de1c7fbe","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4887/tex_ceiling_textures_1657/tex_floor_textures_8139/tex_table_textures_264/tex_wall_textures_3605","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1828508785702214845,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1828508785702214845,"visual_seed":1828508785702214845,"scene_id":"lab_003","finished_at":"2026-09-03T19:40:10"} +{"episode_id":"ep_000026","started_at":"2026-09-03T19:40:13","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[0.2962657105075249,-1.0240182072127784,0.71338606911949],"aabb_xy":[[0.2587657098429461,-1.0397052652130003],[0.3337657111721035,-1.008331149212556]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[-0.5473364205978846,1.4021621325563611,0.71338606911949],"aabb_xy":[[-0.6373364170987562,1.3562504901379029],[-0.45733642409701275,1.4480737749748194]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.33984113094358065,0.9279358078434563,0.71338606911949],"aabb_xy":[[-0.34796881913689387,0.9190221994327487],[-0.33171344275026743,0.936849416254164]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.5737506898415752,-2.2834434935391266,0.71338606911949],"aabb_xy":[[-0.6112506884171959,-2.2961797892026845],[-0.5362506912659543,-2.2707071978755686]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.28468491320037637,1.0762881711953733,0.71338606911949],"aabb_xy":[[-0.30024068261064163,1.0607377379509664],[-0.2691291437901111,1.0918386044397808]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.172982106461264,-2.210984502851396,0.71338606911949],"aabb_xy":[[-0.2629821061844381,-2.2340578553865753],[-0.0829821067380898,-2.1879111503162156]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.4189187023725207,-1.6991602057935706,0.71338606911949],"aabb_xy":[[0.3549187052604151,-1.7481925755879812],[0.48291869948462646,-1.65012783599916]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.2919292680863489,-1.0714872158938016,0.71338606911949],"aabb_xy":[[-0.32942926960198055,-1.0827139889099466],[-0.2544292665707171,-1.0602604428776565]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[0.5892194362751102,1.0610194116543323,0.71338606911949],"aabb_xy":[[0.5517194361032381,1.028318676271425],[0.626719436446982,1.0937201470372393]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.6147302455501471,0.524435123346263,0.71338606911949],"aabb_xy":[[-0.6490271565678876,0.4901382371363215],[-0.5804333345324064,0.5587320095562042]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[0.6619197848362575,-0.607680804754428,0.71338606911949],"aabb_xy":[[0.6546374684595936,-0.6976808083639368],[0.6692021012129209,-0.5176808011449188]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[-0.5709538919234518,-1.2073813501158719,0.71338606911949],"aabb_xy":[[-0.5841051378947413,-1.2323813498725587],[-0.5578026459521626,-1.1823813503591856]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.5645830612564787,-1.574469139841589,0.71338606911949],"aabb_xy":[[-0.6097543791046478,-1.638469136986128],[-0.5194117434083099,-1.5104691426970511]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.465668245070459,-2.243301769721642,0.71338606911949],"aabb_xy":[[0.4016682457762908,-2.3072879100904964],[0.5296682443646272,-2.179315629352788]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[-0.2540186753312293,-0.30295696817394857,0.71338606911949],"aabb_xy":[[-0.3180186757087629,-0.35270223502476084],[-0.19001867495369568,-0.2532117013231363]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[0.5344614750606094,-0.4967788001302673,0.71338606911949],"aabb_xy":[[0.505812142700193,-0.5254243594073431],[0.5631108074210255,-0.4681332408531915]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.17825899956179025,1.664551520702107,0.71338606911949],"aabb_xy":[[0.1182589987009774,1.6131250906956205],[0.238259000422603,1.7159779507085933]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[0.31402478512138776,1.7994157998502422,0.71338606911949],"aabb_xy":[[0.2988526158397544,1.784246942922039],[0.3291969544030211,1.8145846567784456]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.42909056276141117,-1.9797533435446524,0.71338606911949],"aabb_xy":[[-0.45158698419527527,-2.0022533433514],[-0.40659414132754707,-1.957253343737905]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.1022104309819799,-2.5603547302757645,0.71338606911949],"aabb_xy":[[0.07769680688497405,-2.584619323577801],[0.12672405507898576,-2.536090136973728]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[0.41481098880662604,1.085120821301174,0.71338606911949],"aabb_xy":[[0.400167583252593,1.0704621016443898],[0.42945439436065896,1.0997795409579583]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.04262847560804539,0.5101980316369743,0.71338606911949],"aabb_xy":[[-0.06646469324865045,0.42019803082848783],[-0.018792257967440325,0.6001980324454608]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[-0.4503017156898688,1.7253839397639328,0.71338606911949],"aabb_xy":[[-0.4878017156336352,1.717090849729096],[-0.4128017157461024,1.7336770297987691]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[0.6082768028752377,-2.3396117198614186,0.71338606911949],"aabb_xy":[[0.5739605257006196,-2.3896117198345963],[0.6425930800498555,-2.289611719888241]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[-0.6218030275456135,0.8506900874977523,0.71338606911949],"aabb_xy":[[-0.6463492431683642,0.8204411909487151],[-0.5972568119228627,0.8809389840467893]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_25","position":[0.455202198998087,1.4402637010372703,0.71338606911949],"aabb_xy":[[0.4141842556117162,1.390263700406313],[0.49622014238445794,1.4902637016682276]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[-0.10729077385347185,0.7436604331469452,0.71338606911949],"aabb_xy":[[-0.11370458749665678,0.7372506128992768],[-0.1008769602102869,0.7500702533946135]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.021631516777961712,-1.408377184466598,0.71338606911949],"aabb_xy":[[-0.01336848311805716,-1.4167514199785378],[0.05663151667398058,-1.4000029489546582]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[-0.22485257021418514,-0.5503742721175238,0.71338606911949],"aabb_xy":[[-0.23355053250490043,-0.5624992464249986],[-0.21615460792346985,-0.5382492978100492]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_29","position":[0.6130829853028568,-0.4206279185156423,0.71338606911949],"aabb_xy":[[0.6054587172126786,-0.42826114205218613],[0.6207072533930351,-0.4129946949790987]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[0.27136446575601547,-2.222081626005619,0.71338606911949],"aabb_xy":[[0.1913644652857996,-2.230392333619968],[0.35136446622623146,-2.2137709183912713]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_31","position":[0.4634828178490673,0.394501395082242,0.71338606911949],"aabb_xy":[[0.37348281843069636,0.3611258982380523],[0.5534828172674382,0.42787689192643175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7141731143550354,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3236.png","name":"3236"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3236.png","name":"3236"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8706.png","name":"8706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5214.png","name":"5214"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6666.png","name":"6666"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1407.png","name":"1407"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":606.1452924749992,"rotation_z_degrees":151.56009625859016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013060797367886064,0.008578905938920113,-0.015064824654819104]},{"name":"camera_2","offset_m":[-0.01580555868251107,0.00777394737292178,-0.00993460602718609]},{"name":"camera_3","offset_m":[-0.01517631624616584,0.01758870342457289,0.008885606393929654]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005511652486493218,-0.0006874971229109037,0.0005106909893041627],"end_effector_yaw_offset_degrees":-0.292780345075482},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00046243380498155726,0.0010486135455164904,3.384022766103655e-05],"end_effector_yaw_offset_degrees":0.8800166135256642},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008689707652883665,-0.0015801183306997273,0.000456649882525406],"end_effector_yaw_offset_degrees":0.14939094722145208}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003806064085391313,7.347308956378272e-05],"position_m":[0.1815939359146087,-0.13262652691043622,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003281035047357117,0.004482770107258327],"position_m":[0.2707810350473571,-0.39671722989274166,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004789269216672396,-0.004573310442320272],"position_m":[0.1828107307833276,0.08002668955767972,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0042651446158271334,0.0004955164591281371],"position_m":[0.35336514461582713,0.2905955164591282,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eecf8095d3eb5cfcc1df2969271c7cd65fc1c9c12bf3dbee80a225e4d3ed6cb9","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3236/tex_ceiling_textures_1407/tex_floor_textures_6666/tex_table_textures_8706/tex_wall_textures_5214","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4942968582075427054,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4942968582075427054,"visual_seed":4942968582075427054,"scene_id":"lab_003","finished_at":"2026-09-03T19:43:00"} +{"episode_id":"ep_000027","started_at":"2026-09-03T19:43:02","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.6043293947338892,1.7289149692439216,0.71338606911949],"aabb_xy":[[0.5934236186463265,1.6489149728450923],[0.615235170821452,1.8089149656427506]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.28514421942702134,-0.9895468252154695,0.71338606911949],"aabb_xy":[[-0.2911812324276861,-0.9955735262844178],[-0.27910720642635667,-0.9835201241465213]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.3704415513177406,0.866373293980323,0.71338606911949],"aabb_xy":[[0.3064415549221675,0.8024100055615894],[0.43444154771331367,0.9303365823990565]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.06609091917030085,1.7927430451078474,0.71338606911949],"aabb_xy":[[-0.08359085260428423,1.7752430451876127],[-0.04859098573631748,1.8102430450280818]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.407682131178885,-1.1612243856261184,0.71338606911949],"aabb_xy":[[-0.4295718787678258,-1.2512243829153673],[-0.3857923835899442,-1.071224388336869]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.4788802268057587,1.5236786549153645,0.71338606911949],"aabb_xy":[[-0.494435996216024,1.5081282216709577],[-0.4633244573954935,1.539229088159772]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[0.059247027739670055,1.7608558895307413,0.71338606911949],"aabb_xy":[[0.00976660652571127,1.6968558916178895],[0.10872744895362885,1.8248558874435932]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.5648863809106635,1.1489776230194,0.71338606911949],"aabb_xy":[[0.5609258971409291,1.1413097584338796],[0.5688468646803978,1.1566454876049208]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[-0.1789370256218894,-2.076503714353872,0.71338606911949],"aabb_xy":[[-0.2217037325013096,-2.1405037177756743],[-0.1361703187424692,-2.0125037109320694]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.6552365254202186,0.08581070778266753,0.71338606911949],"aabb_xy":[[-0.6648681616406481,0.07617339500295861],[-0.6456048891997889,0.09544802056237645]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.3766660060521938,0.10604639058907495,0.71338606911949],"aabb_xy":[[-0.4111284840652815,0.09938271340615212],[-0.342203528039106,0.11271006777199777]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[-0.5360327825055065,0.3378514560992114,0.71338606911949],"aabb_xy":[[-0.5810253692239568,0.29285145682476266],[-0.49104019578705593,0.38285145537366017]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.2092474058812151,-0.4273074301533586,0.71338606911949],"aabb_xy":[[-0.21965896456169876,-0.43265316348925703],[-0.19883584720073133,-0.42196169681746004]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.5887891770599769,-2.005667109288992,0.71338606911949],"aabb_xy":[[-0.5970037221756607,-2.0143436995866324],[-0.5805746319442927,-1.99699051899135]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[0.43192890728515443,1.2564161904029372,0.71338606911949],"aabb_xy":[[0.40692890735263654,1.2495335221820139],[0.4569289072176723,1.2632988586238605]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[0.02710466352978491,-1.0495035138760298,0.71338606911949],"aabb_xy":[[-0.03689533358232078,-1.0985358836704404],[0.0911046606418906,-1.0004711440816192]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.01071282152656905,-1.7220134371521314,0.71338606911949],"aabb_xy":[[0.005869226765339077,-1.7268650896311155],[0.015556416287799026,-1.7171617846731473]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.005940009380264399,-1.4701470985365115,0.71338606911949],"aabb_xy":[[-0.07905998931181024,-1.5021329619313903],[0.09094000807233904,-1.4381612351416326]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[-0.2986710153196604,-1.8942706947986347,0.71338606911949],"aabb_xy":[[-0.33721670814486143,-1.9328164658548235],[-0.26012532249445935,-1.855724923742446]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[-0.011324696267634549,0.9455566283381325,0.71338606911949],"aabb_xy":[[-0.07632469414928235,0.8944329646315919],[0.05367530161401325,0.9966802920446737]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.49209845484900083,-1.534602257697159,0.71338606911949],"aabb_xy":[[-0.5470916661861376,-1.589602258035953],[-0.43710524351186414,-1.4796022573583656]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7179452104753516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9361.png","name":"9361"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9361.png","name":"9361"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/127.png","name":"127"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/23.png","name":"23"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5806.png","name":"5806"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4190.png","name":"4190"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":638.0138205595543,"rotation_z_degrees":42.273097749628434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00612645399497449,0.017754560212653658,0.013389742881435535]},{"name":"camera_2","offset_m":[0.004561551561381123,0.009712705809938927,0.011368082371319765]},{"name":"camera_3","offset_m":[-0.0019458163690098222,0.011145319097044904,-0.01285981238305851]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013812804181171931,0.001456255133971413,0.00097402860729806],"end_effector_yaw_offset_degrees":-0.7301774721536225},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00039795385378722185,0.001226473544656625,-0.0019229955628368774],"end_effector_yaw_offset_degrees":-0.7048453824255205},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000456070664536234,8.416186228848814e-05,-0.0008574307993263531],"end_effector_yaw_offset_degrees":-0.18233971502549817}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029071654069095084,0.004509249541872546],"position_m":[0.1883071654069095,-0.12819075045812747,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004798937499519704,-2.4967960725827756e-05],"position_m":[0.2722989374995197,-0.4012249679607258,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0042614484814699205,-0.00349997591322344],"position_m":[0.18333855151853007,0.08110002408677655,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004792652419709927,0.0037481835508484636],"position_m":[0.3443073475802901,0.29384818355084846,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"09e36fd387347598be5c05563fbe8b44c115bbb3678a129cc9e7699b1aa3d273","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0027.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9361/tex_ceiling_textures_4190/tex_floor_textures_5806/tex_table_textures_127/tex_wall_textures_23","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1499028782378705333,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1499028782378705333,"visual_seed":1499028782378705333,"scene_id":"lab_003","finished_at":"2026-09-03T19:45:47"} +{"episode_id":"ep_000028","started_at":"2026-09-03T19:45:49","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.3255776117293607,-1.6071444798693588,0.71338606911949],"aabb_xy":[[0.2615776153020389,-1.6543141036914553],[0.3895776081566827,-1.5599748560472624]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.27297553684065656,1.6188150511395425,0.71338606911949],"aabb_xy":[[0.20897553462024948,1.574441967014254],[0.33697553906106353,1.6631881352648306]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.659672891184679,-0.37611683512681404,0.71338606911949],"aabb_xy":[[-0.6755573844500041,-0.3904697754256381],[-0.6437883979193538,-0.36176389482799]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[0.6338911749457457,1.442768984628438,0.71338606911949],"aabb_xy":[[0.5994286969326579,1.4361053074455155],[0.6683536529588334,1.4494326618113609]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[-0.27833563594922145,-2.0112321374821662,0.71338606911949],"aabb_xy":[[-0.28203889727836023,-2.0149341557908835],[-0.27463237462008255,-2.007530119173448]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[-0.2161726754654844,1.5125830155054136,0.71338606911949],"aabb_xy":[[-0.2511726768169661,1.4922232795485928],[-0.18117267411400267,1.5329427514622345]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[-0.5440122425364652,-2.418095655949511,0.71338606911949],"aabb_xy":[[-0.6240122428100722,-2.4910452037752275],[-0.46401224226285825,-2.345146108123794]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.7021201646081516,-2.3903972508253806,0.71338606911949],"aabb_xy":[[0.6966622189711316,-2.4703972541330392],[0.7075781102451717,-2.310397247517721]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[-0.4946214982807935,-1.8924557365931736,0.71338606911949],"aabb_xy":[[-0.5006585112814583,-1.8984824376621219],[-0.4885844852801288,-1.8864290355242257]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.5629901097179082,-2.5139709335719225,0.71338606911949],"aabb_xy":[[0.5343407773574919,-2.542616492848998],[0.5916394420783243,-2.4853253742948462]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[-0.4555530579317786,1.151380808008354,0.71338606911949],"aabb_xy":[[-0.4653090474409525,1.1416182739491194],[-0.4457970684226047,1.1611433420675883]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[-0.6478041338496204,1.0926029144293468,0.71338606911949],"aabb_xy":[[-0.6710859760477517,1.0076029131321185],[-0.624522291651489,1.1776029157265746]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.6654313903979787,1.6371055399530872,0.71338606911949],"aabb_xy":[[0.6204388036795283,1.5921055406786382],[0.7104239771164291,1.6821055392275357]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[-0.6660774509773109,0.24526484420035866,0.71338606911949],"aabb_xy":[[-0.674120810903266,0.1602648431049922],[-0.6580340910513557,0.3302648452957251]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[0.1993827206894644,-0.7565710483333723,0.71338606911949],"aabb_xy":[[0.13438272213239155,-0.7863235817472548],[0.2643827192465372,-0.7268185149194896]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[-0.43320725428670054,-1.125975423982315,0.71338606911949],"aabb_xy":[[-0.440489570663364,-1.2159754275918235],[-0.4259249379100367,-1.0359754203728055]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[0.2046794718856083,-1.778369026969819,0.71338606911949],"aabb_xy":[[0.16717947330998748,-1.7911053226333769],[0.2421794704612291,-1.765632731306261]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.10069943824951677,-2.431377828394132,0.71338606911949],"aabb_xy":[[0.05072614424625632,-2.4813778289486788],[0.15067273225277722,-2.381377827839584]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.5995267972141697,0.8252284986751248,0.71338606911949],"aabb_xy":[[-0.6545267963907591,0.7702388239001671],[-0.5445267980375801,0.8802181734500824]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.28298326889580555,0.6129877425727703,0.71338606911949],"aabb_xy":[[-0.3282618837769548,0.5489877432245865],[-0.2377046540146563,0.6769877419209539]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[0.41827087420970677,0.46045444960447934,0.71338606911949],"aabb_xy":[[0.35327087325257955,0.4085062376707737],[0.483270875166834,0.5124026615381848]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[0.3791413546759417,-0.7711114170408633,0.71338606911949],"aabb_xy":[[0.3151413560893692,-0.818118380440372],[0.44314135326251414,-0.7241044536413546]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_22","position":[-0.15991244487842826,-0.7544687648908655,0.71338606911949],"aabb_xy":[[-0.22991244668717373,-0.7758225336550527],[-0.08991244306968285,-0.733114996126678]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[0.6108752458744087,-2.070308146797285,0.71338606911949],"aabb_xy":[[0.5613948246604499,-2.134308144710137],[0.6603556670883675,-2.0063081488844334]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_24","position":[0.6360972213325176,-0.0770884808737553,0.71338606911949],"aabb_xy":[[0.5784667524452466,-0.13708847980046587],[0.6937276902197883,-0.017088481947044706]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[0.47571849841285374,0.9011002443746476,0.71338606911949],"aabb_xy":[[0.4407185001021583,0.893385229451102],[0.5107184967235492,0.9088152592981933]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[0.022011571970253052,-0.8229129155893304,0.71338606911949],"aabb_xy":[[-0.027988429048882223,-0.8593791313271585],[0.07201157298938833,-0.7864466998515026]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.0005458959774459204,1.5397435151886092,0.71338606911949],"aabb_xy":[[-0.06454589668091527,1.4937251327156884],[0.06345410472602343,1.5857618976615306]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_28","position":[0.5534872357001179,0.06661616704090667,0.71338606911949],"aabb_xy":[[0.5490566063452778,0.06116779530622407],[0.5579178650549581,0.07206453877558927]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_29","position":[0.14992549619920348,-1.4672210158173637,0.71338606911949],"aabb_xy":[[0.13081318884122461,-1.4863557946946058],[0.16903780355718234,-1.4480862369401217]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_30","position":[0.4287306126056911,-2.539453000287453,0.71338606911949],"aabb_xy":[[0.41162853464732296,-2.556559805818723],[0.4458326905640593,-2.5223461947561834]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7082243314524005,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3812.png","name":"3812"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3812.png","name":"3812"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7885.png","name":"7885"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6054.png","name":"6054"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2927.png","name":"2927"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2411.png","name":"2411"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":654.5391048984211,"rotation_z_degrees":344.287588239238,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016455233048188397,-0.0038143599915017833,0.00837231824734027]},{"name":"camera_2","offset_m":[-0.004509622484980156,0.015593830835116517,0.00788060536590026]},{"name":"camera_3","offset_m":[0.01042417269427377,0.001033841609015592,-0.015253684656307338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00040069262431897067,-0.0011126463663658744,-0.0018270650231760569],"end_effector_yaw_offset_degrees":-0.07676859306630202},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016233307839960745,-0.0005316853163205234,-0.0009912534307706178],"end_effector_yaw_offset_degrees":0.6687019466776751},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005348170294909584,-0.001297873089748277,-0.0006069579020267599],"end_effector_yaw_offset_degrees":-0.3952994986465186}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0049814289440859956,-0.0038574225495581803],"position_m":[0.190381428944086,-0.1365574225495582,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003768319800229454,0.004657705269136155],"position_m":[0.26373168019977056,-0.39654229473086383,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001837239755510456,-0.002046176488565791],"position_m":[0.18576276024448954,0.0825538235114342,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005117893056814371,-0.003308467908618277],"position_m":[0.3496117893056815,0.28679153209138175,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cf2b1f39ef240929de3bcbf3396f3dc2788ca9c06172086ebdca5c7b4ea6268f","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3812/tex_ceiling_textures_2411/tex_floor_textures_2927/tex_table_textures_7885/tex_wall_textures_6054","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5822924525457219592,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5822924525457219592,"visual_seed":5822924525457219592,"scene_id":"lab_003","finished_at":"2026-09-03T19:48:28"} +{"episode_id":"ep_000029","started_at":"2026-09-03T19:48:30","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[0.2244752648958619,-1.0599024921195304,0.71338606911949],"aabb_xy":[[0.16447526438800897,-1.1167492258054517],[0.2844752654037148,-1.003055758433609]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[0.20685167734403043,-1.6034206556716488,0.71338606911949],"aabb_xy":[[0.16560286631411567,-1.6584206551838658],[0.24810048837394513,-1.548420656159431]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[-0.05257046146002442,-1.9626777569955904,0.71338606911949],"aabb_xy":[[-0.08990173798526704,-1.9973308117904425],[-0.015239184934781796,-1.928024702200738]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[-0.5482199081093739,1.7409185693719462,0.71338606911949],"aabb_xy":[[-0.6082199083607751,1.6866372443354813],[-0.48821990785797276,1.7951998944084107]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[0.46148964372594325,-1.0939224941483494,0.71338606911949],"aabb_xy":[[0.4549880072179387,-1.1036903161746592],[0.4679912802339479,-1.0841546721220396]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.020155281422460924,-2.406964921409108,0.71338606911949],"aabb_xy":[[-0.08415528310045828,-2.4554823128884222],[0.04384472025553643,-2.358447529929794]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.04497282484596621,-1.5615178714661841,0.71338606911949],"aabb_xy":[[0.03772905879972088,-1.6415178696697865],[0.052216590892211534,-1.4815178732625818]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.00762162529522048,0.9942002644746086,0.71338606911949],"aabb_xy":[[-0.022776485803923104,0.963793362472939],[0.03801973639436406,1.024607166476278]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[-0.5623203564761718,1.2335817329376018,0.71338606911949],"aabb_xy":[[-0.5766547816023353,1.2215215173830631],[-0.5479859313500084,1.2456419484921408]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.4394143046003067,0.62752164418617,0.71338606911949],"aabb_xy":[[0.35941430133629354,0.6139616118772566],[0.5194143078643199,0.6410816764950833]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.34201132536770784,1.0609150365662092,0.71338606911949],"aabb_xy":[[-0.42200514894626606,0.9809150339733677],[-0.2620175017891496,1.1409150391590508]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[0.48493732867561357,-2.493102100994719,0.71338606911949],"aabb_xy":[[0.4199373301185407,-2.5228546344086014],[0.5499373272326864,-2.463349567580836]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[-0.5607500962271033,-2.3385248349430916,0.71338606911949],"aabb_xy":[[-0.6107289047374191,-2.3885248349488104],[-0.5107712877167874,-2.288524834937373]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[0.3121779838599599,1.2575022576213835,0.71338606911949],"aabb_xy":[[0.28971321388855475,1.235002256742523],[0.334642753831365,1.280002258500244]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.5521571210499236,0.41090988215016777,0.71338606911949],"aabb_xy":[[-0.5570007158111536,0.4060582296711837],[-0.5473135262886937,0.41576153462915194]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[-0.06788815262298953,-1.3102599918138105,0.71338606911949],"aabb_xy":[[-0.13188815403098017,-1.3620489433377352],[-0.003888151214998858,-1.2584710402898858]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[-0.44936897073704285,-1.7931492814225427,0.71338606911949],"aabb_xy":[[-0.5393689701554136,-1.8265247782667327],[-0.3593689713186719,-1.7597737845783532]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[-0.23384985801462965,-1.499724379106739,0.71338606911949],"aabb_xy":[[-0.2415530486887067,-1.5074337498054768],[-0.2261466673405526,-1.4920150084080006]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[0.6177270752105855,-1.8921122438015456,0.71338606911949],"aabb_xy":[[0.5872428250835553,-1.9421122435830416],[0.6482113253376156,-1.8421122440200497]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.39916516656863044,0.6506486589802085,0.71338606911949],"aabb_xy":[[-0.4366651673606258,0.6442808180220183],[-0.36166516577663493,0.6570164999383985]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[0.3992965577891885,-0.9564520475663132,0.71338606911949],"aabb_xy":[[0.354303971070738,-1.001452046840762],[0.44428914450763884,-0.9114520482918644]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7173810236807007,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9343.png","name":"9343"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9343.png","name":"9343"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5479.png","name":"5479"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9328.png","name":"9328"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8166.png","name":"8166"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7526.png","name":"7526"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":757.3155833218821,"rotation_z_degrees":20.511749962744826,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011097968310200858,0.0148114070105556,-0.002500278420389971]},{"name":"camera_2","offset_m":[0.018871116912954625,0.017381375520754052,-0.0015497027820502267]},{"name":"camera_3","offset_m":[0.01599263390281298,8.243175518855145e-05,0.008742395829403296]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000416170639756506,0.001956867843292392,0.0011644044996274956],"end_effector_yaw_offset_degrees":-0.551802728238767},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010758271538177403,-0.0008083864047439225,0.000799926202663039],"end_effector_yaw_offset_degrees":-0.15499454231238885},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001395466044835305,-0.0002687544127071529,-0.0007901033471371939],"end_effector_yaw_offset_degrees":0.15270324549903957}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034241965731428214,0.0005371168818886852],"position_m":[0.18197580342685718,-0.13216288311811134,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025384279774724175,-0.0023569175902569983],"position_m":[0.2700384279774724,-0.403556917590257,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[4.839204548067518e-05,0.00036083811457359415],"position_m":[0.18764839204548067,0.08496083811457358,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004500832137509182,0.000806603181185579],"position_m":[0.3536008321375092,0.2909066031811856,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"788581206aaf4178944a5d80a054d1fcd88edf0516913680f3224d4fa325b96c","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9343/tex_ceiling_textures_7526/tex_floor_textures_8166/tex_table_textures_5479/tex_wall_textures_9328","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":665129816848462923,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":665129816848462923,"visual_seed":665129816848462923,"scene_id":"lab_003","finished_at":"2026-09-03T19:51:08"} +{"episode_id":"ep_000030","started_at":"2026-09-03T19:51:11","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.62463370240192,0.3771499666801166,0.71338606911949],"aabb_xy":[[0.6132719677486337,0.3657815002738285],[0.635995437055206,0.38851843308640466]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.05889007872310992,-2.3206618213190633,0.71338606911949],"aabb_xy":[[-0.021109918239929255,-2.3977374629628363],[0.13889007568614908,-2.2435861796752894]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.5609612625588907,0.04867558766112978,0.71338606911949],"aabb_xy":[[0.5323119301984743,0.02003002838405398],[0.5896105949193068,0.07732114693820558]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.2721035209241689,0.7962466447452594,0.71338606911949],"aabb_xy":[[0.25299121356619003,0.7771118658680174],[0.29121582828214776,0.8153814236225014]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[0.07731896514295855,-1.476696502441995,0.71338606911949],"aabb_xy":[[0.03981896362732684,-1.48792327545814],[0.11481896665859026,-1.4654697294258499]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[-0.5189262591728625,-1.65141172267831,0.71338606911949],"aabb_xy":[[-0.5611106733336934,-1.7154117229555215],[-0.4767418450120319,-1.587411722401099]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[-0.06629745735963943,-1.5354350759645417,0.71338606911949],"aabb_xy":[[-0.07434081728559461,-1.620435077059908],[-0.05825409743368426,-1.4504350748691752]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.38103320104410066,0.07546971810743619,0.71338606911949],"aabb_xy":[[-0.39804329833415125,0.05933522960916225],[-0.36402310375404995,0.0916042066057101]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.47262795855347267,0.29093758750707277,0.71338606911949],"aabb_xy":[[-0.5526279607162352,0.2109824038809291],[-0.39262795639071013,0.37089277113321634]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.3403743726191941,-1.142885494983409,0.71338606911949],"aabb_xy":[[0.30287437267542777,-1.1511785850182457],[0.3778743725629606,-1.1345924049485725]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[0.354289647065267,-2.1800565542265513,0.71338606911949],"aabb_xy":[[0.28928964890934794,-2.2063527987764635],[0.41928964522118606,-2.153760309676639]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.2961212813278588,-0.4882715219363063,0.71338606911949],"aabb_xy":[[-0.31862128114176114,-0.49274613830678693],[-0.27362128151395637,-0.48379690556582555]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[-0.5553288186463186,-1.4931653925219965,0.71338606911949],"aabb_xy":[[-0.6203288186806213,-1.5398660692023238],[-0.4903288186120158,-1.4464647158416692]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.3682503286039748,1.6719361208102606,0.71338606911949],"aabb_xy":[[-0.39325032853649267,1.6650534525893372],[-0.3432503286714569,1.6788187890311839]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[0.2691309717968495,1.7671914911699838,0.71338606911949],"aabb_xy":[[0.23864672166981932,1.7171914913884878],[0.2996152219238796,1.8171914909514797]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.15047136941627282,-1.1759296337395042,0.71338606911949],"aabb_xy":[[-0.16935575318478305,-1.1948155585198572],[-0.13158698564776264,-1.1570437089591517]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[0.029229989838147286,-1.9423820872491342,0.71338606911949],"aabb_xy":[[0.025789313598090113,-1.946243520223499],[0.03267066607820446,-1.93852065427477]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[-0.46957487115962326,-1.2776057145014952,0.71338606911949],"aabb_xy":[[-0.47886848939677373,-1.315105712989629],[-0.4602812529224726,-1.2401057160133613]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[0.10367613385181185,1.3197118294748234,0.71338606911949],"aabb_xy":[[0.03867613289468464,1.2677636175411175],[0.16867613480893906,1.3716600414085287]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[-0.11746564627161038,-1.7514208455448923,0.71338606911949],"aabb_xy":[[-0.18146564818395272,-1.8073319948029027],[-0.05346564435926805,-1.6955096962868819]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[-0.6619680434282371,1.1951855179634046,0.71338606911949],"aabb_xy":[[-0.684140570404888,1.1730098508072815],[-0.6397955164515863,1.2173611851195276]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.5076662502417764,-2.110234345998484,0.71338606911949],"aabb_xy":[[0.4951988921320407,-2.1226996706318073],[0.520133608351512,-2.0977690213651603]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_22","position":[-0.322248022939347,1.7605746761256982,0.71338606911949],"aabb_xy":[[-0.40224802620336014,1.7470146438167848],[-0.24224801967533388,1.7741347084346115]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[-0.4992251331298898,0.6860990720987816,0.71338606911949],"aabb_xy":[[-0.5242251324018521,0.6697537085026193],[-0.4742251338579276,0.702444435694944]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.1594499079930467,-1.1752740176082623,0.71338606911949],"aabb_xy":[[0.10947109948273079,-1.2252740176139811],[0.20942871650336256,-1.1252740176025435]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[0.677856363485267,-0.4227942821271995,0.71338606911949],"aabb_xy":[[0.65535722775904,-0.44529428290546247],[0.700355499211494,-0.4002942813489365]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_26","position":[0.18466873174003706,-2.559848141582403,0.71338606911949],"aabb_xy":[[0.10466873458046178,-2.5713957425402194],[0.26466872889961235,-2.5483005406245853]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[-0.5089964539845908,-0.7223395682589804,0.71338606911949],"aabb_xy":[[-0.5184139285544535,-0.7317557453966995],[-0.49957897941472795,-0.7129233911212615]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_28","position":[0.589341490741861,-0.3020482210391542,0.71338606911949],"aabb_xy":[[0.5761902447705717,-0.3270482207958407],[0.6024927367131504,-0.27704822128246764]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_29","position":[0.27813467893543375,-2.0110339630545924,0.71338606911949],"aabb_xy":[[0.1881346792122596,-2.0341073155897713],[0.36813467865860794,-1.9879606105194119]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_30","position":[0.10885095482685148,0.7990088724954205,0.71338606911949],"aabb_xy":[[0.07030526200165042,0.7604631014392319],[0.14739664765205251,0.8375546435516091]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_31","position":[-0.08328234466163253,-0.7569699363465503,0.71338606911949],"aabb_xy":[[-0.1432823455224453,-0.8083963663530366],[-0.02328234380081971,-0.7055435063400638]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_32","position":[-0.5881331477061262,0.5701660881247999,0.71338606911949],"aabb_xy":[[-0.6024675728322896,0.558105872570261],[-0.5737987225799627,0.5822263036793387]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_33","position":[-0.44960946371606136,-0.3505407353437864,0.71338606911949],"aabb_xy":[[-0.4871094622916821,-0.36327703100734426],[-0.4121094651404405,-0.3378044396802284]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_34","position":[-0.08408526707333763,0.4921227272420974,0.71338606911949],"aabb_xy":[[-0.13408526802387044,0.4605735802385759],[-0.03408526612280481,0.5236718742456188]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7132582373048307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8342.png","name":"8342"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8342.png","name":"8342"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3929.png","name":"3929"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1618.png","name":"1618"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4970.png","name":"4970"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8890.png","name":"8890"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":556.3092366520818,"rotation_z_degrees":235.84525844720068,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0017879162811174527,0.01965313956063718,0.007856093720659759]},{"name":"camera_2","offset_m":[-0.008820735048246044,0.009459684751382466,-0.018878610248728535]},{"name":"camera_3","offset_m":[0.01162829129710043,-0.00028425046030611245,-0.0029658710522071884]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001970089548898106,-0.0009188964983780936,-0.0014217673964851297],"end_effector_yaw_offset_degrees":-0.8236293145973343},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009905288486954538,-0.0006087859013637247,0.0004497567573504809],"end_effector_yaw_offset_degrees":0.09003371537270644},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001315407255901892,-0.0019917482456009296,-0.001880178249050618],"end_effector_yaw_offset_degrees":-0.06001783024598195}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0047963102464434965,-0.0011660656863569851],"position_m":[0.1901963102464435,-0.133866065686357,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016703759361094985,-0.0012112039955126898],"position_m":[0.2658296240638905,-0.40241120399551267,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[3.410889011962962e-05,-0.0008553764673797613],"position_m":[0.1876341088901196,0.08374462353262023,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011562762788312198,-0.0037716214327277522],"position_m":[0.35025627627883127,0.2863283785672723,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6879582ed6f159e9a36f3ad30726349a82d73b903167497c8f092183ca5f7939","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0030.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8342/tex_ceiling_textures_8890/tex_floor_textures_4970/tex_table_textures_3929/tex_wall_textures_1618","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7347940524461004507,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7347940524461004507,"visual_seed":7347940524461004507,"scene_id":"lab_003","finished_at":"2026-09-03T19:53:54"} +{"episode_id":"ep_000031","started_at":"2026-09-03T19:53:56","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[0.5239287187001274,-0.38542077848298684,0.71338606911949],"aabb_xy":[[0.47393370774067534,-0.4354207775185786],[0.5739237296595794,-0.3354207794473951]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.198478921446674,1.7550016748257131,0.71338606911949],"aabb_xy":[[0.18832590589252457,1.7189321332529723],[0.20863193700082333,1.791071216398453]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.1982919968099609,-1.1487877276444662,0.71338606911949],"aabb_xy":[[0.1511626178081252,-1.2127877286888677],[0.24542137581179654,-1.0847877266000638]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[-0.1379286643598786,0.25267733655816205,0.71338606911949],"aabb_xy":[[-0.19792866495589478,0.19786486401293862],[-0.07792866376386243,0.3074898091033856]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.3514882528341488,0.21011044596666073,0.71338606911949],"aabb_xy":[[-0.36471919836883004,0.19688302694466128],[-0.33825730729946746,0.22333786498866012]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[-0.4247525987959052,0.08437419251788869,0.71338606911949],"aabb_xy":[[-0.44363698256441547,0.0654882677375359],[-0.40586821502739506,0.10326011729824146]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.4283892332389957,1.2372269306040735,0.71338606911949],"aabb_xy":[[-0.49238923054134204,1.1928605036362168],[-0.36438923593664924,1.2815933575719303]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.3229853525032893,-1.9071472234221414,0.71338606911949],"aabb_xy":[[0.25898534928465144,-1.9538703353211497],[0.38698535572192716,-1.860424111523133]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[-0.5916777683464899,1.657608830077836,0.71338606911949],"aabb_xy":[[-0.6556777705668969,1.6132357459525477],[-0.5276777661260829,1.7019819142031243]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[0.5818212932234397,-0.7671900954164133,0.71338606911949],"aabb_xy":[[0.5627089858654608,-0.7863248742936553],[0.6009336005814185,-0.7480553165391712]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.5073027381939669,-1.7740124669025499,0.71338606911949],"aabb_xy":[[-0.5199054373310434,-1.7866078631274156],[-0.49470003905689053,-1.7614170706776846]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[0.5562016275107455,-0.11050293428155156,0.71338606911949],"aabb_xy":[[0.544433440716088,-0.19550293418677317],[0.567969814305403,-0.025502934376330007]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[-0.48319020517144595,0.8051129823307179,0.71338606911949],"aabb_xy":[[-0.5331690136817618,0.755112982324999],[-0.43321139666113007,0.8551129823364366]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.23359563926851873,-2.1086977316674638,0.71338606911949],"aabb_xy":[[-0.28859563889026457,-2.1636814244549365],[-0.17859563964677289,-2.053714038879991]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[0.44828489116501813,-2.381528908633025,0.71338606911949],"aabb_xy":[[0.4443710179695956,-2.390277924039582],[0.45219876436044065,-2.3727798932264683]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.1772089060304759,0.6864640027897111,0.71338606911949],"aabb_xy":[[-0.24120890770847322,0.6379466113103969],[-0.11320890435247852,0.7349813942690253]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.18098397512844844,-0.36007961069660555,0.71338606911949],"aabb_xy":[[-0.21801808455650812,-0.3944568180303149],[-0.1439498657003887,-0.32570240336289596]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.596212475410954,-1.2527626339682483,0.71338606911949],"aabb_xy":[[-0.6440186430247227,-1.3177626366753072],[-0.5484063077971854,-1.1877626312611893]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[0.2228749757438968,-1.476035342922844,0.71338606911949],"aabb_xy":[[0.16524450685662592,-1.5360353418495543],[0.2805054446311676,-1.4160353439961333]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[-0.16605045556852682,-1.134544467841162,0.71338606911949],"aabb_xy":[[-0.23005045199584875,-1.1817140916632587],[-0.10205045914120495,-1.0873748440190658]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.2884249456025527,-0.6399844816016005,0.71338606911949],"aabb_xy":[[-0.3384023624678063,-0.6899844830908489],[-0.23844752873729916,-0.5899844801123518]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[0.4039854422508564,1.0768348103399568,0.71338606911949],"aabb_xy":[[0.3820956946619156,0.9868348130507077],[0.4258751898397972,1.1668348076292059]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7177364593106168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9338.png","name":"9338"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9338.png","name":"9338"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3380.png","name":"3380"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3165.png","name":"3165"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6974.png","name":"6974"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/215.png","name":"215"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":551.3184724019409,"rotation_z_degrees":280.92800966367486,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014116118189436613,-0.017526085730621553,-0.011658537399694989]},{"name":"camera_2","offset_m":[-0.008608686988188325,0.012417887603435724,0.011575616276222573]},{"name":"camera_3","offset_m":[0.004442944145028823,-0.01911105423760651,-0.006848702162409079]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004977468309208671,2.659208803779253e-05,-0.0008634651090572612],"end_effector_yaw_offset_degrees":0.2607763139478332},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000662229530704951,0.0012494506653044006,-0.0014798195998316998],"end_effector_yaw_offset_degrees":0.8080447464968379},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016653071069484696,-0.001870412578053609,-0.001871160747486489],"end_effector_yaw_offset_degrees":-0.8705393272681523}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014150409007827047,0.002660269020395697],"position_m":[0.18681504090078271,-0.1300397309796043,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003278785625062448,-0.001899888503164515],"position_m":[0.27077878562506247,-0.4030998885031645,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004699230411521062,2.971629138534722e-06],"position_m":[0.18290076958847892,0.08460297162913853,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035172634740882206,0.0031360756691871357],"position_m":[0.3526172634740882,0.29323607566918714,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"67ece2e07abd3600a5e3cdefaa70324ad64fc3c89976335a0c1ad0b1cc1d3d18","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9338/tex_ceiling_textures_215/tex_floor_textures_6974/tex_table_textures_3380/tex_wall_textures_3165","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":434632167564161665,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":434632167564161665,"visual_seed":434632167564161665,"scene_id":"lab_003","finished_at":"2026-09-03T19:56:51"} +{"episode_id":"ep_000032","started_at":"2026-09-03T19:56:54","dimensions":{"distractor":{"count":25,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.0004324602658467569,0.9463734294278554,0.71338606911949],"aabb_xy":[[-0.03420801945653973,0.9323349342146904],[0.033343098924846215,0.9604119246410204]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.014477436304070057,0.7542037258582086,0.71338606911949],"aabb_xy":[[-0.07847743547384,0.7074370387392461],[0.049522562865699886,0.8009704129771711]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[0.4240734820756402,0.7924338259401558,0.71338606911949],"aabb_xy":[[0.40023726443503527,0.7024338251316694],[0.4479096997162454,0.8824338267486425]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[-0.43417743785651214,-1.2933063674819296,0.71338606911949],"aabb_xy":[[-0.451755740045459,-1.3108808570560346],[-0.4165991356675653,-1.2757318779078246]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[0.0012577727396179128,-1.7337107885354897,0.71338606911949],"aabb_xy":[[-0.020914754237032925,-1.7558864556916127],[0.02343029971626875,-1.7115351213793666]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[0.22637076191797068,-1.434735076495641,0.71338606911949],"aabb_xy":[[0.20137076264600837,-1.4510804400918034],[0.2513707611899329,-1.4183897128994787]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[0.22019258359467275,1.477436755538617,0.71338606911949],"aabb_xy":[[0.17021928959141228,1.4274367549840694],[0.2701658775979332,1.527436756093164]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[0.6328240539944245,-1.9018772399129857,0.71338606911949],"aabb_xy":[[0.5828240545542288,-1.9518451643973016],[0.68282405343462,-1.851909315428669]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.21547269402573277,-1.1219525900735294,0.71338606911949],"aabb_xy":[[-0.22637847011329548,-1.2019525864723586],[-0.20456691793817006,-1.0419525936747003]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.31712810148816933,1.531581890468042,0.71338606911949],"aabb_xy":[[-0.38212810248866985,1.4807955253133671],[-0.2521281004876688,1.582368255622717]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[0.6517108045573723,1.2504642617391606,0.71338606911949],"aabb_xy":[[0.6477969313619498,1.2417152463326038],[0.6556246777527948,1.2592132771457174]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.5719695667118084,1.0305045075965364,0.71338606911949],"aabb_xy":[[-0.6214499879257673,0.9665045096836846],[-0.5224891454978497,1.0945045055093883]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[0.4645902153931769,0.5564844323870464,0.71338606911949],"aabb_xy":[[0.43111104813213597,0.5230053190159395],[0.49806938265421785,0.5899635457581535]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[0.21876919015279883,-0.6216428760295487,0.71338606911949],"aabb_xy":[[0.2082017104946998,-0.6321879061425572],[0.22933666981089781,-0.61109784591654]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[0.5664648238472836,-0.413318321587548,0.71338606911949],"aabb_xy":[[0.5289648230552881,-0.4196861625457381],[0.603964824639279,-0.4069504806293579]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[0.41912420884753,-0.8970085731079858,0.71338606911949],"aabb_xy":[[0.40162420860248055,-0.9145083609475524],[0.4366242090925793,-0.8795087852684187]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.19915271717132405,-0.895208699782682,0.71338606911949],"aabb_xy":[[-0.28915271390693426,-0.9483921630999765],[-0.10915272043571383,-0.8420252364653875]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[-0.02769339966915485,0.055632711385064315,0.71338606911949],"aabb_xy":[[-0.04324916907942012,0.040082278140657124],[-0.01213763025888959,0.0711831446294715]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.6309867378384806,-1.5039851107495346,0.71338606911949],"aabb_xy":[[0.5759867396367357,-1.544507077375972],[0.6859867360402254,-1.4634631441230967]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.544613022499238,-2.1365381322981025,0.71338606911949],"aabb_xy":[[0.49461302154870523,-2.1680872793016235],[0.5946130234497708,-2.1049889852945807]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[-0.641984541688898,-0.11551532672136222,0.71338606911949],"aabb_xy":[[-0.6589946389789486,-0.13164981521963615],[-0.6249744443988473,-0.09938083822308828]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[-0.2584604633189794,0.2623221127735329,0.71338606911949],"aabb_xy":[[-0.26587291886036785,0.25647090235190495],[-0.2510480077775909,0.26817332319516085]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[-0.36239501200246244,0.05443948908712981,0.71338606911949],"aabb_xy":[[-0.3732466182513381,0.04358019835947879],[-0.3515434057535869,0.06529877981478083]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[-0.6146188741699716,0.45975565834684673,0.71338606911949],"aabb_xy":[[-0.6645015710476678,0.409755659100572],[-0.5647361772922754,0.5097556575931215]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[-0.02520788510266625,1.3043166220621156,0.71338606911949],"aabb_xy":[[-0.11520788452103714,1.2709411252179257],[0.06479211431570464,1.3376921189063051]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7137753346243746,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4493.png","name":"4493"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4493.png","name":"4493"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3677.png","name":"3677"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6175.png","name":"6175"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4488.png","name":"4488"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6379.png","name":"6379"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":636.858534608368,"rotation_z_degrees":220.83118150700562,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019966939094341676,0.016226745224302685,-0.019558163320369155]},{"name":"camera_2","offset_m":[0.01766667932211086,0.011795440162884096,0.013272342268870706]},{"name":"camera_3","offset_m":[-0.013022037320200628,-0.01369907433559673,0.0053283054101765925]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008414628205448385,-0.0014482053797247399,0.00046805927519502676],"end_effector_yaw_offset_degrees":0.8290279770819542},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006905373424622306,-0.0016057631043654502,-0.0007977941956995394],"end_effector_yaw_offset_degrees":0.456994685351503},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001231132839452111,0.0011824906867661275,-0.0011536975745571085],"end_effector_yaw_offset_degrees":0.7468801790579389}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004007379659082201,0.0018920223825141238],"position_m":[0.18940737965908222,-0.1308079776174859,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004360114968309601,0.000965804460107641],"position_m":[0.267936011496831,-0.40023419553989237,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004780389042160964,-0.0012476501872033543],"position_m":[0.18281961095783902,0.08335234981279664,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003517505931947249,-0.0012527923014890073],"position_m":[0.34558249406805275,0.288847207698511,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f0ed3309718c434b1198bfaa30ab86a26f9d08594975c78835a5e0c6c114ecd5","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4493/tex_ceiling_textures_6379/tex_floor_textures_4488/tex_table_textures_3677/tex_wall_textures_6175","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1411467314200384363,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1411467314200384363,"visual_seed":1411467314200384363,"scene_id":"lab_003","finished_at":"2026-09-03T19:59:25"} +{"episode_id":"ep_000033","started_at":"2026-09-03T19:59:28","dimensions":{"distractor":{"count":32,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[-0.6081026483865657,1.4925590949490686,0.71338606911949],"aabb_xy":[[-0.691824873886648,1.4025590914143724],[-0.5243804228864831,1.5825590984837643]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.3356575644574953,-1.5607364082723842,0.71338606911949],"aabb_xy":[[0.2861771432435365,-1.6247364061852358],[0.3851379856714541,-1.4967364103595322]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.22785319683702077,-0.8685257148328926,0.71338606911949],"aabb_xy":[[0.21973954216364364,-0.8766315312869217],[0.23596685151039784,-0.8604198983788636]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.39405043847181837,-1.9087166266553584,0.71338606911949],"aabb_xy":[[-0.4245346885988486,-1.9587166264368538],[-0.36356618834478827,-1.858716626873862]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[-0.5649675900747808,0.5325587630860897,0.71338606911949],"aabb_xy":[[-0.6024675908667763,0.5261909221278996],[-0.5274675892827854,0.5389266040442798]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.2997965664544553,0.4251923338310748,0.71338606911949],"aabb_xy":[[-0.3897965658728262,0.3918168369868851],[-0.2097965670360844,0.4585678306752645]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[-0.10592391163488168,0.5790098289543666,0.71338606911949],"aabb_xy":[[-0.11567990114405556,0.569247294895132],[-0.09616792212570778,0.5887723630136009]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[-0.30998939497929356,-2.168720833171337,0.71338606911949],"aabb_xy":[[-0.39998939865621164,-2.2301532397484407],[-0.21998939130237533,-2.107288426594232]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[0.46400059164152085,-1.3010089824087585,0.71338606911949],"aabb_xy":[[0.4586680769869078,-1.3063333106539943],[0.4693331062961338,-1.2956846541635232]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[0.6139531210072189,-0.022371556347560162,0.71338606911949],"aabb_xy":[[0.5780396165822292,-0.05828506456431478],[0.6498666254322085,0.013541951869194456]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[-0.24315231497964807,-1.1560999443373154,0.71338606911949],"aabb_xy":[[-0.2853367291404788,-1.2200999446145266],[-0.20096790081881735,-1.0920999440601042]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[0.19859060757697222,1.0729193050695822,0.71338606911949],"aabb_xy":[[0.13459060552724025,1.032824821980274],[0.2625906096267042,1.11301378815889]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.21424006763371056,1.254998186033299,0.71338606911949],"aabb_xy":[[-0.26422430334188773,1.2049981872198035],[-0.1642558319255333,1.3049981848467946]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[0.4562391586245713,-0.513584816220849,0.71338606911949],"aabb_xy":[[0.452278674854837,-0.5212526808063696],[0.4601996423943057,-0.5059169516353283]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.16640668620047705,1.3557820986871993,0.71338606911949],"aabb_xy":[[0.1289066850156842,1.3513638759911386],[0.2039066873852698,1.3602003213832596]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.04776876922697182,-1.9823091987181174,0.71338606911949],"aabb_xy":[[-0.06904677737044407,-2.0473092010441905],[-0.026490761083499563,-1.9173091963920441]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.06170074382624102,-0.964808360458363,0.71338606911949],"aabb_xy":[[0.03647990696640135,-0.9900321113112497],[0.08692158068608068,-0.9395846096054762]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[-0.3729628435204469,0.5342851415329606,0.71338606911949],"aabb_xy":[[-0.3992516678408875,0.5080137078783092],[-0.3466740192000062,0.5605565751876117]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[0.2295909701780956,-1.1044687343816302,0.71338606911949],"aabb_xy":[[0.1945909702015998,-1.1139333504292468],[0.26459097015459143,-1.0950041183340136]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.4614171416161781,-0.9536147509253194,0.71338606911949],"aabb_xy":[[0.39641714305910525,-0.983367284339202],[0.5264171401732509,-0.9238622175114367]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.4851925980498721,0.10267593027907873,0.71338606911949],"aabb_xy":[[-0.493407143165556,0.09399933998143743],[-0.47697805293418805,0.11135252057672]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.10687373601936911,-0.9426625573772205,0.71338606911949],"aabb_xy":[[-0.12904626299601996,-0.9648382245333436],[-0.08470120904271827,-0.9204868902210972]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.28190503514883847,0.657384876370378,0.71338606911949],"aabb_xy":[[-0.29367322194349604,0.5723848764651566],[-0.270136848354181,0.7423848762755997]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[0.45175017545972596,0.9999704668738278,0.71338606911949],"aabb_xy":[[0.3877501768731535,0.9529635034743189],[0.5157501740462984,1.0469774302733363]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[0.07670937249385379,1.5390560485312759,0.71338606911949],"aabb_xy":[[0.06154649951691672,1.5238905912361573],[0.09187224547079088,1.5542215058263948]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_25","position":[-0.2316937586453725,-1.9638371419875855,0.71338606911949],"aabb_xy":[[-0.24246673256674028,-1.998837140206625],[-0.22092078472400473,-1.928837143768547]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[0.0626368256511819,-2.4863326124801954,0.71338606911949],"aabb_xy":[[0.012641814691729859,-2.536332611515787],[0.11263183661063393,-2.4363326134446037]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[0.5451803567524218,-0.39442139763965267,0.71338606911949],"aabb_xy":[[0.5226839353185577,-0.41692139744640005],[0.5676767781862859,-0.3719213978329052]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_28","position":[0.3044957258545915,0.6359275171274792,0.71338606911949],"aabb_xy":[[0.2543982618735179,0.5719275166176674],[0.3545931898356651,0.699927517637291]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[0.07396718199059726,-2.159882745044943,0.71338606911949],"aabb_xy":[[0.06260544733731109,-2.171251211451231],[0.08532891664388341,-2.1485142786386544]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[0.1614109100026878,0.6438469340315844,0.71338606911949],"aabb_xy":[[0.15348762976393948,0.6213469337935811],[0.16933419024143614,0.6663469342695878]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_31","position":[-0.5473212625497148,0.33411433357801723,0.71338606911949],"aabb_xy":[[-0.5777193736488584,0.30370743157634766],[-0.5169231514505712,0.3645212355796867]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7140644678898315,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5160.png","name":"5160"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5160.png","name":"5160"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3139.png","name":"3139"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/881.png","name":"881"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4009.png","name":"4009"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4419.png","name":"4419"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":718.8490048208365,"rotation_z_degrees":180.56772978526175,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010125270017165913,0.01000891453776033,0.01086307305500402]},{"name":"camera_2","offset_m":[0.006611100932218509,-0.012934795104465699,0.0030822841613927197]},{"name":"camera_3","offset_m":[0.019735664649354178,-0.014883797276828998,0.019899166610243543]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003955646436923628,0.0010028576948169915,-0.0005312669243883903],"end_effector_yaw_offset_degrees":-0.8523206146885236},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008981567384073333,-0.0016471576825881234,0.0003359910779593624],"end_effector_yaw_offset_degrees":-0.389979143371741},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000251638582543431,-0.0014279864606988805,0.0001742746622795375],"end_effector_yaw_offset_degrees":-0.383499167945899}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006644591780659449,-0.0022352504273733054],"position_m":[0.18473554082193405,-0.1349352504273733,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002457359018056834,0.003447607783786875],"position_m":[0.26995735901805684,-0.3977523922162131,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006687567257754367,0.004871798208040629],"position_m":[0.18693124327422456,0.08947179820804062,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020580966434787795,-0.002691799970027481],"position_m":[0.34704190335652124,0.2874082000299725,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"86c29e0dd76b1145f5fb79ad0bfd66cf18d60d50ab5442eda790bcb2c3d03c7a","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5160/tex_ceiling_textures_4419/tex_floor_textures_4009/tex_table_textures_3139/tex_wall_textures_881","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1551628467722548924,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1551628467722548924,"visual_seed":1551628467722548924,"scene_id":"lab_003","finished_at":"2026-09-03T20:02:12"} +{"episode_id":"ep_000034","started_at":"2026-09-03T20:02:15","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[0.6957908358137341,1.4674970258831546,0.71338606911949],"aabb_xy":[[0.6883783802723457,1.4616458154615264],[0.7032032913551226,1.4733482363047823]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[0.4975458726598698,-1.47856837747762,0.71338606911949],"aabb_xy":[[0.4325458716593693,-1.5293547426322949],[0.5625458736603703,-1.427782012322945]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[0.5135291351380054,-0.12436187538010612,0.71338606911949],"aabb_xy":[[0.5098258738088663,-0.12806389368882398],[0.5172323964671441,-0.12065985707138828]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[-0.242973257975932,1.11955964318168,0.71338606911949],"aabb_xy":[[-0.25454223872286863,1.0945596430647486],[-0.23140427722899545,1.144559643298612]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[-0.23318807169009187,-2.1655806043918098,0.71338606911949],"aabb_xy":[[-0.2981880717243946,-2.212281281072137],[-0.16818807165578914,-2.1188799277114825]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[-0.17055167363009183,-2.400258287326945,0.71338606911949],"aabb_xy":[[-0.18378261916477306,-2.413485706348944],[-0.15732072809541048,-2.387030868304945]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.2339818290928648,-1.6695357249393963,0.71338606911949],"aabb_xy":[[-0.237422505332922,-1.6733971579137608],[-0.23054115285280766,-1.6656742919650318]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[-0.07139190454330901,-1.1353782027803205,0.71338606911949],"aabb_xy":[[-0.1088919052078877,-1.1510652607805425],[-0.033891903878730305,-1.1196911447800981]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.35919990264662066,-0.2652896274186407,0.71338606911949],"aabb_xy":[[-0.36997287656798844,-0.3002896256376797],[-0.3484269287252529,-0.23028962919960172]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[0.3514729133809642,0.9541128037470328,0.71338606911949],"aabb_xy":[[0.3139729148053434,0.9413765080834748],[0.388972911956585,0.9668490994105907]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.5432519510506024,1.608875880326384,0.71338606911949],"aabb_xy":[[0.47325194891917277,1.5861139147006882],[0.6132519531820319,1.6316378459520795]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.37219900110955173,-2.572455821527732,0.71338606911949],"aabb_xy":[[0.3634177739623156,-2.581235568816263],[0.3809802282567881,-2.5636760742392024]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[-0.4531844888302409,-2.0502975089906923,0.71338606911949],"aabb_xy":[[-0.4581405090151221,-2.072797509192814],[-0.44822846864535976,-2.0277975087885713]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.5561348478586094,0.08024332551326951,0.71338606911949],"aabb_xy":[[0.540962678576976,0.06507446858506616],[0.5713070171402427,0.09541218244147287]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[0.2701221477697593,-2.4059655541139775,0.71338606911949],"aabb_xy":[[0.18043507146164384,-2.495965554368428],[0.35980922407787475,-2.315965553859527]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[0.4956874097859205,1.4664789230188693,0.71338606911949],"aabb_xy":[[0.4581874094376927,1.4546875274377857],[0.5331874101341483,1.4782703185999528]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[0.20974158995230774,-1.3460797803169984,0.71338606911949],"aabb_xy":[[0.15474611213164832,-1.401079781750905],[0.2647370677729671,-1.2910797788830912]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.5022976997970721,-0.7053904843288954,0.71338606911949],"aabb_xy":[[-0.5247624697684771,-0.7278904852077559],[-0.47983292982566683,-0.6828904834500349]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.15522590850230578,0.6866049960156477,0.71338606911949],"aabb_xy":[[0.06522590990783586,0.6703544097022268],[0.24522590709677575,0.7028555823290689]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.6491059522731375,-2.246999728652863,0.71338606911949],"aabb_xy":[[-0.674105951824876,-2.2571422125179974],[-0.624105952721399,-2.236857244787728]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[0.39461821146344866,-1.9341532929468412,0.71338606911949],"aabb_xy":[[0.3897746167022187,-1.9390049454258256],[0.39946180622467864,-1.9293016404678573]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.6673891471472897,1.7872640841526217,0.71338606911949],"aabb_xy":[[-0.6848891464253766,1.7699259840862758],[-0.6498891478692028,1.8046021842189677]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[0.455600070078928,-0.3628242152366661,0.71338606911949],"aabb_xy":[[0.39160006980494977,-0.41289031543395405],[0.5196000703529062,-0.3127581150393781]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[-0.09079790388243414,-2.3456282956593157,0.71338606911949],"aabb_xy":[[-0.09872118412118247,-2.368128295897319],[-0.08287462364368581,-2.3231282954213124]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_24","position":[-0.4650911379441808,-1.8478146234084831,0.71338606911949],"aabb_xy":[[-0.46972625309641414,-1.8516819584856314],[-0.4604560227919474,-1.843947288331334]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[0.06158974751939583,1.7237430811170644,0.71338606911949],"aabb_xy":[[0.011589747158829771,1.6737630939074615],[0.1115897478799619,1.7737230683266674]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_26","position":[0.42594531530714486,-0.5599761473684146,0.71338606911949],"aabb_xy":[[0.4157922997529954,-0.5960456889411548],[0.4360983308612942,-0.5239066057956742]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[0.2931029732184818,-1.1098048410979982,0.71338606911949],"aabb_xy":[[0.2839430942746052,-1.1163360591415352],[0.3022628521623584,-1.103273623054461]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_28","position":[0.08891397804423862,1.2588165253686294,0.71338606911949],"aabb_xy":[[0.05645227716231115,1.2286836932537264],[0.12137567892616606,1.2889493574835316]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[-0.1852360996519583,0.15344852898924222,0.71338606911949],"aabb_xy":[[-0.20773609917566568,0.13095258153862138],[-0.16273610012825088,0.17594447643986294]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_30","position":[-0.30683478494968797,0.640140613252242,0.71338606911949],"aabb_xy":[[-0.36180850698602085,0.5851406136880087],[-0.2518610629133551,0.6951406128164751]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_31","position":[-0.5972916446423677,-2.5648595944290125,0.71338606911949],"aabb_xy":[[-0.6052851344376499,-2.572857726369488],[-0.5892981548470858,-2.556861462488537]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_32","position":[-0.5670116858627924,-0.7920648415105025,0.71338606911949],"aabb_xy":[[-0.6007872450534855,-0.8061033367236674],[-0.5332361266720995,-0.7780263462973374]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_33","position":[0.1225511401614251,1.5494164578573248,0.71338606911949],"aabb_xy":[[0.0675511409848356,1.494426783082367],[0.17755113933801459,1.6044061326322823]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_34","position":[-0.2342474496688684,-1.911266852924457,0.71338606911949],"aabb_xy":[[-0.25125754695891905,-1.9274013414227311],[-0.21723735237881775,-1.8951323644261833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7084858072103327,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7641.png","name":"7641"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7641.png","name":"7641"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4895.png","name":"4895"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7723.png","name":"7723"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5022.png","name":"5022"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7364.png","name":"7364"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":698.9622771626946,"rotation_z_degrees":79.70832388364471,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011302610821636878,0.0002757578456527056,-0.007254751692336074]},{"name":"camera_2","offset_m":[-0.008379150291265871,0.006174881752714693,0.014753420237540431]},{"name":"camera_3","offset_m":[-0.00545435786706777,-0.0052741541413197975,-0.01356519767124051]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001744343209572191,-9.256506919718137e-05,0.0007476257501317987],"end_effector_yaw_offset_degrees":-0.6336353317167269},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007753326666734691,-0.0018450920980695776,0.0004552751439868305],"end_effector_yaw_offset_degrees":0.19720475756613842},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012811592867016139,0.0007708816372071193,0.001170293473892289],"end_effector_yaw_offset_degrees":-0.12085341875674893}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036328814763725388,0.002762445115893684],"position_m":[0.18903288147637254,-0.12993755488410633,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004076892083587936,0.003735215037037086],"position_m":[0.2634231079164121,-0.3974647849629629,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023214652169269703,0.0049782293085512555],"position_m":[0.18992146521692696,0.08957822930855125,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011931164260872017,-0.003232148051832906],"position_m":[0.3479068835739128,0.2868678519481671,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3a0785e00615dd2e40ab9fc94164521eab669b5f0ee887ae8b2a19098dd3ece6","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7641/tex_ceiling_textures_7364/tex_floor_textures_5022/tex_table_textures_4895/tex_wall_textures_7723","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4270218466738397484,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4270218466738397484,"visual_seed":4270218466738397484,"scene_id":"lab_003","finished_at":"2026-09-03T20:05:01"} +{"episode_id":"ep_000035","started_at":"2026-09-03T20:05:03","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[-0.10713626821734512,0.5223335400608029,0.71338606911949],"aabb_xy":[[-0.12742057094074385,0.5020509149180938],[-0.08685196549394635,0.5426161652035115]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.493021807907393,-1.1298510262705095,0.71338606911949],"aabb_xy":[[-0.5106974384959911,-1.147531242549912],[-0.4753461773187946,-1.1121708099911065]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[-0.49954748839600516,1.3523377380246329,0.71338606911949],"aabb_xy":[[-0.554521210432338,1.2973377384603997],[-0.4445737663596722,1.407337737588866]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.06988401569946168,-2.3063099330570376,0.71338606911949],"aabb_xy":[[-0.02011598663455738,-2.3837922876421502],[0.15988401803348073,-2.228827578471925]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.42900176279258984,-0.4602108875469684,0.71338606911949],"aabb_xy":[[-0.44591249522893156,-0.47368309313958284],[-0.412091030356248,-0.4467386819543538]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[0.2570935553377378,0.6485451596033562,0.71338606911949],"aabb_xy":[[0.17709355207372468,0.6349851272944429],[0.33709355860175094,0.6621051919122696]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.05723632327820416,-2.0713384068005496,0.71338606911949],"aabb_xy":[[-0.12123632495620151,-2.119855798279864],[0.006763678399793201,-2.0228210153212354]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.701339065229146,-2.177745961183345,0.71338606911949],"aabb_xy":[[0.6933450766514425,-2.1857460412784353],[0.7093330538068493,-2.169745881088254]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.14477936333752506,0.31739076745914163,0.71338606911949],"aabb_xy":[[-0.17924171073566678,0.2828968850613188],[-0.11031701593938319,0.3518846498569642]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.5049007895240532,0.4897806306911576,0.71338606911949],"aabb_xy":[[-0.5223315046030595,0.47250851602730676],[-0.4874700744450466,0.5070527453550083]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[0.20654537370158443,1.668170688567447,0.71338606911949],"aabb_xy":[[0.14254537135878284,1.6232298373233143],[0.27054537604438594,1.7131115398115793]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.6586269067025528,-1.068252926377809,0.71338606911949],"aabb_xy":[[0.6513656591321453,-1.0810399366413186],[0.6658881542729602,-1.0554659161142996]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[-0.3559362847077764,-0.9519488542326029,0.71338606911949],"aabb_xy":[[-0.4199362818198821,-1.0009812240270135],[-0.2919362875956707,-0.9029164844381923]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.5013557901379406,-1.5837365372518624,0.71338606911949],"aabb_xy":[[0.46456115701303435,-1.6206424123484446],[0.5381504232628469,-1.54683066215528]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[0.65112288687294,0.8487622524467655,0.71338606911949],"aabb_xy":[[0.6161228885622445,0.8410472375232199],[0.6861228851836354,0.8564772673703112]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.11738448974035087,-1.2555639760989592,0.71338606911949],"aabb_xy":[[0.09988448948101425,-1.2696555182877318],[0.1348844899996875,-1.2414724339101866]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.2687690240211619,-0.97427515162906,0.71338606911949],"aabb_xy":[[0.24871061240792158,-0.9943402385382175],[0.28882743563440216,-0.9542100647199024]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.19659967558724684,1.0870782103471854,0.71338606911949],"aabb_xy":[[-0.22708392571427696,1.0370782105656895],[-0.16611542546021665,1.1370782101286814]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.01356651890893279,1.2257420703282538,0.71338606911949],"aabb_xy":[[-0.06338329837376755,1.1757420718439504],[0.03625026055590197,1.2757420688125571]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[-0.39406170634785986,-1.8307504851533083,0.71338606911949],"aabb_xy":[[-0.47406170742098014,-1.8405285314906925],[-0.3140617052747395,-1.8209724388159236]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.4972942636512563,-0.6002278724164145,0.71338606911949],"aabb_xy":[[0.44948809603748757,-0.6652278751234735],[0.5451004312650249,-0.5352278697093555]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.5252098232704392,1.2207987118416104,0.71338606911949],"aabb_xy":[[0.5133377402589381,1.13579871214796],[0.5370819062819403,1.3057987115352607]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.1948972907644736,-1.5970485141954547,0.71338606911949],"aabb_xy":[[0.1448972894806336,-1.6470273685860768],[0.24489729204831354,-1.5470696598048326]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[0.5125290925465533,-2.5430622620166456,0.71338606911949],"aabb_xy":[[0.45752909434480854,-2.5835842286430823],[0.5675290907482982,-2.502540295390207]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.6517109139253958,0.197279555093548,0.71338606911949],"aabb_xy":[[0.6358264206600706,0.18292661479472397],[0.6675954071907209,0.21163249539237208]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[0.48266902355024777,-2.0861560659179204,0.71338606911949],"aabb_xy":[[0.4702016654405122,-2.098621390551244],[0.49513638165998347,-2.073690741284597]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[0.566938349825991,-0.759050527515607,0.71338606911949],"aabb_xy":[[0.5169383502496563,-0.809031106467713],[0.6169383494023257,-0.7090699485635011]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[-0.12879320089422341,-1.5605121220396827,0.71338606911949],"aabb_xy":[[-0.17592257989605906,-1.6245121230840842],[-0.08166382189238772,-1.4965121209952803]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_28","position":[0.3588162846042393,-2.150556155622363,0.71338606911949],"aabb_xy":[[0.3363515146328342,-2.1730561565012234],[0.38128105457564443,-2.1280561547435024]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_29","position":[-0.055939823311964676,-0.6173431362368571,0.71338606911949],"aabb_xy":[[-0.06938634994600801,-0.6308129878899483],[-0.042493296677921344,-0.6038732845837659]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7160612123628537,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/447.png","name":"447"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/447.png","name":"447"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1458.png","name":"1458"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9138.png","name":"9138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2257.png","name":"2257"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9329.png","name":"9329"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":849.7236377027034,"rotation_z_degrees":222.70259138582105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016350465010205383,0.005120840115706175,0.009568155931372935]},{"name":"camera_2","offset_m":[0.0011379570634534493,-0.009075501517244008,0.00210632956866769]},{"name":"camera_3","offset_m":[0.011212266389073276,0.00433639087130017,0.0002371188597362281]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00011186707247232575,-0.0019918933253515445,0.0007973469240390571],"end_effector_yaw_offset_degrees":0.4973192486027249},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003493081823410806,0.0013199145770895417,-0.0007347617800317092],"end_effector_yaw_offset_degrees":0.1266916926245234},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.7438204588458955e-05,-0.0011791844429940644,-0.0006453737439613967],"end_effector_yaw_offset_degrees":0.010522538328097353}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002005257622248031,0.004969784786192716],"position_m":[0.18339474237775197,-0.12773021521380729,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00044495578768628634,-0.003083572861131304],"position_m":[0.2679449557876863,-0.4042835728611313,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023612730546556295,-0.0017083994641635615],"position_m":[0.18523872694534435,0.08289160053583643,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012806875103448766,-0.0012209652366146893],"position_m":[0.34781931248965514,0.28887903476338533,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"54133e8aa700ca266ed586e98a4bffe646e8067b564e4cda97cd7b99a28e183b","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0035.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_447/tex_ceiling_textures_9329/tex_floor_textures_2257/tex_table_textures_1458/tex_wall_textures_9138","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3385090668073994452,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3385090668073994452,"visual_seed":3385090668073994452,"scene_id":"lab_003","finished_at":"2026-09-03T20:07:44"} +{"episode_id":"ep_000036","started_at":"2026-09-03T20:07:48","dimensions":{"distractor":{"count":25,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[0.6030531646080484,-2.3984024201730425,0.71338606911949],"aabb_xy":[[0.589901918636759,-2.423402419929729],[0.6162044105793377,-2.373402420416356]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[0.3502533037333062,1.7482075400393087,0.71338606911949],"aabb_xy":[[0.2702533065737309,1.7366599390814914],[0.4302533008928815,1.7597551409971255]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[-0.4876165750432168,-0.14839955424754203,0.71338606911949],"aabb_xy":[[-0.56761657830723,-0.16195958655645537],[-0.4076165717792037,-0.1348395219386287]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[0.3265491810722374,-1.6879216777260373,0.71338606911949],"aabb_xy":[[0.30963844863589557,-1.7013938833186517],[0.34345991350857913,-1.6744494721334224]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.2304905229224778,-1.4681035287359527,0.71338606911949],"aabb_xy":[[-0.3004905255590641,-1.488208393731818],[-0.1604905202858914,-1.447998663740087]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.685276558820709,-2.0973885308223656,0.71338606911949],"aabb_xy":[[-0.6913711867088274,-2.1059579253740344],[-0.6791819309325907,-2.088819136270697]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[-0.4541927832774083,1.2815033184748605,0.71338606911949],"aabb_xy":[[-0.47669278328755665,1.267407098835257],[-0.43169278326726007,1.2955995381144636]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.05765776393346511,-0.7806390552806226,0.71338606911949],"aabb_xy":[[-0.10293637881461437,-0.8446390546288063],[-0.012379149052315859,-0.7166390559324389]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[-0.6396972174102795,-1.580590227385102,0.71338606911949],"aabb_xy":[[-0.6483951797009948,-1.5927152016925772],[-0.6309992551195642,-1.5684652530776277]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[0.6373428564717329,-1.814885894807539,0.71338606911949],"aabb_xy":[[0.5733428561977546,-1.8649519950048268],[0.7013428567457111,-1.7648197946102508]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[0.14498216443724543,-1.9474569415953775,0.71338606911949],"aabb_xy":[[0.09498216277575065,-1.99745538385108],[0.19498216609874017,-1.8974584993396746]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.06294249494634674,-1.743727200368765,0.71338606911949],"aabb_xy":[[0.03842887084934088,-1.7679917936708012],[0.0874561190433526,-1.7194626070667283]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.33670550238198604,-0.542139191616517,0.71338606911949],"aabb_xy":[[0.3240787150947897,-0.5516852653180898],[0.3493322896691824,-0.532593117914944]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[0.23063970391558697,-0.8287890016487418,0.71338606911949],"aabb_xy":[[0.20817493394418182,-0.8512890025276023],[0.2531044738869921,-0.8062890007698813]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[-0.4936796893157698,1.1713188602963251,0.71338606911949],"aabb_xy":[[-0.5436796902663026,1.1397697132928035],[-0.4436796883652369,1.2028680072998463]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.11805331551114984,1.0335106159200604,0.71338606911949],"aabb_xy":[[-0.12747079008101259,1.0240944387823412],[-0.10863584094128709,1.0429267930577792]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.688692739527903,-1.2332164720104282,0.71338606911949],"aabb_xy":[[0.6562310386459753,-1.2633493041253303],[0.7211544404098302,-1.2030836398955251]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.4924110078108852,1.438264071407605,0.71338606911949],"aabb_xy":[[-0.5473847298472181,1.3832640718433717],[-0.4374372857745524,1.493264070971838]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.15288906152892923,0.6572972980142224,0.71338606911949],"aabb_xy":[[0.11538906142333626,0.6504751361612412],[0.19038906163452216,0.6641194598672034]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.20837827500373307,-0.7182244474694575,0.71338606911949],"aabb_xy":[[-0.2683782766466549,-0.7702245967614016],[-0.14837827336081122,-0.6662242981775133]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[-0.2915460764070909,0.31656428036183204,0.71338606911949],"aabb_xy":[[-0.32600842380523265,0.2820703979640093],[-0.25708372900894905,0.3510581627596547]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[-0.23517230635638053,1.5149283773347046,0.71338606911949],"aabb_xy":[[-0.24558386503686425,1.509582643998806],[-0.22476074767589682,1.5202741106706028]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.07848199617104512,-0.8827849662148797,0.71338606911949],"aabb_xy":[[0.063379694710027,-0.8978864878459414],[0.09358429763206319,-0.8676834445838177]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[0.5450711613749561,-0.6955454552509417,0.71338606911949],"aabb_xy":[[0.5338261058043383,-0.706787252975037],[0.556316216945574,-0.6843036575268464]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[-0.050337169677137084,1.6420394528291893,0.71338606911949],"aabb_xy":[[-0.054473026009837285,1.6045394533848323],[-0.046201313344436896,1.6795394522735463]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7121101254578962,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4919.png","name":"4919"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4919.png","name":"4919"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/305.png","name":"305"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6980.png","name":"6980"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6895.png","name":"6895"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6032.png","name":"6032"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":700.7346615956768,"rotation_z_degrees":171.69410010965112,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014808567928556206,-0.01896820496203964,0.010651359963354999]},{"name":"camera_2","offset_m":[-0.00225125042979089,-0.019797878161608044,0.018146671255073733]},{"name":"camera_3","offset_m":[-0.013583060022469576,-0.006497880184442121,-0.005940076712726094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021373817840825496,0.0009707810699003654,0.0003161383846198547],"end_effector_yaw_offset_degrees":0.9286836499435005},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003862794394597739,0.001864858811325417,0.0010127371608960943],"end_effector_yaw_offset_degrees":0.04924969169755533},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003318578225061418,0.0014326633253482321,-0.0014334099275877606],"end_effector_yaw_offset_degrees":0.8912746459492593}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00038066267556354297,0.00046166819599959257],"position_m":[0.18501933732443646,-0.1322383318040004,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008425934744811557,0.0020475127127507573],"position_m":[0.26665740652551884,-0.3991524872872492,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003394211492802804,-0.00257761597678565],"position_m":[0.1909942114928028,0.08202238402321435,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007062869322738523,-0.0027581182005298544],"position_m":[0.3498062869322739,0.2873418817994702,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7805b71411d93311007671728c3946e76ca39d2e9ed113cdad7fedbe328283f9","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0036.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4919/tex_ceiling_textures_6032/tex_floor_textures_6895/tex_table_textures_305/tex_wall_textures_6980","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1819061064340973951,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1819061064340973951,"visual_seed":1819061064340973951,"scene_id":"lab_003","finished_at":"2026-09-03T20:10:37"} +{"episode_id":"ep_000037","started_at":"2026-09-03T20:10:41","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[0.4492262081611169,0.7452655151167922,0.71338606911949],"aabb_xy":[[0.4429141086247784,0.7394985758635734],[0.4555383076974553,0.751032454370011]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.09138431424166915,-1.223112226519877,0.71338606911949],"aabb_xy":[[-0.13637690096011956,-1.2681122257943256],[-0.046391727523218726,-1.178112227245428]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.05550370790371095,-1.6855672489238258,0.71338606911949],"aabb_xy":[[0.04040140644269284,-1.7006687705548875],[0.07060600936472902,-1.6704657272927637]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[0.04255657909678778,1.2556948494586617,0.71338606911949],"aabb_xy":[[0.00037216493595704225,1.1916948491814505],[0.08474099325761852,1.319694849735873]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.07636091464144856,1.4859219522169131,0.71338606911949],"aabb_xy":[[0.05447116705250777,1.395921954927664],[0.09825066223038936,1.5759219495061623]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.43570188510828706,-1.437959709097791,0.71338606911949],"aabb_xy":[[-0.45034529066232,-1.4526184287545751],[-0.421058479554254,-1.4233009894410067]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[0.593240367367776,-1.8866967630737552,0.71338606911949],"aabb_xy":[[0.5814721805731184,-1.971696762978977],[0.6050085541624335,-1.8016967631685339]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[0.2144014330431061,0.9673547730199288,0.71338606911949],"aabb_xy":[[0.14940143040531262,0.9158751743204818],[0.2794014356808996,1.0188343717193757]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.09068890470375446,-2.414821516798367,0.71338606911949],"aabb_xy":[[0.08364745375300688,-2.4218482685361615],[0.09773035565450207,-2.4077947650605727]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[-0.13850621985262412,0.34042291850090045,0.71338606911949],"aabb_xy":[[-0.15629972678754053,0.32262317290510273],[-0.12071271291770766,0.35822266409669806]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[0.2670097540884455,-1.4811146477015673,0.71338606911949],"aabb_xy":[[0.2299756446603858,-1.5154918550352765],[0.30404386351650525,-1.4467374403678577]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[0.489676507296946,1.598206510922624,0.71338606911949],"aabb_xy":[[0.48239419092028224,1.5082065073131146],[0.49695882367360955,1.6882065145321326]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.2471063274521228,0.6262098836038934,0.71338606911949],"aabb_xy":[[0.2060883840657519,0.5762098829729361],[0.2881242708384937,0.6762098842348507]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[0.49440777011972603,-2.340981739559125,0.71338606911949],"aabb_xy":[[0.43040776941625675,-2.387000122032046],[0.5584077708231954,-2.294963357086204]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.2747213582315872,1.7412171272723893,0.71338606911949],"aabb_xy":[[-0.29994219509142683,1.7159933764195021],[-0.24950052137174752,1.7664408781252756]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.5417007071793651,-1.7321806584049952,0.71338606911949],"aabb_xy":[[0.5356060792912468,-1.740750052956664],[0.5477953350674835,-1.7236112638533265]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[-0.49457723255987074,1.2877434733768083,0.71338606911949],"aabb_xy":[[-0.5184134502004758,1.197743472568322],[-0.47074101491926573,1.377743474185295]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.15315738423424086,1.195914042983325,0.71338606911949],"aabb_xy":[[-0.23315738163783423,1.115921471785142],[-0.07315738683064739,1.2759066141815076]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[-0.6419613677483375,-1.4090636675718249,0.71338606911949],"aabb_xy":[[-0.691956200676279,-1.4590636664670684],[-0.5919665348203959,-1.3590636686765813]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.27794014870523615,-1.3535550319768666,0.71338606911949],"aabb_xy":[[-0.29117109423991744,-1.366782450998866],[-0.26470920317055485,-1.3403276129548671]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.38779813886117187,-0.7429230120418362,0.71338606911949],"aabb_xy":[[-0.45179814053916917,-0.7914404035211503],[-0.32379813718317446,-0.6944056205625219]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[-0.5127215585884877,-2.415892709988268,0.71338606911949],"aabb_xy":[[-0.5253242577255641,-2.4284881062131336],[-0.5001188594514112,-2.4032973137634026]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[-0.5151363162087104,-1.9683199380900538,0.71338606911949],"aabb_xy":[[-0.5376354519349373,-1.9908199388683168],[-0.4926371804824834,-1.9458199373117908]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.2649210884818523,0.07534208102605788,0.71338606911949],"aabb_xy":[[-0.2713349021250372,0.06893226077838953],[-0.2585072748386673,0.08175190127372621]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.712148116042475,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2531.png","name":"2531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2531.png","name":"2531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9017.png","name":"9017"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2391.png","name":"2391"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/779.png","name":"779"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6066.png","name":"6066"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":609.3903969744305,"rotation_z_degrees":332.55988763389536,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00925130767464733,-0.0015976725916529329,-0.01971671883521425]},{"name":"camera_2","offset_m":[-0.007216024578453571,-0.013627747644183473,-0.011939091562595632]},{"name":"camera_3","offset_m":[0.018615164792340922,0.011086750391658306,-0.0172332264898149]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019438740929185521,-0.0018981776530947751,0.0001143513094640238],"end_effector_yaw_offset_degrees":-0.6931405491047034},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003496701837104447,-0.00015583548476515575,3.921572359777241e-06],"end_effector_yaw_offset_degrees":0.015315327017019653},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00036266593027358546,0.00176927144936802,0.0007319828577831201],"end_effector_yaw_offset_degrees":0.9405931375735659}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0001631066563883869,-0.0034710718827980647],"position_m":[0.1855631066563884,-0.1361710718827981,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003781165481230601,-0.002326942469420856],"position_m":[0.26371883451876943,-0.40352694246942084,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002620036918957385,-0.00032653308563428043],"position_m":[0.19022003691895736,0.08427346691436571,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016860967606817734,-0.0026252614842750656],"position_m":[0.3507860967606818,0.28747473851572497,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a19d3fa053a8a4ee73b17578d8a42a41e86841cbeb2fcdc254811b210acb1c34","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2531/tex_ceiling_textures_6066/tex_floor_textures_779/tex_table_textures_9017/tex_wall_textures_2391","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1032558614814252791,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1032558614814252791,"visual_seed":1032558614814252791,"scene_id":"lab_003","finished_at":"2026-09-03T20:13:22"} +{"episode_id":"ep_000038","started_at":"2026-09-03T20:13:24","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[0.4901462956302789,-1.9859679341608358,0.71338606911949],"aabb_xy":[[0.42514629467315174,-2.0379161460945414],[0.5551462965874061,-1.9340197222271305]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[0.3042828042181346,1.4560020148674098,0.71338606911949],"aabb_xy":[[0.28178280370609393,1.4335101565020112],[0.3267828047301751,1.478493873232808]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[0.27036215664011687,0.7525529231531882,0.71338606911949],"aabb_xy":[[0.19036215923652341,0.6725603519550052],[0.35036215404371024,0.8325454943513708]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[0.21212477413960562,-1.1997536622499752,0.71338606911949],"aabb_xy":[[0.14812477208987362,-1.239848145339283],[0.2761247761893376,-1.159659179160667]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[0.46490566515880527,-1.5592062493125336,0.71338606911949],"aabb_xy":[[0.4009056629383982,-1.6035793334378219],[0.5289056673792123,-1.5148331651872453]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[0.5500333218582145,0.7175742796433795,0.71338606911949],"aabb_xy":[[0.5125333215099867,0.7057828840622958],[0.5875333222064422,0.7293656752244629]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.11349855649191176,-1.6790272353356204,0.71338606911949],"aabb_xy":[[-0.17349855699976469,-1.7358739690215417],[-0.053498555984058845,-1.622180501649699]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.2681195051160109,-2.1635765763708195,0.71338606911949],"aabb_xy":[[0.23311950513951513,-2.1730411924184363],[0.3031195050925068,-2.1541119603232026]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.11644980781951642,-2.529905723203479,0.71338606911949],"aabb_xy":[[0.09144980854755413,-2.546251086799641],[0.1414498070914787,-2.5135603596073164]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[-0.5680075353143618,-0.37002655753237557,0.71338606911949],"aabb_xy":[[-0.6178243147791965,-0.4200265560166789],[-0.518190755849527,-0.32002655904807215]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[-0.39700683625525446,0.1513193769124319,0.71338606911949],"aabb_xy":[[-0.40112278636732707,0.14720382187958636],[-0.39289088614318174,0.15543493194527735]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[-0.41452562138695637,0.9634584464752853,0.71338606911949],"aabb_xy":[[-0.4291690269409893,0.948799726818501],[-0.3998822158329233,0.9781171661320694]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.46316898768848147,-1.4409917951250164,0.71338606911949],"aabb_xy":[[-0.518168986865071,-1.4959814698999738],[-0.408168988511892,-1.3860021203500585]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.031466480442460365,1.103652826587572,0.71338606911949],"aabb_xy":[[-0.00353352090902137,1.083293090630751],[0.06646648179394209,1.1240125625443926]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.26952799357495927,0.337973315571233,0.71338606911949],"aabb_xy":[[-0.30399047158804704,0.3313096383883102],[-0.2350655155618715,0.3446369927541558]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.4174038044994847,0.4756672275858498,0.71338606911949],"aabb_xy":[[-0.5074038030939547,0.45941664127242887],[-0.32740380590501483,0.4919178138992709]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[-0.5229900663650004,-2.0097892532999335,0.71338606911949],"aabb_xy":[[-0.5310163369956266,-2.018540748277286],[-0.5149637957343746,-2.001037758322581]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[0.5110310823519144,0.15000939070111752,0.71338606911949],"aabb_xy":[[0.44703108376534195,0.10300242730160877],[0.5750310809384869,0.1970163541006262]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.26958815613253595,-0.7907964537761514,0.71338606911949],"aabb_xy":[[-0.33358815935117386,-0.8375195656751597],[-0.20558815291389815,-0.744073341877143]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[-0.46412614611732184,1.3882742224742621,0.71338606911949],"aabb_xy":[[-0.4728241084080371,1.3761492481667874],[-0.45542818382660655,1.4003991967817369]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.6449988037499613,0.46813908532554294,0.71338606911949],"aabb_xy":[[-0.6532133488656452,0.4594624950279016],[-0.6367842586342772,0.47681567562318417]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[0.5286985323807223,0.6071231202955789,0.71338606911949],"aabb_xy":[[0.46469853212025153,0.5621143209426508],[0.5926985326411931,0.6521319196485068]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[-0.37774397620172345,-1.1320224766296407,0.71338606911949],"aabb_xy":[[-0.38371051514245924,-1.1379836212890049],[-0.37177743726098766,-1.1260613319702766]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[0.3876783695301014,1.0343138556419422,0.71338606911949],"aabb_xy":[[0.30767836736733883,0.9543586720157986],[0.4676783716928638,1.1142690392680858]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[0.5600300549310147,-2.4267653008929737,0.71338606911949],"aabb_xy":[[0.5225300547591426,-2.459466036275881],[0.5975300551028865,-2.3940645655100665]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[0.41679913246112843,1.6037985333551377,0.71338606911949],"aabb_xy":[[0.3792991319637702,1.599829849807019],[0.4542991329584867,1.607767216903256]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.5889948154960435,0.13347647907026428,0.71338606911949],"aabb_xy":[[-0.6108845630849843,0.043476481781015146],[-0.5671050679071027,0.22347647635951337]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_27","position":[-0.17380779408026925,-1.5349047328215504,0.71338606911949],"aabb_xy":[[-0.19880779363200773,-1.545047216686685],[-0.14880779452853077,-1.5247622489564157]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_28","position":[-0.09022427414108691,-2.2520237773128606,0.71338606911949],"aabb_xy":[[-0.17022427272840632,-2.331339379251021],[-0.01022427555376748,-2.1727081753746993]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_29","position":[0.00039750061860854835,-1.0721041358793562,0.71338606911949],"aabb_xy":[[-0.0636025000848608,-1.1181225183522774],[0.0643975013220779,-1.0260857534064354]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_30","position":[0.28019528169664853,-1.3266756044517987,0.71338606911949],"aabb_xy":[[0.24675510650062885,-1.3601192302827285],[0.31363545689266803,-1.2932319786208684]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_31","position":[-0.3981105833959714,-2.0814754880346378,0.71338606911949],"aabb_xy":[[-0.462110580508077,-2.1305078578290484],[-0.33411058628386564,-2.032443118240227]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_32","position":[0.5714100197608065,-1.3834483478148396,0.71338606911949],"aabb_xy":[[0.506410018760306,-1.4342347129695143],[0.636410020761307,-1.3326619826601644]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_33","position":[0.59091597299804,-0.4700660286016509,0.71338606911949],"aabb_xy":[[0.5535846964727974,-0.5047190833965032],[0.6282472495232826,-0.43541297380679866]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7097494371063672,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2047.png","name":"2047"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2047.png","name":"2047"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/782.png","name":"782"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5807.png","name":"5807"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2075.png","name":"2075"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8917.png","name":"8917"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":545.7093710684157,"rotation_z_degrees":174.10947237111316,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019989638249652213,0.004268401886731471,-0.011068068543598781]},{"name":"camera_2","offset_m":[-0.007173612313526796,-0.007934258767585245,0.00843503726233695]},{"name":"camera_3","offset_m":[-0.005682280895169112,0.0057918234186046975,0.019849866061370774]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00018391403439135638,-0.0013188528794143557,0.00038322818809174595],"end_effector_yaw_offset_degrees":-0.3970117071225181},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00012112532085650383,0.0018252304380787648,0.0016873873638050103],"end_effector_yaw_offset_degrees":0.39498266044862373},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013925331717426284,-0.00027163293792703113,0.0010867559451465864],"end_effector_yaw_offset_degrees":0.8644695734869392}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004428438930926101,-0.00290168495157331],"position_m":[0.1898284389309261,-0.13560168495157332,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033298888924713412,0.002585414741151563],"position_m":[0.2641701111075287,-0.39861458525884846,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027431575631087844,0.0017335496835073072],"position_m":[0.1848568424368912,0.0863335496835073,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010016516440295763,-0.004739605805603091],"position_m":[0.3501016516440296,0.28536039419439696,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"01a44b2079bbb2749bc67535a8fea5c87f71f72f438eb2b47916acd3054a109f","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0038.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2047/tex_ceiling_textures_8917/tex_floor_textures_2075/tex_table_textures_782/tex_wall_textures_5807","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3126725892530198662,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3126725892530198662,"visual_seed":3126725892530198662,"scene_id":"lab_003","finished_at":"2026-09-03T20:16:09"} +{"episode_id":"ep_000039","started_at":"2026-09-03T20:16:12","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.4549649019048544,0.8346735489384116,0.71338606911949],"aabb_xy":[[-0.46811614787614386,0.8096735491817252],[-0.44181365593356514,0.8596735486950983]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.5989575014843914,-2.473478206473862,0.71338606911949],"aabb_xy":[[-0.6629575006541615,-2.5202448935928246],[-0.5349575023146216,-2.4267115193548996]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.6396782849892436,0.8779419543328313,0.71338606911949],"aabb_xy":[[-0.6587905923472225,0.8588071754555893],[-0.6205659776312648,0.8970767332100733]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.025921605406258097,-0.7095102241853886,0.71338606911949],"aabb_xy":[[0.0188801544555105,-0.7165369759231831],[0.03296305635700569,-0.702483472447594]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.2844377172720509,-1.5136912069556092,0.71338606911949],"aabb_xy":[[-0.2952781954985658,-1.5308774882462581],[-0.273597239045536,-1.4965049256649607]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.0920867024958486,-0.9540580090045085,0.71338606911949],"aabb_xy":[[-0.100080691073552,-0.9620580890995989],[-0.08409271391814521,-0.9460579289094182]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.007533178946689478,0.8892053343573494,0.71338606911949],"aabb_xy":[[-0.056462518448407106,0.8252053360566406],[0.07152887634178606,0.953205332658058]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.018861963429100403,-2.2086788998532683,0.71338606911949],"aabb_xy":[[-0.1088619628474713,-2.242054396697458],[0.07113803598927049,-2.1753034030090785]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[0.5125635765672345,1.4186935846355682,0.71338606911949],"aabb_xy":[[0.4485635792648879,1.3743271576677112],[0.5765635738695807,1.4630600116034247]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[0.3939374883284701,-1.2150190867716075,0.71338606911949],"aabb_xy":[[0.35962121115385215,-1.2650190867447852],[0.428253765503088,-1.1650190867984298]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.5398379064640277,0.34548712575527807,0.71338606911949],"aabb_xy":[[-0.5773379068122555,0.3336957301741945],[-0.5023379061158,0.3572785213363616]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.22253764992359437,-2.1111628401075606,0.71338606911949],"aabb_xy":[[-0.2503826867042015,-2.1419473388458723],[-0.19469261314298725,-2.080378341369249]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.6206871977141732,1.0326443834653105,0.71338606911949],"aabb_xy":[[-0.6248031478262457,1.0285288284324647],[-0.6165712476021004,1.0367599384981558]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.36935070362255806,-1.9577163987050707,0.71338606911949],"aabb_xy":[[0.2796636273144426,-2.0477163989595217],[0.4590377799306735,-1.8677163984506204]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.2662123024714087,-0.9977095592097571,0.71338606911949],"aabb_xy":[[0.2162348856061551,-1.0477095606990054],[0.31618971933666223,-0.9477095577205085]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.521014702053781,-0.3642785376316704,0.71338606911949],"aabb_xy":[[-0.5398990858222912,-0.38316446241202323],[-0.5021303182852708,-0.34539261285131767]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.5307936232972512,0.20092936785161886,0.71338606911949],"aabb_xy":[[0.4667936229197176,0.1511841010008066],[0.5947936236747848,0.2506746347024311]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[-0.17526628461211968,-0.9994193131104623,0.71338606911949],"aabb_xy":[[-0.18442616355599628,-1.0059505311539993],[-0.16610640566824308,-0.9928880950669251]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.56315908343533,-0.9382895893276346,0.71338606911949],"aabb_xy":[[-0.6130417803130264,-0.9882895885739095],[-0.513276386557634,-0.88828959008136]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.3764813895427531,-0.19509933684657232,0.71338606911949],"aabb_xy":[[-0.44048139188555463,-0.24004018809070482],[-0.3124813871999515,-0.15015848560243983]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[-0.3167709701269109,0.11536782097396125,0.71338606911949],"aabb_xy":[[-0.32489865832022413,0.1064542125632536],[-0.3086432819335977,0.1242814293846689]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[-0.2735674544900771,0.36878094087180946,0.71338606911949],"aabb_xy":[[-0.3060291553720045,0.3386481087569067],[-0.2411057536081496,0.398913772986712]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.2323805783896274,-1.1210235070928418,0.71338606911949],"aabb_xy":[[-0.23841759139029214,-1.1270502081617904],[-0.2263435653889627,-1.1149968060238937]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.3878696992847306,1.6040517635398621,0.71338606911949],"aabb_xy":[[0.3228697014030828,1.5529280998333215],[0.4528696971663784,1.6551754272464032]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.5365816685904604,-1.1210841502626798,0.71338606911949],"aabb_xy":[[-0.5540816020244437,-1.1385841501829144],[-0.5190817351564769,-1.1035841503424453]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[-0.527138495934153,-1.8985220883579768,0.71338606911949],"aabb_xy":[[-0.6121384943515762,-1.983396383820262],[-0.44213849751672973,-1.813647792895692]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[0.0022580643823117974,-1.1354436423457883,0.71338606911949],"aabb_xy":[[-0.021578153258293268,-1.225443643154275],[0.026094282022916866,-1.045443641537302]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_27","position":[0.6163057746830838,0.6026226885744621,0.71338606911949],"aabb_xy":[[0.5992956773930331,0.5864882000761882],[0.6333158719731344,0.618757177072736]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_28","position":[-0.06569281649904024,0.16359593427849894,0.71338606911949],"aabb_xy":[[-0.09198164081948089,0.13732450062384766],[-0.03940399217859957,0.18986736793315012]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_29","position":[-0.30261479137604497,0.6536842560749165,0.71338606911949],"aabb_xy":[[-0.30807273701306503,0.5736842527672575],[-0.2971568457390249,0.7336842593825758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7116823548828511,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5058.png","name":"5058"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5058.png","name":"5058"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4283.png","name":"4283"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/682.png","name":"682"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7131.png","name":"7131"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5466.png","name":"5466"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":774.6135504596148,"rotation_z_degrees":263.7453822001561,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013442129542556178,0.0023591152968415394,0.014043768048318774]},{"name":"camera_2","offset_m":[-0.006726708193322172,-0.01758478638136559,-0.012886385319925649]},{"name":"camera_3","offset_m":[0.010711824591320977,-0.013364600522684449,0.0033086047732413075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004997098246350032,0.0016455642415268267,-0.0011428068925685886],"end_effector_yaw_offset_degrees":0.2696486884018763},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003457053049997097,-0.0015584883851485864,0.0015979176035785855],"end_effector_yaw_offset_degrees":0.2985232982227948},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016113894991181428,-0.0004528791453534478,-0.001239194096547704],"end_effector_yaw_offset_degrees":0.9981081180188753}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011239521018087274,0.0019682061299738703],"position_m":[0.18427604789819127,-0.13073179387002615,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004517816388533713,0.0033902725450252963],"position_m":[0.26704821836114667,-0.3978097274549747,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028398547461724734,0.004171816790170451],"position_m":[0.18476014525382753,0.08877181679017045,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003951043881019837,0.002353681963754496],"position_m":[0.3530510438810199,0.29245368196375454,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f1ae1a8d570ac7719ca96b88c5636a822b14daca3641e0844103f5a381d3b26","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5058/tex_ceiling_textures_5466/tex_floor_textures_7131/tex_table_textures_4283/tex_wall_textures_682","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1865557599631445,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1865557599631445,"visual_seed":1865557599631445,"scene_id":"lab_003","finished_at":"2026-09-03T20:18:58"} +{"episode_id":"ep_000040","started_at":"2026-09-03T20:19:00","dimensions":{"distractor":{"count":35,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.5747446054815974,0.2472361462582171,0.71338606911949],"aabb_xy":[[-0.5966343530705382,0.15723614896896798],[-0.5528548578926566,0.3372361435474662]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.30663875754772896,-1.0021012944587198,0.71338606911949],"aabb_xy":[[-0.38663875801794495,-1.0104120020730682],[-0.22663875707751302,-0.9937905868443716]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.6280344881013882,-2.4933373488789923,0.71338606911949],"aabb_xy":[[0.5830344866351594,-2.538337205740473],[0.6730344895676171,-2.4483374920175116]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[-0.26719745209417395,0.7902425285516896,0.71338606911949],"aabb_xy":[[-0.3021974512241296,0.7844973074760255],[-0.2321974529642183,0.7959877496273537]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[0.4877258435289169,-1.8686822249720405,0.71338606911949],"aabb_xy":[[0.4227258425717897,-1.920630436905746],[0.5527258444860441,-1.816734013038335]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[0.5711227641257115,1.3453494415462877,0.71338606911949],"aabb_xy":[[0.5655410924915826,1.332849441728512],[0.5767044357598402,1.357849441364063]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[0.20852717454917147,-1.876332218195346,0.71338606911949],"aabb_xy":[[0.14352717191137798,-1.9278118168947929],[0.27352717718696495,-1.824852619495899]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[-0.12368650372321865,-2.2260046942200455,0.71338606911949],"aabb_xy":[[-0.13109895926460713,-2.231855904641674],[-0.1162740481818302,-2.220153483798418]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[0.5262071277517879,1.2265179981174823,0.71338606911949],"aabb_xy":[[0.4762241775643085,1.1765179984749219],[0.5761900779392671,1.2765179977600427]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[-0.00016328618216365776,-2.029918416058477,0.71338606911949],"aabb_xy":[[-0.037663286974159105,-2.036286257016667],[0.03733671460983179,-2.0235505751002867]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[-0.5222039270835525,1.3783592546229158,0.71338606911949],"aabb_xy":[[-0.6022039240465916,1.3012836129791423],[-0.4422039301205133,1.4554348962666892]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[-0.28467645712163153,0.16887771231197668,0.71338606911949],"aabb_xy":[[-0.3346764581407668,0.13241149657414875],[-0.23467645610249627,0.20534392804980464]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[0.06592912563343001,1.7101499420245116,0.71338606911949],"aabb_xy":[[0.05346176752369436,1.6976846173911881],[0.07839648374316566,1.7226152666578352]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[0.09247642403714584,-0.720895621094632,0.71338606911949],"aabb_xy":[[0.042483311927953966,-0.7708956217688279],[0.14246953614633776,-0.6708956204204365]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.3294404584105361,0.32734197140569066,0.71338606911949],"aabb_xy":[[-0.40944045868414314,0.25439242357997394],[-0.2494404581369292,0.4002915192314074]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[0.2604143120249902,-1.6276345813401942,0.71338606911949],"aabb_xy":[[0.24718336649030886,-1.6408620003621937],[0.27364525755967145,-1.6144071623181948]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.3039888169068104,-1.6280611498999509,0.71338606911949],"aabb_xy":[[-0.38398881556369646,-1.6425660088242136],[-0.22398881824992445,-1.6135562909756878]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[-0.1923079959193975,1.1347054141425268,0.71338606911949],"aabb_xy":[[-0.20315960216827314,1.123846123414876],[-0.18145638967052194,1.145564704870178]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[-0.4199882010251927,1.0528804336922248,0.71338606911949],"aabb_xy":[[-0.45748820084222624,1.048242222381083],[-0.38248820120815913,1.0575186450033667]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.5167951937778821,-1.0415533283215586,0.71338606911949],"aabb_xy":[[-0.5287279281397101,-1.053935481129418],[-0.504862459416054,-1.0291711755136992]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.6110656719428988,0.41123116754442934,0.71338606911949],"aabb_xy":[[0.5560734213073879,0.35623116580111663],[0.6660579225784098,0.4662311692877422]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[0.10933791314597818,-1.4404531048770353,0.71338606911949],"aabb_xy":[[0.047747153921985364,-1.5044531029860824],[0.170928672369971,-1.3764531067679886]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[-0.5414719083321387,1.7233475132105087,0.71338606911949],"aabb_xy":[[-0.5914719096930258,1.673369608635093],[-0.49147190697125137,1.7733254177859243]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[0.10627915749781003,-2.13588775963756,0.71338606911949],"aabb_xy":[[0.07127915614632828,-2.1562474955943807],[0.14127915884929174,-2.115528023680739]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_24","position":[-0.32740912685357576,-0.8446155699151019,0.71338606911949],"aabb_xy":[[-0.355738836802116,-0.8490763121088188],[-0.29907941690503553,-0.8401548277213847]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[0.42781853054573293,-2.32634462740395,0.71338606911949],"aabb_xy":[[0.4039823129051279,-2.416344628212437],[0.45165474818633805,-2.236344626595464]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.33172034098784164,1.174257531001078,0.71338606911949],"aabb_xy":[[-0.3957203432082486,1.1298844468757898],[-0.26772033876743456,1.2186306151263664]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[0.1027926490753841,1.3239177382256213,0.71338606911949],"aabb_xy":[[0.08458682541413644,1.31289233764363],[0.12099847273663179,1.3349431388076132]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_28","position":[0.17633962190257924,1.5371355619012639,0.71338606911949],"aabb_xy":[[0.11233962022458188,1.4886181704219497],[0.2403396235805766,1.585652953380578]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[0.44886874748900496,-2.5529610491273522,0.71338606911949],"aabb_xy":[[0.41847063638986126,-2.5833679511290213],[0.47926685858814844,-2.5225541471256823]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_30","position":[0.5882267313353848,-1.6772779957313646,0.71338606911949],"aabb_xy":[[0.5242267340330383,-1.7216444226992211],[0.6522267286377311,-1.6329115687635076]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_31","position":[0.6840007301566353,1.4348671869549006,0.71338606911949],"aabb_xy":[[0.6665700150776288,1.4175950722910495],[0.7014314452356418,1.4521393016187512]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_32","position":[-0.5072839815384382,-2.109422580837295,0.71338606911949],"aabb_xy":[[-0.5233459089969558,-2.194422582649887],[-0.49122205407992053,-2.0244225790247032]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_33","position":[0.5252936439563145,-1.2127308801502243,0.71338606911949],"aabb_xy":[[0.5033849618169635,-1.234631546970315],[0.5472023260956655,-1.1908302133301336]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_34","position":[-0.1023254957430555,0.966018803699586,0.71338606911949],"aabb_xy":[[-0.12221653562339577,0.9533629924148894],[-0.08243445586271526,0.9786746149842831]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7133314626970141,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6874.png","name":"6874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6874.png","name":"6874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6119.png","name":"6119"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2934.png","name":"2934"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2554.png","name":"2554"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7499.png","name":"7499"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":530.1773049866333,"rotation_z_degrees":351.3892324054276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015259998244104279,-0.01728465954170618,0.012168809103849886]},{"name":"camera_2","offset_m":[-0.009214330271098334,-0.01226573740881557,0.015498578417440807]},{"name":"camera_3","offset_m":[0.01391656600907121,-0.015230560693492153,0.002183019481308345]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013600477237345173,0.0018181455900673437,0.0004637048654248066],"end_effector_yaw_offset_degrees":-0.9933174407959269},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010856825570699962,-0.0005916472411560769,-0.001167325570551668],"end_effector_yaw_offset_degrees":0.14828154201299482},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00021961611685042967,-0.000644567012156549,0.001959508205416972],"end_effector_yaw_offset_degrees":-0.5526020248133996}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004248943888031569,0.00425268729049844],"position_m":[0.18964894388803158,-0.12844731270950158,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001304243920695365,-0.0008048333430844719],"position_m":[0.2661957560793046,-0.40200483334308446,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023906310142175133,0.004914483725822662],"position_m":[0.1899906310142175,0.08951448372582266,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002900606055632367,-0.0017425126238985078],"position_m":[0.3488099393944368,0.2883574873761015,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cd438c1c9669a6b5d12e034b39e3106eeb6ba56078d6bedaa61e1933f5ac834d","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6874/tex_ceiling_textures_7499/tex_floor_textures_2554/tex_table_textures_6119/tex_wall_textures_2934","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3397768921942648669,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3397768921942648669,"visual_seed":3397768921942648669,"scene_id":"lab_003","finished_at":"2026-09-03T20:21:41"} +{"episode_id":"ep_000041","started_at":"2026-09-03T20:21:43","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[0.5204491761298138,0.37453605167035375,0.71338606911949],"aabb_xy":[[0.5151116004638092,0.34953605074121397],[0.5257867517958184,0.39953605259949354]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.2607620940038346,-0.9354954810024023,0.71338606911949],"aabb_xy":[[-0.27664658726915975,-0.9498484213012263],[-0.24487760073850945,-0.9211425407035781]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[0.505742930995253,-1.2419871906552875,0.71338606911949],"aabb_xy":[[0.46449411996533824,-1.296987190167505],[0.5469917420251676,-1.18698719114307]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.0322022877451581,-2.288147853592539,0.71338606911949],"aabb_xy":[[0.007202288473195816,-2.3044932171887007],[0.05720228701712037,-2.271802489996376]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[-0.25694568229481063,1.199922352534927,0.71338606911949],"aabb_xy":[[-0.3119379329303216,1.1449223507916142],[-0.20195343165929974,1.2549223542782397]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[-0.28769666484353423,-1.3630292258242298,0.71338606911949],"aabb_xy":[[-0.33769666650502894,-1.4130276680799323],[-0.23769666318203944,-1.3130307835685269]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.14720013802150722,-2.479544816770746,0.71338606911949],"aabb_xy":[[0.10618219463513634,-2.5295448174017032],[0.1882180814078781,-2.4295448161397886]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.5660361929768223,1.6637635193193092,0.71338606911949],"aabb_xy":[[0.5356380818776786,1.6333566173176393],[0.5964343040759658,1.6941704213209783]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[0.026517950374152943,-1.9112629858983858,0.71338606911949],"aabb_xy":[[0.018404295700775838,-1.9193688023524147],[0.034631605047530045,-1.9031571694443565]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[-0.05419641092374694,-0.871043560002952,0.71338606911949],"aabb_xy":[[-0.0879719701144399,-0.8850820552161169],[-0.020420851733053955,-0.8570050647897869]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.34770469466185894,1.02517508341161,0.71338606911949],"aabb_xy":[[0.2677046924990964,0.9452198997854664],[0.42770469682462137,1.1051302670377536]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[0.6859534319715375,-1.5708116137272465,0.71338606911949],"aabb_xy":[[0.648453431179542,-1.5771794546854365],[0.7234534327635329,-1.5644437727690566]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.18114808004477423,-2.199927022090563,0.71338606911949],"aabb_xy":[[-0.20103911992511453,-2.2125828333752597],[-0.161257040164434,-2.187271210805866]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[0.03153514729593021,1.0012334963480143,0.71338606911949],"aabb_xy":[[-0.023460330524729178,0.9462334949141071],[0.0865306251165896,1.056233497781921]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.3632334037475704,1.7309782191570169,0.71338606911949],"aabb_xy":[[0.34412109638959154,1.7118434402797749],[0.38234571110554927,1.750112998034259]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.5472824320948455,-0.27966138402419816,0.71338606911949],"aabb_xy":[[0.5138422568988257,-0.3131050098551281],[0.5807226072908649,-0.246217758193268]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.34067219270240284,-2.309904867578528,0.71338606911949],"aabb_xy":[[-0.36317219271255113,-2.324001087218132],[-0.31817219269225455,-2.2958086479389253]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[-0.5307974366905875,0.16370791291917808,0.71338606911949],"aabb_xy":[[-0.5415704106119553,0.12870791470013912],[-0.5200244627692198,0.1987079111382171]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.20070994054444624,-1.7161815136342937,0.71338606911949],"aabb_xy":[[0.17742809834631487,-1.801181514931522],[0.22399178274257756,-1.6311815123370659]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[-0.4437469878329716,-0.1979931593165567,0.71338606911949],"aabb_xy":[[-0.45499204340358945,-0.20923495704065198],[-0.4325019322623538,-0.18675136159246142]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[0.49546260853333335,0.8405120937714168,0.71338606911949],"aabb_xy":[[0.47094898443632743,0.8162475004693802],[0.5199762326303392,0.8647766870734531]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.06366647632638034,-1.507783575878728,0.71338606911949],"aabb_xy":[[-0.006333525482365113,-1.5291373446429153],[0.13366647813512578,-1.4864298071145405]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.5866117979996675,-2.297457158196128,0.71338606911949],"aabb_xy":[[0.5817125056931038,-2.3251340774986966],[0.5915110903062308,-2.269780238893559]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.5912457616030494,-2.327397436068738,0.71338606911949],"aabb_xy":[[-0.6087456950370327,-2.344897435988972],[-0.5737458281690659,-2.309897436148503]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_24","position":[-0.563145605413057,-1.4457532549118626,0.71338606911949],"aabb_xy":[[-0.6431456056866639,-1.518702802737579],[-0.48314560513945,-1.3728037070861456]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[-0.17185217125720176,-0.011745880305631395,0.71338606911949],"aabb_xy":[[-0.17911341882760917,-0.024532890569140875],[-0.16459092368679434,0.0010411299578780859]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[-0.10224267354961558,1.3675853809682499,0.71338606911949],"aabb_xy":[[-0.1662426738235938,1.317519280770962],[-0.03824267327563735,1.4176514811655379]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7181453397014591,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9785.png","name":"9785"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9785.png","name":"9785"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9451.png","name":"9451"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3383.png","name":"3383"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2185.png","name":"2185"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4596.png","name":"4596"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":572.9321566994612,"rotation_z_degrees":228.3434258773898,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015211613385843436,0.005012271829201897,-0.0015799935332133745]},{"name":"camera_2","offset_m":[-0.005439741129128942,-0.01777670366483843,0.0013195298828360923]},{"name":"camera_3","offset_m":[-0.009331813639281492,-0.0022346849583468782,0.00739789058307188]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004260739611050303,-0.0011359965085883203,-0.0005338298056924704],"end_effector_yaw_offset_degrees":0.01499091763014504},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005050476860734867,-0.0014836765269388495,-0.0011901233498695732],"end_effector_yaw_offset_degrees":0.07398561971382378},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012685267360898365,0.001222864818954345,0.001680956296678578],"end_effector_yaw_offset_degrees":-0.9081958774572207}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0042247085588998185,0.004847179023177797],"position_m":[0.18962470855889982,-0.1278528209768222,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004995709633180505,-9.108761509346846e-05],"position_m":[0.27249570963318054,-0.40129108761509347,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021948751118635156,0.002315206991561791],"position_m":[0.18540512488813649,0.08691520699156179,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011920920438825587,0.003647628487852516],"position_m":[0.3479079079561175,0.2937476284878525,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e9017a192497b82156179099440ab04c56b1fe9ffab944eab018604ace774895","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0041.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9785/tex_ceiling_textures_4596/tex_floor_textures_2185/tex_table_textures_9451/tex_wall_textures_3383","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4599797839959996483,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4599797839959996483,"visual_seed":4599797839959996483,"scene_id":"lab_003","finished_at":"2026-09-03T20:24:26"} +{"episode_id":"ep_000042","started_at":"2026-09-03T20:24:28","dimensions":{"distractor":{"count":24,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[0.4548160585691776,1.0196640560847623,0.71338606911949],"aabb_xy":[[0.4493581129321575,0.939664052777103],[0.46027400420619763,1.0996640593924212]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.0857459019617105,1.2411467156147493,0.71338606911949],"aabb_xy":[[-0.09452712910894676,1.2323669683262193],[-0.07696467481447429,1.2499264629032798]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[0.4020450269240421,1.535482936138362,0.71338606911949],"aabb_xy":[[0.39334706463332686,1.5233579618308877],[0.41074298921475744,1.5476079104458371]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.23129871008833192,1.1271471136466635,0.71338606911949],"aabb_xy":[[0.16129870669676993,1.0918313399432324],[0.3012987134798939,1.1624628873500942]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.6503693147863381,1.5832226902854347,0.71338606911949],"aabb_xy":[[0.6326936841977397,1.565542474006032],[0.6680449453749364,1.6009029065648375]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[0.6106088822124629,1.4736027398941967,0.71338606911949],"aabb_xy":[[0.5456088811065197,1.4486373668260684],[0.6756088833184063,1.498568112962325]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.3723112212868472,-2.2836398300184704,0.71338606911949],"aabb_xy":[[-0.4222842868193627,-2.3336398298310037],[-0.3223381557543317,-2.233639830205938]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[0.126072858144319,-0.829152254282199,0.71338606911949],"aabb_xy":[[0.0810802714258686,-0.8741522535566476],[0.17106544486276942,-0.7841522550077501]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.5767203855328782,-1.7885455008954494,0.71338606911949],"aabb_xy":[[0.5117203845323777,-1.8393318660501243],[0.6417203865333787,-1.7377591357407745]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[0.01640162187482741,-1.5482740239327983,0.71338606911949],"aabb_xy":[[0.00705461429253218,-1.5625776461504421],[0.02574862945712264,-1.533970401715154]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.47424685985438575,0.22081410938708546,0.71338606911949],"aabb_xy":[[-0.5117468601465605,0.21677263398648186],[-0.4367468595622109,0.22485558478768905]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.5437517814676779,-1.2264677534044435,0.71338606911949],"aabb_xy":[[-0.5687517814001958,-1.2333504216253668],[-0.51875178153516,-1.2195850851835202]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.1956913007701107,-1.7798263594875343,0.71338606911949],"aabb_xy":[[-0.21002572589627416,-1.7918865750420732],[-0.18135687564394726,-1.7677661439329955]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[0.5311468324300845,-0.28515604701260155,0.71338606911949],"aabb_xy":[[0.5141367351400338,-0.3012905355108754],[0.5481569297201351,-0.2690215585143276]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.1556161276245135,-1.09162501869965,0.71338606911949],"aabb_xy":[[0.13806943270839453,-1.1291250202639012],[0.1731628225406324,-1.0541250171353986]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[-0.40095919179097794,0.34367717150409804,0.71338606911949],"aabb_xy":[[-0.4191650154522257,0.33265177092210646],[-0.3827533681297303,0.35470257208608974]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.32784543002888716,-0.6070326213069843,0.71338606911949],"aabb_xy":[[-0.3503454295525945,-0.629528568757605],[-0.3053454305051797,-0.5845366738563634]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[-0.0753210940212643,0.22380970411408052,0.71338606911949],"aabb_xy":[[-0.09311460095618074,0.20600995851828285],[-0.057527587086347864,0.2416094497098782]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[0.11067099772020472,-2.1128705500214195,0.71338606911949],"aabb_xy":[[0.10508932608607596,-2.125370549839195],[0.11625266935433348,-2.1003705502036443]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.439581283677551,-2.372920186904893,0.71338606911949],"aabb_xy":[[0.4143604468177113,-2.398143937757779],[0.4648021205373906,-2.347696436052005]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[-0.5437871955233683,-2.046123817799697,0.71338606911949],"aabb_xy":[[-0.5937871949635639,-2.0960917422840133],[-0.4937871960831727,-1.9961558933153807]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.22736990067661628,-0.10566615513062994,0.71338606911949],"aabb_xy":[[-0.2608490679376573,-0.13914526850173697],[-0.19389073341557536,-0.07218704175952294]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[0.6099832345679612,1.0867346887516058,0.71338606911949],"aabb_xy":[[0.6060227507982269,1.0790668241660852],[0.6139437183376956,1.0944025533371264]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[-0.5090131016874043,-0.4585268776791547,0.71338606911949],"aabb_xy":[[-0.5890131049514175,-0.472086909988068],[-0.4290130984233912,-0.44496684537024134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7196427211508837,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2577.png","name":"2577"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2577.png","name":"2577"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/741.png","name":"741"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8244.png","name":"8244"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2832.png","name":"2832"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/91.png","name":"91"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":602.9200608966049,"rotation_z_degrees":355.0956388182116,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015045608977772646,0.0006833278789270397,-0.004330083459916874]},{"name":"camera_2","offset_m":[-0.00544619892873521,0.01211219268381256,0.018384741552323832]},{"name":"camera_3","offset_m":[0.016793233624279872,0.010026703455647025,0.01730710252298707]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016280149088349028,-0.0015672654410217506,-0.0006140773937473613],"end_effector_yaw_offset_degrees":0.061459668826981506},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019117652984600754,-6.243667862379271e-05,0.0018988399477340065],"end_effector_yaw_offset_degrees":-0.45487627765963734},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009710830451321625,0.0016607785660780216,-0.0015474577475974973],"end_effector_yaw_offset_degrees":0.9625714083256169}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017156183535584927,0.0001107607029207057],"position_m":[0.1871156183535585,-0.1325892392970793,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00478163819519918,-0.003080034722935196],"position_m":[0.2722816381951992,-0.4042800347229352,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001054204314658835,0.0021389184356582413],"position_m":[0.18865420431465882,0.08673891843565823,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004661717142063395,-0.004151511946491893],"position_m":[0.34956617171420634,0.28594848805350814,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"180250092b898633368b3ed2440f630a422ad10f93cb92ba941e86667a1aa83d","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2577/tex_ceiling_textures_91/tex_floor_textures_2832/tex_table_textures_741/tex_wall_textures_8244","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1609746675696760985,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1609746675696760985,"visual_seed":1609746675696760985,"scene_id":"lab_003","finished_at":"2026-09-03T20:27:12"} +{"episode_id":"ep_000043","started_at":"2026-09-03T20:27:16","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[-0.12179748415879255,-0.15571181683091773,0.71338606911949],"aabb_xy":[[-0.13847462015188805,-0.172411740804848],[-0.10512034816569704,-0.13901189285698745]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.1343336443914389,1.6302700452740742,0.71338606911949],"aabb_xy":[[-0.1382475175868614,1.6215210298675173],[-0.13041977119601636,1.639019060680631]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.2178075091946785,0.7818795881177798,0.71338606911949],"aabb_xy":[[-0.30749458550279396,0.6918795878633294],[-0.12812043288656305,0.8718795883722305]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[0.6807100229586411,1.1138988956519476,0.71338606911949],"aabb_xy":[[0.6725823347653279,1.1049852872412398],[0.6888377111519544,1.1228125040626553]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.22283700526006955,-0.5433438678375122,0.71338606911949],"aabb_xy":[[-0.25968755319705716,-0.5808438686605459],[-0.18598645732308194,-0.5058438670144785]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.3841434298652895,-1.0020504816682105,0.71338606911949],"aabb_xy":[[-0.3902380577534079,-1.0106198762198795],[-0.3780488019771713,-0.993481087116542]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[-0.07809778923738275,-2.183273340290749,0.71338606911949],"aabb_xy":[[-0.10056255920878787,-2.205773341169609],[-0.055633019265977635,-2.160773339411888]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[0.2741808510529109,-2.0007446830874995,0.71338606911949],"aabb_xy":[[0.2242077855203955,-2.050744682900033],[0.3241539165854264,-1.950744683274967]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_8","position":[0.11679912530196779,1.655710665310529,0.71338606911949],"aabb_xy":[[0.02679912880109601,1.6097990228920704],[0.2067991218028395,1.701622307728987]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.5328316824414054,1.5055345989030635,0.71338606911949],"aabb_xy":[[0.5003699815594779,1.4754017667881605],[0.5652933833233328,1.5356674310179657]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.41132812302754174,1.508841145445786,0.71338606911949],"aabb_xy":[[-0.5013281224459126,1.475465648601596],[-0.32132812360917085,1.5422166422899755]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[0.5280553031296362,-0.25964374327410633,0.71338606911949],"aabb_xy":[[0.5105553696956527,-0.2771437431943408],[0.5455552365636195,-0.24214374335387173]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.6285209126734186,-0.5399099263986535,0.71338606911949],"aabb_xy":[[-0.6835209122951644,-0.5948936191861263],[-0.5735209130516727,-0.4849262336111808]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[-0.013509825573882028,-0.8777177212829452,0.71338606911949],"aabb_xy":[[-0.025278012368539556,-0.962717721188167],[-0.0017416387792245067,-0.7927177213777239]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.004300352644634686,-2.41381167068041,0.71338606911949],"aabb_xy":[[-0.05427916115495057,-2.4638116706861286],[0.0456784558656812,-2.363811670674691]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_15","position":[-0.1757760686392812,-1.06000198225099,0.71338606911949],"aabb_xy":[[-0.26077606733135583,-1.091987845645869],[-0.09077606994720655,-1.0280161188561112]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.39085240573019253,-1.5194147348291291,0.71338606911949],"aabb_xy":[[0.3358601550946816,-1.5744147365724421],[0.44584465636570353,-1.4644147330858164]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.13948417256324497,-1.4182372097575457,0.71338606911949],"aabb_xy":[[-0.15412757811727795,-1.4328959294143297],[-0.12484076700921198,-1.4035784901007613]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[0.3719282052426176,0.719305280951045,0.71338606911949],"aabb_xy":[[0.3646669576722102,0.7065182706875356],[0.379189452813025,0.7320922912145545]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.4257422204835146,-0.8121278267464729,0.71338606911949],"aabb_xy":[[0.41449716491289673,-0.823369624470568],[0.4369872760541324,-0.8008860290223775]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[-0.620199582235927,-0.8381605777927401,0.71338606911949],"aabb_xy":[[-0.6272398921694641,-0.9181605771924117],[-0.6131592723023901,-0.7581605783930689]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[-0.24706953677991444,-0.4467393570458609,0.71338606911949],"aabb_xy":[[-0.2596963240671108,-0.4562854307474338],[-0.2344427494927181,-0.437193283344288]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.15114552240456058,-1.5882656163480373,0.71338606911949],"aabb_xy":[[-0.18864552319655603,-1.5946334573062275],[-0.11364552161256514,-1.581897775389847]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[0.03906084139639354,-0.6772359035280733,0.71338606911949],"aabb_xy":[[0.027699106743107375,-0.6886043699343612],[0.050422576049679695,-0.6658674371217851]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[-0.3076190069447465,-2.1446545010965425,0.71338606911949],"aabb_xy":[[-0.3279033096681452,-2.1649371262392503],[-0.28733470422134766,-2.124371875953833]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.6477704944002696,1.7527889699974906,0.71338606911949],"aabb_xy":[[-0.6628727958612874,1.737687448366428],[-0.6326681929392513,1.7678904916285518]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[-0.4935710429284168,-0.36123772366101337,0.71338606911949],"aabb_xy":[[-0.5012742336024938,-0.3689470943597513],[-0.4858678522543397,-0.3535283529622753]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_27","position":[0.3120575957814633,-0.7081077603747181,0.71338606911949],"aabb_xy":[[0.2620575971355421,-0.7580273040341805],[0.3620575944273845,-0.6581882167152557]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_28","position":[-0.49972890172867407,-1.0799805320452405,0.71338606911949],"aabb_xy":[[-0.5056954406694099,-1.0859416767046044],[-0.4937623627879383,-1.0740193873858765]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_29","position":[0.28973162838061683,1.0533500330756693,0.71338606911949],"aabb_xy":[[0.26589541074001183,0.9633500322671829],[0.31356784602122195,1.1433500338841558]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7156793184980932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8561.png","name":"8561"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8561.png","name":"8561"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4192.png","name":"4192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1090.png","name":"1090"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7363.png","name":"7363"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9207.png","name":"9207"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":692.6771388555691,"rotation_z_degrees":19.02864368148235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0071305417324823185,0.017077462120142644,-0.01851252843735986]},{"name":"camera_2","offset_m":[-0.012098827153004211,-0.009628367280898872,0.012852052550892824]},{"name":"camera_3","offset_m":[-0.015495099759617138,-0.012356471071903049,-0.006868593746648166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014127581155575033,0.0006987512743233892,0.00010365703831439598],"end_effector_yaw_offset_degrees":0.7482617777546952},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011121199812530306,0.0016382586163270272,-0.0015162431747944073],"end_effector_yaw_offset_degrees":-0.03692248901620432},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001280553231961645,-0.00035370567045407827,0.0004083895826640584],"end_effector_yaw_offset_degrees":-0.3308534482290968}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00169197983810128,-0.003487605187165581],"position_m":[0.1870919798381013,-0.1361876051871656,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029795295481079695,0.0013298143929853226],"position_m":[0.270479529548108,-0.3998701856070147,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015214715238425023,-0.0031052586329057084],"position_m":[0.18912147152384248,0.08149474136709428,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-2.3140341776513827e-05,-0.0004031545885877629],"position_m":[0.3490768596582235,0.2896968454114123,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cce9469d22cf224a16f05817602ad1525096fef1a28a4c80b3c7d4e1a61b45e7","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0043.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8561/tex_ceiling_textures_9207/tex_floor_textures_7363/tex_table_textures_4192/tex_wall_textures_1090","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8443601007856037668,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8443601007856037668,"visual_seed":8443601007856037668,"scene_id":"lab_003","finished_at":"2026-09-03T20:29:53"} +{"episode_id":"ep_000044","started_at":"2026-09-03T20:29:56","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[-0.3621507388651319,-0.22496100889208348,0.71338606911949],"aabb_xy":[[-0.39254884996427547,-0.25536791089375294],[-0.3317526277659883,-0.19455410689041394]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[0.18671806073552055,0.7714185506744973,0.71338606911949],"aabb_xy":[[0.1753563260822344,0.7600500842682092],[0.1980797953888067,0.7827870170807854]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[-0.2878517008956352,-0.35846719665720794,0.71338606911949],"aabb_xy":[[-0.3052824159746417,-0.37573931132105864],[-0.27042098581662866,-0.341195081993357]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.605457032710949,-1.3042463247679827,0.71338606911949],"aabb_xy":[[0.5154570303769299,-1.3817286793530956],[0.695457035044968,-1.2267639701828703]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[0.29691932554634404,1.729220900070493,0.71338606911949],"aabb_xy":[[0.2706305012259033,1.7029494664158416],[0.32320814986678464,1.755492333725144]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[0.5830094771773324,-0.15393037151973799,0.71338606911949],"aabb_xy":[[0.5278842715477416,-0.2139303729610251],[0.6381346828069232,-0.09393037007845083]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.6659014317577295,-0.42400577515716575,0.71338606911949],"aabb_xy":[[-0.6945507641181458,-0.45265133443424155],[-0.6372520993973133,-0.39536021588008996]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[-0.44645904642633494,1.652680251449055,0.71338606911949],"aabb_xy":[[-0.47642660333616055,1.6226802511511693],[-0.4164914895165092,1.6826802517469408]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.035730519821195794,-2.493466867874824,0.71338606911949],"aabb_xy":[[-0.12541759612931125,-2.583466868129275],[0.05395655648691966,-2.403466867620374]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[0.20853052843420627,-1.8478890806656565,0.71338606911949],"aabb_xy":[[0.19676234163954875,-1.9328890805708785],[0.2202987152288638,-1.7628890807604354]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[0.20636748240458258,0.9064459607596649,0.71338606911949],"aabb_xy":[[0.16886748174000388,0.8907589027594424],[0.24386748306916128,0.9221330187598867]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.1683137523997309,-2.444958434231097,0.71338606911949],"aabb_xy":[[0.15896674481743567,-2.459262056448741],[0.17766075998202613,-2.430654812013453]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.2683699657913661,1.6899104316172466,0.71338606911949],"aabb_xy":[[-0.30586996730699784,1.6786836586011016],[-0.23086996427573442,1.7011372046333917]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[0.2811590570019652,-1.1140909000350696,0.71338606911949],"aabb_xy":[[0.2636590567569158,-1.1315906878746365],[0.2986590572470146,-1.0965911121955028]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[0.3012848454548416,1.1603587672730602,0.71338606911949],"aabb_xy":[[0.297370972259419,1.1516097518665034],[0.30519871865026404,1.169107782679617]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[0.4558504046301888,0.1538787235625767,0.71338606911949],"aabb_xy":[[0.44338304652045313,0.1414133989292532],[0.4683177627399244,0.1663440481959002]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[0.4320758895329453,1.3394198173364265,0.71338606911949],"aabb_xy":[[0.4129635821749664,1.3202850384591842],[0.45118819689092415,1.3585545962136683]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[0.4130978017296376,-0.7006188947661862,0.71338606911949],"aabb_xy":[[0.3755978033062372,-0.7137831087340168],[0.4505978001530379,-0.6874546807983556]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.46786335776102456,0.5113905723352983,0.71338606911949],"aabb_xy":[[-0.5278633586218372,0.45996414232881183],[-0.4078633569002117,0.5628170023417846]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[-0.2797031683406432,-1.1574440142276214,0.71338606911949],"aabb_xy":[[-0.2891206429105059,-1.1668601913653405],[-0.2702856937707804,-1.1480278370899024]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.6169000424730773,-0.7590658445985403,0.71338606911949],"aabb_xy":[[0.5519000424387747,-0.8057665212788675],[0.6819000425073801,-0.7123651679182129]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7172247392361911,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9531.png","name":"9531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9531.png","name":"9531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6174.png","name":"6174"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6275.png","name":"6275"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6427.png","name":"6427"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2574.png","name":"2574"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":747.0902865444399,"rotation_z_degrees":42.67992742903671,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013522410926241357,-0.011053693711151787,0.01249414865904203]},{"name":"camera_2","offset_m":[0.008202591780787104,0.013416839412304652,0.003023041383569288]},{"name":"camera_3","offset_m":[0.0034828461501250733,-0.012552948406066543,-0.012846034099491007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006777413514062781,-0.0017347421722195026,0.000795532530926085],"end_effector_yaw_offset_degrees":-0.2178892361400695},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019775814341697747,0.0018500698236806456,0.0004955728910372758],"end_effector_yaw_offset_degrees":-0.2646658171986771},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017234369199770408,-0.0012724802100621134,0.0018633376647992136],"end_effector_yaw_offset_degrees":-0.9360682643573623}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003461406305245367,-0.0011746738334143746],"position_m":[0.18193859369475465,-0.1338746738334144,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004256447739888537,0.00045925261765120476],"position_m":[0.27175644773988855,-0.40074074738234877,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005388642745110242,0.0021336489754501487],"position_m":[0.18706113572548896,0.08673364897545015,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004053227682959349,0.00016300216898980542],"position_m":[0.3450467723170407,0.2902630021689898,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"94d1fef5dd09f6b2dd252451cc0d35f793e83883d39def3a4cd463ba8ffee497","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9531/tex_ceiling_textures_2574/tex_floor_textures_6427/tex_table_textures_6174/tex_wall_textures_6275","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6210098579107423971,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6210098579107423971,"visual_seed":6210098579107423971,"scene_id":"lab_003","finished_at":"2026-09-03T20:32:38"} +{"episode_id":"ep_000045","started_at":"2026-09-03T20:32:41","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[-0.24688698999948083,0.908102429513324,0.71338606911949],"aabb_xy":[[-0.2881915330632168,0.8441024299452069],[-0.20558244693574484,0.9721024290814411]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.3196876822420671,0.508955673177943,0.71338606911949],"aabb_xy":[[0.2821876818938393,0.49716427759685944],[0.3571876825902948,0.5207470687590265]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.24934599864198198,-2.4979451836020137,0.71338606911949],"aabb_xy":[[-0.25544062653010036,-2.506514578153683],[-0.2432513707538637,-2.4893757890503454]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[0.5992919250314395,-2.236042392371178,0.71338606911949],"aabb_xy":[[0.5709622150828991,-2.2405031345648956],[0.6276216349799796,-2.2315816501774615]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.28823021088399114,1.2174496427824626,0.71338606911949],"aabb_xy":[[0.22663945165999838,1.153449644673416],[0.349820970107984,1.2814496408915097]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[0.36430799501498723,-0.7951168005476554,0.71338606911949],"aabb_xy":[[0.33434043810516156,-0.8251168008455411],[0.3942755519248129,-0.7651168002497696]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.6100760466399608,-1.5597533386428803,0.71338606911949],"aabb_xy":[[-0.6147111617921941,-1.5636206737200284],[-0.6054409314877274,-1.5558860035657314]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[0.34510751366346004,-0.89031705891979,0.71338606911949],"aabb_xy":[[0.3262231298949498,-0.9092029837001427],[0.3639918974319702,-0.8714311341394372]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.07033463288427932,-1.5882967529008156,0.71338606911949],"aabb_xy":[[-0.11746401188611498,-1.6522967539452174],[-0.02320525388244364,-1.5242967518564134]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.40396503833260233,-2.3726180239404058,0.71338606911949],"aabb_xy":[[-0.43896503968408407,-2.3929777598972266],[-0.3689650369811206,-2.352258287983585]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[-0.4250832748846502,0.6359834842895458,0.71338606911949],"aabb_xy":[[-0.4900832775224437,0.5845038855900989],[-0.3600832722468567,0.6874630829889928]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.516865811827139,-0.8956955584342106,0.71338606911949],"aabb_xy":[[-0.5708814081090389,-0.9596955613264676],[-0.46285021554523886,-0.8316955555419533]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.488036007269244,0.10965445364810122,0.71338606911949],"aabb_xy":[[-0.5230360072457398,0.10018983760048461],[-0.4530360072927481,0.11911906969571784]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.06391631869558834,1.7132696708680393,0.71338606911949],"aabb_xy":[[0.060475642455531164,1.709408237893675],[0.06735699493564551,1.717131103842404]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[0.581619424727118,1.0113201736328654,0.71338606911949],"aabb_xy":[[0.5743371083504542,0.9213201700233561],[0.5889017411037815,1.101320177242374]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[0.44091779657805685,1.0186584680141593,0.71338606911949],"aabb_xy":[[0.3948327053233253,0.954658470761604],[0.4870028878327883,1.0826584652667142]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[-0.3282057599814991,0.18290039918079293,0.71338606911949],"aabb_xy":[[-0.3335382746361121,0.1775760709355573],[-0.3228732453268861,0.1882247274260285]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[-0.36677261476296624,-2.0985783971969676,0.71338606911949],"aabb_xy":[[-0.4467726133502857,-2.1778939991351285],[-0.2867726161756468,-2.0192627952588067]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.5281597612829645,1.3366936547697112,0.71338606911949],"aabb_xy":[[0.4641597641708588,1.2876612849753006],[0.5921597583950702,1.3857260245641219]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[0.1957114597389591,1.774246186408352,0.71338606911949],"aabb_xy":[[0.1727957468539092,1.751341889271929],[0.21862717262400902,1.797150483544776]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[-0.19978886059901307,-1.3216346705415658,0.71338606911949],"aabb_xy":[[-0.2149517335759502,-1.3368001278366848],[-0.18462598762207602,-1.3064692132464473]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[0.09817052915795921,1.1601005727862796,0.71338606911949],"aabb_xy":[[0.08037702222304277,1.142300827190482],[0.11596403609287564,1.1779003183820773]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[0.14696115990114555,-0.8820228587182279,0.71338606911949],"aabb_xy":[[0.08296115768073853,-0.9263959428435162],[0.21096116212155258,-0.8376497745929397]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.4044576870239094,-1.6506708911900811,0.71338606911949],"aabb_xy":[[-0.41760893299519874,-1.675670890946768],[-0.39130644105262,-1.6256708914333948]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_24","position":[0.3346501896580987,1.4549991212489526,0.71338606911949],"aabb_xy":[[0.3008746304674057,1.4409606260357875],[0.36842574884879165,1.4690376164621173]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7146309100108268,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4885.png","name":"4885"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4885.png","name":"4885"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2302.png","name":"2302"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3314.png","name":"3314"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9620.png","name":"9620"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1231.png","name":"1231"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":759.5494322289608,"rotation_z_degrees":195.65151467972618,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00879330769506285,-0.015557270365056369,0.018494824684355166]},{"name":"camera_2","offset_m":[0.005662440371762733,0.013851229829084103,0.0013888730587844934]},{"name":"camera_3","offset_m":[-0.017107906864820128,0.010087842867060447,0.01586777078185]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00020950506957872952,-0.001080010713741316,-0.0013968639107031025],"end_effector_yaw_offset_degrees":-0.9543075996043753},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016273048462169802,-0.0005682500689298475,0.0006925078123696934],"end_effector_yaw_offset_degrees":0.0905191748046692},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012426882551307883,0.0017339721811837883,-0.0006035791770014796],"end_effector_yaw_offset_degrees":-0.33773304747466026}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018082518317728826,0.004319693245188021],"position_m":[0.18359174816822713,-0.128380306754812,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001380942098319138,-0.003217846633853604],"position_m":[0.2661190579016809,-0.4044178466338536,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008973078577935488,0.0008396606394402385],"position_m":[0.18849730785779353,0.08543966063944024,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038744181949428545,-0.0047797704344796615],"position_m":[0.3452255818050572,0.2853202295655204,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6b45794e679b163940cbf23ba4b4e7fb9be227e05e2b6cbc0d4be2f30a0868ed","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4885/tex_ceiling_textures_1231/tex_floor_textures_9620/tex_table_textures_2302/tex_wall_textures_3314","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2487463282128981328,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2487463282128981328,"visual_seed":2487463282128981328,"scene_id":"lab_003","finished_at":"2026-09-03T20:35:29"} +{"episode_id":"ep_000046","started_at":"2026-09-03T20:35:31","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[0.3255880249849805,-1.1478598975700312,0.71338606911949],"aabb_xy":[[0.3190863884769759,-1.157627719596341],[0.33208966149298513,-1.1380920755437214]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.11535249575862083,1.5881598593658386,0.71338606911949],"aabb_xy":[[-0.19535249718874803,1.5086427043532287],[-0.03535249432849362,1.6676770143784476]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.4469550735755321,-2.3360267727073767,0.71338606911949],"aabb_xy":[[-0.45423738995219565,-2.426026776316885],[-0.43967275719886834,-2.246026769097867]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[-0.045143217464680196,0.9863594522038124,0.71338606911949],"aabb_xy":[[-0.0826432174084466,0.9780663621689757],[-0.007643217520913785,0.9946525422386489]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.45855776039010815,0.4950870474455926,0.71338606911949],"aabb_xy":[[-0.5035577618563369,0.450087190584112],[-0.4135577589238793,0.5400869043070733]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.142990902262217,-1.6426610155315835,0.71338606911949],"aabb_xy":[[-0.20299090285823318,-1.697473488076807],[-0.08299090166620082,-1.58784854298636]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.5858332828110884,1.3353898834185087,0.71338606911949],"aabb_xy":[[0.5158332806796587,1.3126279177928126],[0.6558332849425178,1.358151849044204]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.5054347912069133,-1.5895081907161135,0.71338606911949],"aabb_xy":[[-0.5604270418424243,-1.6445081924594267],[-0.4504425405714024,-1.5345081889728012]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.49925607413322415,0.21821434720459942,0.71338606911949],"aabb_xy":[[0.4392560724903023,0.16621419791265524],[0.559256075776146,0.2702144964965436]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.6398466065550562,-1.534285715346391,0.71338606911949],"aabb_xy":[[-0.6451841822210608,-1.5592857162755307],[-0.6345090308890516,-1.5092857144172511]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.2615010255030722,-1.8071153500237087,0.71338606911949],"aabb_xy":[[-0.29900102532010575,-1.8117535613348505],[-0.22400102568603864,-1.8024771387125669]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[-0.6116709544785583,1.3887685296609464,0.71338606911949],"aabb_xy":[[-0.6203689167692736,1.3766435553534717],[-0.6029729921878431,1.4008935039684212]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.03781971570813103,-1.755518708427882,0.71338606911949],"aabb_xy":[[-0.017180283913614806,-1.810502401215355],[0.09281971532987687,-1.7005350156404095]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[-0.4837776685825845,0.2151069009502211,0.71338606911949],"aabb_xy":[[-0.5389028742121751,0.15510689950893394],[-0.4286524629529936,0.2751069023915082]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.3783077036208619,-0.8010870606671674,0.71338606911949],"aabb_xy":[[-0.4139368595208217,-0.8367197274240205],[-0.3426785477209022,-0.7654543939103146]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.4198351392589821,-1.9017755263148657,0.71338606911949],"aabb_xy":[[0.38233513876162384,-1.9057442098629842],[0.4573351397563403,-1.8978068427667472]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[0.4778670542968695,-0.8175320130607371,0.71338606911949],"aabb_xy":[[0.4528670551312364,-0.8244842587660937],[0.5028670534625026,-0.8105797673553805]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.6510972863117277,0.3233655699149387,0.71338606911949],"aabb_xy":[[0.6334644507182001,0.30574262389931567],[0.6687301219052553,0.3409885159305616]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[0.6304886740687101,1.4291175926760924,0.71338606911949],"aabb_xy":[[0.6224523393674253,1.4210794733716754],[0.638525008769995,1.437155711980509]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[-0.3165483366051489,1.304990267790128,0.71338606911949],"aabb_xy":[[-0.3665325723133261,1.2549902689766326],[-0.26656410089697163,1.3549902666036238]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7156705178824881,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1708.png","name":"1708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1708.png","name":"1708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3784.png","name":"3784"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9571.png","name":"9571"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9769.png","name":"9769"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/418.png","name":"418"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":672.3031010639813,"rotation_z_degrees":154.09422680841794,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019182957949512,0.010375592792153217,0.007149619932045655]},{"name":"camera_2","offset_m":[0.019514961986071503,-0.017020001329111283,0.00442542151012645]},{"name":"camera_3","offset_m":[-0.012512409499992105,0.013289436132266599,0.016676404549833126]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004921881763635953,0.00016659966159686878,0.001787821141405552],"end_effector_yaw_offset_degrees":-0.8199754744059167},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019330139645025897,-9.896250980612241e-05,-0.0011771300097303602],"end_effector_yaw_offset_degrees":0.4321236081446398},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00024632671363430383,-0.0016866919282804065,-0.0013246674862560765],"end_effector_yaw_offset_degrees":-0.908228204332943}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003298886349484345,-0.0036638947895876305],"position_m":[0.18572988863494844,-0.13636389478958763,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00040188223633117175,-0.003628470402660412],"position_m":[0.2670981177636688,-0.4048284704026604,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001712757511441123,0.0017969698154950845],"position_m":[0.18588724248855887,0.08639696981549508,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003050714439248688,0.003914998021126382],"position_m":[0.3521507144392487,0.2940149980211264,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7dc8489a313213950704489e9fb3ccc938b49983a5aa15ef8b617a3b0a7e15e4","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1708/tex_ceiling_textures_418/tex_floor_textures_9769/tex_table_textures_3784/tex_wall_textures_9571","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6863373903747995988,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6863373903747995988,"visual_seed":6863373903747995988,"scene_id":"lab_003","finished_at":"2026-09-03T20:38:08"} +{"episode_id":"ep_000047","started_at":"2026-09-03T20:38:11","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.526493651585529,-0.6861292760265281,0.71338606911949],"aabb_xy":[[0.5094835542954783,-0.7022637645248018],[0.5435037488755796,-0.6699947875282539]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.5133131412701345,0.45346984749967323,0.71338606911949],"aabb_xy":[[-0.5546176843338705,0.38946984793155615],[-0.4720085982063985,0.5174698470677903]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.5974495304755588,0.8453734138759272,0.71338606911949],"aabb_xy":[[-0.6199495299992661,0.8228774664253063],[-0.5749495309518513,0.8678693613265479]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[0.5600579964050445,-0.4558694283730813,0.71338606911949],"aabb_xy":[[0.5122518287912757,-0.5208694310801403],[0.607864164018813,-0.3908694256660223]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.45112148607621383,1.7529847843047812,0.71338606911949],"aabb_xy":[[-0.4686214863355506,1.7388932421160088],[-0.4336214858168774,1.767076326493554]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.34799599571355544,0.18136902681741018,0.71338606911949],"aabb_xy":[[-0.37299599564607333,0.17448635859648687],[-0.32299599578103755,0.1882516950383335]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[0.16561048687484525,0.8706306686105414,0.71338606911949],"aabb_xy":[[0.1531431287651096,0.8581653439772181],[0.1780778449845809,0.8830959932438651]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.3840036590940861,1.4937542216107942,0.71338606911949],"aabb_xy":[[-0.433484080308045,1.4297542236979424],[-0.3345232378801274,1.557754219523646]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[0.5067458297748735,-0.8640070177701789,0.71338606911949],"aabb_xy":[[0.4694145532496309,-0.8986600725650311],[0.5440771063001161,-0.8293539629753266]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.2916916401669877,0.9097696661399977,0.71338606911949],"aabb_xy":[[-0.29973500009294285,0.8247696650446311],[-0.2836482802410325,0.994769667235364]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[0.4719259333869146,1.5372615832672127,0.71338606911949],"aabb_xy":[[0.4483408099230197,1.472261581021781],[0.49551105685080943,1.6022615855126445]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.32254595172236344,-1.675955202017716,0.71338606911949],"aabb_xy":[[0.3155056417888265,-1.755955201417388],[0.3295862616559005,-1.5959552026180452]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[0.3195436144178503,1.0840984617738,0.71338606911949],"aabb_xy":[[0.2395436129877231,1.0045813067611906],[0.3995436158479775,1.1636156167864096]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.11531398981669583,-1.3218130043330978,0.71338606911949],"aabb_xy":[[0.06531399024036112,-1.371793583285204],[0.16531398939303055,-1.271832425380992]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[-0.3768567594202384,-2.1231202598893524,0.71338606911949],"aabb_xy":[[-0.42685676037077114,-2.154669406892874],[-0.3268567584697055,-2.091571112885831]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[0.014330623391783814,1.4813828997469431,0.71338606911949],"aabb_xy":[[-0.04966937865794818,1.441288416657635],[0.07833062544151581,1.521477382836251]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[0.3792242004720261,0.6040536118742885,0.71338606911949],"aabb_xy":[[0.3615485698834277,0.5863733955948858],[0.3968998310606244,0.6217338281536913]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.162769976704915,-1.1487544040175857,0.71338606911949],"aabb_xy":[[-0.21276498766436705,-1.1987544030531774],[-0.11277496574546297,-1.098754404981994]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.04259256217179741,-0.6053417871857387,0.71338606911949],"aabb_xy":[[-0.05847705543712256,-0.6196947274845628],[-0.02670806890647226,-0.5909888468869147]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.42406256635479167,-0.02606944183193205,0.71338606911949],"aabb_xy":[[-0.4615625665266636,-0.058770177214839237],[-0.38656256618291973,0.00663129355097514]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.20435341103509058,-1.7176645803549466,0.71338606911949],"aabb_xy":[[-0.2693534121410339,-1.7426299534230751],[-0.13935340992914733,-1.6926992072868186]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[0.48633493549756035,0.27188877553005275,0.71338606911949],"aabb_xy":[[0.4392055564957246,0.2078887744856508],[0.533464314499396,0.3358887765744547]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[0.4713961593361844,1.7767164556067274,0.71338606911949],"aabb_xy":[[0.40739616205053575,1.7352097366538834],[0.535396156621833,1.8182231745595714]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[0.6262447662548996,0.4979796060650794,0.71338606911949],"aabb_xy":[[0.6154042880283846,0.4807933247744305],[0.6370852444814145,0.5151658873557281]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_24","position":[-0.6099983501010005,-1.3158844870425934,0.71338606911949],"aabb_xy":[[-0.6739983465283224,-1.3630541108646899],[-0.5459983536736785,-1.268714863220497]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[0.3371270168674274,-0.6188833494460011,0.71338606911949],"aabb_xy":[[0.2721270168331246,-0.6655840261263284],[0.4021270169017301,-0.5721826727656738]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_26","position":[-0.05995814957227852,-1.3553110308395566,0.71338606911949],"aabb_xy":[[-0.07183023258377963,-1.440311030533207],[-0.04808606656077741,-1.2703110311459063]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_27","position":[-0.13763486148848003,-0.9010305318516401,0.71338606911949],"aabb_xy":[[-0.1874516409533148,-0.9510305303359433],[-0.08781808202364527,-0.8510305333673366]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_28","position":[-0.48741329029072805,-1.5119693706244328,0.71338606911949],"aabb_xy":[[-0.49236931047560933,-1.534469370826555],[-0.4824572701058469,-1.4894693704223116]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_29","position":[-0.4543099443121055,1.6906389084532925,0.71338606911949],"aabb_xy":[[-0.46034695731277026,1.6846122073843448],[-0.4482729313114408,1.696665609522241]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7113929220313261,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/75.png","name":"75"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/75.png","name":"75"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8929.png","name":"8929"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/938.png","name":"938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8943.png","name":"8943"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7184.png","name":"7184"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":507.5386279481015,"rotation_z_degrees":284.8776107852936,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01600248175868776,0.005425935210259053,-0.018806506311668685]},{"name":"camera_2","offset_m":[0.005498481947256956,-0.009253371862177598,0.005365216426067857]},{"name":"camera_3","offset_m":[0.00250999651218161,-0.005530823809883029,0.01731032962829628]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000809024752604093,-0.00014012080500142065,0.0019020603881305886],"end_effector_yaw_offset_degrees":0.9732515300521636},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008331954139666213,0.00021492073259103293,0.001886937679344316],"end_effector_yaw_offset_degrees":0.8163815138925585},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00036847748303983434,-0.0011557560797594607,0.0015547937573629975],"end_effector_yaw_offset_degrees":0.48272982538189146}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0048523861998725215,-0.003127831829793202],"position_m":[0.1805476138001275,-0.13582783182979322,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00077494250761287,0.003428717295401039],"position_m":[0.2667250574923871,-0.39777128270459894,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00022028117584387864,0.002118590048581368],"position_m":[0.1873797188241561,0.08671859004858136,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002765409665182817,-0.0048712130506726285],"position_m":[0.3493765409665183,0.2852287869493274,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4177ebd50544a32fc7530dde54ae29b3c8c625ee1250e0ae2670796c20274695","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_75/tex_ceiling_textures_7184/tex_floor_textures_8943/tex_table_textures_8929/tex_wall_textures_938","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3001592002393638999,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3001592002393638999,"visual_seed":3001592002393638999,"scene_id":"lab_003","finished_at":"2026-09-03T20:40:50"} +{"episode_id":"ep_000048","started_at":"2026-09-03T20:40:52","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[-0.27201628976123643,-1.0760038721890473,0.71338606911949],"aabb_xy":[[-0.3520162883485558,-1.155319474127208],[-0.19201629117391697,-0.9966882702508862]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[0.6220304888627537,-1.399244090067506,0.71338606911949],"aabb_xy":[[0.5870304888862579,-1.4087087061151227],[0.6570304888392495,-1.3897794740198894]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[0.14679354415501467,-0.6928783057164571,0.71338606911949],"aabb_xy":[[0.1130179849643217,-0.7069168009296222],[0.18056910334570764,-0.6788398105032921]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.38216869095844164,1.7694266353000665,0.71338606911949],"aabb_xy":[[0.37347072866772635,1.7573016609925922],[0.390866653249157,1.7815516096075417]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.16355171201576957,-1.5962147341818016,0.71338606911949],"aabb_xy":[[0.08355171461217613,-1.676207305379984],[0.24355170941936297,-1.5162221629836183]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[0.6544182887206642,0.20385595533373557,0.71338606911949],"aabb_xy":[[0.6044232777612122,0.15385595629814391],[0.7044132996801162,0.2538559543693274]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.052398354067200614,-2.2443146815590027,0.71338606911949],"aabb_xy":[[-0.07694456968995134,-2.2745635781080398],[-0.027852138444449896,-2.2140657850099656]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[0.7035896863927411,-2.4989451965186937,0.71338606911949],"aabb_xy":[[0.6859568507992135,-2.5165681425343163],[0.7212225219862687,-2.4813222505030703]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[0.12277238711731786,1.2860002764489278,0.71338606911949],"aabb_xy":[[0.11193190889080294,1.2688139951582789],[0.13361286534383277,1.3031865577395763]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[-0.23975380040161554,-0.5760245932470696,0.71338606911949],"aabb_xy":[[-0.32975379690248724,-0.6219362356655277],[-0.14975380390074375,-0.5301129508286112]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[0.5424188029427848,-1.6846177869530607,0.71338606911949],"aabb_xy":[[0.46241880266917773,-1.7575673347787777],[0.6224188032163916,-1.6116682391273442]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.48774089011395483,-0.9337272890263746,0.71338606911949],"aabb_xy":[[0.48164626222583656,-0.9422966835780434],[0.4938355180020732,-0.925157894474706]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.370403357640735,0.31684124798883717,0.71338606911949],"aabb_xy":[[-0.4354033561978078,0.28708871457495455],[-0.3054033590836621,0.3465937814027198]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.033033912790328634,0.8613897936567736,0.71338606911949],"aabb_xy":[[-0.048206082071961975,0.8462209367285702],[-0.017861743508695294,0.876558650584977]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.28495214710904204,-2.2964589968276066,0.71338606911949],"aabb_xy":[[0.23495287194060588,-2.346458998103554],[0.3349514222774782,-2.24645899555166]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[-0.6018287546935677,-1.6412816229795473,0.71338606911949],"aabb_xy":[[-0.6618287563364895,-1.6932817722714915],[-0.5418287530506458,-1.589281473687603]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.47638356428724904,-1.754710876427116,0.71338606911949],"aabb_xy":[[-0.4892554677881891,-1.834710876840952],[-0.46351166078630884,-1.6747108760132796]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[0.5420597153017959,1.4670665583374478,0.71338606911949],"aabb_xy":[[0.4922429358369611,1.4170665598531442],[0.5918764947666306,1.517066556821751]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[0.26190417224482,0.6421976336629238,0.71338606911949],"aabb_xy":[[0.19190416885325803,0.6068818599594928],[0.33190417563638197,0.6775134073663546]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[-0.08511164035294383,-2.0685843871520078,0.71338606911949],"aabb_xy":[[-0.12074079625290357,-2.1042170539088607],[-0.04948248445298409,-2.032951720395155]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[-0.27789424035353355,1.484225269539953,0.71338606911949],"aabb_xy":[[-0.2859305750548184,1.476187150235536],[-0.2698579056522487,1.4922633888443695]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[-0.38899686475990175,0.733169482911836,0.71338606911949],"aabb_xy":[[-0.44899686535591793,0.6783570103666126],[-0.32899686416388557,0.7879819554570595]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[0.5105170947981446,0.4887783811330877,0.71338606911949],"aabb_xy":[[0.44892633557415185,0.42477838302404086],[0.5721078540221375,0.5527783792421346]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[-0.21797607716430445,-1.3225047321232262,0.71338606911949],"aabb_xy":[[-0.26797091009224605,-1.3725047310184697],[-0.16798124423636282,-1.2725047332279826]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[0.32289152880428706,-1.124212195327881,0.71338606911949],"aabb_xy":[[0.232891526470268,-1.2016945499129934],[0.4128915311383061,-1.046729840742768]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.42344009631990553,-1.5735498512248838,0.71338606911949],"aabb_xy":[[-0.4874400954896755,-1.6203165383438463],[-0.3594400971501356,-1.5267831641059213]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[0.17918685388759503,-2.477367267404061,0.71338606911949],"aabb_xy":[[0.13793804285768024,-2.5323672669162782],[0.2204356649175097,-2.4223672678918433]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[-0.26745764327104327,1.7148703318193372,0.71338606911949],"aabb_xy":[[-0.2787026988416611,1.7036285340952417],[-0.25621258770042543,1.7261121295434323]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_28","position":[0.3802273166718093,1.3358354572407856,0.71338606911949],"aabb_xy":[[0.3252273184700644,1.2953134906143478],[0.4352273148735541,1.376357423867223]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.715647550375283,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2757.png","name":"2757"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2757.png","name":"2757"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2166.png","name":"2166"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1509.png","name":"1509"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5348.png","name":"5348"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7436.png","name":"7436"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":698.7969465412075,"rotation_z_degrees":162.41681432395004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013064838215504224,-0.00039657455287957916,0.0040759653103484145]},{"name":"camera_2","offset_m":[0.007385510730785021,0.010149234221663594,-0.009589754883254083]},{"name":"camera_3","offset_m":[-0.00473541929153091,-0.009956813057195913,0.002141493155624126]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007606234235758721,-0.00013909819907802884,0.0003751403395660909],"end_effector_yaw_offset_degrees":-0.048475018326376684},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016123600003764991,-0.001349053208128054,-0.00011484857714222103],"end_effector_yaw_offset_degrees":-0.9155341061434468},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006767254623752791,0.001174218516654114,-0.0010906232609440994],"end_effector_yaw_offset_degrees":0.107822390605957}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024530745803825107,-0.00033066304671265905],"position_m":[0.18785307458038253,-0.13303066304671268,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001724873055587506,-0.00046961564689849706],"position_m":[0.2692248730555875,-0.4016696156468985,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003189983748404043,-0.004717304178997253],"position_m":[0.19078998374840403,0.07988269582100274,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026546534352053855,-0.004780822898729711],"position_m":[0.3517546534352054,0.2853191771012703,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f4cb8bdf98ae633e66a6cdbffc88e37894dab3f752901de54747ef7e052b5cb1","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2757/tex_ceiling_textures_7436/tex_floor_textures_5348/tex_table_textures_2166/tex_wall_textures_1509","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5518440709587018720,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5518440709587018720,"visual_seed":5518440709587018720,"scene_id":"lab_003","finished_at":"2026-09-03T20:43:29"} +{"episode_id":"ep_000049","started_at":"2026-09-03T20:43:33","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.6274232634171719,0.6130107882621769,0.71338606911949],"aabb_xy":[[-0.6696076775780028,0.5490107879849658],[-0.5852388492563413,0.6770107885393882]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[0.4580209844387444,-1.993629716701208,0.71338606911949],"aabb_xy":[[0.44284881515711105,-2.008798573629411],[0.47319315372037773,-1.9784608597730045]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[0.41215224939958506,1.4575996986126296,0.71338606911949],"aabb_xy":[[0.34215224759083956,1.4362459298484422],[0.48215225120833044,1.478953467376817]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.250310793036455,-1.1595891931163658,0.71338606911949],"aabb_xy":[[0.18631079575080634,-1.2010959120692097],[0.31431079032210363,-1.1180824741635218]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[0.1008790102593975,1.6746137322911676,0.71338606911949],"aabb_xy":[[0.09207695495042477,1.666802406136238],[0.10968106556837019,1.6824250584460962]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[0.19862760278903124,1.0163684864786506,0.71338606911949],"aabb_xy":[[0.17362760362339816,1.009416240773294],[0.22362760195466438,1.0233207321840072]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.2715077843863227,1.2647337704828576,0.71338606911949],"aabb_xy":[[0.2371915072117048,1.21473377050968],[0.30582406156094066,1.3147337704560353]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[0.17434376307195787,-2.013569492489345,0.71338606911949],"aabb_xy":[[0.17022781295988518,-2.01768504752219],[0.1784597131840305,-2.009453937456499]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.4694345901727405,-1.1028051220599497,0.71338606911949],"aabb_xy":[[-0.4775622783660537,-1.1117187304706577],[-0.46130690197942725,-1.0938915136492422]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[0.5043065804362812,0.4666634953160895,0.71338606911949],"aabb_xy":[[0.4892042789752628,0.45156197368502754],[0.519408881897299,0.4817650169471512]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.25843376121901507,-1.840003197658637,0.71338606911949],"aabb_xy":[[0.24901628664915226,-1.849419374796356],[0.26785123578887776,-1.830587020520918]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[-0.044685499470561885,-2.0378651587398076,0.71338606911949],"aabb_xy":[[-0.0815360474075495,-2.0753651595628417],[-0.007834951533574268,-2.0003651579167743]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.0665302550548803,1.1500942027399939,0.71338606911949],"aabb_xy":[[-0.013469742925904733,1.142492661778142],[0.14653025303566536,1.1576957437018458]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[0.37549109623131494,-2.5143269413137235,0.71338606911949],"aabb_xy":[[0.36286430894411853,-2.5238730150152966],[0.38811788351851123,-2.5047808676121504]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.5020332102382943,-0.5495697608547787,0.71338606911949],"aabb_xy":[[-0.5660332105122725,-0.5996358610520668],[-0.43803320996431605,-0.49950366065749086]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[0.6908735952135103,0.7988287590108358,0.71338606911949],"aabb_xy":[[0.6789408608516824,0.7864466062029765],[0.7028063295753385,0.8112109118186952]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[0.6260069977614389,-2.321407669306259,0.71338606911949],"aabb_xy":[[0.5360069983430679,-2.3547831661504484],[0.7160069971798096,-2.288032172462069]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.024380086186574723,-1.5227082017955713,0.71338606911949],"aabb_xy":[[-0.029015201338808107,-1.5265755368727196],[-0.019744971034341332,-1.5188408667184226]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[-0.1896191418522466,-1.8012608587951502,0.71338606911949],"aabb_xy":[[-0.22001725295139016,-1.8316677607968195],[-0.15922103075310298,-1.7708539567934805]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.6652789826699357,1.0962246311504646,0.71338606911949],"aabb_xy":[[0.6599464680153228,1.0909003029052293],[0.6706114973245488,1.1015489593957004]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.3238952609549634,1.4254673861006038,0.71338606911949],"aabb_xy":[[-0.40889525964703805,1.393481522705725],[-0.23889526226288876,1.4574532494954826]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.544327528270278,-1.8965153507095298,0.71338606911949],"aabb_xy":[[-0.5778066955313189,-1.929994464080637],[-0.510848361009237,-1.863036237338423]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[-0.5555632963660575,-1.459347082033267,0.71338606911949],"aabb_xy":[[-0.5671322771129941,-1.484347082150199],[-0.5439943156191209,-1.4343470819163355]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[0.6617232403232367,-1.277558677221375,0.71338606911949],"aabb_xy":[[0.628283065127217,-1.3110023030523048],[0.6951634155192562,-1.2441150513904446]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.33298466380542435,-0.536423169496675,0.71338606911949],"aabb_xy":[[-0.3704846645974198,-0.5427910104548651],[-0.2954846630134289,-0.5300553285384849]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.4464067638999323,0.3649104150698177,0.71338606911949],"aabb_xy":[[-0.46196253331019754,0.3493599818254105],[-0.430850994489667,0.38046084831422494]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.13647798301428815,0.3745609268761214,0.71338606911949],"aabb_xy":[[-0.15653639462752844,0.35449583996696393],[-0.11641957140104786,0.394626013785279]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7159821104443522,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2875.png","name":"2875"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2875.png","name":"2875"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4219.png","name":"4219"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3627.png","name":"3627"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6217.png","name":"6217"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/856.png","name":"856"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":653.9644724008477,"rotation_z_degrees":210.6957747094832,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002348665376953815,0.01150597732939147,-0.018330752752910025]},{"name":"camera_2","offset_m":[0.015184221620897938,0.014273547742313288,-0.007912738374328664]},{"name":"camera_3","offset_m":[0.0005383158161292589,0.018566064665746496,-0.007016085344243601]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001083219568784591,-0.0008038994564349075,0.0017948162473010827],"end_effector_yaw_offset_degrees":-0.7452916086862542},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011616082659626141,-0.001421729027905891,0.0008837452257617045],"end_effector_yaw_offset_degrees":0.43729748685274794},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004566346652820888,0.0015032564381824223,-0.0019115172706879405],"end_effector_yaw_offset_degrees":-0.9766891918946552}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002222483481781481,0.0016511815917663961],"position_m":[0.18317751651821854,-0.13104881840823362,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005483297277866107,-0.004392165895238426],"position_m":[0.2669516702722134,-0.40559216589523844,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00079682964279795,-0.0003880789982716338],"position_m":[0.18680317035720204,0.08421192100172836,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034505652890979253,-0.0031227968821622865],"position_m":[0.3456494347109021,0.28697720311783775,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"582a0b8e38de80187fffacf493669889742fc1f412b8ae581696d05297c335b6","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2875/tex_ceiling_textures_856/tex_floor_textures_6217/tex_table_textures_4219/tex_wall_textures_3627","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3486091410378992,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3486091410378992,"visual_seed":3486091410378992,"scene_id":"lab_003","finished_at":"2026-09-03T20:46:29"} +{"episode_id":"ep_000050","started_at":"2026-09-03T20:46:32","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.308145008694633,1.7322354080732327,0.71338606911949],"aabb_xy":[[-0.3721450119132709,1.6855122961742246],[-0.24414500547599516,1.7789585199722413]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.17966789101706693,1.021335223860805,0.71338606911949],"aabb_xy":[[-0.2396678916130831,0.9665227513155814],[-0.11966789042105075,1.0761476964060284]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.17025224222263646,-0.7361755096123845,0.71338606911949],"aabb_xy":[[-0.17988387844306608,-0.7458128223920936],[-0.16062060600220684,-0.7265381968326757]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[-0.6337711740959706,0.12226186727254129,0.71338606911949],"aabb_xy":[[-0.6435271636051445,0.11249933321330682],[-0.6240151845867967,0.1320244013317757]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.45872171153572533,-1.5565368716333439,0.71338606911949],"aabb_xy":[[-0.4753988475288209,-1.5732367956072741],[-0.4420445755426299,-1.5398369476594136]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[-0.4116144512069247,-2.5139462417419933,0.71338606911949],"aabb_xy":[[-0.41552832440234727,-2.5226952571485497],[-0.4077005780115022,-2.505197226335436]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[-0.2935398680217589,0.46114617094123567,0.71338606911949],"aabb_xy":[[-0.32186957797029914,0.4566854287475186],[-0.2652101580732187,0.4656069131349527]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[-0.3823118351970803,1.2750862620720018,0.71338606911949],"aabb_xy":[[-0.41731183432703595,1.2693410409963377],[-0.3473118360671246,1.280831483147666]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[-0.27783489229793096,-1.622758814454479,0.71338606911949],"aabb_xy":[[-0.2858712269992158,-1.6307969337588955],[-0.2697985575966461,-1.614720695150062]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[-0.5534895602733443,1.3553099180900716,0.71338606911949],"aabb_xy":[[-0.5611927509474213,1.3476005473913335],[-0.5457863695992673,1.3630192887888097]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[0.5306289156935764,-2.0583804084066797,0.71338606911949],"aabb_xy":[[0.5252964010389634,-2.0637047366519155],[0.5359614303481894,-2.053056080161444]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[-0.6527578190458627,0.29084797946951735,0.71338606911949],"aabb_xy":[[-0.6839047378894457,0.22084798078271017],[-0.6216109002022795,0.3608479781563245]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[-0.6320643587755448,1.6480769152661447,0.71338606911949],"aabb_xy":[[-0.6545634945017718,1.625576914487882],[-0.6095652230493178,1.670576916044408]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.1582356299015799,-1.5734575280507328,0.71338606911949],"aabb_xy":[[0.14306346061994657,-1.5886263849789362],[0.17340779918321325,-1.5582886711225294]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.5992210747308364,-1.5776175014731717,0.71338606911949],"aabb_xy":[[0.5352210714411283,-1.6209524204770893],[0.6632210780205445,-1.534282582469254]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.6063919141440719,-2.421351819942612,0.71338606911949],"aabb_xy":[[-0.6127040136804104,-2.4271187591958308],[-0.6000798146077336,-2.4155848806893934]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.1324620698932908,0.6916306061222977,0.71338606911949],"aabb_xy":[[-0.1485239973518084,0.6066306043097057],[-0.11640014243477313,0.7766306079348894]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[0.06599738408951306,-0.9493806787699199,0.71338606911949],"aabb_xy":[[0.0019973821771707145,-1.0052918280279304],[0.1299973860018554,-0.8934695295119096]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.5925632269822334,-0.30184917213071216,0.71338606911949],"aabb_xy":[[-0.6725632302462465,-0.3154092044396255],[-0.5125632237182203,-0.2882891398217988]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.17011224536397396,0.9335729596567228,0.71338606911949],"aabb_xy":[[0.11011224511257275,0.8792916346202582],[0.2301122456153751,0.9878542846931875]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.716352579128015,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2556.png","name":"2556"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2556.png","name":"2556"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6243.png","name":"6243"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2171.png","name":"2171"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3782.png","name":"3782"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8527.png","name":"8527"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":598.6822763291522,"rotation_z_degrees":5.625838412524806,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006946549795664461,0.01114725970470094,-0.013904493131400675]},{"name":"camera_2","offset_m":[-0.002502851707128967,0.0026447526789560825,0.00899231190260084]},{"name":"camera_3","offset_m":[0.009086118504098347,0.003906434715332075,0.015385181903390863]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008456851328638307,-0.0010029561000595786,-4.336212888767302e-05],"end_effector_yaw_offset_degrees":-0.0981547466207926},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005993366978298133,-0.0010288008306357788,0.0017413673831047616],"end_effector_yaw_offset_degrees":-0.17244495788753023},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001164745929203587,-5.6889306150877074e-05,0.0008671956247859702],"end_effector_yaw_offset_degrees":-0.957803746296279}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005608655957033814,2.943802003306864e-05],"position_m":[0.18596086559570338,-0.13267056197996693,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013677599041410308,-0.002248825362112744],"position_m":[0.268867759904141,-0.40344882536211274,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029885232780265556,0.001825446881918779],"position_m":[0.19058852327802656,0.08642544688191878,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002680494434774556,0.0030125965939426973],"position_m":[0.3517804944347746,0.29311259659394273,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b55e80218595eb00d0325362166f5fe4a80313d2811d4746e8b55b736f4e03a0","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2556/tex_ceiling_textures_8527/tex_floor_textures_3782/tex_table_textures_6243/tex_wall_textures_2171","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6291345457773614774,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6291345457773614774,"visual_seed":6291345457773614774,"scene_id":"lab_003","finished_at":"2026-09-03T20:49:11"} +{"episode_id":"ep_000051","started_at":"2026-09-03T20:49:14","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_0","position":[-0.15932164807318272,-0.40530932819704635,0.71338606911949],"aabb_xy":[[-0.19617219601017033,-0.4428093290200801],[-0.12247110013619511,-0.3678093273740126]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[0.014755493110999107,-2.568767260713371,0.71338606911949],"aabb_xy":[[-0.02274450768099634,-2.5751351016715613],[0.052255493902994554,-2.562399419755181]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.6576727024343976,-0.25513044746620395,0.71338606911949],"aabb_xy":[[-0.675541810188853,-0.2689633554434149],[-0.639803594679942,-0.24129753948899302]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[0.08944061811886139,-2.2956478273502143,0.71338606911949],"aabb_xy":[[0.06726809114221054,-2.3178234945063374],[0.1116131450955122,-2.2734721601940913]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.005312981380673376,-2.0092649669540545,0.71338606911949],"aabb_xy":[[-0.05968701961982714,-2.0600513321087295],[0.0703129823811739,-1.9584786017993796]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.16881787682819105,-0.10704528561296378,0.71338606911949],"aabb_xy":[[-0.1913178768383393,-0.12114150525256707],[-0.14631787681804273,-0.09294906597336051]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.007263511709266424,-1.2313622454976272,0.71338606911949],"aabb_xy":[[-0.06726351257007922,-1.2827886755041134],[0.05273648915154638,-1.1799358154911406]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[-0.6430584056168455,-0.13789965741062993,0.71338606911949],"aabb_xy":[[-0.6606367078057923,-0.15547414698473483],[-0.6254801034278986,-0.12032516783652503]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.5825832430189094,-2.354940979401239,0.71338606911949],"aabb_xy":[[-0.6001299379350283,-2.39244098096549],[-0.5650365481027905,-2.3174409778369878]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[0.03480913791396245,-1.736427204059643,0.71338606911949],"aabb_xy":[[0.027396682372573977,-1.742278414481271],[0.042221593455350925,-1.7305759936380152]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.6203191944941254,1.6545064556974425,0.71338606911949],"aabb_xy":[[-0.6843191951975948,1.6084880732245217],[-0.5563191937906561,1.7005248381703637]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[-0.6054090698357353,1.4161675696759128,0.71338606911949],"aabb_xy":[[-0.6694090730543732,1.3694444577769045],[-0.5414090666170975,1.4628906815749212]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[0.23336957956681104,1.3562360565606397,0.71338606911949],"aabb_xy":[[0.19482388674161,1.3176902855044512],[0.2719152723920121,1.3947818276168287]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.2790436483153316,-0.31347834735301916,0.71338606911949],"aabb_xy":[[-0.35904365157934476,-0.32703837966193244],[-0.1990436450513185,-0.29991831504410577]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[-0.38191682358018736,-2.1171154893644073,0.71338606911949],"aabb_xy":[[-0.42468353045960755,-2.1811154927862098],[-0.33915011670076717,-2.053115485942605]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.16179532319720968,1.5960334349903271,0.71338606911949],"aabb_xy":[[-0.1896403599778168,1.5652489362520154],[-0.13395028641660256,1.6268179337286388]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.004955048867722689,0.9834696334414614,0.71338606911949],"aabb_xy":[[-0.05494816097691459,0.9334696327672659],[0.0450380632414692,1.033469634115657]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.45567294785856505,0.884279273101733,0.71338606911949],"aabb_xy":[[0.43817294759922853,0.8701877309129606],[0.4731729481179018,0.8983708152905059]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[0.25827898838964736,-2.359559132918931,0.71338606911949],"aabb_xy":[[0.18827898678736787,-2.3729919261205885],[0.32827898999192684,-2.3461263397172734]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.5054180284135676,-1.5251834975552283,0.71338606911949],"aabb_xy":[[0.42541803139931966,-1.5453180492286394],[0.5854180254278156,-1.5050489458818168]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.34572625225236586,0.7697070916692086,0.71338606911949],"aabb_xy":[[-0.3660105549757646,0.7494244665264996],[-0.3254419495289671,0.7899897168119173]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[-0.1228842876033851,-2.4473798688983988,0.71338606911949],"aabb_xy":[[-0.17288428717971982,-2.497360447850505],[-0.07288428802705038,-2.3973992899462933]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[0.5948322729154016,-0.5375000495300744,0.71338606911949],"aabb_xy":[[0.5875499565387378,-0.6275000531395832],[0.6021145892920651,-0.4475000459205653]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[-0.5722622913926221,0.6774678301189332,0.71338606911949],"aabb_xy":[[-0.6622622911157962,0.6543944775837532],[-0.48226229166944784,0.7005411826541129]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[-0.6580047115042962,-1.7499629970153863,0.71338606911949],"aabb_xy":[[-0.6923209886789142,-1.799962996988564],[-0.6236884343296784,-1.6999629970422085]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7151172238289172,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4470.png","name":"4470"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4470.png","name":"4470"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6299.png","name":"6299"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8164.png","name":"8164"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9397.png","name":"9397"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":549.4357984356827,"rotation_z_degrees":250.85956897915426,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016795884491721046,-0.008315030087946314,0.011416705179251394]},{"name":"camera_2","offset_m":[-0.011654561939525685,0.01998680534235107,-0.004182997051776875]},{"name":"camera_3","offset_m":[0.006016332782320274,-0.019420282322283877,0.003970495126934249]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010040929846135596,0.0012843302733766934,-0.00018786051224732418],"end_effector_yaw_offset_degrees":0.15413362888365056},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017572837248870429,0.001161593568466744,0.0003456477522250424],"end_effector_yaw_offset_degrees":-0.81300012545991},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00034504253631881623,-0.0007863441034255615,0.0004249810707756805],"end_effector_yaw_offset_degrees":0.3633488339143014}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007857830201784067,-0.0001025862059163352],"position_m":[0.1846142169798216,-0.13280258620591634,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015295748469639535,-0.0042925473971506525],"position_m":[0.26597042515303604,-0.4054925473971506,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007601846527686687,-0.004817622796426611],"position_m":[0.18683981534723132,0.07978237720357338,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039545862484179585,-0.004787204366183112],"position_m":[0.3451454137515821,0.2853127956338169,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"09a1bfa8e7f70b6a2bd2785afe2e3a60331ceb56f35c661b01c1e3b4cb36bf76","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0051.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4470/tex_ceiling_textures_4206/tex_floor_textures_9397/tex_table_textures_6299/tex_wall_textures_8164","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3359667093583343629,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3359667093583343629,"visual_seed":3359667093583343629,"scene_id":"lab_003","finished_at":"2026-09-03T20:51:53"} +{"episode_id":"ep_000052","started_at":"2026-09-03T20:51:56","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.660671193003928,0.5183998459324015,0.71338606911949],"aabb_xy":[[0.5966711957015814,0.47403341896454465],[0.7246711903062742,0.5627662729002582]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.5238362399257044,0.40641711920641077,0.71338606911949],"aabb_xy":[[0.5125911843550865,0.39517532148231554],[0.5350812954963222,0.4176589169305061]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[0.14953583923050606,-1.503173094906675,0.71338606911949],"aabb_xy":[[0.11494475637646083,-1.568173095191706],[0.18412692208455125,-1.4381730946216438]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.3414604572159276,-0.35145444577906293,0.71338606911949],"aabb_xy":[[-0.3764604564087458,-0.3624214917767255],[-0.3064604580231093,-0.34048739978140025]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[-0.03347662325653955,-0.7826143517912816,0.71338606911949],"aabb_xy":[[-0.05731284089714462,-0.8726143525997683],[-0.009640405615934483,-0.6926143509827952]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.18755924755505338,0.7730316921615157,0.71338606911949],"aabb_xy":[[-0.20016194669212983,0.7604362959366502],[-0.17495654841797692,0.7856270883863812]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.5045912240600996,-0.8858119402221454,0.71338606911949],"aabb_xy":[[0.4695912240836039,-0.8952765562697621],[0.5395912240365955,-0.8763473241745289]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.3204273699745319,-2.3728532113762024,0.71338606911949],"aabb_xy":[[-0.33743746726458257,-2.3889876998744763],[-0.30341727268448127,-2.3567187228779285]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.13237342004524333,-0.10750433745571719,0.71338606911949],"aabb_xy":[[-0.19637341933941155,-0.17149047782457139],[-0.06837342075107511,-0.043518197086863]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.602259238641486,-2.097963328704802,0.71338606911949],"aabb_xy":[[-0.6372592369521813,-2.1056783436283477],[-0.5672592403307904,-2.0902483137812564]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[-0.2909539417728035,-0.457825909216496,0.71338606911949],"aabb_xy":[[-0.3407707212376382,-0.5078259077007993],[-0.24113716230796867,-0.40782591073219254]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[-0.6246139491106736,-1.4653885606827637,0.71338606911949],"aabb_xy":[[-0.6886139455379955,-1.5125581845048603],[-0.5606139526833517,-1.4182189368606675]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[0.3233011975023157,-0.7873846785997547,0.71338606911949],"aabb_xy":[[0.2883011961508339,-0.8077444145565755],[0.35830119885379735,-0.7670249426429339]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[-0.6663360902734882,-1.648159349603555,0.71338606911949],"aabb_xy":[[-0.6723026292142239,-1.6541204942629189],[-0.6603695513327522,-1.642198204944191]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.21406695012720167,-2.126992307530251,0.71338606911949],"aabb_xy":[[-0.2640669497035364,-2.1769728864823574],[-0.16406695055086698,-2.0770117285781455]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.25122228081902526,-1.1336373856979136,0.71338606911949],"aabb_xy":[[-0.27372228082917355,-1.147733605337517],[-0.22872228080887697,-1.1195411660583103]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.004454518997711654,0.8230681589399174,0.71338606911949],"aabb_xy":[[-0.06054548210823163,0.7981027858717892],[0.06945452010365494,0.8480335320080458]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.5692345940859069,1.0105378387544701,0.71338606911949],"aabb_xy":[[0.5517345938265704,0.9964462965656977],[0.5867345943452437,1.024629380943243]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.5333920691796523,-1.4980253232455993,0.71338606911949],"aabb_xy":[[0.44966984367956986,-1.5880253267802953],[0.6171142946797348,-1.4080253197109034]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[-0.6506166119318999,0.3918453932124284,0.71338606911949],"aabb_xy":[[-0.6569287114682383,0.3860784539592096],[-0.6443045123955615,0.3976123324656472]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.13047899914955885,1.165062769689209,0.71338606911949],"aabb_xy":[[-0.1661081550495186,1.1294301029323564],[-0.09484984324959911,1.2006954364460622]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.07503655706213463,1.1689135206783452,0.71338606911949],"aabb_xy":[[0.04455230693510448,1.1189135208968493],[0.10552080718916479,1.2189135204598411]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[0.4410958931066624,-2.4304474843176838,0.71338606911949],"aabb_xy":[[0.42794464713537317,-2.4554474840743707],[0.4542471390779519,-2.4054474845609977]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[0.3787072389778303,1.164193939602856,0.71338606911949],"aabb_xy":[[0.31470723870385203,1.1141278394055683],[0.4427072392518085,1.2142600398001442]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.717661999474784,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4032.png","name":"4032"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4032.png","name":"4032"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8318.png","name":"8318"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1393.png","name":"1393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2886.png","name":"2886"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7536.png","name":"7536"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":612.1990226882043,"rotation_z_degrees":290.45973024240016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011126581028202782,-0.0009523450496798161,-0.01005539582933313]},{"name":"camera_2","offset_m":[0.004248005657862743,-0.015471352542240094,0.0073878552244983735]},{"name":"camera_3","offset_m":[0.017426871183987596,0.0167048560122094,-0.012056798003859127]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004926333277957746,-5.025048254023103e-05,0.0009939914157409743],"end_effector_yaw_offset_degrees":0.6762593415266673},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000588616519251199,-0.0007489679883768213,0.0001464303032590467],"end_effector_yaw_offset_degrees":0.9983709567810686},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006214065715254363,-0.0013718828641485822,-0.00044270039428287206],"end_effector_yaw_offset_degrees":0.8914586535334965}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009690562909489666,0.0007230880039395425],"position_m":[0.18636905629094896,-0.13197691199606046,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004270213855373589,-0.000302399358307108],"position_m":[0.2717702138553736,-0.4015023993583071,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005684089415427963,0.003801693811220741],"position_m":[0.1881684089415428,0.08840169381122073,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002721856143493394,-0.00401025064721257],"position_m":[0.3518218561434934,0.28608974935278747,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"330ac1fd02fda0de7c95fc941ec7ad2b2c9e3df79c62e1d0231ca58a7b03355b","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4032/tex_ceiling_textures_7536/tex_floor_textures_2886/tex_table_textures_8318/tex_wall_textures_1393","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1288876367110037682,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1288876367110037682,"visual_seed":1288876367110037682,"scene_id":"lab_003","finished_at":"2026-09-03T20:54:39"} +{"episode_id":"ep_000053","started_at":"2026-09-03T20:54:41","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[-0.2133501279656851,-2.1847598053370563,0.71338606911949],"aabb_xy":[[-0.27835012907162837,-2.2097251784051846],[-0.1483501268597418,-2.159794432268928]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.6346863189673385,1.5277744687736674,0.71338606911949],"aabb_xy":[[-0.6462552997142751,1.5027744686567357],[-0.6231173382204019,1.5527744688905991]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[0.26126687143636207,-2.1866383521896644,0.71338606911949],"aabb_xy":[[0.1812668744221141,-2.206772903863076],[0.34126686845061005,-2.166503800516253]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.3152239853008386,1.5729446219440724,0.71338606911949],"aabb_xy":[[-0.3952239839577247,1.5584397630198095],[-0.23522398664395266,1.5874494808683353]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[0.4632517310080011,-2.5336220589550917,0.71338606911949],"aabb_xy":[[0.42878938360985924,-2.5681159413529135],[0.49771407840614285,-2.499128176557268]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[0.4660856103505051,-1.4979714386184453,0.71338606911949],"aabb_xy":[[0.41111188831417217,-1.5529714381826782],[0.521059332386838,-1.4429714390542119]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.26975995895947497,-1.479267129402093,0.71338606911949],"aabb_xy":[[-0.28739279455300254,-1.496890075417716],[-0.2521271233659474,-1.46164418338647]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.014841727530547688,-2.486983727753139,0.71338606911949],"aabb_xy":[[-0.04915827468985934,-2.5313568118784273],[0.07884172975095471,-2.4426106436278507]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.23695096106499403,-2.493686179365441,0.71338606911949],"aabb_xy":[[-0.2406542223941329,-2.4973881976741588],[-0.23324769973585516,-2.4899841610567233]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[0.6391940488815531,-1.072958322732332,0.71338606911949],"aabb_xy":[[0.6326924123735486,-1.082726144758642],[0.6456956853895578,-1.0631905007060225]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[0.2755548400028147,-1.8411236541859006,0.71338606911949],"aabb_xy":[[0.19555483673880159,-1.8546836864948142],[0.35555484326682785,-1.8275636218769875]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[-0.5694816465867512,-0.3833477576354922,0.71338606911949],"aabb_xy":[[-0.6494816480168784,-0.4628649126481017],[-0.48948164515662396,-0.30383060262288275]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[0.6322494408323658,0.3267232212827844,0.71338606911949],"aabb_xy":[[0.567249442275293,0.29697068786890185],[0.6972494393894386,0.3564757546966671]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.36388571781040446,1.4009350086760781,0.71338606911949],"aabb_xy":[[0.3413720259869472,1.3309350080750704],[0.3863994096338616,1.4709350092770854]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[-0.3706792518257114,-1.3355820330649835,0.71338606911949],"aabb_xy":[[-0.46067925550262945,-1.3970144396420876],[-0.28067924814879314,-1.2741496264878789]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[-0.10498440471202997,1.705245278908532,0.71338606911949],"aabb_xy":[[-0.15495747024454548,1.655245279095999],[-0.055011339179514535,1.7552452787210648]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[0.6142313582098631,1.5133873560321427,0.71338606911949],"aabb_xy":[[0.5767313575452843,1.4977002980319205],[0.6517313588744417,1.5290744140323649]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[-0.25510117884842254,-1.7623745058279687,0.71338606911949],"aabb_xy":[[-0.2630951674261259,-1.7703745859230589],[-0.2471071902707191,-1.7543744257328782]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[-0.17008955020371785,0.950898881034214,0.71338606911949],"aabb_xy":[[-0.21526086805188685,0.8868988838896757],[-0.12491823235554889,1.0148988781787525]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.5243779855852193,0.5050995672830565,0.71338606911949],"aabb_xy":[[-0.5324143202865042,0.4970614479786397],[-0.5163416508839345,0.5131376865874733]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[0.22539572563940302,-1.9102555385985278,0.71338606911949],"aabb_xy":[[0.19039572732870758,-1.9179705535220735],[0.26039572395009847,-1.9025405236749822]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.4042341587720164,0.45039460494448,0.71338606911949],"aabb_xy":[[0.3820616317953655,0.4282189377883568],[0.4264066857486672,0.47257027210060315]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.39155742656173165,-0.007461106572222764,0.71338606911949],"aabb_xy":[[-0.45555742367383734,-0.05649347636663338],[-0.32755742944962596,0.04157126322218785]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[0.0960092422804989,1.3856010853368392,0.71338606911949],"aabb_xy":[[0.04619246281566414,1.3356010868525356],[0.14582602174533366,1.4356010838211424]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[-0.5944315344829711,-1.5286956021774705,0.71338606911949],"aabb_xy":[[-0.6169315349950117,-1.5511874605428688],[-0.5719315339709306,-1.5062037438120721]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7122204575076342,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9562.png","name":"9562"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9562.png","name":"9562"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7174.png","name":"7174"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6996.png","name":"6996"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3313.png","name":"3313"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5836.png","name":"5836"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":716.9155375810119,"rotation_z_degrees":58.515307338785234,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012305883979627228,-0.010551174675992994,0.014794296956476109]},{"name":"camera_2","offset_m":[0.01959348277831471,-0.019352406244580005,0.018248665734686687]},{"name":"camera_3","offset_m":[-0.0064522383833702564,0.016902028625431043,0.012365026908914663]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006527230943871971,-0.0019174002346334907,-0.0015274792112942488],"end_effector_yaw_offset_degrees":0.3141423080146779},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008699702535263231,0.000329467469673233,0.00041960077397976353],"end_effector_yaw_offset_degrees":0.11925141434970077},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003987993070693823,0.0017350634748582697,0.00023380077474737708],"end_effector_yaw_offset_degrees":-0.5019795595817051}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004519042894734778,-0.0008471498358436427],"position_m":[0.1899190428947348,-0.13354714983584365,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0039056325294525027,-0.002635466823538787],"position_m":[0.2635943674705475,-0.40383546682353877,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011197129146560706,-0.0036371827618487773],"position_m":[0.18871971291465606,0.08096281723815121,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0048115788837468495,0.0039203703261425525],"position_m":[0.35391157888374686,0.2940203703261426,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4e74158842569ceb7fb85c93c82ca6afce94fbe9294b632cb41ce0363d21232d","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9562/tex_ceiling_textures_5836/tex_floor_textures_3313/tex_table_textures_7174/tex_wall_textures_6996","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3049876523888943193,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3049876523888943193,"visual_seed":3049876523888943193,"scene_id":"lab_003","finished_at":"2026-09-03T20:57:15"} +{"episode_id":"ep_000054","started_at":"2026-09-03T20:57:19","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[-0.45308791804850357,-2.141783927867166,0.71338606911949],"aabb_xy":[[-0.5029706149261998,-2.1917839271134407],[-0.40320522117080737,-2.0917839286208912]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[-0.25089087339789223,-1.8138951441486488,0.71338606911949],"aabb_xy":[[-0.25793232434863983,-1.8209218958864435],[-0.24384942244714464,-1.8068683924108542]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.1812260008604336,-1.1414527183175578,0.71338606911949],"aabb_xy":[[0.17491390132409518,-1.1472196575707767],[0.18753810039677205,-1.1356857790643389]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.039695004075948725,-1.9917910387312894,0.71338606911949],"aabb_xy":[[-0.04904201165824395,-2.006094660948934],[-0.030347996493653488,-1.9774874165136456]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.26560675749001683,0.9297847096800496,0.71338606911949],"aabb_xy":[[0.17560675776684262,0.9067113571448697],[0.35560675721319096,0.9528580622152294]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.4233311808220947,-0.5358247577006683,0.71338606911949],"aabb_xy":[[-0.4270344421512335,-0.5395267760093861],[-0.4196279194929558,-0.5321227393919504]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[-0.3729507303371958,-1.1069116240321053,0.71338606911949],"aabb_xy":[[-0.38310374589134505,-1.1429811656048454],[-0.36279771478304634,-1.0708420824593647]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[-0.4551216798645463,-0.7503569728303621,0.71338606911949],"aabb_xy":[[-0.4886008471255873,-0.7838360862014689],[-0.42164251260350544,-0.716877859459255]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[-0.6346699820809183,0.2695623945806016,0.71338606911949],"aabb_xy":[[-0.6420824376223068,0.26371118415897365],[-0.6272575265395298,0.27541360500222956]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.20759064725930104,-0.5835413946002705,0.71338606911949],"aabb_xy":[[-0.2715906475332793,-0.6336074947975584],[-0.1435906469853228,-0.5334752944029825]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[-0.5383058320153747,-0.9395623089168492,0.71338606911949],"aabb_xy":[[-0.6083058341468042,-0.9623242745425447],[-0.4683058298839451,-0.9168003432911533]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.44616381448957343,-1.7545129810112978,0.71338606911949],"aabb_xy":[[-0.5101638147500442,-1.7995217803642258],[-0.3821638142291026,-1.7095041816583698]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[0.6935296191894851,-1.2782640936883907,0.71338606911949],"aabb_xy":[[0.689098989834645,-1.2837124654230736],[0.6979602485443254,-1.2728157219537082]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[0.04716013199714697,-1.5703638917659701,0.71338606911949],"aabb_xy":[[0.009660131825275017,-1.6030646271488773],[0.0846601321690189,-1.537663156383063]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.6028653586243711,-2.0466338504355095,0.71338606911949],"aabb_xy":[[0.5806928316477202,-2.068809517591632],[0.6250378856010219,-2.024458183279386]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[-0.30547507859303386,1.4686485781876235,0.71338606911949],"aabb_xy":[[-0.3704750786273366,1.4219479015072962],[-0.24047507855873113,1.5153492548679508]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[-0.6135683537745021,0.3880894207293095,0.71338606911949],"aabb_xy":[[-0.6775683570642101,0.34475450172539185],[-0.5495683504847939,0.4314243397332271]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.5771961214712078,1.3565019988275315,0.71338606911949],"aabb_xy":[[-0.6411961235209398,1.3164075157382236],[-0.5131961194214758,1.3965964819168395]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.457592157493171,-1.4922456988184294,0.71338606911949],"aabb_xy":[[-0.46558614607087434,-1.5002457789135193],[-0.44959816891546756,-1.4842456187233386]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[-0.42609532556159835,0.920162659736083,0.71338606911949],"aabb_xy":[[-0.5060953229651917,0.8401700885379001],[-0.34609532815800487,1.0001552309342656]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[0.35727581125382923,1.1172645177782425,0.71338606911949],"aabb_xy":[[0.3401737332954611,1.1001577122469728],[0.3743778892121974,1.1343713233095123]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7167749766393314,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5874.png","name":"5874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5874.png","name":"5874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8203.png","name":"8203"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4139.png","name":"4139"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3677.png","name":"3677"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8691.png","name":"8691"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":631.7720367912912,"rotation_z_degrees":182.54250763711534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016102999805631946,0.015019050460910715,0.005137892966710484]},{"name":"camera_2","offset_m":[0.008882900185044684,-0.01260300581333253,0.0026825370978363697]},{"name":"camera_3","offset_m":[0.00043116149959649894,-0.019366398265769056,-0.008987249692007735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008496464892308892,0.0002951982205035256,0.0013667483483784586],"end_effector_yaw_offset_degrees":0.23531493096030243},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008994248059197118,0.0003791474212609968,0.0014924019318625216],"end_effector_yaw_offset_degrees":-0.0775393698818998},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007556746394869036,-0.0006613370817374559,0.0008060176898964373],"end_effector_yaw_offset_degrees":-0.6208784968149408}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005092296830690986,0.0024039640779198405],"position_m":[0.1859092296830691,-0.13029603592208017,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029694813647876466,-0.000642684015893521],"position_m":[0.27046948136478766,-0.4018426840158935,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004176184326649642,-0.002845102315406911],"position_m":[0.19177618432664964,0.08175489768459308,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003688188049736381,-0.0011762635391368015],"position_m":[0.3527881880497364,0.2889237364608632,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e57d92364f7b750d932e40ecc9a0dec8093c6f0d31080c6f92cd43e070088a5c","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5874/tex_ceiling_textures_8691/tex_floor_textures_3677/tex_table_textures_8203/tex_wall_textures_4139","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2391713011119777435,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2391713011119777435,"visual_seed":2391713011119777435,"scene_id":"lab_003","finished_at":"2026-09-03T21:00:22"} +{"episode_id":"ep_000055","started_at":"2026-09-03T21:00:24","dimensions":{"distractor":{"count":23,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.5801738685169053,0.09707351982805612,0.71338606911949],"aabb_xy":[[0.5683017855054043,0.012073520134405769],[0.5920459515284066,0.18207351952170647]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[-0.16501924516702182,0.5976246096466125,0.71338606911949],"aabb_xy":[[-0.17678743196167937,0.512624609741391],[-0.15325105837236433,0.6826246095518341]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[0.5973307938473977,0.9753288823612745,0.71338606911949],"aabb_xy":[[0.5886328315566824,0.9632039080537997],[0.606028756138113,0.9874538566687492]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[0.03716447273197554,1.7380415756115597,0.71338606911949],"aabb_xy":[[0.022062171270957432,1.7229400539804973],[0.05226677419299362,1.7531430972426212]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.45452713844855275,1.0141444944455862,0.71338606911949],"aabb_xy":[[0.4471146829071643,1.0082932840239582],[0.4619395939899412,1.0199957048672141]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.3078791742770875,1.4693044441371703,0.71338606911949],"aabb_xy":[[-0.33005170125373834,1.4471287769810472],[-0.28570664730043666,1.4914801112932934]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.37395518471955647,1.5581071753411364,0.71338606911949],"aabb_xy":[[-0.39153348690850326,1.5405326857670314],[-0.35637688253060956,1.5756816649152414]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[-0.4317689751291125,-0.015708990387599986,0.71338606911949],"aabb_xy":[[-0.5017689715390741,-0.0361469260392817],[-0.3617689787191506,0.004728945264081747]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.07426176237210691,-2.410033056832522,0.71338606911949],"aabb_xy":[[0.06510188342823031,-2.416564274876059],[0.08342164131598351,-2.4035018387889853]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.5113740444026468,-2.3482022693847857,0.71338606911949],"aabb_xy":[[-0.5400233767630629,-2.376847828661861],[-0.48272471204223044,-2.3195567101077095]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.6006157621739519,-0.23274776974884803,0.71338606911949],"aabb_xy":[[-0.6086097507516551,-0.24074784984393835],[-0.5926217735962483,-0.22474768965375766]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[-0.22473010933964616,-0.6091323249493235,0.71338606911949],"aabb_xy":[[-0.28873011101764345,-0.6576497164286377],[-0.16073010766164877,-0.5606149334700092]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[0.013215292309435411,-1.560731834894867,0.71338606911949],"aabb_xy":[[-0.021100984865182526,-1.6107318348680448],[0.04753156948405335,-1.5107318349216894]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.17446039176741845,-0.9387020195394329,0.71338606911949],"aabb_xy":[[-0.24446039389884797,-0.9614639851651283],[-0.10446038963598889,-0.915940053913737]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.5491921492085818,0.10980925038844136,0.71338606911949],"aabb_xy":[[-0.6391921478030518,0.09355866407502035],[-0.4591921506141119,0.12605983670186238]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[-0.3198210245334204,0.3457762157139732,0.71338606911949],"aabb_xy":[[-0.38382102658315237,0.30568173262466525],[-0.2558210224836884,0.3858706988032812]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[-0.5334220498848193,-1.1464400061110822,0.71338606911949],"aabb_xy":[[-0.5884152612219561,-1.201440006449876],[-0.4784288385476826,-1.0914400057722888]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[0.6814711926035952,0.3723062512683062,0.71338606911949],"aabb_xy":[[0.6464711943334751,0.365232123573318],[0.7164711908737149,0.37938037896329435]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.0839513552077854,-2.2661702659404352,0.71338606911949],"aabb_xy":[[-0.12145135531337835,-2.2729924277934157],[-0.04645135510219244,-2.259348104087454]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.3394689647295821,-1.0219687735457081,0.71338606911949],"aabb_xy":[[0.33068773758234593,-1.0307485208342386],[0.3482501918768184,-1.013189026257178]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.07843196334777014,1.0590625988180569,0.71338606911949],"aabb_xy":[[-0.15843196200465615,1.044557739893794],[0.0015680353091158672,1.0735674577423198]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[-0.27538723302746765,-2.2832507002897007,0.71338606911949],"aabb_xy":[[-0.3553872362853106,-2.3632472080816846],[-0.1953872297696247,-2.2032541924977167]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.13981794315933693,-1.9516073085624326,0.71338606911949],"aabb_xy":[[0.10941983206019333,-1.982014210564102],[0.1702160542584805,-1.921200406560763]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7103015929389582,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/654.png","name":"654"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/654.png","name":"654"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1736.png","name":"1736"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1164.png","name":"1164"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9726.png","name":"9726"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2287.png","name":"2287"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":565.7492022990505,"rotation_z_degrees":182.28669839003587,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006265037794291408,-0.016387773633422288,0.01759934336870834]},{"name":"camera_2","offset_m":[-0.014673723450962392,-0.0054873069318693984,-0.013448876411613079]},{"name":"camera_3","offset_m":[-0.018097517887696233,0.01713172799651515,0.008283064119966373]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004059352584867555,0.00012757570659162418,0.0010204213257222505],"end_effector_yaw_offset_degrees":-0.5017222096482121},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014774829825631053,0.0009637515107970519,0.0015877122495606727],"end_effector_yaw_offset_degrees":-0.6406026680232026},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014366379632137064,0.0002171208078345483,0.0006781317985737226],"end_effector_yaw_offset_degrees":0.7188435546480996}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004231671298778168,-0.003862697420418959],"position_m":[0.18116832870122185,-0.13656269742041896,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004270154200486679,0.00022485283286929197],"position_m":[0.26322984579951336,-0.40097514716713073,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011835976495695134,0.0009396623045160105],"position_m":[0.18641640235043047,0.08553966230451601,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005215535109666025,0.0013746403274307248],"position_m":[0.3485784464890334,0.29147464032743076,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ec6a90f78afa165e0cafde8d3b0eea607f33ec70dec0500959f23ee5b4fc61f","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_654/tex_ceiling_textures_2287/tex_floor_textures_9726/tex_table_textures_1736/tex_wall_textures_1164","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5167446289044415372,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5167446289044415372,"visual_seed":5167446289044415372,"scene_id":"lab_003","finished_at":"2026-09-03T21:03:11"} +{"episode_id":"ep_000056","started_at":"2026-09-03T21:03:13","dimensions":{"distractor":{"count":34,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[-0.22534526866120547,-1.089086288859358,0.71338606911949],"aabb_xy":[[-0.3103452670786287,-1.173960584321643],[-0.14034527024378224,-1.004211993397073]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.38166563127022735,-1.8401447424750321,0.71338606911949],"aabb_xy":[[0.3492039303882998,-1.8702775745899345],[0.4141273321521547,-1.8100119103601293]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.3771831379285214,-2.3972196984061847,0.71338606911949],"aabb_xy":[[-0.38327776581663964,-2.4057890929578534],[-0.371088510040403,-2.388650303854516]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[-0.28973043686792144,-0.7789727539085285,0.71338606911949],"aabb_xy":[[-0.30736327246144896,-0.7965956999241514],[-0.2720976012743938,-0.7613498078929054]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.6922984702971735,0.05165649781857651,0.71338606911949],"aabb_xy":[[0.6814579920706585,0.03447021652792769],[0.7031389485236883,0.06884277910922532]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[0.21939635480002506,1.1436864976119896,0.71338606911949],"aabb_xy":[[0.19950531491968482,1.1310306863272928],[0.2392873946803653,1.1563423088966864]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.5869265777409729,-1.1691416008790703,0.71338606911949],"aabb_xy":[[-0.6669265791711001,-1.2486587558916797],[-0.5069265763108457,-1.0896244458664608]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.5596036109638032,-1.9614161969217068,0.71338606911949],"aabb_xy":[[0.5421036107187537,-1.9789159847612734],[0.5771036112088525,-1.9439164090821397]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.21902451856315786,-1.5717150052119322,0.71338606911949],"aabb_xy":[[0.16902451690166304,-1.621713447467635],[0.2690245202246525,-1.5217165629562295]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.08765519422852253,-2.2188580698300133,0.71338606911949],"aabb_xy":[[-0.1426289162648554,-2.273858069394247],[-0.03268147219218964,-2.1638580702657806]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.6162348721831252,-1.0081273184323363,0.71338606911949],"aabb_xy":[[0.5817725247849833,-1.0426212008301585],[0.6506972195812669,-0.9736334360345132]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[-0.2748023747183682,0.6701643824741272,0.71338606911949],"aabb_xy":[[-0.2861641093716543,0.6587959160678392],[-0.263440640065082,0.6815328488804153]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.5341171483724974,1.399808659240736,0.71338606911949],"aabb_xy":[[-0.5472683943437868,1.3748086594840494],[-0.5209659024012081,1.4248086589974225]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[-0.279591716144922,0.36535981273455853,0.71338606911949],"aabb_xy":[[-0.2875852059402041,0.35736168079408287],[-0.27159822634964004,0.3733579446750342]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[0.48740539139202355,0.7519603569180182,0.71338606911949],"aabb_xy":[[0.4274053915454567,0.6951417347249795],[0.5474053912385903,0.8087789791110569]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[-0.5491124852656006,-0.7990196342917442,0.71338606911949],"aabb_xy":[[-0.5588684747747745,-0.8087821683509786],[-0.5393564957564267,-0.7892571002325097]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[0.4385451734397974,-2.3547831285658125,0.71338606911949],"aabb_xy":[[0.42104517318046086,-2.3688746707545856],[0.4560451736991341,-2.3406915863770403]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[0.21361419374165458,1.466880275994996,0.71338606911949],"aabb_xy":[[0.1771183731143758,1.4303963335682384],[0.2501100143689333,1.5033642184217535]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.530151193419641,0.23128788878144846,0.71338606911949],"aabb_xy":[[0.5183830066249836,0.14628788887622687],[0.5419193802142986,0.31628788868667]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[0.17582572374200744,-2.5330986080031233,0.71338606911949],"aabb_xy":[[0.11182572348153662,-2.578107407356051],[0.23982572400247823,-2.488089808650195]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.5802152786973402,-0.02228846468450607,0.71338606911949],"aabb_xy":[[0.5427152785917472,-0.029110626537487194],[0.6177152788029331,-0.015466302831524949]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.6761979802671002,0.5389648208912079,0.71338606911949],"aabb_xy":[[-0.6940670880215558,0.525131912913997],[-0.6583288725126448,0.5527977288684188]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[-0.10302615718458918,-0.6374143393474749,0.71338606911949],"aabb_xy":[[-0.10836373285059377,-0.6624143402766147],[-0.09768858151858463,-0.6124143384183351]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[0.5882706390990384,1.2717849718702992,0.71338606911949],"aabb_xy":[[0.5823041001583027,1.2658238272109348],[0.5942371780397742,1.277746116529663]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[0.6302178812852433,-1.4406757690613663,0.71338606911949],"aabb_xy":[[0.5502178842709953,-1.4608103207347778],[0.7102178782994912,-1.4205412173879552]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[-0.26457353985602955,0.762569404365049,0.71338606911949],"aabb_xy":[[-0.2732875089059639,0.7400694037058606],[-0.25585957080609495,0.785069405024237]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[-0.13815953301703887,-0.8015143986191569,0.71338606911949],"aabb_xy":[[-0.16065595445090297,-0.8240143984259043],[-0.11566311158317477,-0.7790143988124094]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_27","position":[0.14345706482616594,-2.3408618556850755,0.71338606911949],"aabb_xy":[[0.05973483932608345,-2.430861859219771],[0.22717929032624837,-2.250861852150379]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[-0.3370112127595129,0.9871167778518997,0.71338606911949],"aabb_xy":[[-0.3457091750502282,0.9749918035444248],[-0.3283132504687976,0.9992417521593743]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_29","position":[0.6280097576903041,1.8096457366379615,0.71338606911949],"aabb_xy":[[0.6061010755509529,1.7877450698178703],[0.649918439829655,1.8315464034580518]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_30","position":[-0.04683661005745665,-0.07730336882281685,0.71338606911949],"aabb_xy":[[-0.06900913703410749,-0.09947903597894002],[-0.02466408308080581,-0.055127701666693674]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_31","position":[-0.13117851408882975,1.680506937995665,0.71338606911949],"aabb_xy":[[-0.1412602211674032,1.6005069401035503],[-0.12109680701025624,1.7605069358877796]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_32","position":[-0.27786358541900347,1.3566915395575347,0.71338606911949],"aabb_xy":[[-0.28979631978083153,1.3443093867496754],[-0.2659308510571754,1.3690736923653941]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_33","position":[-0.5324760836876749,-1.9108510431036276,0.71338606911949],"aabb_xy":[[-0.5421077199081045,-1.9204883558833366],[-0.5228444474672452,-1.9012137303239187]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7120568704219037,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6683.png","name":"6683"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6683.png","name":"6683"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2675.png","name":"2675"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1936.png","name":"1936"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3517.png","name":"3517"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9475.png","name":"9475"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":605.2473572087351,"rotation_z_degrees":204.35537967366696,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011994933170824678,0.017253128224607683,0.002182134050129396]},{"name":"camera_2","offset_m":[0.006574164002601447,0.0019909831702252002,0.0036092310919075728]},{"name":"camera_3","offset_m":[-0.0018913870111241862,-0.014843993241056248,-0.007099115169299286]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008463646584889119,0.001719449684974257,-0.001181541420677493],"end_effector_yaw_offset_degrees":-0.42967674960696955},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000841676984279081,0.0016185963747076333,0.0013107769474614431],"end_effector_yaw_offset_degrees":-0.6685777549102159},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018603569922861208,-0.0010890038914177997,-0.0005485985673835709],"end_effector_yaw_offset_degrees":0.814554225266144}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003800932741209597,0.003556784654639833],"position_m":[0.1815990672587904,-0.1291432153453602,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027556210528201985,-0.0006699669061327965],"position_m":[0.26474437894717984,-0.4018699669061328,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023436575165393424,0.002313755557319448],"position_m":[0.18525634248346065,0.08691375555731945,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003261493511174619,-0.0010681965767619563],"position_m":[0.3458385064888254,0.2890318034232381,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"34c92e49f585e6fb0e0fe194d5d63758c884eb3314b11dd075ca698d57efc47e","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6683/tex_ceiling_textures_9475/tex_floor_textures_3517/tex_table_textures_2675/tex_wall_textures_1936","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5047503323057492393,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5047503323057492393,"visual_seed":5047503323057492393,"scene_id":"lab_003","finished_at":"2026-09-03T21:05:55"} +{"episode_id":"ep_000057","started_at":"2026-09-03T21:05:58","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.13774740104040195,-2.279243887748473,0.71338606911949],"aabb_xy":[[0.1200717704518036,-2.2969241040278754],[0.15542303162900026,-2.26156367146907]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[0.5888319188650581,-2.4893615650222873,0.71338606911949],"aabb_xy":[[0.5811287281909812,-2.4970709357210255],[0.5965351095391351,-2.481652194323549]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[0.5051713515236866,-1.9816611923815062,0.71338606911949],"aabb_xy":[[0.495539715303257,-1.9912985051612153],[0.5148029877441163,-1.9720238796017975]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[-0.516013247651908,-0.9778948788377657,0.71338606911949],"aabb_xy":[[-0.5760132492948299,-1.02989502812971],[-0.4560132460089862,-0.9258947295458216]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.5548061519141321,0.8593448571122879,0.71338606911949],"aabb_xy":[[0.5177720424860722,0.8249676497785785],[0.5918402613421917,0.8937220644459973]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.4607470069625229,-1.387474608739863,0.71338606911949],"aabb_xy":[[-0.4982470070681158,-1.3942967705928442],[-0.4232470068569299,-1.380652446886882]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[0.5760643850761575,-1.2852868423227037,0.71338606911949],"aabb_xy":[[0.564495404329221,-1.3102868424396357],[0.5876333658230941,-1.2602868422057723]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[0.41020825949229245,1.229939344068542,0.71338606911949],"aabb_xy":[[0.3602082582084524,1.1799604896779197],[0.46020826077613236,1.2799181984591639]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[-0.3715340995677724,-1.2148679409904657,0.71338606911949],"aabb_xy":[[-0.40268101841135556,-1.2848679396772729],[-0.34038718072418933,-1.1448679423036585]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.5938726246612459,-2.219822243367953,0.71338606911949],"aabb_xy":[[-0.6438726256117786,-2.251371390371474],[-0.543872623710713,-2.1882730963644312]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[-0.45009858968764904,0.7877781293650656,0.71338606911949],"aabb_xy":[[-0.48759858826326985,0.7750418337015076],[-0.41259859111202823,0.8005144250286235]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.13554033257847653,0.6630201742352932,0.71338606911949],"aabb_xy":[[-0.18554033215481125,0.6130395952831873],[-0.08554033300214181,0.7130007531873992]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.436695246626372,-1.6306920219940622,0.71338606911949],"aabb_xy":[[-0.44202776128098503,-1.6360163502392977],[-0.43136273197175906,-1.6253676937488266]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.5623375518618904,0.11950892639029576,0.71338606911949],"aabb_xy":[[-0.5672368441684538,0.09183200708772697],[-0.5574382595553268,0.14718584569286453]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[-0.37984485395190665,1.478519282753226,0.71338606911949],"aabb_xy":[[-0.3980506776131543,1.4674938821712344],[-0.36163903029065897,1.4895446833352177]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.370400858452134,-0.6750855533883653,0.71338606911949],"aabb_xy":[[-0.4203796669624499,-0.7250855533940841],[-0.3204220499418181,-0.6250855533826465]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.4569702560398192,-0.3811597006703842,0.71338606911949],"aabb_xy":[[-0.546970252540691,-0.4270713430888423],[-0.36697025953894746,-0.33524805825192583]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.3719194660504619,-2.5307407516244877,0.71338606911949],"aabb_xy":[[0.3169194668738724,-2.585730426399445],[0.4269194652270514,-2.4757510768495297]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.2508591706218266,1.3939828921516773,0.71338606911949],"aabb_xy":[[0.23335917036249,1.3798913499629049],[0.26835917088116323,1.40807443434045]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.07013102306693586,1.2745229408751837,0.71338606911949],"aabb_xy":[[0.05226191531248038,1.2606900328979727],[0.08800013082139137,1.2883558488523947]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[0.40829009090548585,0.6146666539930736,0.71338606911949],"aabb_xy":[[0.3669855478417498,0.5506666544249565],[0.4495946339692218,0.6786666535611907]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[0.6721256227183818,1.294668579948706,0.71338606911949],"aabb_xy":[[0.6396639218364543,1.2645357478338033],[0.7045873236003092,1.3248014120636085]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[0.13456198741447145,-2.4390090121709203,0.71338606911949],"aabb_xy":[[0.08456697645501944,-2.489009011206512],[0.1845569983739235,-2.3890090131353285]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.07749969248328514,-1.9796121633977029,0.71338606911949],"aabb_xy":[[-0.1674996948173042,-2.0570945179828155],[0.012500309850733915,-1.9021298088125902]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[0.6064677989901293,-0.4120162922919888,0.71338606911949],"aabb_xy":[[0.5264678019758813,-0.43215084396540004],[0.6864677960043772,-0.3918817406185775]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[0.3890756676059932,1.0527213288407404,0.71338606911949],"aabb_xy":[[0.32507566538558624,1.0083482447154521],[0.4530756698264003,1.0970944129660287]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[-0.29878843585671727,-1.544632685333709,0.71338606911949],"aabb_xy":[[-0.3400372468866319,-1.5996326848459261],[-0.2575396248268024,-1.4896326858214912]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[-0.37691115715833423,-2.4356219365557967,0.71338606911949],"aabb_xy":[[-0.3808716409280686,-2.4432898011413173],[-0.3729506733885999,-2.427954071970276]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_28","position":[0.5621217895599031,-0.9837238334800629,0.71338606911949],"aabb_xy":[[0.5586811133198459,-0.9875852664544275],[0.5655624657999603,-0.9798624005056985]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_29","position":[0.044090762140019946,0.9452475361508932,0.71338606911949],"aabb_xy":[[-0.03590306143853826,0.8652475335580517],[0.12408458571857818,1.0252475387437348]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[-0.3662866727454267,0.5008425126936911,0.71338606911949],"aabb_xy":[[-0.40128667409690844,0.4804827767368702],[-0.33128667139394496,0.5212022486505118]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7107187958662052,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8416.png","name":"8416"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8416.png","name":"8416"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9102.png","name":"9102"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9563.png","name":"9563"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6973.png","name":"6973"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6111.png","name":"6111"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":519.2463781196899,"rotation_z_degrees":358.59957022786364,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013658505522299458,0.009771091467567133,-0.009928837217249274]},{"name":"camera_2","offset_m":[0.010393536181498894,0.01310232095413116,0.003385484606172825]},{"name":"camera_3","offset_m":[0.0017947275853183002,0.0014993069178647692,0.004250775304833594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013866650331813431,0.0008300013219268584,-0.001167269552176603],"end_effector_yaw_offset_degrees":0.7898975826259931},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001046593678024264,0.0014929978503301971,-0.0012182950206429816],"end_effector_yaw_offset_degrees":-0.7079341762607179},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011119012265842505,0.00023311341640417076,0.0007985003157062443],"end_effector_yaw_offset_degrees":0.4539010141089288}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0002161570562373401,0.00046723028523762075],"position_m":[0.18518384294376267,-0.1322327697147624,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004799970040674788,-0.0012858683491771385],"position_m":[0.26270002995932523,-0.40248586834917716,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-3.1732883422421615e-05,-0.0012145410773407605],"position_m":[0.18756826711657756,0.08338545892265924,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012948004611209596,-0.003596608990287703],"position_m":[0.34780519953887906,0.28650339100971234,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e2b1f9bf876156baf42dba0a1c097479675664ce693676fb3eceb71bf7caada3","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8416/tex_ceiling_textures_6111/tex_floor_textures_6973/tex_table_textures_9102/tex_wall_textures_9563","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2397490581639763899,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2397490581639763899,"visual_seed":2397490581639763899,"scene_id":"lab_003","finished_at":"2026-09-03T21:08:39"} +{"episode_id":"ep_000058","started_at":"2026-09-03T21:08:43","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[0.3337510715543135,-2.0763312148818978,0.71338606911949],"aabb_xy":[[0.2737510713029123,-2.130612539918362],[0.39375107180571467,-2.0220498898454324]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[-0.3504935901641703,-0.06953009335359717,0.71338606911949],"aabb_xy":[[-0.36106106982226926,-0.08007512346660571],[-0.33992611050607124,-0.058985063240588595]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.010719067037975205,-2.2681888702265307,0.71338606911949],"aabb_xy":[[-0.04926475986317624,-2.3067346412827194],[0.027826625787225827,-2.229643099170342]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[0.6548766055108108,-0.06479964006602268,0.71338606911949],"aabb_xy":[[0.6173766056937773,-0.06943785137716454],[0.6923766053278444,-0.060161428754880814]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.3151086342151117,-0.6255057983021215,0.71338606911949],"aabb_xy":[[0.2783140010902054,-0.6624116733987039],[0.3519032673400179,-0.5885999232055393]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[-0.14704548526796712,-2.2297766171614066,0.71338606911949],"aabb_xy":[[-0.18922989942879787,-2.2937766174386183],[-0.10486107110713638,-2.165776616884196]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.5214680159351658,1.10516884023968,0.71338606911949],"aabb_xy":[[-0.5589680145107866,1.0924325445761218],[-0.48396801735954503,1.1179051359032377]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.4783592886424841,-0.6585035676259672,0.71338606911949],"aabb_xy":[[0.450514251861877,-0.6892880663642789],[0.5062043254230912,-0.6277190688876555]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[0.6511422840469749,0.7716182399046279,0.71338606911949],"aabb_xy":[[0.6461862638620938,0.7491182397025063],[0.6560983042318561,0.7941182401067497]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[-0.6501486650384448,1.2779680968989293,0.71338606911949],"aabb_xy":[[-0.6751486643104071,1.261622733302767],[-0.6251486657664825,1.2943134604950917]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[-0.45910486410931817,0.44221196842451826,0.71338606911949],"aabb_xy":[[-0.46925787966346744,0.4061424268517778],[-0.4489518485551687,0.4782815099972585]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[0.04229548896811286,0.7367614129036584,0.71338606911949],"aabb_xy":[[0.0367138173339841,0.7242614130858829],[0.04787716060224162,0.7492614127214339]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.4560072008952337,1.6050425074217771,0.71338606911949],"aabb_xy":[[-0.4686339881824301,1.5954964337202042],[-0.44338041360803737,1.61458858112335]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.23173588025084868,1.4901130010866255,0.71338606911949],"aabb_xy":[[-0.2567358794164818,1.483160755381269],[-0.20673588108521557,1.497065246791982]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.5906803563148337,-1.4384748609756877,0.71338606911949],"aabb_xy":[[-0.6038316022861232,-1.4634748607323742],[-0.5775291103435445,-1.4134748612190011]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.3297545056355575,-1.3508668960360901,0.71338606911949],"aabb_xy":[[-0.33983621271413095,-1.4308668939282045],[-0.319672798556984,-1.2708668981439752]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.540048374488473,-2.394932887077114,0.71338606911949],"aabb_xy":[[-0.5700400372223433,-2.424932886413914],[-0.5100567117546027,-2.364932887740313]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[-0.5182458209507608,-1.5254591551993024,0.71338606911949],"aabb_xy":[[-0.5407458209609091,-1.5395553748389055],[-0.4957458209406125,-1.511362935559699]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[0.4252716241719974,-0.8286127019030849,0.71338606911949],"aabb_xy":[[0.41611174522812083,-0.835143919946622],[0.43443150311587403,-0.8220814838595478]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[0.05115978131078358,-2.4716117543795324,0.71338606911949],"aabb_xy":[[0.001159780291648316,-2.5080779701173603],[0.10115978232991887,-2.4351455386417045]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7138869630301342,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1322.png","name":"1322"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1322.png","name":"1322"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7006.png","name":"7006"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3220.png","name":"3220"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2394.png","name":"2394"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7229.png","name":"7229"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":593.292442195984,"rotation_z_degrees":325.2284104538661,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01977391613720805,-0.011223104998021967,-0.018677061804154148]},{"name":"camera_2","offset_m":[0.0013534397064035586,0.01039882773022852,0.006487188384868482]},{"name":"camera_3","offset_m":[-0.001673435841344554,0.016096691659393165,-0.005857115530206479]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017314579559185145,-0.0009285461299621245,0.00017668252260853506],"end_effector_yaw_offset_degrees":0.8115299233744331},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011069889708741846,0.001343256068555451,0.00013349669461535383],"end_effector_yaw_offset_degrees":-0.7046769031859059},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011864957929412054,-3.3441815702643825e-05,0.0006428664535636452],"end_effector_yaw_offset_degrees":-0.19020904678647943}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029414621810765974,0.0037010122599122923],"position_m":[0.1824585378189234,-0.12899898774008772,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001395036413318145,-0.0019224149571946325],"position_m":[0.2661049635866819,-0.40312241495719464,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001155237895282571,-0.0014638730261366485],"position_m":[0.18875523789528256,0.08313612697386334,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010335223757160852,-0.002972920395499282],"position_m":[0.34806647762428394,0.28712707960450073,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a7607468445982f5363b06b50b3723832dd8244780799bbb1317e9afac83a3d5","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1322/tex_ceiling_textures_7229/tex_floor_textures_2394/tex_table_textures_7006/tex_wall_textures_3220","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2446891640654432796,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2446891640654432796,"visual_seed":2446891640654432796,"scene_id":"lab_003","finished_at":"2026-09-03T21:11:45"} +{"episode_id":"ep_000059","started_at":"2026-09-03T21:11:48","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[-0.002259437634816064,1.56252040681029,0.71338606911949],"aabb_xy":[[-0.06625943801234968,1.5127751399594775],[0.06174056274271755,1.612265673661102]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.3361517460141618,-2.4513459465326206,0.71338606911949],"aabb_xy":[[-0.39114399664967286,-2.506345948275934],[-0.2811594953786509,-2.3963459447893083]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.06733401063601752,-1.752064101025853,0.71338606911949],"aabb_xy":[[0.05556582384136001,-1.8370641009310746],[0.07910219743067505,-1.6670641011206315]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.17767187826508168,-0.9893100174797094,0.71338606911949],"aabb_xy":[[0.12757441428400806,-1.0533100179895212],[0.2277693422461553,-0.9253100169698977]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[-0.37844856997599147,0.5081156393230932,0.71338606911949],"aabb_xy":[[-0.4621707954760739,0.4181156357883973],[-0.294726344475909,0.5981156428577892]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.2279939491288544,-0.6461919532287757,0.71338606911949],"aabb_xy":[[-0.2512757913269857,-0.7311919545260037],[-0.20471210693072303,-0.5611919519315476]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.464824986840193,-0.3071755689078248,0.71338606911949],"aabb_xy":[[0.45441342815970925,-0.31252130224372326],[0.4752365455206767,-0.3018298355719263]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.21702592889680183,-1.4621733726001798,0.71338606911949],"aabb_xy":[[-0.23258169830706713,-1.477723805844587],[-0.2014701594865366,-1.4466229393557726]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.33888826017026896,-1.3881201810046746,0.71338606911949],"aabb_xy":[[0.32138826103590173,-1.3979998080422622],[0.3563882593046361,-1.3782405539670866]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.4409987395917405,-1.258575393405063,0.71338606911949],"aabb_xy":[[0.4361551448305105,-1.263427045884047],[0.44584233435297044,-1.2537237409260789]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[-0.5535290537106918,-1.9449082723219098,0.71338606911949],"aabb_xy":[[-0.5738133564340904,-1.9651908974646184],[-0.5332447509872928,-1.9246256471792007]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.10837303008502652,0.777729810105614,0.71338606911949],"aabb_xy":[[-0.18837302748861992,0.6977372389074312],[-0.028373032681433093,0.8577223813037969]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.0041865850616535916,-1.7802492917931922,0.71338606911949],"aabb_xy":[[-0.021196682351704244,-1.796383780291466],[0.01282351222839706,-1.764114803294918]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[-0.28455257588548577,1.5437176660424465,0.71338606911949],"aabb_xy":[[-0.292176843975664,1.536084442505903],[-0.2769283077953075,1.5513508895789905]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.11529988407970193,-1.0682204432680242,0.71338606911949],"aabb_xy":[[-0.13047205336133527,-1.0833893001962276],[-0.10012771479806859,-1.0530515863398209]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[0.6351449196673713,-2.1973933429148853,0.71338606911949],"aabb_xy":[[0.5775144507801003,-2.257393341841596],[0.692775388554642,-2.1373933439881747]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.43200027257548623,1.1500671422965119,0.71338606911949],"aabb_xy":[[-0.4446029717125627,1.1374717460716464],[-0.4193975734384098,1.1626625385213774]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.5653599498742079,0.7616630360908156,0.71338606911949],"aabb_xy":[[0.5566459808242733,0.7391630354316272],[0.5740739189241423,0.7841630367500037]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.4900274867626988,-2.268114495042378,0.71338606911949],"aabb_xy":[[-0.49536000141731185,-2.2734388232876137],[-0.4846949721080859,-2.262790166797142]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.6732999816708104,-2.402300914708663,0.71338606911949],"aabb_xy":[[-0.682102036979783,-2.4101122408635915],[-0.6644979263618376,-2.3944895885537334]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.21716317732773582,-1.5610208339151783,0.71338606911949],"aabb_xy":[[0.17966317715586383,-1.5937215692980857],[0.2546631774996077,-1.5283200985322714]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[-0.06053883019316364,1.720711031724964,0.71338606911949],"aabb_xy":[[-0.06465478030523629,1.7165954766921183],[-0.05642288008109096,1.7248265867578094]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.17006677654615598,-0.0017005184155403086,0.71338606911949],"aabb_xy":[[-0.20569593244611573,-0.03733318517239326],[-0.13443762064619624,0.03393214834131264]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[-0.08867189779052875,-0.7206053089973068,0.71338606911949],"aabb_xy":[[-0.11250811543113384,-0.8106053098057935],[-0.0648356801499237,-0.6306053081888204]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.709098755298511,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4240.png","name":"4240"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4240.png","name":"4240"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7337.png","name":"7337"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4128.png","name":"4128"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3613.png","name":"3613"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5960.png","name":"5960"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":556.1305480988507,"rotation_z_degrees":332.7357151847162,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01902372101466601,-0.011360451931448723,0.015459529648655098]},{"name":"camera_2","offset_m":[0.0025112891969652114,0.0014935720118059367,-0.0077499481261785914]},{"name":"camera_3","offset_m":[-0.0009310350053420083,0.005718192546784528,-0.0013565239685351081]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001693873846717958,0.0002745476528313402,0.0013215629240663526],"end_effector_yaw_offset_degrees":0.9304268925654422},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001320832806449783,-0.0006767151223737349,0.0008578849167724298],"end_effector_yaw_offset_degrees":0.27578805975995935},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001904042845149639,0.0017694123442412498,-0.0002590578819362927],"end_effector_yaw_offset_degrees":0.055225519753439256}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001621514863053607,-0.0018076202825814424],"position_m":[0.1837784851369464,-0.13450762028258145,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032084190686657976,0.003924638960839363],"position_m":[0.2642915809313342,-0.3972753610391606,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0040704164018109295,0.001712104586690454],"position_m":[0.19167041640181093,0.08631210458669045,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024371074434178406,-0.0019634599930952144],"position_m":[0.3515371074434179,0.2881365400069048,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7193706ba484db68580e7c5763f0cdb05b8142fade688e535dad4f0c65862140","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4240/tex_ceiling_textures_5960/tex_floor_textures_3613/tex_table_textures_7337/tex_wall_textures_4128","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2523355324290113084,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2523355324290113084,"visual_seed":2523355324290113084,"scene_id":"lab_003","finished_at":"2026-09-03T21:14:28"} +{"episode_id":"ep_000060","started_at":"2026-09-03T21:14:31","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.5814632234042694,0.07133240432428867,0.71338606911949],"aabb_xy":[[0.5671287982781059,0.05927218876974982],[0.5957976485304328,0.08339261987882751]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.11599232496420897,1.5591288063335829,0.71338606911949],"aabb_xy":[[0.03599232353408177,1.4796116513209732],[0.19599232639433617,1.6386459613461921]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.31865336918275544,-1.05567129605288,0.71338606911949],"aabb_xy":[[-0.32355266148931894,-1.0833482153554486],[-0.31375407687619195,-1.027994376750311]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.3808690529969372,-0.5916135046794253,0.71338606911949],"aabb_xy":[[0.32586905479519235,-0.6321354713058629],[0.435869051198682,-0.5510915380529877]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.10063274623108631,-1.4790196166901495,0.71338606911949],"aabb_xy":[[-0.11813274536545346,-1.488899243727737],[-0.08313274709671911,-1.4691399896525614]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[0.3142345992614046,0.7023665390201144,0.71338606911949],"aabb_xy":[[0.264257182396151,0.6523665375308657],[0.36421201612665816,0.7523665405093628]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.39556718141188907,-1.161023641700167,0.71338606911949],"aabb_xy":[[0.30556717907787,-1.2385059962852796],[0.4855671837459081,-1.0835412871150543]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.15061299279025198,-0.905557977752526,0.71338606911949],"aabb_xy":[[0.12064543588042631,-0.9355579780504117],[0.18058054970007764,-0.8755579774546403]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.5605025976779743,-1.0727847201510883,0.71338606911949],"aabb_xy":[[-0.5990482905031752,-1.111330491207277],[-0.5219569048527731,-1.0342389490948996]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[0.06592599276218303,1.2823770669455214,0.71338606911949],"aabb_xy":[[0.01594304257470369,1.2323770673029608],[0.11590894294966235,1.3323770665880816]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.6324902650448976,-0.5495991069437585,0.71338606911949],"aabb_xy":[[0.6173273920679606,-0.5647645642388773],[0.6476531380218348,-0.5344336496486398]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[0.5608491503446127,0.3765698404117619,0.71338606911949],"aabb_xy":[[0.523815040916553,0.34219263307805237],[0.5978832597726724,0.4109470477454713]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.1964534860080892,-1.1296064232240648,0.71338606911949],"aabb_xy":[[-0.24645348558442393,-1.1795870021761707],[-0.1464534864317545,-1.0796258442719588]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[-0.34590274918442654,0.7828890084747644,0.71338606911949],"aabb_xy":[[-0.3826973823093328,0.7459831333781821],[-0.30910811605952027,0.8197948835713467]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[-0.42996033438566217,1.3460468321824304,0.71338606911949],"aabb_xy":[[-0.46746033467783693,1.342005356781827],[-0.3924603340934873,1.350088307583034]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[-0.43823835562639507,0.4433992460976244,0.71338606911949],"aabb_xy":[[-0.4882383566455304,0.40693303035979644],[-0.38823835460725986,0.4798654618354523]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.2515152303328242,1.2072775839896894,0.71338606911949],"aabb_xy":[[-0.2765152298845627,1.1971351001245547],[-0.2265152307810857,1.2174200678548242]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.18816885461388444,0.680280396994366,0.71338606911949],"aabb_xy":[[-0.2431611052493954,0.6252803952510532],[-0.1331766039783735,0.7352803987376787]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[0.08693759326427852,0.7333328487440647,0.71338606911949],"aabb_xy":[[0.03194211544361912,0.6783328473101576],[0.1419330710849379,0.7883328501779715]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[-0.1506326260726627,-1.7319031501710083,0.71338606911949],"aabb_xy":[[-0.16407915270670603,-1.7453730018240992],[-0.13718609943861937,-1.718433298517917]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[0.3139915715800363,0.9637889688291543,0.71338606911949],"aabb_xy":[[0.2802160123893433,0.9497504736159892],[0.34776713077072924,0.9778274640423192]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[0.37334783836322294,-1.9791551580134237,0.71338606911949],"aabb_xy":[[0.30934783798568927,-2.0289004248642355],[0.4373478387407565,-1.9294098911626112]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[-0.17173330106372753,-1.327513927136359,0.71338606911949],"aabb_xy":[[-0.261420377371843,-1.4175139273908095],[-0.08204622475561207,-1.2375139268819084]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.12989789948339503,-2.3147843513470754,0.71338606911949],"aabb_xy":[[-0.17988213519157226,-2.364784350160571],[-0.0799136637752178,-2.26478435253358]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.3141540785817514,-2.3406152846388717,0.71338606911949],"aabb_xy":[[-0.33915407851426926,-2.3474979528597957],[-0.2891540786492335,-2.3337326164179486]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_25","position":[-0.428939974997461,1.6780201682218618,0.71338606911949],"aabb_xy":[[-0.4600868938410441,1.6080201695350547],[-0.3977930561538779,1.748020166908669]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7154270851587182,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2232.png","name":"2232"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2232.png","name":"2232"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3193.png","name":"3193"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5611.png","name":"5611"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/328.png","name":"328"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6902.png","name":"6902"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":729.8958435703836,"rotation_z_degrees":329.64280096477904,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[5.409399280949245e-05,-0.01868952628514792,0.0037576082743156526]},{"name":"camera_2","offset_m":[0.0039726316268463464,-0.011215805502721592,-0.015053633782252964]},{"name":"camera_3","offset_m":[0.007426187494738081,0.008839711634484534,0.0055125538162167885]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008115308644358276,0.0012836341003188622,0.0005476571030718024],"end_effector_yaw_offset_degrees":-0.8288833536647466},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015331145866162542,-0.0009817111467923718,8.879523568977804e-05],"end_effector_yaw_offset_degrees":-0.10467744333216067},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001238916546085305,0.00176222846079127,0.0019377883333044485],"end_effector_yaw_offset_degrees":-0.5268812397515326}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004864717990588066,0.004868421070326771],"position_m":[0.18053528200941193,-0.12783157892967323,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00020889745655993785,-0.002305196310392035],"position_m":[0.26770889745655996,-0.40350519631039206,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004552842232992095,-0.001612327864920271],"position_m":[0.1921528422329921,0.08298767213507972,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036885823070176753,-0.0016454687161823588],"position_m":[0.3527885823070177,0.28845453128381765,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8961ed753f534f0a301e7f7adceb91902d6941e1e5f16718193700d1dc672790","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0060.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2232/tex_ceiling_textures_6902/tex_floor_textures_328/tex_table_textures_3193/tex_wall_textures_5611","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6166571900337869233,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6166571900337869233,"visual_seed":6166571900337869233,"scene_id":"lab_003","finished_at":"2026-09-03T21:17:16"} +{"episode_id":"ep_000061","started_at":"2026-09-03T21:17:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.27062648703770176,1.2691608607330571,0.71338606911949],"aabb_xy":[[0.2652939723830888,1.2638365324878214],[0.2759590016923148,1.2744851889782924]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.22971520507506304,-1.6447943211292717,0.71338606911949],"aabb_xy":[[-0.25221162650892714,-1.6672943209360194],[-0.20721878364119894,-1.6222943213225245]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[-0.16353596100625967,1.2332403512508434,0.71338606911949],"aabb_xy":[[-0.168171076158493,1.2293730161736944],[-0.15890084585402622,1.237107686327992]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.03352863971196718,-1.408931315345708,0.71338606911949],"aabb_xy":[[-0.04230986685920341,-1.4177110626342382],[-0.02474741256473096,-1.400151568057178]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.4360385263947737,0.7387677833882713,0.71338606911949],"aabb_xy":[[0.4048916075511906,0.6687677847014641],[0.4671854452383568,0.8087677820750785]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.042428418550171876,0.7383964601370616,0.71338606911949],"aabb_xy":[[-0.09742841675191671,0.6978744935106239],[0.012571579651572953,0.7789184267634991]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.5610965994165509,1.3543198685610824,0.71338606911949],"aabb_xy":[[0.5556386537795308,1.2743198652534233],[0.566554545053571,1.4343198718687415]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.33280239071319434,0.7558047348861678,0.71338606911949],"aabb_xy":[[-0.3943931499371872,0.691804736777121],[-0.2712116314892016,0.8198047329952147]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[-0.5560205635728106,1.2285843891882067,0.71338606911949],"aabb_xy":[[-0.5640145521505139,1.220584309093116],[-0.5480265749951071,1.2365844692832968]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.5878899352430942,-0.3555477248550196,0.71338606911949],"aabb_xy":[[-0.6228899344359122,-0.3665147708526822],[-0.5528899360502757,-0.34458067885735694]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[-0.06698404308823291,0.1837722312662664,0.71338606911949],"aabb_xy":[[-0.07348567959623753,0.17400440923995664],[-0.0604824065802283,0.1935400532925762]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[-0.3207692909430235,0.1076691198773867,0.71338606911949],"aabb_xy":[[-0.4107692876786337,0.054485656560092174],[-0.23076929420741327,0.1608525831946812]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[-0.12886019702253548,-1.2862865764408224,0.71338606911949],"aabb_xy":[[-0.16636019737076324,-1.2980779720219058],[-0.09136019667430773,-1.2744951808597387]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[-0.34459106590180044,1.5267023505513184,0.71338606911949],"aabb_xy":[[-0.42459106915964334,1.4467058427593344],[-0.26459106264395743,1.6066988583433024]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.16591151972060503,1.4753102240866913,0.71338606911949],"aabb_xy":[[0.1059115188597922,1.4238837940802045],[0.2259115205814178,1.5267366540931773]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[0.07067503440863909,-1.1438161360438728,0.71338606911949],"aabb_xy":[[0.03567503527868343,-1.1495613571195369],[0.10567503353859475,-1.1380709149682087]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[-0.47828961954713056,-0.6774350598811607,0.71338606911949],"aabb_xy":[[-0.488371326625704,-0.7574350577732752],[-0.46820791246855703,-0.597435061989046]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.09171290392155751,1.2451154170388596,0.71338606911949],"aabb_xy":[[0.02771290157875594,1.200174565794727],[0.15571290626435905,1.290056268282992]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[-0.1788934658138449,-1.0795331349039274,0.71338606911949],"aabb_xy":[[-0.2113551666957723,-1.1096659670188296],[-0.1464317649319174,-1.0494003027890244]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[0.4613238922015206,-1.0964731578847837,0.71338606911949],"aabb_xy":[[0.4446467562084251,-1.113173081858714],[0.4780010281946161,-1.0797732339108534]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.5377777185175145,0.1492019260142392,0.71338606911949],"aabb_xy":[[-0.6017734159126111,0.08520192771353052],[-0.47378202112241796,0.2132019243149479]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[-0.2612765639185672,-0.23784969691682178,0.71338606911949],"aabb_xy":[[-0.3112765655800619,-0.28784813917252444],[-0.2112765622570724,-0.18785125466111904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7143996334147987,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8445.png","name":"8445"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8445.png","name":"8445"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2879.png","name":"2879"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8872.png","name":"8872"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8892.png","name":"8892"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6071.png","name":"6071"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":807.5706596426919,"rotation_z_degrees":166.60551395635397,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015281605837100906,0.007754365166763852,-0.009751469003497673]},{"name":"camera_2","offset_m":[-0.0003611187976792149,-0.010951610750672218,-2.717434203200475e-06]},{"name":"camera_3","offset_m":[-0.011377606740283364,-0.012214002631794282,0.011794161036154518]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-2.1709920047965296e-05,0.00039714640692290913,0.001417661545837575],"end_effector_yaw_offset_degrees":-0.9480674044308437},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006321876770128852,3.376458879786413e-05,-0.001056297599835217],"end_effector_yaw_offset_degrees":0.06966430204415719},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014032223595509172,-0.0013410849641263853,-9.600859041105627e-05],"end_effector_yaw_offset_degrees":0.065452789281502}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001081421866790556,0.002426715114730204],"position_m":[0.18431857813320945,-0.13027328488526982,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003667468294677482,-0.0002484603436739997],"position_m":[0.26786674682946776,-0.401448460343674,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00015016469739721934,0.0033964591863791275],"position_m":[0.18775016469739722,0.08799645918637912,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003538925889279729,-0.000379251127190677],"position_m":[0.35263892588927975,0.28972074887280935,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"007d9f534548d5e48bf46b2b38ea8c257c0633451cd366c4d208cecf6d07b959","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8445/tex_ceiling_textures_6071/tex_floor_textures_8892/tex_table_textures_2879/tex_wall_textures_8872","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4890752653878211300,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4890752653878211300,"visual_seed":4890752653878211300,"scene_id":"lab_003","finished_at":"2026-09-03T21:20:07"} +{"episode_id":"ep_000062","started_at":"2026-09-03T21:20:11","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.4989989333127798,0.05542905864738623,0.71338606911949],"aabb_xy":[[-0.5114662914225154,0.04296373401406273],[-0.4865315752030442,0.06789438328070974]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[-0.006863428001791294,-2.0514176252140977,0.71338606911949],"aabb_xy":[[-0.019490215288987645,-2.06096369891567],[0.005763359285405058,-2.0418715515125245]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[-0.03216600861014052,0.8818438572446943,0.71338606911949],"aabb_xy":[[-0.054679700433597704,0.8118438566436866],[-0.009652316786683317,0.9518438578457017]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[-0.3301267546647885,0.9563453513356253,0.71338606911949],"aabb_xy":[[-0.3951267528207076,0.9300491067857131],[-0.26512675650886947,0.9826415958855375]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[0.663399905690987,0.9526499448905636,0.71338606911949],"aabb_xy":[[0.6525482994421113,0.9417906541629126],[0.6742515119398625,0.9635092356182147]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[0.4981315481100943,-2.3408589193607274,0.71338606911949],"aabb_xy":[[0.4181315459473319,-2.420814102986871],[0.5781315502728568,-2.260903735734584]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[-0.3588749639368267,0.4001157415425083,0.71338606911949],"aabb_xy":[[-0.36518706347316515,0.3943488022892894],[-0.3525628644004883,0.40588268079572704]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.5252734227533938,-0.19648690379698808,0.71338606911949],"aabb_xy":[[-0.5702660094718442,-0.24148690307143683],[-0.4802808360349434,-0.15148690452253932]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[0.4354480059690644,1.224625394302108,0.71338606911949],"aabb_xy":[[0.3853505419879908,1.1606253937922961],[0.48554546995013803,1.2886253948119197]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.005481149774156369,-0.7611972043057726,0.71338606911949],"aabb_xy":[[-0.027945919745561487,-0.7836972051846333],[0.01698362019724875,-0.7386972034269123]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[-0.016390597029308673,0.7440600463011533,0.71338606911949],"aabb_xy":[[-0.05389059782130412,0.7376922053429633],[0.021109403762686774,0.7504278872593435]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.27803910297367385,-0.5801838361728717,0.71338606911949],"aabb_xy":[[0.24118855503668624,-0.6176838369959055],[0.31488965091066146,-0.542683835349838]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.4776691058678342,0.1808967310092875,0.71338606911949],"aabb_xy":[[0.4432067584696923,0.14640284861146477],[0.5121314532659759,0.21539061340711016]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.09208466700675288,-0.9039152609033805,0.71338606911949],"aabb_xy":[[0.04931796012733268,-0.967915264325183],[0.13485137388617308,-0.8399152574815781]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.3022399465329766,-2.23831490078,0.71338606911949],"aabb_xy":[[0.29419658660702136,-2.3233149018753667],[0.3102833064589317,-2.153314899684634]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.10534001902524193,-2.191531597309636,0.71338606911949],"aabb_xy":[[-0.16934001819501188,-2.2382982844285984],[-0.041340019855471984,-2.1447649101906734]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.33675197521969813,-1.576786232143182,0.71338606911949],"aabb_xy":[[0.286869278342002,-1.6267862313894565],[0.38663467209739444,-1.526786232896907]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.3289836217119338,-1.2624536055844418,0.71338606911949],"aabb_xy":[[-0.3371981668276177,-1.2711301958820829],[-0.32076907659624976,-1.2537770152868002]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.1381181115542841,-1.1085640744120109,0.71338606911949],"aabb_xy":[[0.12061811130923474,-1.1260638622515775],[0.1556181117993335,-1.0910642865724438]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.011265401632053806,1.2290155078311193,0.71338606911949],"aabb_xy":[[-0.028843703821000655,1.2114410182570141],[0.00631290055689304,1.2465899974052241]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.2766603546913743,-1.4540310547224988,0.71338606911949],"aabb_xy":[[-0.2991567761252384,-1.4765310545292463],[-0.2541639332575102,-1.4315310549157514]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[-0.5364337394405202,-1.1608788332595106,0.71338606911949],"aabb_xy":[[-0.578618153601351,-1.2248788335367218],[-0.49424932527968957,-1.0968788329822994]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[0.25688707851865944,-2.535468071512485,0.71338606911949],"aabb_xy":[[0.22188708024853948,-2.5425421992074733],[0.2918870767887793,-2.528393943817497]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[0.69281644525481,0.4297641239908705,0.71338606911949],"aabb_xy":[[0.6769319519894847,0.41541118369204644],[0.708700938520135,0.44411706428969455]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7157858731897749,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6838.png","name":"6838"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6838.png","name":"6838"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9166.png","name":"9166"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9039.png","name":"9039"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9360.png","name":"9360"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4483.png","name":"4483"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":696.6617653074679,"rotation_z_degrees":47.846168631784074,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015465439366429471,-0.01616991700212888,0.01793375475115622]},{"name":"camera_2","offset_m":[0.01799234243606408,-0.006638989379562732,-0.006811180246585714]},{"name":"camera_3","offset_m":[-0.01151116881063746,-0.018976866718031015,0.006732031998732978]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013818501905572015,-0.0008745834811630675,0.0018020551003235805],"end_effector_yaw_offset_degrees":0.43568488693733975},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016413528364078082,-0.00019147010731055585,0.0003588428766689378],"end_effector_yaw_offset_degrees":-0.6413366100861619},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014666822450045717,-0.0015261758030244593,0.0009732847079201804],"end_effector_yaw_offset_degrees":0.31028176322106726}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008578148559210217,-0.003072123753181152],"position_m":[0.18625781485592102,-0.13577212375318115,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032673266742313323,0.0015664490691818652],"position_m":[0.27076732667423137,-0.39963355093081815,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019340107838799426,-0.0032106116012703923],"position_m":[0.18953401078387994,0.0813893883987296,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029395440191745292,-0.0010941381562731192],"position_m":[0.3461604559808255,0.2890058618437269,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d3b5b2a30b965cc44c8ab741ff7b17624aca51fd50c8a1329109ed35bf740061","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6838/tex_ceiling_textures_4483/tex_floor_textures_9360/tex_table_textures_9166/tex_wall_textures_9039","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8941036090273429293,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8941036090273429293,"visual_seed":8941036090273429293,"scene_id":"lab_003","finished_at":"2026-09-03T21:22:49"} +{"episode_id":"ep_000063","started_at":"2026-09-03T21:22:52","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.5030112743238481,-2.1214972599264232,0.71338606911949],"aabb_xy":[[-0.5374737523369357,-2.1281609371093455],[-0.4685487963107602,-2.1148335827435]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[0.14087132648947143,-1.7933532919107866,0.71338606911949],"aabb_xy":[[0.07687132414666985,-1.8382941431549193],[0.20487132883227296,-1.7484124406666544]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.2839505392042761,-1.3275503200170207,0.71338606911949],"aabb_xy":[[-0.2920782273975893,-1.3364639284277282],[-0.2758228510109629,-1.3186367116063131]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.3703221478840699,-0.8973311862978772,0.71338606911949],"aabb_xy":[[-0.43432214993380186,-0.9374256693871852],[-0.30632214583433787,-0.8572367032085693]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.3723807163854216,-1.635237326735548,0.71338606911949],"aabb_xy":[[0.3223807153662863,-1.671703542473376],[0.4223807174045569,-1.59877111099772]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.5436631873338598,-1.9494317924857143,0.71338606911949],"aabb_xy":[[0.5339071978246859,-1.9591943265449487],[0.5534191768430337,-1.9396692584264799]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.31257013409833256,1.1509622546539426,0.71338606911949],"aabb_xy":[[-0.377570135098833,1.1001758894992677],[-0.247570133097832,1.2017486198086176]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.62370136954127,-0.6171060335964202,0.71338606911949],"aabb_xy":[[-0.6876970669363666,-0.6811060318971289],[-0.5597056721461734,-0.5531060352957116]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.5655983686703787,-1.1654314804557766,0.71338606911949],"aabb_xy":[[0.49559836686163317,-1.186785249219964],[0.635598370479124,-1.1440777116915892]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[0.32404973668522463,1.0201539624565958,0.71338606911949],"aabb_xy":[[0.31248075593828806,0.9951539623396644],[0.3356187174321612,1.0451539625735278]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[-0.5576198257594435,-1.6353080841795535,0.71338606911949],"aabb_xy":[[-0.5951198262568017,-1.6392767677276716],[-0.5201198252620852,-1.631339400631435]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.2366981394743789,1.5670764014489103,0.71338606911949],"aabb_xy":[[-0.25103256460054235,1.5550161858943714],[-0.22236371434821545,1.579136617003449]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.28423713444162474,-2.3009710363091243,0.71338606911949],"aabb_xy":[[-0.33423713401795946,-2.35095161526123],[-0.23423713486529002,-2.2509904573570183]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.35399881571522496,1.2404631036585863,0.71338606911949],"aabb_xy":[[0.3039013517341514,1.1764631031487744],[0.40409627969629863,1.304463104168398]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.06590465278593705,-2.558518831594474,0.71338606911949],"aabb_xy":[[-0.08291475007598768,-2.574653320092748],[-0.04889455549588638,-2.5423843430962]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.573183446097398,-2.4560011668958843,0.71338606911949],"aabb_xy":[[-0.5776140754522382,-2.461449538630567],[-0.5687528167425578,-2.450552795161202]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.5051231348595177,1.5932702258823226,0.71338606911949],"aabb_xy":[[-0.527623134383225,1.5707742784317016],[-0.4826231353358102,1.6157661733329431]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[0.40184199500365336,-2.4169729240431828,0.71338606911949],"aabb_xy":[[0.3843419958692862,-2.42685255108077],[0.41934199413802054,-2.4070932970055945]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[-0.3084234198538518,-2.4489613148014424,0.71338606911949],"aabb_xy":[[-0.3434234212053335,-2.4693210507582632],[-0.27342341850237,-2.4286015788446216]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[0.1499414097065077,1.239276948190037,0.71338606911949],"aabb_xy":[[0.14448346406948764,1.1592769448823776],[0.15539935534352778,1.3192769514976959]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.3729223150559888,1.763542414318111,0.71338606911949],"aabb_xy":[[-0.43692231235833506,1.7191759873502541],[-0.30892231775364226,1.8079088412859676]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[-0.30513814979554926,-0.08894885652069506,0.71338606911949],"aabb_xy":[[-0.34217225922360894,-0.12332606385440449],[-0.26810404036748947,-0.0545716491869856]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[-0.14851012443467004,0.6228357540552039,0.71338606911949],"aabb_xy":[[-0.1617410699693513,0.6096083350332043],[-0.13527917889998872,0.6360631730772032]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[-0.5213595283885518,-1.8677651642599642,0.71338606911949],"aabb_xy":[[-0.5588595299041835,-1.8789919372761092],[-0.4838595268729201,-1.8565383912438191]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_24","position":[-0.04622796920513039,0.8968545107324566,0.71338606911949],"aabb_xy":[[-0.052729605713135015,0.887086688706147],[-0.03972633269712578,0.9066223327587666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7154686752308188,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5279.png","name":"5279"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5279.png","name":"5279"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8009.png","name":"8009"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3257.png","name":"3257"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/907.png","name":"907"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3209.png","name":"3209"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":727.6879657763088,"rotation_z_degrees":112.11469245041799,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014612336380198532,0.012162505808909093,0.00403931123311756]},{"name":"camera_2","offset_m":[0.015514263385976394,0.01786096369604356,0.015357463366598104]},{"name":"camera_3","offset_m":[0.010516040958213013,0.01309471738903219,0.018726133412028483]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008575871856503479,-0.0005399703925765454,-0.0017805430314941338],"end_effector_yaw_offset_degrees":-0.1076346135635955},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00048444030847558453,-0.001430677300630052,-0.001531663440738793],"end_effector_yaw_offset_degrees":-0.788123768305292},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003998989054896677,-0.0019603055574694693,-8.037349465117756e-05],"end_effector_yaw_offset_degrees":0.1741275688850501}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034847377463531563,0.0030457375595408292],"position_m":[0.18191526225364685,-0.1296542624404592,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006723013624695962,-0.00366582259786405],"position_m":[0.2668276986375304,-0.4048658225978641,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034708996385347194,0.0005367051837489346],"position_m":[0.18412910036146526,0.08513670518374893,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007807273431682258,-0.0020484769831594163],"position_m":[0.3498807273431683,0.2880515230168406,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"842e8f6aa8662f38bdedb387c82d13c094bc387573deb592f6e24462de0b423e","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5279/tex_ceiling_textures_3209/tex_floor_textures_907/tex_table_textures_8009/tex_wall_textures_3257","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":353321982659022883,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":353321982659022883,"visual_seed":353321982659022883,"scene_id":"lab_003","finished_at":"2026-09-03T21:25:34"} +{"episode_id":"ep_000064","started_at":"2026-09-03T21:25:37","dimensions":{"distractor":{"count":32,"items":[{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_0","position":[0.005961789985573951,-1.7064472839253382,0.71338606911949],"aabb_xy":[[-0.07403821108754638,-1.7162253302627228],[0.08596179105869428,-1.696669237587954]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[-0.5700784961216597,1.6063286132549064,0.71338606911949],"aabb_xy":[[-0.6075784962935316,1.573627877871999],[-0.5325784959497877,1.6390293486378134]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.5934072245687252,1.248256730280283,0.71338606911949],"aabb_xy":[[-0.6574072252721946,1.2022383478073622],[-0.529407223865256,1.2942751127532042]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[0.11868770802447215,-0.6871705768113805,0.71338606911949],"aabb_xy":[[0.08422536062633032,-0.7216644592092031],[0.1531500554226139,-0.6526766944135577]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[-0.28732799673152387,-2.1420436031054106,0.71338606911949],"aabb_xy":[[-0.3523279952885967,-2.171796136519293],[-0.22232799817445104,-2.1122910696915276]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.5378225429376675,-0.44670178471975275,0.71338606911949],"aabb_xy":[[-0.5715981021283605,-0.4607402799329177],[-0.5040469837469745,-0.43266328950658767]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.37726289461911977,-0.72319460823396,0.71338606911949],"aabb_xy":[[-0.4322628942408656,-0.7781783010214327],[-0.3222628949973739,-0.6682109154464873]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.3100713516268277,-1.4682843092076567,0.71338606911949],"aabb_xy":[[-0.3188525787740639,-1.477064056496187],[-0.30129012447959147,-1.459504561919127]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[0.5232266649935193,-1.0686551690372796,0.71338606911949],"aabb_xy":[[0.5134706754843453,-1.0784177030965139],[0.5329826545026931,-1.058892634978045]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.5248428632331484,-2.4986662270945628,0.71338606911949],"aabb_xy":[[-0.5898428658709419,-2.5501458257940097],[-0.45984286059535495,-2.447186628395116]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.2349837437690721,1.5800154152243935,0.71338606911949],"aabb_xy":[[-0.3149837407833201,1.559880863550982],[-0.15498374675482413,1.6001499668978045]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.2694611770590707,-2.3931338487610385,0.71338606911949],"aabb_xy":[[0.2144611778824812,-2.448123523535996],[0.3244611762356602,-2.338144173986081]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[0.31390522129155074,-1.5710917219656229,0.71338606911949],"aabb_xy":[[0.2795889441169328,-1.6210917219388004],[0.3482214984661687,-1.521091721992445]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[-0.2718023574548313,1.754801520217765,0.71338606911949],"aabb_xy":[[-0.3217954695640232,1.7048015195435695],[-0.22180924534563945,1.8048015208919608]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[0.22009880919598457,0.9134148014885737,0.71338606911949],"aabb_xy":[[0.1651065585604736,0.858414799745261],[0.2750910598314955,0.9684148032318866]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.5465167315622097,0.8554788726093583,0.71338606911949],"aabb_xy":[[0.4565167348265994,0.8022954092920638],[0.6365167282978198,0.9086623359266528]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.6183912954231415,-0.28426167744652453,0.71338606911949],"aabb_xy":[[-0.6678717166371002,-0.34826167535937635],[-0.5689108742091826,-0.2202616795336727]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[-0.6119510959462442,0.2557981002788132,0.71338606911949],"aabb_xy":[[-0.6275068653565096,0.2402476670344061],[-0.596395326535979,0.27134853352322047]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.4422716173849628,1.431515296500463,0.71338606911949],"aabb_xy":[[0.3622716187976434,1.352199694562302],[0.5222716159722822,1.5108308984386238]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.13542410201128485,-1.3489815160629062,0.71338606911949],"aabb_xy":[[-0.14026769677251483,-1.3538331685418903],[-0.13058050725005488,-1.344129863583922]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[-0.30656504913246413,-1.6258932339660137,0.71338606911949],"aabb_xy":[[-0.35369442813429974,-1.6898932350104152],[-0.2594356701306284,-1.5618932329216113]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[0.0311268177765337,-1.5085829305766232,0.71338606911949],"aabb_xy":[[0.008626817766385408,-1.5226791502162265],[0.05362681778668199,-1.49448671093702]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.4182946994321828,-1.7452266088460744,0.71338606911949],"aabb_xy":[[-0.44329469898392126,-1.7553690927112091],[-0.3932946998804443,-1.7350841249809397]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[-0.1543671870342772,-1.8599828449585647,0.71338606911949],"aabb_xy":[[-0.19186718782627263,-1.8663506859167547],[-0.11686718624228173,-1.8536150040003747]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[0.011596565347943621,-1.9792286350397794,0.71338606911949],"aabb_xy":[[-0.05240343195440278,-2.0235950620076357],[0.07559656265029002,-1.9348622080719224]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[0.5005097825123612,0.21249701135172572,0.71338606911949],"aabb_xy":[[0.4772279403142298,0.12749701005449765],[0.5237916247104925,0.2974970126489538]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_26","position":[0.4672079773343627,-1.6550178121660133,0.71338606911949],"aabb_xy":[[0.45635637108548704,-1.6658771028936643],[0.47805958358323825,-1.6441585214383623]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[-0.5367247868400783,-2.3902714816490853,0.71338606911949],"aabb_xy":[[-0.6167247901040914,-2.4038315139579987],[-0.45672478357606516,-2.376711449340172]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[0.1852434858073021,0.6881430319001653,0.71338606911949],"aabb_xy":[[0.1778310302659136,0.6822918214785373],[0.19265594134869055,0.6939942423217932]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_29","position":[-0.5123417100752448,-1.5329352084745191,0.71338606911949],"aabb_xy":[[-0.5763417064708178,-1.5968984968932525],[-0.4483417136796717,-1.4689719200557854]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_30","position":[0.020600913655549058,-2.361555446334911,0.71338606911949],"aabb_xy":[[0.01044789810139968,-2.3976249879076508],[0.030753929209698435,-2.32548590476217]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_31","position":[-0.6678142186194098,-0.42405555093509983,0.71338606911949],"aabb_xy":[[-0.681260745253453,-0.43752540258819106],[-0.6543676919853664,-0.4105856992820086]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7174017768563231,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3621.png","name":"3621"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3621.png","name":"3621"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/113.png","name":"113"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2702.png","name":"2702"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1809.png","name":"1809"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4035.png","name":"4035"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":750.4319212052442,"rotation_z_degrees":19.47560761803777,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00525631248958033,-0.014029079355676037,0.0011858338304973522]},{"name":"camera_2","offset_m":[0.011173671928401338,-0.015762536756902756,-0.008212734011055444]},{"name":"camera_3","offset_m":[0.007878966380568338,-0.01710420332577806,-0.01862328647858938]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011364364897246911,0.0018743026822912023,0.00020148129138269476],"end_effector_yaw_offset_degrees":0.16162178870786548},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005884582256985875,2.2694591798247312e-05,-0.00043093798944347935],"end_effector_yaw_offset_degrees":0.13266775914295836},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006809876574776798,0.0013303861562452947,-0.0015110513326996218],"end_effector_yaw_offset_degrees":0.029344970264430836}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014013906836273138,-0.0037861970299823532],"position_m":[0.18399860931637269,-0.13648619702998235,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016152875193985962,-0.0037470615655012954],"position_m":[0.2691152875193986,-0.4049470615655013,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004476656887571757,0.001815834826576549],"position_m":[0.18312334311242823,0.08641583482657654,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008775516187314002,-0.00019961179289417017],"position_m":[0.34822244838126865,0.28990038820710584,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a11f29872879fc3cfee6e722c059523ce0c3be0de078fd08607db4b15e2ba27e","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3621/tex_ceiling_textures_4035/tex_floor_textures_1809/tex_table_textures_113/tex_wall_textures_2702","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3344563495854560908,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3344563495854560908,"visual_seed":3344563495854560908,"scene_id":"lab_003","finished_at":"2026-09-03T21:28:18"} +{"episode_id":"ep_000065","started_at":"2026-09-03T21:28:21","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[-0.2641423447821821,-2.2989815603452475,0.71338606911949],"aabb_xy":[[-0.34414234336950156,-2.378297162283408],[-0.18414234619486272,-2.219665958407086]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.31716013240451657,-0.10514952451812798,0.71338606911949],"aabb_xy":[[-0.32872911315145315,-0.1301495246350597],[-0.30559115165758,-0.08014952440119627]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.5177188216762187,-1.1907324393430119,0.71338606911949],"aabb_xy":[[-0.5285704279250943,-1.2015917300706629],[-0.5068672154273431,-1.1798731486153609]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[-0.5338214202268958,1.1916913365736743,0.71338606911949],"aabb_xy":[[-0.5713214207242541,1.1877226530255558],[-0.4963214197295376,1.1956600201217928]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[0.031312171801301414,1.7657592092382388,0.71338606911949],"aabb_xy":[[-0.018661122201959042,1.715759208683691],[0.08128546580456186,1.8157592097927857]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[-0.08107364240813164,-0.12500978210565794,0.71338606911949],"aabb_xy":[[-0.09695813567345679,-0.139362722404482],[-0.06518914914280649,-0.11065684180683388]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.22169021720773685,1.6687582960256475,0.71338606911949],"aabb_xy":[[-0.2566902155184323,1.6610432811021019],[-0.1866902188970414,1.6764733109491932]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.4504714931356681,1.06526809281422,0.71338606911949],"aabb_xy":[[-0.4592527202829044,1.05648834552569],[-0.441690265988432,1.0740478401027505]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.31462545994517743,1.4673642193585912,0.71338606911949],"aabb_xy":[[0.30659918931455143,1.4586127243812388],[0.32265173057580343,1.476115714335944]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.5833975652275547,1.428421671327993,0.71338606911949],"aabb_xy":[[-0.5873114384229772,1.419672655921436],[-0.5794836920321322,1.4371706867345497]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.5373957004561315,-0.8944621311194114,0.71338606911949],"aabb_xy":[[-0.6013956997502996,-0.9584482714882656],[-0.47339570116196317,-0.8304759907505572]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.06040423430920405,-1.9034638829167043,0.71338606911949],"aabb_xy":[[-0.09540423343915971,-1.9092091039923682],[-0.025404235179248384,-1.89771866184104]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[-0.4459412662092622,-0.19804222062405197,0.71338606911949],"aabb_xy":[[-0.4672192743527344,-0.263042222950125],[-0.4246632580657899,-0.13304221829797888]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.44985997029344293,0.029722196172624837,0.71338606911949],"aabb_xy":[[-0.4547592626000063,0.0020452768700560606],[-0.4449606779868793,0.0573991154751936]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.3219541597085712,-0.3177685126599852,0.71338606911949],"aabb_xy":[[-0.327920698649307,-0.3237296573193492],[-0.31598762076783543,-0.31180736800062114]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.31221287233345607,-1.056670058186891,0.71338606911949],"aabb_xy":[[0.25221287208205484,-1.1109513832233555],[0.3722128725848572,-1.0023887331504262]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.21128584945771184,-0.8031248938587128,0.71338606911949],"aabb_xy":[[-0.30128584595858354,-0.849036536277171],[-0.12128585295684007,-0.7572132514402545]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.27148545358123893,-0.5640750847055873,0.71338606911949],"aabb_xy":[[-0.3052610127719319,-0.5781135799187523],[-0.23770989439054596,-0.5500365894924223]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.570229269376081,1.4909835594403726,0.71338606911949],"aabb_xy":[[-0.6046917473891686,1.4843198822574497],[-0.5357667913629931,1.4976472366232951]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.6314606816756487,-0.2625473167539547,0.71338606911949],"aabb_xy":[[0.5674606852800758,-0.3265106051726883],[0.6954606780712219,-0.1985840283352212]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[0.635049573244485,-1.1247619450330835,0.71338606911949],"aabb_xy":[[0.6224468741074085,-1.1373573412579492],[0.6476522723815614,-1.1121665488082182]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.01996425931971879,-1.0183590948898655,0.71338606911949],"aabb_xy":[[-0.030035741699416484,-1.0548253106276935],[0.06996426033885407,-0.9818928791520376]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[0.5785979685472784,0.672346382285788,0.71338606911949],"aabb_xy":[[0.48859796995280846,0.656095795972367],[0.6685979671417484,0.688596968599209]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.25278638048816165,0.6349199072165654,0.71338606911949],"aabb_xy":[[-0.31678637691548356,0.5877502833944691],[-0.18878638406083975,0.682089531038662]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[0.5188883263614841,-2.016702792962101,0.71338606911949],"aabb_xy":[[0.5135507506954795,-2.0417027938912407],[0.5242259020274886,-1.991702792032961]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.5557655169827698,1.5803216379542682,0.71338606911949],"aabb_xy":[[-0.5708678184437876,1.5652201163232058],[-0.5406632155217515,1.5954231595853297]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[0.03308952374296226,-1.5619227881631221,0.71338606911949],"aabb_xy":[[-0.03191047725753827,-1.612709153317797],[0.09808952474346277,-1.5111364230084472]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[-0.2323362156196318,0.3562552182395571,0.71338606911949],"aabb_xy":[[-0.2963362129219782,0.31188879127170027],[-0.16833621831728537,0.4006216452074138]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_28","position":[0.437380992077397,1.140326382109393,0.71338606911949],"aabb_xy":[[0.37238099392147794,1.1140301375594808],[0.5023809902333161,1.1666226266593052]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_29","position":[-0.14418233723296914,1.2557928178212525,0.71338606911949],"aabb_xy":[[-0.15122264716650616,1.1757928184215813],[-0.13714202729943217,1.3357928172209241]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_30","position":[0.6720723005593323,-1.395926209387818,0.71338606911949],"aabb_xy":[[0.6386321253633126,-1.4293698352187478],[0.7055124757553518,-1.3624825835568877]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7087487147638387,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4379.png","name":"4379"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4379.png","name":"4379"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7175.png","name":"7175"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3479.png","name":"3479"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2005.png","name":"2005"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1748.png","name":"1748"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":580.1860429036302,"rotation_z_degrees":190.39655009351122,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006213592958762625,0.0024992907903193425,0.008376262641814812]},{"name":"camera_2","offset_m":[0.0009231876530631303,0.012554526937508543,0.0011874548852548426]},{"name":"camera_3","offset_m":[-0.01975308272384066,0.006031934204428057,0.013947832552269602]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006987893485514802,0.0015838455233860432,0.0019569737463906956],"end_effector_yaw_offset_degrees":0.8898654541193964},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001209083422498106,0.0001459924369375384,-0.001750922272017634],"end_effector_yaw_offset_degrees":-0.9418694502492038},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012372079075894935,-0.0003774373739122167,0.0005799665709353683],"end_effector_yaw_offset_degrees":0.7590141441562974}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004449232902256755,-0.0024246456774746137],"position_m":[0.18095076709774324,-0.13512464567747462,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038617046552002422,0.003584106486397602],"position_m":[0.26363829534479977,-0.3976158935136024,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003061573079165326,-0.0017795244653435573],"position_m":[0.19066157307916531,0.08282047553465643,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014308485310240847,0.0033492004329073862],"position_m":[0.3476691514689759,0.2934492004329074,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"434b66983136d1173f8df6dedcfe9a57faada80e04ced0a0b91249b93deaf5e1","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0065.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4379/tex_ceiling_textures_1748/tex_floor_textures_2005/tex_table_textures_7175/tex_wall_textures_3479","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":998722735184217382,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":998722735184217382,"visual_seed":998722735184217382,"scene_id":"lab_003","finished_at":"2026-09-03T21:31:12"} +{"episode_id":"ep_000066","started_at":"2026-09-03T21:31:16","dimensions":{"distractor":{"count":23,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[-0.28744228058600546,1.3789162913405915,0.71338606911949],"aabb_xy":[[-0.3674422785667905,1.3713147503787395],[-0.20744228260522043,1.3865178323024434]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_1","position":[0.34364301687924415,-2.546415920676968,0.71338606911949],"aabb_xy":[[0.2736430150704987,-2.5677696894411555],[0.4136430186879896,-2.5250621519127807]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[-0.5613375451855512,1.5566868690606648,0.71338606911949],"aabb_xy":[[-0.5745684907202324,1.5434594500386651],[-0.5481065996508698,1.569914288082664]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.40961394920016025,-1.5514551943171546,0.71338606911949],"aabb_xy":[[-0.4796139508024398,-1.5648879875188122],[-0.3396139475978808,-1.538022401115497]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.02352752758585097,-1.2113702690286137,0.71338606911949],"aabb_xy":[[-0.07300794879980976,-1.2753702669414657],[0.025952893628107817,-1.147370271115762]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.5954244723407656,-0.5650230152244626,0.71338606911949],"aabb_xy":[[-0.665424474472195,-0.5877849808501582],[-0.5254244702093359,-0.5422610495987669]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[0.27195379484724147,1.3925261131117619,0.71338606911949],"aabb_xy":[[0.26585916695912315,1.3839567185600934],[0.2780484227353598,1.4010955076634308]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.13460074238923558,1.1317081614549518,0.71338606911949],"aabb_xy":[[-0.214600740976555,1.0523925595167907],[-0.054600743801916145,1.2110237633931125]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.4480054103312914,-1.6600440043190718,0.71338606911949],"aabb_xy":[[-0.5280054135953045,-1.673604036627985],[-0.3680054070672782,-1.6464839720101583]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[0.0636087848952922,-2.341658270899348,0.71338606911949],"aabb_xy":[[0.05319722621480848,-2.3470040042352465],[0.0740203435757759,-2.3363125375634497]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.560087369624667,-1.8135705250351464,0.71338606911949],"aabb_xy":[[-0.5968820027495733,-1.8504764001317284],[-0.5232927364997607,-1.7766646499385639]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.42266395045165606,-0.2470877264547675,0.71338606911949],"aabb_xy":[[-0.46016395111623476,-0.26277478445498964],[-0.38516394978707735,-0.2314006684545453]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.23813045027029772,-0.27166306503006776,0.71338606911949],"aabb_xy":[[-0.29325565589988845,-0.33166306647135485],[-0.18300524464070692,-0.2116630635887806]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.6163961613590052,-2.482534469319026,0.71338606911949],"aabb_xy":[[-0.6498363365550247,-2.5159780951499555],[-0.5829559861629855,-2.449090843488096]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.2537417320146099,0.8859597852785477,0.71338606911949],"aabb_xy":[[-0.25785768212668253,0.8818442302457021],[-0.2496257819025372,0.8900753403113932]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.003986911609452304,-2.242102056888444,0.71338606911949],"aabb_xy":[[-0.013513087668634571,-2.2594401569547897],[0.02148691088753918,-2.224763956822098]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[0.467335588814515,0.2319148589085338,0.71338606911949],"aabb_xy":[[0.42983558802251953,0.22554701795034368],[0.5048355896065104,0.23828269986672387]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[0.3049079787705594,-1.0737939311276572,0.71338606911949],"aabb_xy":[[0.2409079765501524,-1.1181670152529457],[0.36890798099096644,-1.0294208470023691]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_18","position":[0.6552242550092438,0.7034888370098549,0.71338606911949],"aabb_xy":[[0.6473009747704954,0.6809888367718515],[0.6631475352479921,0.7259888372478582]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[-0.5908620253761405,0.036653070442693725,0.71338606911949],"aabb_xy":[[-0.6220089442197236,-0.03334692824411345],[-0.5597151065325574,0.1066530691295009]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[-0.5153820930275664,1.7350505115847858,0.71338606911949],"aabb_xy":[[-0.5575665071883972,1.6710505113075749],[-0.4731976788667357,1.7990505118619973]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.11203667876196854,-1.450068716054462,0.71338606911949],"aabb_xy":[[-0.17603668067431089,-1.5059798653124727],[-0.04803667684962622,-1.3941575667964519]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[0.5583738876333613,-1.419508312455378,0.71338606911949],"aabb_xy":[[0.5392615802753823,-1.4386430913326202],[0.57748619499134,-1.4003735335781362]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7140744649726081,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6980.png","name":"6980"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6980.png","name":"6980"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1176.png","name":"1176"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5685.png","name":"5685"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/338.png","name":"338"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3241.png","name":"3241"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":723.0435562216041,"rotation_z_degrees":295.3814334416824,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-4.238707923213264e-06,-0.015245199010753906,0.0034731490604235082]},{"name":"camera_2","offset_m":[0.00274430791608311,-0.005536321679656248,0.003192458477033866]},{"name":"camera_3","offset_m":[-0.014357842034435589,0.007591608474116055,-0.00819443273567563]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017174658679899575,-0.0019644258812667906,-0.00028840838638200103],"end_effector_yaw_offset_degrees":0.28822869630870507},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.986709070055597e-05,0.0015328216797086311,0.0007661324875299497],"end_effector_yaw_offset_degrees":-0.8726286634615141},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00041095296546932473,3.522221874677949e-05,0.0003673257878814948],"end_effector_yaw_offset_degrees":0.6760505317254994}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007504932323871769,-0.0016924410962510174],"position_m":[0.18464950676761283,-0.13439244109625104,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031709554676720543,0.004495584394745866],"position_m":[0.27067095546767206,-0.39670441560525416,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00011508019958654352,0.0002174539433511787],"position_m":[0.18771508019958652,0.08481745394335118,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004375615179838008,-0.002339134615481422],"position_m":[0.35347561517983805,0.2877608653845186,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ded43e8df91e4156db5de7311f2b8744a85e9a776a0bed8d55b9960e2f22c720","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6980/tex_ceiling_textures_3241/tex_floor_textures_338/tex_table_textures_1176/tex_wall_textures_5685","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8040707930856198890,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8040707930856198890,"visual_seed":8040707930856198890,"scene_id":"lab_003","finished_at":"2026-09-03T21:34:00"} +{"episode_id":"ep_000067","started_at":"2026-09-03T21:34:03","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.03437188316566764,-1.516194632106341,0.71338606911949],"aabb_xy":[[-0.02721887605832518,-1.5801946302153882],[0.09596264238966046,-1.4521946339972944]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[0.47974266582072844,0.5030874064298918,0.71338606911949],"aabb_xy":[[0.4720394751466514,0.4953780357311538],[0.4874458564948055,0.5107967771286298]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.18351309730215903,1.437285549552635,0.71338606911949],"aabb_xy":[[-0.2335130989636538,1.3872871072969322],[-0.13351309564066427,1.4872839918083376]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.3456301108193394,0.5725028695147536,0.71338606911949],"aabb_xy":[[-0.36552115069967966,0.5598470582300569],[-0.3257390709389992,0.5851586807994505]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[-0.6282467191525111,-0.47929981525112586,0.71338606911949],"aabb_xy":[[-0.6632467190485299,-0.4876740507630658],[-0.5932467192564922,-0.4709255797391859]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[0.5143959201461075,-0.7414745997255436,0.71338606911949],"aabb_xy":[[0.48193421926417995,-0.7716074318404461],[0.5468576210280348,-0.7113417676106409]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.6103514050162278,-0.3413259671299316,0.71338606911949],"aabb_xy":[[0.603069088639564,-0.4313259707394405],[0.6176337213928913,-0.2513259635204225]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[-0.42931842616120147,-1.639808461338835,0.71338606911949],"aabb_xy":[[-0.4342177184677649,-1.6674853806414036],[-0.4244191338546379,-1.612131542036266]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.31022995697014877,-2.527508876667894,0.71338606911949],"aabb_xy":[[0.30631608377472624,-2.536257892074451],[0.3141438301655713,-2.5187598612613376]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[-0.20078545908024742,0.20386994405784842,0.71338606911949],"aabb_xy":[[-0.20994533802412402,0.19733872601431143],[-0.19162558013637082,0.21040116210138546]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[-0.36914600021066696,-1.086797825874911,0.71338606911949],"aabb_xy":[[-0.41914600116119977,-1.1183469728784323],[-0.31914599926013415,-1.0552486788713895]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.17932057047916106,-2.01715612309875,0.71338606911949],"aabb_xy":[[-0.2593205678827544,-2.097148694296932],[-0.09932057307556762,-1.9371635519005668]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[-0.5769403452249757,-0.6911066922274536,0.71338606911949],"aabb_xy":[[-0.5938510776613173,-0.704578897820068],[-0.5600296127886337,-0.6776344866348389]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.5117361259687829,-2.277332590656411,0.71338606911949],"aabb_xy":[[0.4477361236259814,-2.3222734419005433],[0.5757361283115845,-2.2323917394122783]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.40180899724011976,-1.8932016157035503,0.71338606911949],"aabb_xy":[[0.33780899583212903,-1.9449905672274748],[0.4658089986481104,-1.8414126641796253]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.1932722186850333,-0.5616320673599531,0.71338606911949],"aabb_xy":[[-0.20404519260640105,-0.5966320655789921],[-0.1824992447636655,-0.5266320691409141]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[-0.3646114787856297,0.8887221846456099,0.71338606911949],"aabb_xy":[[-0.41069657004036114,0.8247221873930548],[-0.3185263875308982,0.952722181898165]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.30293708900621,0.1284056535385414,0.71338606911949],"aabb_xy":[[-0.30897410200687475,0.12237895246959318],[-0.2969000760055453,0.1344323546074896]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.5628382252938908,-2.078136299535812,0.71338606911949],"aabb_xy":[[0.49883822818178514,-2.1271686693302225],[0.6268382224059965,-2.0291039297414013]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.021101657363423842,1.0832299657948399,0.71338606911949],"aabb_xy":[[-0.06858541894469161,0.9932299655403893],[0.1107887336715393,1.1732299660492904]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.1593436630419668,-1.429796761902278,0.71338606911949],"aabb_xy":[[0.14155015610705035,-1.447596507498076],[0.17713716997688322,-1.4119970163064806]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.5658074869447636,1.6501533269777782,0.71338606911949],"aabb_xy":[[-0.6258074885876853,1.598153177685834],[-0.5058074853018416,1.7021534762697224]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[-0.12807051683140636,-2.3408598358290056,0.71338606911949],"aabb_xy":[[-0.20807051730162235,-2.3491705434433543],[-0.04807051636119043,-2.3325491282146578]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[-0.4376640237250507,1.0638861955924424,0.71338606911949],"aabb_xy":[[-0.4501313818347864,1.0514208709591188],[-0.4251966656153151,1.0763515202257659]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7094937225965862,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9346.png","name":"9346"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9346.png","name":"9346"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9678.png","name":"9678"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7500.png","name":"7500"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3743.png","name":"3743"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1999.png","name":"1999"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":644.3786935831778,"rotation_z_degrees":332.7907418332535,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00838946823710479,-0.011630753360730939,0.005263534890907182]},{"name":"camera_2","offset_m":[0.0018525525534608053,0.014518896420930679,0.0027831480644956094]},{"name":"camera_3","offset_m":[-0.01119209156918617,0.009959009454959616,0.014860963440351978]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001097257151467516,0.0010034359557100862,0.0003253130386149223],"end_effector_yaw_offset_degrees":-0.05733534628953918},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001311569885456318,-0.0003159408384288138,-0.000648231183486463],"end_effector_yaw_offset_degrees":-0.7263382586521627},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017046684711271491,0.0003957978560044052,-0.0019003647787145166],"end_effector_yaw_offset_degrees":-0.4257342275433662}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015876540950695516,-0.004993230012277329],"position_m":[0.18381234590493045,-0.13769323001227735,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0048293393906823825,0.0008383519763339913],"position_m":[0.26267066060931765,-0.40036164802366603,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003034466540852545,0.00436366247869415],"position_m":[0.18456553345914745,0.08896366247869414,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031884699660892613,0.0011872211930967769],"position_m":[0.3459115300339108,0.2912872211930968,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0951a328612f7aa79378f68dd16f05dea49f46e5ce89484c2a77422ee036d5d4","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0067.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9346/tex_ceiling_textures_1999/tex_floor_textures_3743/tex_table_textures_9678/tex_wall_textures_7500","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":13604869645496764,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":13604869645496764,"visual_seed":13604869645496764,"scene_id":"lab_003","finished_at":"2026-09-03T21:36:46"} +{"episode_id":"ep_000068","started_at":"2026-09-03T21:36:49","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.1272876523570763,0.23005561306567923,0.71338606911949],"aabb_xy":[[-0.17738511633814988,0.16605561255586743],[-0.07719018837600264,0.29405561357549104]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.2952779905375412,1.6776050282405675,0.71338606911949],"aabb_xy":[[0.23027799238162222,1.6513087836906553],[0.36027798869346034,1.7039012727904796]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.3446511578878504,-1.9789599636852073,0.71338606911949],"aabb_xy":[[-0.36252026564230594,-1.9927928716624181],[-0.32678205013339495,-1.965127055707996]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[-0.43781462755955225,-0.9986096306933305,0.71338606911949],"aabb_xy":[[-0.502814627593855,-1.0453103073736578],[-0.3728146275252495,-0.9519089540130031]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[0.5192937645517319,-2.3173895550846417,0.71338606911949],"aabb_xy":[[0.4893021018178616,-2.3473895544214423],[0.5492854272856023,-2.287389555747841]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[0.6650722690681539,-0.9210016541163464,0.71338606911949],"aabb_xy":[[0.6574480009779757,-0.9286348776528902],[0.6726965371583322,-0.9133684305798028]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.12330821483444665,1.7415108970635234,0.71338606911949],"aabb_xy":[[0.06330821458304546,1.6872295720270587],[0.18330821508584783,1.795792222099988]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[0.6926059707761651,1.066577273202944,0.71338606911949],"aabb_xy":[[0.6723216680527663,1.0462946480602349],[0.7128902734995638,1.0868598983456526]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.5615777291836854,-0.3535641159963534,0.71338606911949],"aabb_xy":[[-0.5965777274538052,-0.36063824369134156],[-0.5265777309135654,-0.34648998830136524]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[-0.30030247952131794,-0.4367474030846741,0.71338606911949],"aabb_xy":[[-0.34743185852315356,-0.500747404129076],[-0.2531731005194822,-0.3727474020402721]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[-0.3211889392415299,0.16338456110406785,0.71338606911949],"aabb_xy":[[-0.40118893971174596,0.15507385348971944],[-0.24118893877131403,0.1716952687184162]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.5699003250236272,1.0651230212023162,0.71338606911949],"aabb_xy":[[0.5618639903223422,1.0570849018978994],[0.5779366597249119,1.073161140506733]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[0.15422408328986348,-2.3497109970921013,0.71338606911949],"aabb_xy":[[0.10922408182363463,-2.394710853953582],[0.19922408475609235,-2.3047111402306206]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[-0.2332026943985026,-2.54033166345736,0.71338606911949],"aabb_xy":[[-0.23728085230555235,-2.544412643705624],[-0.22912453649145287,-2.5362506832090967]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.37844557085370445,1.4848345582016784,0.71338606911949],"aabb_xy":[[0.29844557345011097,1.4048419870034954],[0.4584455682572978,1.564827129399861]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.32667604034294473,0.7266260335129147,0.71338606911949],"aabb_xy":[[0.2766760399823786,0.6766460463033116],[0.37667604070351074,0.7766060207225175]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[0.48596078280489063,0.4667280888394263,0.71338606911949],"aabb_xy":[[0.4219607864093175,0.4027648004206927],[0.5499607792004637,0.5306913772581598]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.18507661880171922,1.361160060323146,0.71338606911949],"aabb_xy":[[0.15007661745023748,1.3408003243663251],[0.22007662015320095,1.3815197962799668]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[0.6753212812592819,-0.1545666850541476,0.71338606911949],"aabb_xy":[[0.6680775152130366,-0.23456668325774996],[0.6825650473055273,-0.07456668685054521]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[-0.5496772820908532,1.7451960083961242,0.71338606911949],"aabb_xy":[[-0.599677283752348,1.6951975661404213],[-0.4996772804293585,1.7951944506518267]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[0.6131945082637569,1.6740874655563833,0.71338606911949],"aabb_xy":[[0.6057820527223683,1.6682362551347552],[0.6206069638051452,1.679938675978011]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.6562638756043073,1.5312153842800496,0.71338606911949],"aabb_xy":[[-0.6867481257313375,1.4812153844985536],[-0.6257796254772772,1.5812153840615455]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[0.1522314506101463,-2.145853660700241,0.71338606911949],"aabb_xy":[[0.10234875373245014,-2.195853659946516],[0.20211414748784257,-2.0958536614539667]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[0.43771771065885745,0.5917566171839552,0.71338606911949],"aabb_xy":[[0.41271771149322434,0.5848043714785987],[0.46271770982449056,0.5987088628893118]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[0.5956732264343898,0.8442727823812093,0.71338606911949],"aabb_xy":[[0.5787624939980479,0.8308005767885946],[0.6125839588707315,0.8577449879738237]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[0.6318463733016246,-2.1420194758500637,0.71338606911949],"aabb_xy":[[0.6093463734877222,-2.146494092220544],[0.654346373115527,-2.137544859479583]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[-0.42420417095849045,-0.8473233643281102,0.71338606911949],"aabb_xy":[[-0.4892041719589909,-0.898109729482785],[-0.35920416995798987,-0.7965369991734351]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[-0.5962084518947476,-2.013679464756269,0.71338606911949],"aabb_xy":[[-0.6440146195085161,-2.078679467463328],[-0.5484022842809788,-1.9486794620492103]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_28","position":[0.6957239490182272,-1.1214169832789036,0.71338606911949],"aabb_xy":[[0.690266003381207,-1.2014169865865627],[0.7011818946552472,-1.0414169799712445]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7089146162582314,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2319.png","name":"2319"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2319.png","name":"2319"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4683.png","name":"4683"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5021.png","name":"5021"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6488.png","name":"6488"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8030.png","name":"8030"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":529.6060115816648,"rotation_z_degrees":285.8978515820163,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0062103365169825595,-0.013303065180932282,0.00026725768186057486]},{"name":"camera_2","offset_m":[-0.0015584330011925683,0.008304060521261224,0.017371416225408363]},{"name":"camera_3","offset_m":[-0.019933850522939656,-0.019545763363244647,-0.008300762593988842]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001389741907560777,-0.0002630485446326251,-0.0015875446836658043],"end_effector_yaw_offset_degrees":-0.5496477747361164},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009653578036589623,-0.0019744613908025004,-0.0015890005451815702],"end_effector_yaw_offset_degrees":-0.7018490405320124},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00017786949178485718,-0.0001618623007286369,0.0007480517595947547],"end_effector_yaw_offset_degrees":0.23940157678110507}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022370534895485407,8.754632455190443e-05],"position_m":[0.18316294651045148,-0.1326124536754481,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003691867386811514,0.003538996503151335],"position_m":[0.26380813261318853,-0.3976610034968487,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00219988001458711,-0.0031023766825874844],"position_m":[0.1854001199854129,0.0814976233174125,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00043361331251506614,-0.0029057190168973314],"position_m":[0.34866638668748495,0.2871942809831027,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0ca462a84725c43bd73ddbb341a2a5c1346e85502ab8198c035c2c42bb37a7e","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2319/tex_ceiling_textures_8030/tex_floor_textures_6488/tex_table_textures_4683/tex_wall_textures_5021","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5496333428175912038,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5496333428175912038,"visual_seed":5496333428175912038,"scene_id":"lab_003","finished_at":"2026-09-03T21:39:33"} +{"episode_id":"ep_000069","started_at":"2026-09-03T21:39:36","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[0.5054049704551522,-1.9816210688704223,0.71338606911949],"aabb_xy":[[0.4704049691036705,-2.0019808048272427],[0.5404049718066339,-1.9612613329136015]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[0.35701889993305813,1.7267215613994122,0.71338606911949],"aabb_xy":[[0.33790659257507927,1.7075867825221702],[0.376131207291037,1.7458563402766543]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.08527123174651174,-1.196902945444529,0.71338606911949],"aabb_xy":[[-0.16527123040339775,-1.211407804368792],[-0.005271233089625724,-1.1823980865202661]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.25385244115195554,-2.2886728021828455,0.71338606911949],"aabb_xy":[[-0.3038353913394348,-2.3386728018254055],[-0.20386949096447618,-2.2386728025402847]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.370325659579787,-1.0488751116202233,0.71338606911949],"aabb_xy":[[0.320325658295947,-1.0988539660108452],[0.42032566086362694,-0.9988962572296011]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[0.5618118113837476,1.3760201015533888,0.71338606911949],"aabb_xy":[[0.5243118129603471,1.3628558875855579],[0.5993118098071478,1.3891843155212193]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[0.03509895337068447,-2.0908847892520184,0.71338606911949],"aabb_xy":[[-0.010072364477484505,-2.1548847863965572],[0.08027027121885344,-2.0268847921074804]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.06285326259936097,0.6119896536774059,0.71338606911949],"aabb_xy":[[-0.11233368381331976,0.547989655764554],[-0.013372841385402179,0.6759896515902577]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.2828772819323785,-1.720176727620274,0.71338606911949],"aabb_xy":[[0.2740752266234058,-1.727988053775203],[0.2916793372413512,-1.7123654014653449]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[0.4656917058956558,-2.3053775827348812,0.71338606911949],"aabb_xy":[[0.4016917095000827,-2.3693408711536144],[0.5296917022912289,-2.2414142943161472]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[0.38103476609886133,-1.5625114291970823,0.71338606911949],"aabb_xy":[[0.3260347669222718,-1.61750110397204],[0.43603476527545076,-1.5075217544221247]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[0.5607541561250511,-0.5146792125588626,0.71338606911949],"aabb_xy":[[0.5232541558328763,-0.5187206879594662],[0.5982541564172259,-0.510637737158259]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[0.15351366656033671,1.11569121931372,0.71338606911949],"aabb_xy":[[0.08951366944823105,1.0666588495193094],[0.21751366367244243,1.1647235891081307]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.056805355045044914,1.6249196267974155,0.71338606911949],"aabb_xy":[[-0.06024603128510209,1.6210581938230513],[-0.05336467880498775,1.6287810597717802]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[-0.6591025611430765,-2.087198550818832,0.71338606911949],"aabb_xy":[[-0.67254908777712,-2.100668402471923],[-0.6456560345090333,-2.0737286991657404]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[-0.5487924163749279,-2.347961226480456,0.71338606911949],"aabb_xy":[[-0.5560536639453354,-2.3607482367439654],[-0.5415311688045207,-2.3351742162169464]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[-0.553126299698181,-0.7310371454631579,0.71338606911949],"aabb_xy":[[-0.6131262999495821,-0.7853184704996224],[-0.49312629944677977,-0.6767558204266931]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[-0.3177694436954131,1.4270819438782278,0.71338606911949],"aabb_xy":[[-0.32310701936141767,1.4020819429490878],[-0.31243186802940853,1.4520819448073674]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.5680730199836825,-0.7931291755978056,0.71338606911949],"aabb_xy":[[0.5180730186227952,-0.8431070801732213],[0.6180730213445697,-0.7431512710223901]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.03835556568886689,-1.9031577481617785,0.71338606911949],"aabb_xy":[[0.0008555655832739386,-1.9099799100147596],[0.07585556579445984,-1.8963355863087974]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.5985005079210304,-0.43930942687547825,0.71338606911949],"aabb_xy":[[0.5085005081978561,-0.46238277941065803],[0.6885005076442045,-0.41623607434029836]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.10729574516663654,0.8838601112715896,0.71338606911949],"aabb_xy":[[-0.17229574520093927,0.8371594345912624],[-0.042295745132333806,0.930560787951917]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[-0.18021173430900828,-0.5683522369713652,0.71338606911949],"aabb_xy":[[-0.26021173289632765,-0.6476678389095261],[-0.10021173572168883,-0.4890366350332043]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[-0.03675496400143341,-0.8278339018569647,0.71338606911949],"aabb_xy":[[-0.04760657025030901,-0.8386931925846157],[-0.02590335775255781,-0.8169746111293137]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_24","position":[0.19782033282964973,0.7189369878844865,0.71338606911949],"aabb_xy":[[0.1896926446363365,0.7100233794737787],[0.20594802102296295,0.727850596295194]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[-0.12735225077933598,-2.5569888816696213,0.71338606911949],"aabb_xy":[[-0.21735224937380596,-2.5732394679830426],[-0.03735225218486607,-2.5407382953562]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_26","position":[0.5055846243716853,0.6475484373078886,0.71338606911949],"aabb_xy":[[0.44399386514769246,0.5835484391988417],[0.5671753835956781,0.7115484354169355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7116777380973084,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8323.png","name":"8323"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8323.png","name":"8323"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/278.png","name":"278"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/124.png","name":"124"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4121.png","name":"4121"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8252.png","name":"8252"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":753.8363295271629,"rotation_z_degrees":83.55029670649652,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015637149751474965,0.012263544703006005,0.009295457938339146]},{"name":"camera_2","offset_m":[0.011543609460078753,0.01774546871052882,0.0029428215080090914]},{"name":"camera_3","offset_m":[0.009856662618734698,2.759713659864632e-05,4.573802369470942e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016148017068506417,0.0013244442972034079,0.0009461767766112193],"end_effector_yaw_offset_degrees":-0.9285371592123184},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008238985242940418,0.0016227094273369666,-0.00028996788107613276],"end_effector_yaw_offset_degrees":-0.21392813863998228},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001812625208575671,0.000711929748305111,-0.0014609488076740842],"end_effector_yaw_offset_degrees":-0.631283353931074}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-2.788204463713157e-05,-0.0033010531185268667],"position_m":[0.18537211795536288,-0.13600105311852687,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003207127006182352,0.004546862076463934],"position_m":[0.26782071270061825,-0.39665313792353607,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011455060527207819,0.0010000487272708615],"position_m":[0.18874550605272078,0.08560004872727085,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004962344784395176,0.001414368418558575],"position_m":[0.34413765521560485,0.2915143684185586,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"951ba6d8feffcde586de13f7f5a645da1b104b52b973254c0e8d7c2779231cea","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8323/tex_ceiling_textures_8252/tex_floor_textures_4121/tex_table_textures_278/tex_wall_textures_124","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8328592975407366233,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8328592975407366233,"visual_seed":8328592975407366233,"scene_id":"lab_003","finished_at":"2026-09-03T21:42:21"} +{"episode_id":"ep_000070","started_at":"2026-09-03T21:42:24","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.2310301134646603,-0.6139187778217434,0.71338606911949],"aabb_xy":[[-0.2910301133112271,-0.6707374000147821],[-0.17103011361809348,-0.5571001556287047]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.4242675210926726,-1.999675362389074,0.71338606911949],"aabb_xy":[[-0.4592675202854907,-2.0106424083867367],[-0.3892675218998542,-1.988708316391411]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.15409977048522305,1.7668403648391648,0.71338606911949],"aabb_xy":[[-0.1710105029215648,1.75336815924655],[-0.13718903804888125,1.7803125704317793]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.3572628632669841,-1.2240375883982546,0.71338606911949],"aabb_xy":[[0.31871717044178305,-1.2625833594544433],[0.3958085560921851,-1.1854918173420659]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.347454614097537,1.6873177826215344,0.71338606911949],"aabb_xy":[[0.32995468066355355,1.6698177827012999],[0.3649545475315203,1.704817782541769]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[0.49783996630713223,-2.017320168263175,0.71338606911949],"aabb_xy":[[0.43283996530663177,-2.06810653341785],[0.5628399673076327,-1.9665338031085002]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[-0.49811082323934136,-0.8447004818623285,0.71338606911949],"aabb_xy":[[-0.5159043301742579,-0.8625002274581263],[-0.4803173163044249,-0.8269007362665309]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[-0.3700033575145759,0.7487370392325134,0.71338606911949],"aabb_xy":[[-0.382875261015516,0.6687370388186773],[-0.3571314540136357,0.8287370396463496]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[-0.5215332652459379,-1.1912674978506443,0.71338606911949],"aabb_xy":[[-0.5295272538236413,-1.1992675779457347],[-0.5135392766682345,-1.183267417755554]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[-0.581801012369504,0.9707555711152143,0.71338606911949],"aabb_xy":[[-0.5994338479630315,0.9531326250995911],[-0.5641681767759763,0.988378517130837]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.6608131725021673,-2.136795532197313,0.71338606911949],"aabb_xy":[[0.6545010729658289,-2.142562471450532],[0.6671252720385057,-2.1310285929440944]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[-0.41645882056327943,1.1767083569591055,0.71338606911949],"aabb_xy":[[-0.45208797646323917,1.1410756902022525],[-0.3808296646633197,1.2123410237159584]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.023747845144782342,-1.841932471643445,0.71338606911949],"aabb_xy":[[-0.056252152258811076,-1.9219250428416277],[0.10374784254837575,-1.761939900445262]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[0.6470965012755223,1.4490153336892706,0.71338606911949],"aabb_xy":[[0.5971016683475807,1.399015334794027],[0.6970913342034639,1.4990153325845141]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[0.17099523924603321,-1.1630301252961774,0.71338606911949],"aabb_xy":[[0.15341693705708637,-1.1806046148702825],[0.18857354143498006,-1.1454556357220724]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.19804028574964655,-2.0365021818353566,0.71338606911949],"aabb_xy":[[-0.2530402853713924,-2.0914858746228293],[-0.1430402861279007,-1.9815184890478839]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[-0.22632522313066694,0.7339990890010388,0.71338606911949],"aabb_xy":[[-0.26132522140078684,0.7269249613060508],[-0.191325224860547,0.7410732166960271]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.4690676170312119,-1.7902686697341175,0.71338606911949],"aabb_xy":[[-0.47250829327126914,-1.7941301027084822],[-0.4656269407911548,-1.7864072367597532]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[0.46249634263094386,-2.29907961811167,0.71338606911949],"aabb_xy":[[0.3824963415578235,-2.3088576644490546],[0.5424963437040642,-2.2893015717742857]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.22856209038568304,1.2802392328266698,0.71338606911949],"aabb_xy":[[-0.28356208956227247,1.225249558051712],[-0.17356209120909352,1.3352289076016273]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.01849791368886311,1.0093013271768174,0.71338606911949],"aabb_xy":[[0.010370225495549893,1.0003877187661097],[0.026625601882176334,1.0182149355875252]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[0.2399149958622827,1.422062266376383,0.71338606911949],"aabb_xy":[[0.17591499445429204,1.3702733148524584],[0.3039149972702734,1.4738512179003078]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[-0.6644057017155227,0.5889824791042528,0.71338606911949],"aabb_xy":[[-0.6763384360773509,0.5766003262963935],[-0.6524729673536948,0.6013646319121122]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.0973395457029198,0.42557497550011103,0.71338606911949],"aabb_xy":[[-0.10141770360996953,0.4214939952518477],[-0.09326138779587005,0.42965595574837434]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7122587525900853,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/220.png","name":"220"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/220.png","name":"220"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9524.png","name":"9524"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3495.png","name":"3495"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1466.png","name":"1466"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/728.png","name":"728"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":746.0235558834752,"rotation_z_degrees":359.2673547412527,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01780904311139669,0.009106601286916986,-0.007837905717008788]},{"name":"camera_2","offset_m":[-0.0014754919372319403,-0.011406889577888305,0.007658333302358385]},{"name":"camera_3","offset_m":[-0.01370500198518091,-0.004207914418624451,-0.009395262493322943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.98260601794399e-05,0.0016683964434632916,-0.0017676109656417946],"end_effector_yaw_offset_degrees":0.6200011818766846},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001058992760539331,0.0002692305736088007,-0.0002096025622479441],"end_effector_yaw_offset_degrees":0.860980966395992},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006720192347468075,-0.0013657042060864924,0.0015816399091179616],"end_effector_yaw_offset_degrees":0.029888376768137936}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033633106292555144,-0.0013815064222309683],"position_m":[0.18876331062925553,-0.134081506422231,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003626030640140222,-0.0022965924231244184],"position_m":[0.2638739693598598,-0.4034965924231244,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008968457499357527,-0.004166178131894187],"position_m":[0.18849684574993575,0.08043382186810581,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005842997888352982,0.0001161163396572306],"position_m":[0.34851570021116474,0.29021611633965727,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2566c289ca6e38b7e1aebf1e71f4c6c4e39b4f2bcec4464756ed623da14c1cd1","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_220/tex_ceiling_textures_728/tex_floor_textures_1466/tex_table_textures_9524/tex_wall_textures_3495","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2519868622576664280,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2519868622576664280,"visual_seed":2519868622576664280,"scene_id":"lab_003","finished_at":"2026-09-03T21:45:14"} +{"episode_id":"ep_000071","started_at":"2026-09-03T21:45:17","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[0.12200456934056081,-1.5912746216711224,0.71338606911949],"aabb_xy":[[0.0870045710704409,-1.5983487493661104],[0.1570045676106807,-1.584200493976134]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.06442118338290592,-1.1652362537299663,0.71338606911949],"aabb_xy":[[0.014442374872590036,-1.215236253735685],[0.11439999189322181,-1.1152362537242473]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.11556367783237464,1.6328494713593504,0.71338606911949],"aabb_xy":[[0.09769457007791915,1.6190165633821394],[0.13343278558683014,1.6466823793365615]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.22695387655239752,1.1570197368527042,0.71338606911949],"aabb_xy":[[0.14695387328838438,1.1434597045437906],[0.30695387981641065,1.1705797691616173]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[-0.0842679994872374,0.8916560500158468,0.71338606911949],"aabb_xy":[[-0.14426800113015925,0.8396559007239026],[-0.02426799784431556,0.943656199307791]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[-0.37425853367724704,-0.9407964557949591,0.71338606911949],"aabb_xy":[[-0.424251645786439,-0.9907964564691549],[-0.32426542156805516,-0.8907964551207637]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.37907874307490813,-0.07949874092886144,0.71338606911949],"aabb_xy":[[-0.39230968860958937,-0.09272615995086084],[-0.3658477975402268,-0.066271321906862]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[-0.18817736210771574,1.3279296722902605,0.71338606911949],"aabb_xy":[[-0.23598352972148437,1.2629296695832015],[-0.14037119449394708,1.3929296749973195]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[0.32981092706322634,-1.6056359530874271,0.71338606911949],"aabb_xy":[[0.323716299175108,-1.6142053476390958],[0.33590555495134466,-1.5970665585357584]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[0.22921473819849436,-2.0746402047080474,0.71338606911949],"aabb_xy":[[0.19421473900567607,-2.0856072507057095],[0.2642147373913126,-2.0636731587103845]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.23385493050827855,1.3247206722436893,0.71338606911949],"aabb_xy":[[0.18385493093194386,1.2747400932915836],[0.28385493008461327,1.3747012511957954]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.08947251138764756,-0.7640851037217007,0.71338606911949],"aabb_xy":[[-0.10209929867484391,-0.7736311774232735],[-0.07684572410045121,-0.7545390300201277]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.4091963179444704,1.672245327230733,0.71338606911949],"aabb_xy":[[-0.4321120308295204,1.6493410300943097],[-0.3862806050594206,1.6951496243671567]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.4258813451930128,-1.3273079173760804,0.71338606911949],"aabb_xy":[[0.4170792898840401,-1.3351192435310093],[0.4346834005019855,-1.3194965912211511]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[0.5183092044431381,-0.5438672258440658,0.71338606911949],"aabb_xy":[[0.4543092037396689,-0.5898856083169867],[0.5823092051466076,-0.49784884337114466]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.6028406828852815,-1.8919128366671585,0.71338606911949],"aabb_xy":[[0.5948043481839965,-1.899950955971575],[0.6108770175865662,-1.8838747173627415]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[-0.6261410994935102,-2.0768940884609677,0.71338606911949],"aabb_xy":[[-0.6761410981394312,-2.12681363212043],[-0.5761411008475888,-2.0269745448015053]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.18533536000352047,-1.6553456237217237,0.71338606911949],"aabb_xy":[[-0.2072440421428715,-1.6772462905418146],[-0.16342667786416942,-1.6334449569016332]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[-0.35947551127478256,-1.7395393139747093,0.71338606911949],"aabb_xy":[[-0.37975981399818126,-1.7598219391174177],[-0.33919120855138374,-1.719256688832]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[0.3305725913926787,-0.9186507148285843,0.71338606911949],"aabb_xy":[[0.266572594280573,-0.967683084622995],[0.3945725885047844,-0.8696183450341738]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[-0.2896547945450876,-0.2212267522735738,0.71338606911949],"aabb_xy":[[-0.29408542389992776,-0.2266751240082564],[-0.2852241651902474,-0.2157783805388912]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.01612054957997444,-0.9537094901326728,0.71338606911949],"aabb_xy":[[-0.10612054608084619,-0.999621132551131],[0.0738794469208973,-0.9077978477142146]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.2932804533186122,0.851832680010816,0.71338606911949],"aabb_xy":[[0.22828045543696446,0.8007090163042753],[0.35828045120026003,0.902956343717357]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_23","position":[-0.21709217327933666,0.3655237400948499,0.71338606911949],"aabb_xy":[[-0.2253067183950206,0.35684714979720855],[-0.20887762816365263,0.3742003303924911]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[0.6921162765574238,0.22464500324626613,0.71338606911949],"aabb_xy":[[0.6841929963186754,0.20214500300826277],[0.700039556796172,0.2471450034842695]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_25","position":[0.6056243171885483,-0.14538899664737315,0.71338606911949],"aabb_xy":[[0.5681243186129273,-0.1581252923109311],[0.643124315764169,-0.1326527009838152]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_26","position":[0.18206210042434712,-2.330246915217266,0.71338606911949],"aabb_xy":[[0.1398776862635164,-2.394246915494477],[0.2242465145851779,-2.2662469149400546]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_27","position":[0.6261175017173597,1.1469459797013255,0.71338606911949],"aabb_xy":[[0.5361175049817494,1.093762516384031],[0.7161174984529698,1.20012944301862]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_28","position":[0.6349959973138279,1.3039498387292046,0.71338606911949],"aabb_xy":[[0.6286838977774896,1.2981828994759854],[0.6413080968501663,1.3097167779824233]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_29","position":[-0.347325012213392,1.5602783698313343,0.71338606911949],"aabb_xy":[[-0.42732501328651235,1.5505003234939498],[-0.2673250111402717,1.5700564161687187]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_30","position":[-0.3939490971677506,-2.338028976571813,0.71338606911949],"aabb_xy":[[-0.4189490963333838,-2.3449812222771698],[-0.36894909800211756,-2.3310767308664566]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_31","position":[0.5832718002023387,0.9945621649039222,0.71338606911949],"aabb_xy":[[0.5657718010679713,0.9846825378663344],[0.6007717993367057,1.00444179194151]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7111009825604231,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7197.png","name":"7197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7197.png","name":"7197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1147.png","name":"1147"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1349.png","name":"1349"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5884.png","name":"5884"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3763.png","name":"3763"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":617.7793424985948,"rotation_z_degrees":300.50469923709784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0039778628582379585,0.012411593324293414,-0.001513333707124146]},{"name":"camera_2","offset_m":[0.0077560302381742795,0.0011344767271364367,0.013237496367476075]},{"name":"camera_3","offset_m":[-0.005644939556586657,-0.011932635966084697,-0.00303263510120173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001116432907984162,-0.0014344865364197693,0.00018291467356923528],"end_effector_yaw_offset_degrees":0.9887646928902349},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00177789885479015,0.0006844051097434018,0.0016759680574164383],"end_effector_yaw_offset_degrees":-0.4761492350340062},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005862639326801411,0.0007849932626005744,-0.0008244718784047786],"end_effector_yaw_offset_degrees":0.7330510285898943}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014612222718708512,-0.0026578285205816144],"position_m":[0.18686122227187085,-0.13535782852058162,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002536419031475912,0.004726111224464427],"position_m":[0.26724635809685243,-0.3964738887755356,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00032608501718171205,-0.00011249624038284917],"position_m":[0.1879260850171817,0.08448750375961714,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002521958932197895,-0.00245821251430824],"position_m":[0.3465780410678021,0.2876417874856918,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f951c3e107482f4a1e59542b8afcc18fab2fa42319739200cedabcbc8f1150fd","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7197/tex_ceiling_textures_3763/tex_floor_textures_5884/tex_table_textures_1147/tex_wall_textures_1349","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4583829044373200111,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4583829044373200111,"visual_seed":4583829044373200111,"scene_id":"lab_003","finished_at":"2026-09-03T21:47:59"} +{"episode_id":"ep_000072","started_at":"2026-09-03T21:48:02","dimensions":{"distractor":{"count":23,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.6315281299454598,0.3054801066602839,0.71338606911949],"aabb_xy":[[0.624245813568796,0.2154801030507749],[0.6388104463221234,0.39548011026979285]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.5302445524763406,-1.5111655690327075,0.71338606911949],"aabb_xy":[[0.5052445529246021,-1.521308052897842],[0.5552445520280791,-1.5010230851675725]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.6170529243504088,-0.008020404879351517,0.71338606911949],"aabb_xy":[[0.6036063977163655,-0.021490256532442742],[0.6304994509844521,0.005449446773739708]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.3626837954891549,0.38483334067091857,0.71338606911949],"aabb_xy":[[-0.4125005749539896,0.3348333421866152],[-0.3128670160243201,0.43483333915522193]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.18223864118590782,-0.890279929481613,0.71338606911949],"aabb_xy":[[-0.2622386397732272,-0.969595531419774],[-0.10223864259858838,-0.8109643275434522]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[-0.5973639752477459,-0.9432052976055905,0.71338606911949],"aabb_xy":[[-0.6348639757451041,-0.9471739811537089],[-0.5598639747503876,-0.939236614057472]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[0.4808823001418625,-0.7260540909211775,0.71338606911949],"aabb_xy":[[0.4308874672139209,-0.776054089816421],[0.5308771330698041,-0.6760540920259339]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.2155312316973973,-0.8143635884130194,0.71338606911949],"aabb_xy":[[0.20265932819645713,-0.8943635888268555],[0.2284031351983374,-0.7343635879991832]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[0.15327780067706143,1.2216298581320708,0.71338606911949],"aabb_xy":[[0.11577780057146848,1.2148076962790897],[0.19077780078265438,1.228452019985052]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.46927250729917025,-0.8494174897889861,0.71338606911949],"aabb_xy":[[-0.4746100829651748,-0.8744174907181258],[-0.4639349316331657,-0.8244174888598462]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.38185586502476954,0.0870284006019113,0.71338606911949],"aabb_xy":[[-0.4458558621368752,0.03799603080750069],[-0.31785586791266385,0.13606077039632192]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.512707613610526,1.5153351081592974,0.71338606911949],"aabb_xy":[[-0.5927076168683689,1.4353386003673134],[-0.432707610352683,1.5953316159512814]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[-0.4280892659302522,1.3029933809758139,0.71338606911949],"aabb_xy":[[-0.46558926659483096,1.2873063229755912],[-0.39058926526567356,1.3186804389760356]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.4858667770526415,-1.7904940379648624,0.71338606911949],"aabb_xy":[[0.4788253261018939,-1.797520789702657],[0.49290822800338907,-1.7834672862270677]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[0.13631849920502592,-1.4238580160677512,0.71338606911949],"aabb_xy":[[0.12616548365087651,-1.4599275576404913],[0.14647151475917528,-1.3877884744950106]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[-0.12439537587604554,-1.5937375195231382,0.71338606911949],"aabb_xy":[[-0.188395374462618,-1.640744482922647],[-0.06039537728947307,-1.5467305561236295]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.4324405214651749,-1.8205848529730302,0.71338606911949],"aabb_xy":[[-0.4456714669998561,-1.8338122719950292],[-0.4192095759304935,-1.8073574339510303]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[-0.23502016345925286,0.3451375502669154,0.71338606911949],"aabb_xy":[[-0.25252016259362,0.33525792322932746],[-0.21752016432488563,0.3550171773045031]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[-0.034069869333611,-0.3995759486569308,0.71338606911949],"aabb_xy":[[-0.04492147558248661,-0.41043523938458176],[-0.02321826308473541,-0.38871665792927973]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.38089031932743295,-2.0243268371265115,0.71338606911949],"aabb_xy":[[-0.3868568582681687,-2.0302879817858757],[-0.3749237803866971,-2.0183656924671474]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[0.4188495198689792,-0.32865284869147793,0.71338606911949],"aabb_xy":[[0.3963495200550769,-0.33312746506195856],[0.44134951968288166,-0.3241782323209972]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[0.5825933873422049,-1.8979149394582542,0.71338606911949],"aabb_xy":[[0.5354640083403691,-1.9619149405026557],[0.6297227663440405,-1.8339149384138518]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.32117199749363834,0.6285679477067592,0.71338606911949],"aabb_xy":[[-0.3639387043730585,0.5645679442849567],[-0.2784052906142181,0.6925679511285616]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7123279304033372,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/337.png","name":"337"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/337.png","name":"337"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1481.png","name":"1481"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2276.png","name":"2276"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3621.png","name":"3621"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9175.png","name":"9175"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":613.1612271296726,"rotation_z_degrees":176.03963367374706,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013641298316654813,-0.001506932361765339,-0.0028456308575781214]},{"name":"camera_2","offset_m":[0.01155079860005018,-0.016749316809855613,0.016984594153262093]},{"name":"camera_3","offset_m":[-0.01982317055191302,0.019598434317910248,0.008053388712368555]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-4.350973375124136e-05,0.0019292810892140768,0.0011212162462043576],"end_effector_yaw_offset_degrees":0.8983520126353881},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015264832363027525,0.001289365621775897,-0.0014090856366254642],"end_effector_yaw_offset_degrees":-0.3866664824652579},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000830715597543268,0.0010577678682153974,0.0013501320305437442],"end_effector_yaw_offset_degrees":-0.7319205499015173}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024635493407682407,0.0029856877714801366],"position_m":[0.18786354934076824,-0.12971431222851987,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004773655887015549,-0.004082464045492525],"position_m":[0.26272634411298446,-0.4052824640454925,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002567298434174692,-0.0024028094086055505],"position_m":[0.1850327015658253,0.08219719059139445,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.410627488022535e-05,0.0005578444539497398],"position_m":[0.34917410627488027,0.29065784445394977,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e499a68d0798a2bd92db68f3face2e288e221f4cf1e39f7dcf704d53760e8887","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_337/tex_ceiling_textures_9175/tex_floor_textures_3621/tex_table_textures_1481/tex_wall_textures_2276","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6403796043845069348,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6403796043845069348,"visual_seed":6403796043845069348,"scene_id":"lab_003","finished_at":"2026-09-03T21:50:54"} +{"episode_id":"ep_000073","started_at":"2026-09-03T21:50:57","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.5357429063549919,-0.4414132768790542,0.71338606911949],"aabb_xy":[[0.47074290819907283,-0.4677095214289664],[0.600742904510911,-0.415117032329142]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[-0.6297746885514888,-2.0974288924253393,0.71338606911949],"aabb_xy":[[-0.6797746898353286,-2.147407746815961],[-0.5797746872676487,-2.0474500380347167]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[0.5325646210378288,0.837215468863493,0.71338606911949],"aabb_xy":[[0.5092827788396973,0.7522154675662648],[0.55584646323596,0.9222154701607209]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.618763954344129,1.01845843502803,0.71338606911949],"aabb_xy":[[-0.6296044325706438,1.0012721537373812],[-0.607923476117614,1.0356447163186786]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.36980124027013317,1.0155317021025123,0.71338606911949],"aabb_xy":[[-0.42479445160727003,0.9605317017637187],[-0.3148080289329965,1.070531702441306]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.10215293431402539,-1.5226133526507422,0.71338606911949],"aabb_xy":[[0.012152935719555447,-1.5388639389641634],[0.19215293290849533,-1.5063627663373214]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.031312971593464134,0.2530377249393605,0.71338606911949],"aabb_xy":[[-0.04001093388417943,0.24091275063188577],[-0.02261500930274885,0.2651626992468352]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[-0.43700201762638746,-1.7087298448231092,0.71338606911949],"aabb_xy":[[-0.5170020190565146,-1.7882469998357187],[-0.35700201619626015,-1.6292126898104997]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[0.1162379269442887,-0.7230922369956299,0.71338606911949],"aabb_xy":[[0.08192164976967077,-0.7730922369688076],[0.15055420411890663,-0.6730922370224521]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.44863131459975203,-1.299878383861132,0.71338606911949],"aabb_xy":[[0.4422175009565671,-1.3062882041088002],[0.45504512824293697,-1.2934685636134635]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[-0.2756684784638015,0.3268566759800451,0.71338606911949],"aabb_xy":[[-0.29084064774543483,0.3116878190518418],[-0.26049630918216815,0.3420255329082485]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.13408191801774572,0.8659023577704099,0.71338606911949],"aabb_xy":[[-0.21408191542133911,0.785909786572227],[-0.05408192061415228,0.9458949289685926]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[0.39605876159501063,-1.4833376274143035,0.71338606911949],"aabb_xy":[[0.3508874437468417,-1.5473376245588422],[0.4412300794431797,-1.4193376302697651]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[-0.18431355605462474,0.5384819905703644,0.71338606911949],"aabb_xy":[[-0.21677525693655214,0.5083491584554617],[-0.15185185517269723,0.5686148226852669]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[-0.6063231792764485,-1.9394381800333729,0.71338606911949],"aabb_xy":[[-0.623000315269544,-1.9561381040073036],[-0.589646043283353,-1.922738256059443]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.4148628430302306,-0.8411057732592946,0.71338606911949],"aabb_xy":[[0.38986284386459746,-0.848058018964651],[0.4398628421958637,-0.8341535275539379]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[0.4739150998653099,0.666192169885766,0.71338606911949],"aabb_xy":[[0.44043593260426905,0.6327130565146591],[0.5073942671263509,0.6996712832568731]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.43616659351806397,-2.111068980665302,0.71338606911949],"aabb_xy":[[-0.4961665933646308,-2.1678876028583405],[-0.37616659367149724,-2.054250358472263]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[0.3998273696413899,1.5591872335034913,0.71338606911949],"aabb_xy":[[0.3198273685682695,1.5494091871661069],[0.47982737071451015,1.5689652798408757]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.16213831870986883,0.14153501596172458,0.71338606911949],"aabb_xy":[[-0.17977115430339638,0.12391206994610159],[-0.14450548311634123,0.15915796197734752]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.6865489657368289,0.16112254196016407,0.71338606911949],"aabb_xy":[[0.6784212775435157,0.15220893354945644],[0.6946766539301421,0.17003615037087175]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.4086044906671802,-1.9809174565945205,0.71338606911949],"aabb_xy":[[0.3954532446958908,-2.0059174563512068],[0.42175573663846955,-1.9559174568378341]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[0.624411135763874,-0.07520424872778397,0.71338606911949],"aabb_xy":[[0.6143294286853004,-0.15520424661989862],[0.6344928428424473,0.00479574916433069]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[0.08524536310481479,-1.4212946359681577,0.71338606911949],"aabb_xy":[[0.06968959369454952,-1.4368450692125652],[0.10080113251508006,-1.4057442027237508]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[0.3008103748219174,-1.935377232408533,0.71338606911949],"aabb_xy":[[0.26621929196787214,-2.0003772326935643],[0.3354014576759626,-1.870377232123502]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[-0.13492286068157355,-1.72397037077675,0.71338606911949],"aabb_xy":[[-0.1473902187913092,-1.7364356954100737],[-0.1224555025718379,-1.7115050461434267]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[0.6163276514666951,0.4133545248673993,0.71338606911949],"aabb_xy":[[0.5263276491326762,0.3358721702822867],[0.7063276538007143,0.49083687945251203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7111315529398227,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2688.png","name":"2688"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2688.png","name":"2688"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9835.png","name":"9835"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5019.png","name":"5019"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4558.png","name":"4558"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7850.png","name":"7850"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":744.2078109485147,"rotation_z_degrees":239.9732839984733,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019436451475887042,-0.008214119442329455,-0.0005195129621723207]},{"name":"camera_2","offset_m":[0.01807126242665121,0.01593880846707527,-0.019073929119407126]},{"name":"camera_3","offset_m":[0.0012848257804974304,0.0007506979085821312,-0.008010085227713213]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000570755501605103,-0.0019975085497874324,0.001692562419167226],"end_effector_yaw_offset_degrees":-0.5665753060423437},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012004140680455192,0.0007462077607072121,-0.00024303129690399932],"end_effector_yaw_offset_degrees":-0.2508696593629449},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.260466673739399e-05,0.0001009179651543248,-0.0004894028935207046],"end_effector_yaw_offset_degrees":-0.8092146698972167}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011510695620939827,0.004386701343229971],"position_m":[0.18424893043790602,-0.12831329865677005,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020580380289878385,0.001998254874437691],"position_m":[0.26544196197101216,-0.39920174512556234,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004460181687739571,0.001657899215393173],"position_m":[0.18313981831226042,0.08625789921539317,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004630995568332851,-0.0015891352484155362],"position_m":[0.3537309955683329,0.2885108647515845,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c1f2381863f7e66dff2249c7c4bfb8215bab21dfc68bd8d7350219404fd55d93","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2688/tex_ceiling_textures_7850/tex_floor_textures_4558/tex_table_textures_9835/tex_wall_textures_5019","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7822688068020739445,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7822688068020739445,"visual_seed":7822688068020739445,"scene_id":"lab_003","finished_at":"2026-09-03T21:53:36"} +{"episode_id":"ep_000074","started_at":"2026-09-03T21:53:40","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.43067440983832894,-2.087617708115717,0.71338606911949],"aabb_xy":[[-0.4346348936080633,-2.0952855727012376],[-0.4267139260685946,-2.0799498435301964]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.19387477853760582,1.1806419288230967,0.71338606911949],"aabb_xy":[[-0.22731495373362542,1.1471983029921666],[-0.1604346033415862,1.2140855546540268]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[-0.26931580283571843,-1.033175211255725,0.71338606911949],"aabb_xy":[[-0.2867465179147249,-1.0504473259195757],[-0.25188508775671187,-1.015903096591874]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.46545717464035574,0.2514076615272063,0.71338606911949],"aabb_xy":[[-0.490457173912318,0.2350622979310439],[-0.44045717536839346,0.26775302512336857]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.21414052095770986,-1.3204244259225082,0.71338606911949],"aabb_xy":[[-0.26362094217166865,-1.38442442383536],[-0.16466009974375106,-1.2564244280096564]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.5404723790020216,-0.9174511204751898,0.71338606911949],"aabb_xy":[[0.535573086695458,-0.9451280397777585],[0.545371671308585,-0.889774201172621]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.583181513894941,-1.944036207428629,0.71338606911949],"aabb_xy":[[-0.6471815155729383,-1.992553598907943],[-0.5191815122169436,-1.8955188159493146]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[0.367921912381421,-1.2061376985066745,0.71338606911949],"aabb_xy":[[0.34542277665519405,-1.2286376992849373],[0.390421048107648,-1.1836376977284113]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[-0.25672628803818903,0.9496111274504715,0.71338606911949],"aabb_xy":[[-0.29172628723100724,0.9386440814528088],[-0.2217262888453707,0.960578173448134]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.5794960269221705,1.3716753667159756,0.71338606911949],"aabb_xy":[[-0.64349602762564,1.3256569842430546],[-0.5154960262187013,1.4176937491888966]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[0.12209749895915134,1.3819670400051272,0.71338606911949],"aabb_xy":[[0.05809749661634977,1.3370261887609947],[0.18609750130195288,1.4269078912492597]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.49847261637229295,-1.4347805281235377,0.71338606911949],"aabb_xy":[[-0.5066003045656062,-1.4436941365342455],[-0.49034492817897973,-1.42586691971283]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.6026387756422507,-1.6376831367312674,0.71338606911949],"aabb_xy":[[0.5721545255152204,-1.6876831365127638],[0.6331230257692807,-1.587683136949772]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[-0.10124163977715506,1.3080039815791515,0.71338606911949],"aabb_xy":[[-0.15124163842307625,1.2580844379196892],[-0.05124164113123385,1.357923525238614]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[0.6115788181829425,-1.0728111636075592,0.71338606911949],"aabb_xy":[[0.5765788182064466,-1.0822757796551759],[0.6465788181594383,-1.0633465475599426]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[0.1572676169164362,1.5719510856951566,0.71338606911949],"aabb_xy":[[0.13972092200031727,1.5344510841309054],[0.17481431183255514,1.6094510872594079]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[-0.37700825810314936,1.4202903849927861,0.71338606911949],"aabb_xy":[[-0.41450825804691577,1.4119972949579496],[-0.33950825815938296,1.4285834750276227]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[0.18518163339355243,-1.631120342805779,0.71338606911949],"aabb_xy":[[0.16018163384181391,-1.6412628266709137],[0.21018163294529088,-1.6209778589406443]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[0.07225048203152729,-2.0411503015524404,0.71338606911949],"aabb_xy":[[0.022255649103585684,-2.091150300447684],[0.12224531495946889,-1.9911503026571968]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[0.42868360484734436,1.022951141520727,0.71338606911949],"aabb_xy":[[0.36468360262693733,0.978578057395439],[0.4926836070677514,1.0673242256460156]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[-0.5074161106958954,0.8045268618640757,0.71338606911949],"aabb_xy":[[-0.5974161143728135,0.7430944552869712],[-0.41741610701897713,0.8659592684411798]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[-0.3122860842919365,1.7431575614141566,0.71338606911949],"aabb_xy":[[-0.3274489572688736,1.727992104119038],[-0.2971232113149994,1.7583230187092755]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[-0.39043169818630735,-1.6457681753818787,0.71338606911949],"aabb_xy":[[-0.4604317008228937,-1.6658730403777442],[-0.320431695549721,-1.6256633103860132]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[-0.6008899523882059,-1.6301542698428673,0.71338606911949],"aabb_xy":[[-0.6508729025756851,-1.6801542694854277],[-0.5509070022007264,-1.5801542702003069]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[-0.18634171594545934,-0.4399866303879607,0.71338606911949],"aabb_xy":[[-0.1900449772745982,-0.44368864869667857],[-0.18263845461632047,-0.43628461207924285]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[-0.6056644126657598,-1.4150451689198549,0.71338606911949],"aabb_xy":[[-0.6137077725917148,-1.5000451700152213],[-0.5976210527398045,-1.3300451678244885]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[0.06551916910551903,0.7286722571012074,0.71338606911949],"aabb_xy":[[0.06138331277281883,0.6911722576568504],[0.06965502543821922,0.7661722565455644]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_27","position":[0.60281039515129,-0.9354335503812596,0.71338606911949],"aabb_xy":[[0.5948164065735866,-0.9434336304763498],[0.6108043837289934,-0.9274334702861691]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7107793224753945,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9046.png","name":"9046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9046.png","name":"9046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6030.png","name":"6030"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4710.png","name":"4710"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7252.png","name":"7252"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1166.png","name":"1166"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":627.1372085575733,"rotation_z_degrees":305.22160933138315,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01556416059786853,0.0027361660520327097,0.005194245611088229]},{"name":"camera_2","offset_m":[0.003776847107969789,0.004378397181101536,0.016353800361795064]},{"name":"camera_3","offset_m":[-0.0026981666669656616,-0.00306806637275589,0.000975394806658824]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001820377052210222,0.0002689794051839553,-0.0009968523776510171],"end_effector_yaw_offset_degrees":-0.9940011011912477},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013766464907546449,-0.001115216655803776,-0.0008905866729244001],"end_effector_yaw_offset_degrees":0.2632059214009421},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004613957127457024,0.0010794233105275949,0.0015917342570909271],"end_effector_yaw_offset_degrees":0.25691127746207676}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007736551628998454,-0.0008898460415584413],"position_m":[0.18462634483710016,-0.13358984604155846,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012540845791753608,0.003815662735475904],"position_m":[0.26624591542082465,-0.3973843372645241,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004062235312976331,-0.0012063649797347466],"position_m":[0.19166223531297633,0.08339363502026524,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003505966873752664,0.003223893416009466],"position_m":[0.34559403312624737,0.2933238934160095,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"693bbf792c898afda7d497b74d728960ea659e41adc3ab4388e618c091c456f5","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0074.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9046/tex_ceiling_textures_1166/tex_floor_textures_7252/tex_table_textures_6030/tex_wall_textures_4710","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6418933917741184483,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6418933917741184483,"visual_seed":6418933917741184483,"scene_id":"lab_003","finished_at":"2026-09-03T21:56:21"} +{"episode_id":"ep_000075","started_at":"2026-09-03T21:56:24","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[0.23618290220690452,-0.7549896855663487,0.71338606911949],"aabb_xy":[[0.18619995201942513,-0.804989685208909],[0.28616585239438375,-0.7049896859237882]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.5452904782395496,-1.4963990741512907,0.71338606911949],"aabb_xy":[[0.5388766645963645,-1.5028088943989586],[0.5517042918827344,-1.489989253903622]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[0.32851859110949033,-1.787354754427861,0.71338606911949],"aabb_xy":[[0.32408796175465016,-1.7928031261625437],[0.3329492204643305,-1.7819063826931782]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.5065946324932482,-0.8150126362592964,0.71338606911949],"aabb_xy":[[0.4565997995653066,-0.8650126351545399],[0.5565894654211898,-0.7650126373640528]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.3950646469221477,-1.6005485006532845,0.71338606911949],"aabb_xy":[[-0.4750646439363957,-1.6206830523266957],[-0.31506464990789973,-1.5804139489798732]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[0.565605968755472,-1.9185969598100368,0.71338606911949],"aabb_xy":[[0.5156217330472948,-1.9685969586235323],[0.6155902044636492,-1.8685969609965412]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.50555952027863,1.2272851889688772,0.71338606911949],"aabb_xy":[[-0.5164652963661926,1.1472851925700478],[-0.4946537441910672,1.307285185367706]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.278756817832314,-2.334327739126089,0.71338606911949],"aabb_xy":[[-0.34275681820984766,-2.384073005976901],[-0.21475681745478042,-2.2845824722752766]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.3683997205685794,1.0440629571925046,0.71338606911949],"aabb_xy":[[-0.38086707867831504,1.0315976325591811],[-0.35593236245884374,1.0565282818258281]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[0.08568859086204506,-0.8947415013907398,0.71338606911949],"aabb_xy":[[0.0803510151960405,-0.9197415023198796],[0.09102616652804964,-0.8697415004616]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.014427142360404321,1.5650344547401116,0.71338606911949],"aabb_xy":[[-0.008488570524645581,1.5421301576036885],[0.03734285524545423,1.5879387518765355]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.5025180457544853,-1.744189542574981,0.71338606911949],"aabb_xy":[[-0.562518046615298,-1.795615972581467],[-0.44251804489367247,-1.6927631125684943]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.3013653779851658,-2.347712174105264,0.71338606911949],"aabb_xy":[[0.22136538058157237,-2.4277047453034464],[0.3813653753887592,-2.2677196029070807]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.0905161098725451,-1.4135337576312588,0.71338606911949],"aabb_xy":[[0.08171405456357238,-1.4213450837861878],[0.0993181651815178,-1.4057224314763297]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.03648123390824176,-2.2818737909622437,0.71338606911949],"aabb_xy":[[-0.018518765713504082,-2.336857483749717],[0.0914812335299876,-2.2268900981747715]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[0.7012208811514822,-2.2446367160650835,0.71338606911949],"aabb_xy":[[0.6931072264781051,-2.252742532519113],[0.7093345358248593,-2.2365308996110542]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[-0.414874000609222,1.6545301272136475,0.71338606911949],"aabb_xy":[[-0.494874000882829,1.581580579387931],[-0.33487400033561504,1.7274796750393644]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.20338945681180237,-1.2895321685581786,0.71338606911949],"aabb_xy":[[-0.2106332228580477,-1.3695321667617808],[-0.19614569076555705,-1.209532170354576]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[0.02544172400653688,-1.9422500315864917,0.71338606911949],"aabb_xy":[[-0.009558274304158565,-1.9499650465100373],[0.06044172231723233,-1.934535016662946]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.28281817779958945,-0.40224442367156676,0.71338606911949],"aabb_xy":[[-0.29596942377087887,-0.42724442342825336],[-0.26966693182830015,-0.3772444239148803]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.24328156024639808,1.0958902519640406,0.71338606911949],"aabb_xy":[[-0.2530375497555719,1.0861277179048061],[-0.23352557073722416,1.105652786023275]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[-0.374693823364363,-2.498053395567987,0.71338606911949],"aabb_xy":[[-0.3862628041112996,-2.5230533956849186],[-0.36312484261742645,-2.473053395451055]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.6098540775990701,1.1515445213154614,0.71338606911949],"aabb_xy":[[-0.6423157784809973,1.1214116892005583],[-0.5773923767171424,1.1816773534303635]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.2736237777326086,0.5510283481585936,0.71338606911949],"aabb_xy":[[-0.28878665070954573,0.5358628908634749],[-0.25846090475567157,0.5661938054537125]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.1802804594477776,-2.0553380604597424,0.71338606911949],"aabb_xy":[[-0.2602804566073529,-2.066885661417559],[-0.10028046228820228,-2.043790459501925]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[-0.010624602872161604,-2.3993350270041476,0.71338606911949],"aabb_xy":[[-0.04812460316433642,-2.4033765024047513],[0.026875397420013214,-2.395293551603544]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[-0.48068682137910557,0.7301942028482529,0.71338606911949],"aabb_xy":[[-0.5181868214846985,0.7233720409952717],[-0.44318682127351267,0.737016364701234]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[-0.17231174054792275,1.6369783442390307,0.71338606911949],"aabb_xy":[[-0.2523117375109619,1.559902702595257],[-0.09231174358488356,1.7140539858828039]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[-0.560349611497022,-2.136506339721049,0.71338606911949],"aabb_xy":[[-0.6403496094778071,-2.1441078806829004],[-0.480349613516237,-2.1289047987591965]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_29","position":[0.47695682637903936,0.6249128790045946,0.71338606911949],"aabb_xy":[[0.4618545249180212,0.6098113573735326],[0.4920591278400574,0.6400144006356563]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_30","position":[-0.45340659920828996,0.12615785371329258,0.71338606911949],"aabb_xy":[[-0.4627536067905852,0.11185423149564855],[-0.44405959162599473,0.1404614759309366]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7157543445946812,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9163.png","name":"9163"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9163.png","name":"9163"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9803.png","name":"9803"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2981.png","name":"2981"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2816.png","name":"2816"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3074.png","name":"3074"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":808.5116979715428,"rotation_z_degrees":315.9408443700104,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017389971497401905,0.013302986528410495,-0.010985775348466498]},{"name":"camera_2","offset_m":[-0.013657668441768873,0.009516080711770073,-0.0007610354839452521]},{"name":"camera_3","offset_m":[0.0002336634158728,-0.016172062583606196,-0.0030039796992219064]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00029945463606090793,0.0003592594483007492,0.0014185467600717427],"end_effector_yaw_offset_degrees":0.8710703861658269},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004522994718686277,-0.0017478316773589478,0.0014963294071628015],"end_effector_yaw_offset_degrees":0.38650407342255666},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014651402965457714,-0.0019089574710455764,-1.4316158303771462e-05],"end_effector_yaw_offset_degrees":0.5383121887430558}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010433504716399053,-0.002859416241864361],"position_m":[0.18435664952836012,-0.13555941624186438,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005584414552911665,-0.0023736429204756003],"position_m":[0.2680584414552912,-0.4035736429204756,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031996730087946743,0.001265321388006356],"position_m":[0.19079967300879466,0.08586532138800634,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016827091581114893,-0.004280427967394006],"position_m":[0.3507827091581115,0.285819572032606,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"192af9f017ba3d68ae58748751afb6990b6e63aeb95375064031f98a991b37eb","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9163/tex_ceiling_textures_3074/tex_floor_textures_2816/tex_table_textures_9803/tex_wall_textures_2981","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1959522747525422843,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1959522747525422843,"visual_seed":1959522747525422843,"scene_id":"lab_003","finished_at":"2026-09-03T21:59:04"} +{"episode_id":"ep_000076","started_at":"2026-09-03T21:59:07","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.6022191977680482,0.3043291628481799,0.71338606911949],"aabb_xy":[[-0.6822191947310874,0.2272535212044064],[-0.522219200805009,0.3814048044919533]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[-0.4384857035172176,-1.8317111114460656,0.71338606911949],"aabb_xy":[[-0.4759857041817963,-1.8473981694462873],[-0.4009857028526389,-1.816024053445843]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.31543670611095487,1.7664645881893297,0.71338606911949],"aabb_xy":[[-0.3248541806808177,1.7570484110516107],[-0.3060192315410922,1.7758807653270487]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.11446733121098063,1.1377986631671244,0.71338606911949],"aabb_xy":[[-0.1369664669372076,1.1152986623888614],[-0.09196819548475364,1.1602986639453874]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[-0.3851233229891245,-0.28809707165538967,0.71338606911949],"aabb_xy":[[-0.40762332299927273,-0.30219329129499295],[-0.36262332297897615,-0.2740008520157864]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.23497048175039464,0.28276069785963465,0.71338606911949],"aabb_xy":[[-0.25103240920891223,0.19776069604704274],[-0.218908554291877,0.36776069967222635]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[0.2712536815959776,-1.789291560739842,0.71338606911949],"aabb_xy":[[0.2631259934026644,-1.7982051691505498],[0.27938136978929085,-1.7803779523291343]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.6111546597428432,1.7660197777653157,0.71338606911949],"aabb_xy":[[-0.6612521237239168,1.702019777255504],[-0.5610571957617696,1.8300197782751275]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[-0.049715193302438454,0.5854884211098286,0.71338606911949],"aabb_xy":[[-0.0718877202790893,0.5633127539537053],[-0.027542666325787613,0.6076640882659516]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[0.4926012709077827,0.03353363704212775,0.71338606911949],"aabb_xy":[[0.4426012713314481,-0.016446941909978197],[0.5426012704841175,0.0835142159942337]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.04091301307223194,1.7578776692421116,0.71338606911949],"aabb_xy":[[-0.08216182410214666,1.702877669729894],[0.0003357979576827929,1.8128776687543289]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.32344732646181296,-1.1749855366998165,0.71338606911949],"aabb_xy":[[0.3059473273274458,-1.1848651637374044],[0.34094732559618013,-1.1651059096622287]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.6155504741865336,1.2541130683619786,0.71338606911949],"aabb_xy":[[-0.6505504740825523,1.2457388328500385],[-0.5805504742905145,1.2624873038739186]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[-0.41688040408164223,0.7698059055223205,0.71338606911949],"aabb_xy":[[-0.46688040444220824,0.7198259183127175],[-0.3668804037210761,0.8197858927319234]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.6142674010566874,-0.5599267006601005,0.71338606911949],"aabb_xy":[[-0.6442590637905578,-0.589926699996901],[-0.5842757383228171,-0.5299267013232999]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.617667923222007,-1.962640355206481,0.71338606911949],"aabb_xy":[[0.5376679199579939,-1.9762003875153944],[0.6976679264860202,-1.9490803228975677]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.5422920039642398,-0.7136360323950037,0.71338606911949],"aabb_xy":[[0.48731828192790694,-0.768636031959237],[0.5972657260005727,-0.6586360328307707]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[0.43957380298961146,-0.3629995330873732,0.71338606911949],"aabb_xy":[[0.4204614956316326,-0.3821343119646152],[0.4586861103475903,-0.3438647542101312]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.32914426448586465,-1.279717352210372,0.71338606911949],"aabb_xy":[[0.2741442662841198,-1.3202393188368093],[0.3841442626876095,-1.2391953855839342]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[-0.3040003116945203,0.1383543937144167,0.71338606911949],"aabb_xy":[[-0.31192359193326863,0.11585439347641335],[-0.29607703145577197,0.16085439395242007]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.4537997182553237,0.7104053888397353,0.71338606911949],"aabb_xy":[[0.44295924002880877,0.6932191075490863],[0.4646401964818386,0.727591670130384]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[0.2261212001597268,-2.265841023917973,0.71338606911949],"aabb_xy":[[0.16112119905378353,-2.2908063969861012],[0.2911212012656701,-2.2408756508498446]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[-0.587853487949975,0.55775666357723,0.71338606911949],"aabb_xy":[[-0.6161831978985154,0.553295921383513],[-0.5595237780014349,0.5622174057709471]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.1291443656858069,1.3823204195694778,0.71338606911949],"aabb_xy":[[-0.16360671308394864,1.3478265371716547],[-0.09468201828766505,1.4168143019673]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[-0.31379041573234134,-2.24016215763363,0.71338606911949],"aabb_xy":[[-0.33625518570374646,-2.26266215851249],[-0.2913256457609362,-2.217662156754769]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[-0.33032501561240313,-1.6756849691337132,0.71338606911949],"aabb_xy":[[-0.3383683755383583,-1.7606849702290797],[-0.32228165568644795,-1.5906849680383468]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[-0.5630864075179896,-1.21831478225002,0.71338606911949],"aabb_xy":[[-0.62808640851849,-1.269101147404695],[-0.4980864065174889,-1.167528417095345]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7106507701527294,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3898.png","name":"3898"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3898.png","name":"3898"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9899.png","name":"9899"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8252.png","name":"8252"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9581.png","name":"9581"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4230.png","name":"4230"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":554.1582731491571,"rotation_z_degrees":6.484111861972797,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01146303709599978,-0.015953152480944196,0.012457677714680909]},{"name":"camera_2","offset_m":[0.007230125860666771,0.014430582289427642,0.011441652737801438]},{"name":"camera_3","offset_m":[0.0014376093101944182,0.017071874466218894,-0.005007305290443562]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017514255168241252,-0.0010459426274332627,0.0007176520814017426],"end_effector_yaw_offset_degrees":0.17450034624980315},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019837664925235793,0.00042948115330136054,0.0016638145302870582],"end_effector_yaw_offset_degrees":0.5991029532665924},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001064054022470388,-0.0019468923973082913,-3.558314058141202e-05],"end_effector_yaw_offset_degrees":0.9385526432703077}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002445496159027274,-0.004903628699600665],"position_m":[0.18295450384097273,-0.1376036286996007,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014179399990240584,0.0038026173840519225],"position_m":[0.26608206000097595,-0.3973973826159481,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002202943836621123,-0.00045247732463240316],"position_m":[0.18539705616337887,0.0841475226753676,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037946027444906785,0.002750129564989219],"position_m":[0.34530539725550935,0.29285012956498924,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"23f81845063994a6af0b7ef4c4ab7056651bf3a398cd26dc7a1f3a1dcfffa2c3","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3898/tex_ceiling_textures_4230/tex_floor_textures_9581/tex_table_textures_9899/tex_wall_textures_8252","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5689821019909924829,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5689821019909924829,"visual_seed":5689821019909924829,"scene_id":"lab_003","finished_at":"2026-09-03T22:01:48"} +{"episode_id":"ep_000077","started_at":"2026-09-03T22:01:51","dimensions":{"distractor":{"count":23,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.021688765990044878,-1.8496181632833788,0.71338606911949],"aabb_xy":[[-0.014224738434944807,-1.8855316715001333],[0.05760227041503456,-1.8137046550666243]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.1991928346273959,-0.13949055539927668,0.71338606911949],"aabb_xy":[[-0.2071161148661442,-0.16199055563728004],[-0.19126955438864754,-0.11699055516127332]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.13380605940984347,1.1775881802176649,0.71338606911949],"aabb_xy":[[-0.15880605934236136,1.1707055119967416],[-0.10880605947732558,1.1844708484385882]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[0.6506482196690397,0.5154357882018474,0.71338606911949],"aabb_xy":[[0.6284756926923888,0.49326012104572414],[0.6728207466456905,0.5376114553579705]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.6350309027680898,-2.3172832977670845,0.71338606911949],"aabb_xy":[[0.5700309017675893,-2.3680696629217595],[0.7000309037685903,-2.2664969326124096]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[-0.09165589370608873,1.6884373781435973,0.71338606911949],"aabb_xy":[[-0.14163884389356804,1.6384373785010369],[-0.04167294351860939,1.7384373777861577]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[0.3386587484129595,-1.8625703308888815,0.71338606911949],"aabb_xy":[[0.29647433425212877,-1.9265703311660929],[0.38084316257379025,-1.7985703306116705]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.025345968648044503,-2.4548281344071237,0.71338606911949],"aabb_xy":[[-0.05399530100846073,-2.483473693684199],[0.0033033637123717242,-2.4261825751300474]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.48571699580053185,-1.9004518048156553,0.71338606911949],"aabb_xy":[[0.4357169962241972,-1.9504323837677615],[0.5357169953768666,-1.8504712258635496]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.5986428990528483,1.044708501855681,0.71338606911949],"aabb_xy":[[-0.6231891146755989,1.014459605306644],[-0.5740966834300975,1.074957398404718]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.2372280730871542,0.4042808158849076,0.71338606911949],"aabb_xy":[[-0.2445103894638178,0.3142808122753985],[-0.2299457567104905,0.4942808194944165]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[-0.19501734030756634,0.7405931265663939,0.71338606911949],"aabb_xy":[[-0.23151316093484509,0.7041091841396363],[-0.1585215196802876,0.7770770689931514]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.07072154756452265,1.4544308379379305,0.71338606911949],"aabb_xy":[[-0.12835201645179348,1.3944308390112197],[-0.013091078677251785,1.5144308368646406]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.2855784351711653,-0.9781329681301434,0.71338606911949],"aabb_xy":[[0.2652941324477665,-0.9984155932728522],[0.30586273789456403,-0.9578503429874345]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[0.2226040683868613,0.9444261701723056,0.71338606911949],"aabb_xy":[[0.15260406575027496,0.92432130517644],[0.29260407102344765,0.964531035168171]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.5660969981147846,-1.7258529039731751,0.71338606911949],"aabb_xy":[[-0.6160758066251004,-1.775852903978894],[-0.5161181896044686,-1.6758529039674563]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[0.16006304431492924,-1.4919290826459617,0.71338606911949],"aabb_xy":[[0.07006304489655832,-1.5253045794901514],[0.2500630437333001,-1.458553585801772]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.5112172344668493,-0.5352670258664189,0.71338606911949],"aabb_xy":[[-0.5337172339905565,-0.5577629733170395],[-0.48871723494314173,-0.5127710784157979]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[-0.5224818972268279,-1.522797130030804,0.71338606911949],"aabb_xy":[[-0.6124818958212979,-1.5390477163442253],[-0.432481898632358,-1.5065465437173833]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[0.625861487398623,1.5476761778901067,0.71338606911949],"aabb_xy":[[0.6083147924825041,1.5101761763258552],[0.643408182314742,1.5851761794543577]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.23303773562914437,-0.43230801027752186,0.71338606911949],"aabb_xy":[[-0.2635219857561745,-0.4823080100590178],[-0.20255348550211422,-0.3823080104960259]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[0.30069603881459395,-2.530429939415455,0.71338606911949],"aabb_xy":[[0.26569603968463823,-2.5361751604911196],[0.33569603794454955,-2.5246847183397914]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.6095298707358825,1.7546388934987927,0.71338606911949],"aabb_xy":[[0.6014935360345975,1.7466007741943759],[0.6175662054371672,1.7626770128032094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7114974695342043,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3621.png","name":"3621"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3621.png","name":"3621"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2045.png","name":"2045"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7703.png","name":"7703"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7855.png","name":"7855"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9025.png","name":"9025"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":795.0689125811917,"rotation_z_degrees":239.4337316400322,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014038998330826741,-0.010045683447933178,-0.008242221217323467]},{"name":"camera_2","offset_m":[-0.008189752068962402,0.0028922128069415083,0.004335762515042068]},{"name":"camera_3","offset_m":[-0.004761630804276988,0.01591328941814345,0.008229667227041538]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001163661758786233,0.0014517993838317434,-0.0001395458185607019],"end_effector_yaw_offset_degrees":0.3708512308330121},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010426132641354613,0.0012859859397018995,-0.0011113852132886542],"end_effector_yaw_offset_degrees":0.659849971807908},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012116640658310501,0.0007967365327697482,-0.001972529702677854],"end_effector_yaw_offset_degrees":-0.5811024851032103}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012981119831949875,0.0032769539196676823],"position_m":[0.186698111983195,-0.12942304608033234,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021792373723438308,0.0011684732357024287],"position_m":[0.2653207626276562,-0.4000315267642976,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004400278033368321,0.001876056425483573],"position_m":[0.18319972196663167,0.08647605642548356,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003493552654408163,0.0017540034849921641],"position_m":[0.34560644734559187,0.2918540034849922,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"845b7d35b17ecd45cb70a5ebc2e0029f560083c9d115b0fdff3a8cd037af03e0","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0077.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3621/tex_ceiling_textures_9025/tex_floor_textures_7855/tex_table_textures_2045/tex_wall_textures_7703","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3780655459908859166,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3780655459908859166,"visual_seed":3780655459908859166,"scene_id":"lab_003","finished_at":"2026-09-03T22:04:30"} +{"episode_id":"ep_000078","started_at":"2026-09-03T22:04:33","dimensions":{"distractor":{"count":22,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[0.32773359234423194,-1.2737111069947418,0.71338606911949],"aabb_xy":[[0.3058438447552911,-1.363711104283991],[0.3496233399331727,-1.1837111097054926]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.4868349677064612,-0.9355232722012696,0.71338606911949],"aabb_xy":[[0.4827190175943885,-0.9396388272341151],[0.49095091781853384,-0.931407717168424]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[-0.037401668580554825,-1.9126528799814466,0.71338606911949],"aabb_xy":[[-0.04620372388952753,-1.9204642061363757],[-0.02859961327158211,-1.9048415538265175]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[0.240450796639884,0.811168193689678,0.71338606911949],"aabb_xy":[[0.23241446193859913,0.8031300743852612],[0.24848713134116882,0.8192063129940947]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.41294574245599835,1.4375372514002245,0.71338606911949],"aabb_xy":[[-0.43057857804952593,1.4199143053846013],[-0.3953129068624708,1.4551601974158472]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[0.1743739938820953,-1.592694328599076,0.71338606911949],"aabb_xy":[[0.10937399384779259,-1.6393950052794035],[0.23937399391639805,-1.545993651918749]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[0.685481541030277,0.3642085929933758,0.71338606911949],"aabb_xy":[[0.6479815410865105,0.35591550295853924],[0.7229815409740433,0.3725016830282124]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[0.2873519649622669,0.9448787828656657,0.71338606911949],"aabb_xy":[[0.2780583467251163,0.9073787843775317],[0.2966455831994175,0.9823787813537995]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.1770418797750739,-1.1418595759157448,0.71338606911949],"aabb_xy":[[-0.2410418814530713,-1.190376967395059],[-0.11304187809707658,-1.0933421844364306]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.5329895724559027,-2.406482640695634,0.71338606911949],"aabb_xy":[[-0.5969895717500708,-2.470468781064488],[-0.4689895731617344,-2.3424965003267797]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.28575409757502834,-0.7428047425243625,0.71338606911949],"aabb_xy":[[0.25227493031398746,-0.7762838558954694],[0.31923326483606934,-0.7093256291532555]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[0.45903692492408377,0.7089503581551808,0.71338606911949],"aabb_xy":[[0.45199547397333617,0.7019236064173863],[0.46607837587483136,0.7159771098929754]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.10278444569734135,0.25560088475180764,0.71338606911949],"aabb_xy":[[-0.15778444487393084,0.20061120997685],[-0.047784446520751866,0.3105905595267653]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.22169546687453912,-1.7773747438626972,0.71338606911949],"aabb_xy":[[-0.2716947420429753,-1.8273747451386444],[-0.17169619170610298,-1.72737474258675]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[0.6841492331785051,0.18293492725547544,0.71338606911949],"aabb_xy":[[0.6491492348678096,0.1752199123319298],[0.7191492314892005,0.1906499421790211]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.3519610745060052,-1.105446007406244,0.71338606911949],"aabb_xy":[[-0.3823591856051488,-1.1358529094079135],[-0.32156296340686163,-1.0750391054045745]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.49341949842985033,1.4201514892196294,0.71338606911949],"aabb_xy":[[0.4892836420971502,1.3826514897752722],[0.4975553547625506,1.4576514886639862]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[-0.08131676655623044,-2.5225462246847,0.71338606911949],"aabb_xy":[[-0.1463167647121495,-2.5488424692346117],[-0.016316768400311377,-2.4962499801347873]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.05578068491627597,0.8759778102587124,0.71338606911949],"aabb_xy":[[-0.08078068446801445,0.8658353263935775],[-0.03078068536453748,0.886120294123847]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.5309770692952015,-0.9791644892215825,0.71338606911949],"aabb_xy":[[-0.5528857514345525,-1.0010651560416732],[-0.5090683871558505,-0.9572638224014918]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.18673281764845495,1.5525348355080504,0.71338606911949],"aabb_xy":[[0.12910234876118404,1.4925348365813393],[0.24436328653572573,1.6125348344347603]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[0.6155159235503667,1.228176711266196,0.71338606911949],"aabb_xy":[[0.5919308000864718,1.1631767090207643],[0.6391010470142615,1.2931767135116279]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7168805148380031,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6801.png","name":"6801"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6801.png","name":"6801"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6482.png","name":"6482"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5784.png","name":"5784"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8948.png","name":"8948"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4407.png","name":"4407"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":838.331421378919,"rotation_z_degrees":154.535401903837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004325220597117173,-0.005325533641764161,0.014365427051083565]},{"name":"camera_2","offset_m":[0.0038582644200114875,0.014390000329430257,0.01930300912153445]},{"name":"camera_3","offset_m":[-0.013118875757555602,0.0021083820013279644,0.00215270815449713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017687192751862724,-0.0016641390991473264,-0.0018271732459578085],"end_effector_yaw_offset_degrees":-0.6353984672953552},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004436749491672871,-0.0008308994918656456,2.7888208399253368e-05],"end_effector_yaw_offset_degrees":0.8518537242839606},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005813153633306091,-0.0013403989247582466,0.0008269495844878227],"end_effector_yaw_offset_degrees":0.43755206319307494}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034809412366837216,-0.0009442599950990034],"position_m":[0.18888094123668372,-0.13364425999509902,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020081150984125598,-0.002246534065996195],"position_m":[0.26950811509841255,-0.4034465340659962,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003499452255230435,-0.004903849899438643],"position_m":[0.19109945225523042,0.07969615010056136,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003509640879647654,-0.004964797401809963],"position_m":[0.3526096408796477,0.2851352025981901,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ecf2022748808e1a299f5eb55b1825255225d569f2a265b2262f3b50c871916","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0078.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6801/tex_ceiling_textures_4407/tex_floor_textures_8948/tex_table_textures_6482/tex_wall_textures_5784","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3843415848096538086,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3843415848096538086,"visual_seed":3843415848096538086,"scene_id":"lab_003","finished_at":"2026-09-03T22:07:10"} +{"episode_id":"ep_000079","started_at":"2026-09-03T22:07:13","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[0.2836057783748629,0.9076084776896756,0.71338606911949],"aabb_xy":[[0.27870648606829934,0.8799315583871066],[0.28850507068142633,0.9352853969922441]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.3099265010293036,0.9235381183802991,0.71338606911949],"aabb_xy":[[-0.32772000796422,0.9057383727845013],[-0.29213299409438714,0.9413378639760966]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[-0.12753044539248282,-0.9854741277516417,0.71338606911949],"aabb_xy":[[-0.19753044180244456,-1.005912063403323],[-0.057530448982520986,-0.9650361920999597]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[-0.4009260664454817,-2.3257128008485157,0.71338606911949],"aabb_xy":[[-0.4234224878793458,-2.348212800655263],[-0.3784296450116176,-2.3032128010417683]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.4509077089862077,0.26711281336735127,0.71338606911949],"aabb_xy":[[0.4333610140700888,0.2296128118031],[0.4684544039023267,0.3046128149316025]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.1498649199120431,1.7176934027415265,0.71338606911949],"aabb_xy":[[-0.17203744688869393,1.6955177355854032],[-0.12769239293539225,1.7398690698976493]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[-0.20075912514043442,1.1809322274110636,0.71338606911949],"aabb_xy":[[-0.2507591247167692,1.1309516484589577],[-0.15075912556409973,1.2309128063631696]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[0.4214895904441689,-0.6302769092254341,0.71338606911949],"aabb_xy":[[0.35148958884188947,-0.6437097024270917],[0.49148959204644843,-0.6168441160237765]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.5177049457936331,-0.463948548960313,0.71338606911949],"aabb_xy":[[0.49642693765016077,-0.5289485512863861],[0.5389829539371053,-0.3989485466342399]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.17460962733154384,-1.2313793883707809,0.71338606911949],"aabb_xy":[[-0.21146017526853145,-1.2688793891938146],[-0.13775907939455623,-1.1938793875477471]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[-0.4568525204152232,-0.37129763486311873,0.71338606911949],"aabb_xy":[[-0.5069499843962968,-0.4352976353729306],[-0.40675505643414955,-0.307297634353307]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[-0.5192151737758329,-1.0441644606960154,0.71338606911949],"aabb_xy":[[-0.5297826534339319,-1.0547094908090238],[-0.5086476941177339,-1.0336194305830066]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.5007306028344589,-0.2184694017413995,0.71338606911949],"aabb_xy":[[0.4898248267468962,-0.29846939814022866],[0.5116363789220216,-0.13846940534257032]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[0.2582603596386228,0.7396102068733015,0.71338606911949],"aabb_xy":[[0.24502941410394147,0.7263827878513018],[0.27149130517330405,0.7528376258953007]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[-0.3709800168823777,-0.7818330828109314,0.71338606911949],"aabb_xy":[[-0.3822250724529956,-0.7930748805350267],[-0.3597349613117599,-0.7705912850868362]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.22768732007178738,0.2417062310247604,0.71338606911949],"aabb_xy":[[-0.29268731822770644,0.21540998647484827],[-0.16268732191586835,0.26800247557467266]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[0.42517464554034734,-2.398955988499617,0.71338606911949],"aabb_xy":[[0.41172811890630406,-2.4124258401527086],[0.4386211721743907,-2.385486136846526]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.06901644326692469,-2.1162246991333573,0.71338606911949],"aabb_xy":[[-0.1184968644808835,-2.180224697046209],[-0.01953602205296591,-2.0522247012205055]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.2660728330272508,-2.138377860028594,0.71338606911949],"aabb_xy":[[0.20207283097751882,-2.178472343117902],[0.3300728350769828,-2.098283376939286]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.09273482654570364,-0.8324298822139025,0.71338606911949],"aabb_xy":[[0.01273482953145566,-0.8525644338873138],[0.17273482355995162,-0.8122953305404913]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.6440885042071693,1.136620981879359,0.71338606911949],"aabb_xy":[[-0.685337315237084,1.0816209823671412],[-0.6028396931772545,1.1916209813915761]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.4285168551063794,0.884227491078911,0.71338606911949],"aabb_xy":[[0.3785220221784378,0.8342274921836674],[0.478511688034321,0.9342274899741545]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[0.30169314498535593,-1.442598698222541,0.71338606911949],"aabb_xy":[[0.23769314471137776,-1.492664798419829],[0.3656931452593342,-1.392532598025253]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.41663474302860126,1.197940423874937,0.71338606911949],"aabb_xy":[[0.40860847239797526,1.1891889288975843],[0.42466101365922726,1.2066919188522895]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[0.032770515399982325,-1.8952154476843799,0.71338606911949],"aabb_xy":[[0.004925478619375194,-1.9259999464226916],[0.06061555218058944,-1.8644309489460682]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[-0.08096110729767969,-2.563688364101553,0.71338606911949],"aabb_xy":[[-0.09037858186754244,-2.5731045412392715],[-0.07154363272781694,-2.5542721869638334]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7165764454159511,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4251.png","name":"4251"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4251.png","name":"4251"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6324.png","name":"6324"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6474.png","name":"6474"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3429.png","name":"3429"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7727.png","name":"7727"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":599.4168228355848,"rotation_z_degrees":57.22917708527066,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006043981767172198,-0.011584646372282017,-0.0074874600792464285]},{"name":"camera_2","offset_m":[0.0054030025531953164,0.01947056231102978,-0.01727355512154249]},{"name":"camera_3","offset_m":[-0.01967146431422173,0.010147753240042596,-0.015490751282728948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009540850891718751,0.0013376942708614877,-0.0018144441911208187],"end_effector_yaw_offset_degrees":-0.33439919589847533},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014028083616598871,-0.0001294162016231208,0.00144412894169155],"end_effector_yaw_offset_degrees":-0.03479359384352021},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015113097785388518,0.00012291557252855443,-0.0009771335720835245],"end_effector_yaw_offset_degrees":0.934317571457383}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001962898087601409,0.0011924568733637344],"position_m":[0.18736289808760143,-0.1315075431266363,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004135793936561429,0.0014411254722978594],"position_m":[0.27163579393656145,-0.39975887452770215,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036223368341877513,-0.004393957524511189],"position_m":[0.19122233683418774,0.0802060424754888,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019791021808259423,-0.0005692440937857292],"position_m":[0.3471208978191741,0.2895307559062143,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"713fd313d18d3ab1e049cffd1e72a5d6b68718bd36c3fcfb1fed4aaa3ace995d","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4251/tex_ceiling_textures_7727/tex_floor_textures_3429/tex_table_textures_6324/tex_wall_textures_6474","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8021812750369824773,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8021812750369824773,"visual_seed":8021812750369824773,"scene_id":"lab_003","finished_at":"2026-09-03T22:09:55"} +{"episode_id":"ep_000080","started_at":"2026-09-03T22:09:58","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.38266137930635385,-0.5591855292878178,0.71338606911949],"aabb_xy":[[-0.4001613785844407,-0.5765236293541638],[-0.3651613800282669,-0.5418474292214719]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.6146181350412521,-0.52788854833772,0.71338606911949],"aabb_xy":[[0.5646250229320603,-0.5778885490119158],[0.6646112471504441,-0.4778885476635245]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.31781556608365946,0.958045137521955,0.71338606911949],"aabb_xy":[[-0.3337000593489846,0.9436921972231308],[-0.3019310728183343,0.9723980778207789]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.033070101639024685,0.7962581093970904,0.71338606911949],"aabb_xy":[[-0.06651027683504428,0.7628144835661601],[0.0003700735569949209,0.8297017352280203]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[-0.5461469929775012,0.7920601983875324,0.71338606911949],"aabb_xy":[[-0.5555644675473639,0.7826440212498132],[-0.5367295184076384,0.8014763755252513]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.17112019548801816,1.0110396958563563,0.71338606911949],"aabb_xy":[[0.13362019567098457,1.0064014845452145],[0.2086201953050517,1.0156779071674982]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[0.24964847811684387,-0.8756921760317316,0.71338606911949],"aabb_xy":[[0.24223602257545543,-0.8815433864533595],[0.25706093365823235,-0.8698409656101036]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[-0.29337393586040594,-0.23415451448907465,0.71338606911949],"aabb_xy":[[-0.3583739368175331,-0.28610272642278023],[-0.2283739349032787,-0.1822063025553691]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[-0.42396969098686405,1.6058229122072647,0.71338606911949],"aabb_xy":[[-0.4544539411138942,1.5558229124257683],[-0.3934854408598339,1.6558229119887602]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.2756352548789806,-0.11263436296025331,0.71338606911949],"aabb_xy":[[-0.3556352520385559,-0.12418196391807032],[-0.19563525771940532,-0.10108676200243624]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.668242846699192,0.3777998648796488,0.71338606911949],"aabb_xy":[[-0.690707616670597,0.3552998640007882],[-0.6457780767277868,0.40029986575850923]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[0.2567475218481009,-2.0954359348965346,0.71338606911949],"aabb_xy":[[0.2523168924932607,-2.100884306631217],[0.2611781512029411,-2.089987563161852]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.5885735631905011,0.4799391251131593,0.71338606911949],"aabb_xy":[[-0.6169032731390415,0.4754783829194423],[-0.560243853241961,0.4843998673068764]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[-0.3198454706685778,-1.9561165219172278,0.71338606911949],"aabb_xy":[[-0.35634129129585657,-1.992600464343985],[-0.2833496500412991,-1.9196325794904698]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.2174711966088459,0.5634394479728173,0.71338606911949],"aabb_xy":[[-0.2624711980750748,0.5184395911113368],[-0.17247119514261705,0.6084393048342981]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[0.13018954937613647,-1.8742861037769174,0.71338606911949],"aabb_xy":[[0.040189547042117385,-1.95176845836203],[0.2201895517101555,-1.7968037491918047]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[-0.16665292488319317,1.3771648023039158,0.71338606911949],"aabb_xy":[[-0.17722040454129218,1.366619772190907],[-0.15608544522509415,1.3877098324169241]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[0.5305705869286632,-0.6720288309912834,0.71338606911949],"aabb_xy":[[0.46657058666819234,-0.7170376303442112],[0.5945705871891339,-0.6270200316383552]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.5935176802265465,-1.697702846954604,0.71338606911949],"aabb_xy":[[0.5833646646723969,-1.733772388527344],[0.6036706957806957,-1.6616333053818633]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.4316137804426827,-1.3895837232617188,0.71338606911949],"aabb_xy":[[-0.4675272848676724,-1.4254972314784733],[-0.39570027601769303,-1.3536702150449642]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.12190919575386061,1.5928664237198515,0.71338606911949],"aabb_xy":[[-0.13437655386359626,1.580401099086528],[-0.10944183764412498,1.605331748353175]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.07003437976114646,-1.8044863755593497,0.71338606911949],"aabb_xy":[[-0.09458059538389717,-1.8347352721083865],[-0.04548816413839573,-1.7742374790103124]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[0.33845079228044006,0.7323982577508823,0.71338606911949],"aabb_xy":[[0.28345758094330337,0.6773982574120887],[0.3934440036175769,0.787398258089676]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_23","position":[0.6463506344491405,1.2698433675582654,0.71338606911949],"aabb_xy":[[0.5963773404458801,1.219843367003718],[0.696323928452401,1.3198433681128128]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[0.3706034892904797,-2.5412331001501416,0.71338606911949],"aabb_xy":[[0.3066034920048311,-2.5827398191029856],[0.4346034865761284,-2.4997263811972976]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[-0.46094103609298315,-1.9143018803966134,0.71338606911949],"aabb_xy":[[-0.4740922820642726,-1.9393018801533],[-0.4477897901216939,-1.8893018806399269]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[0.6334524407619446,-2.1112053478240886,0.71338606911949],"aabb_xy":[[0.5834574298024926,-2.1612053468596804],[0.6834474517213966,-2.061205348788497]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_27","position":[0.4493301582130844,-1.9353843063843252,0.71338606911949],"aabb_xy":[[0.4290458554896856,-1.9556669315270339],[0.4696144609364831,-1.9151016812416162]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7183326153649656,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3126.png","name":"3126"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3126.png","name":"3126"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2867.png","name":"2867"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2173.png","name":"2173"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6254.png","name":"6254"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9198.png","name":"9198"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":580.9461730101375,"rotation_z_degrees":177.52482224956864,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010737055978608766,-0.014332153639686838,-9.830940956313816e-05]},{"name":"camera_2","offset_m":[0.007003499368900424,0.007111751912813009,0.005950719544363114]},{"name":"camera_3","offset_m":[0.006677717312328659,0.014537483263238126,0.004005796560398751]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001300714954773417,-0.00043664737392114326,0.0013465426937143278],"end_effector_yaw_offset_degrees":0.09107545452908172},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018086161221397517,0.0002210347137900216,-0.0012388438929732976],"end_effector_yaw_offset_degrees":-0.27718343501468246},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014025636644990208,-0.001124816887418434,-0.00045851666554189933],"end_effector_yaw_offset_degrees":0.40059524904168686}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001314090043637025,0.0024361094936210014],"position_m":[0.18408590995636298,-0.13026389050637902,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003582987075379262,-0.0025130705183711334],"position_m":[0.27108298707537926,-0.40371307051837113,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008221059072529161,0.0044131355304394245],"position_m":[0.18677789409274706,0.08901313553043942,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002663605833135615,0.003725222441443286],"position_m":[0.3464363941668644,0.2938252224414433,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6f7127e3cdf3c7a6c42e12666675073bb3cfe3bc32ed2fe0a6c4bf1899d9479f","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3126/tex_ceiling_textures_9198/tex_floor_textures_6254/tex_table_textures_2867/tex_wall_textures_2173","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5370388505143170771,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5370388505143170771,"visual_seed":5370388505143170771,"scene_id":"lab_003","finished_at":"2026-09-03T22:12:36"} +{"episode_id":"ep_000081","started_at":"2026-09-03T22:12:39","dimensions":{"distractor":{"count":27,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.1355520570683687,-2.426824924431212,0.71338606911949],"aabb_xy":[[-0.1428343734450323,-2.5168249280407204],[-0.128269740691705,-2.3368249208217025]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[0.6042778074442687,-2.2956814654733684,0.71338606911949],"aabb_xy":[[0.5542778087983475,-2.3456010091328303],[0.6542778060901899,-2.2457619218139055]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.0752277621036731,-1.1153672540433295,0.71338606911949],"aabb_xy":[[-0.13922776539338122,-1.1587021730472469],[-0.011227758813964995,-1.0720323350394116]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.19877139495195678,-0.4856253517960627,0.71338606911949],"aabb_xy":[[-0.23123309583388418,-0.5157581839109652],[-0.16630969407002927,-0.45549251968116]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.14801802931995833,1.2000060350135686,0.71338606911949],"aabb_xy":[[0.13051802906062174,1.185914492824796],[0.16551802957929498,1.2140975772023412]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[0.32813801569713985,-1.5297084532004088,0.71338606911949],"aabb_xy":[[0.31897813675326325,-1.536239671243946],[0.33729789464101645,-1.5231772351568718]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[-0.4793802809810428,-2.1013311489140816,0.71338606911949],"aabb_xy":[[-0.5206290920109574,-2.156331148426299],[-0.438131469951128,-2.046331149401864]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[-0.2695788886031577,-0.6664110272367747,0.71338606911949],"aabb_xy":[[-0.3495788860067511,-0.7464035984349575],[-0.18957889119956425,-0.5864184560385919]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[0.4321065275672473,1.443985968286976,0.71338606911949],"aabb_xy":[[0.3821116946393057,1.3939859693917322],[0.4821013604951889,1.4939859671822193]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[0.6103115274436925,-1.0648301279990622,0.71338606911949],"aabb_xy":[[0.5952092259826741,-1.0799316496301237],[0.6254138289047103,-1.0497286063679998]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.17769175820820426,0.7655304547906461,0.71338606911949],"aabb_xy":[[0.15317813411119843,0.7412658614886096],[0.20220538230521015,0.7897950480926825]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[0.5008187565195843,-0.8684816379963147,0.71338606911949],"aabb_xy":[[0.4368187562591134,-0.9134904373492426],[0.564818756780055,-0.8234728386433866]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.17121878546286995,1.651284611374869,0.71338606911949],"aabb_xy":[[-0.25121260904142817,1.5712846087820276],[-0.09122496188431173,1.7312846139677107]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[0.7006892875933783,-0.3811115815490802,0.71338606911949],"aabb_xy":[[0.6965534312606781,-0.41861158099343715],[0.7048251439260785,-0.34361158210472315]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.08529360534093078,-0.9535261054799262,0.71338606911949],"aabb_xy":[[0.06074738971818006,-0.9837750020289633],[0.1098398209636815,-0.9232772089308892]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.5172816677394108,0.8795077300122425,0.71338606911949],"aabb_xy":[[0.43728167057983547,0.8679601290544254],[0.597281664898986,0.8910553309700595]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.38882023167931484,-0.30991508798435907,0.71338606911949],"aabb_xy":[[-0.4263202314963484,-0.31455329929550085],[-0.3513202318622813,-0.3052768766732172]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[0.0400286225024552,1.2409020847490915,0.71338606911949],"aabb_xy":[[0.010036959768584867,1.210902085412291],[0.07002028523632553,1.270902084085892]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[0.5603893730169403,0.12346496233362592,0.71338606911949],"aabb_xy":[[0.4963893744303678,0.0764579989341172],[0.6243893716035127,0.17047192573313463]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[-0.09008305447898723,-1.2944311918547355,0.71338606911949],"aabb_xy":[[-0.11299876736403715,-1.3173354889911593],[-0.06716734159393734,-1.2715268947183123]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[0.2576143122226049,1.4397088823643096,0.71338606911949],"aabb_xy":[[0.22011431364698406,1.4269725867007514],[0.29511431079822564,1.4524451780278673]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[-0.15017228050323617,-0.10552457572454976,0.71338606911949],"aabb_xy":[[-0.21417228120670553,-0.15154295819747077],[-0.08617227979976681,-0.05950619325162876]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.6199690708140402,-2.106204009795327,0.71338606911949],"aabb_xy":[[-0.6260060838147049,-2.1122307108642757],[-0.6139320578133755,-2.1001773087263795]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_23","position":[-0.2711405499005626,0.5165347913695464,0.71338606911949],"aabb_xy":[[-0.32114055026112864,0.4665548041599434],[-0.22114054953999654,0.5665147785791492]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[-0.31320617876217927,0.13303431397214638,0.71338606911949],"aabb_xy":[[-0.33231848612015813,0.11389953509490436],[-0.2940938714042004,0.1521690928493884]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.26823762709001725,1.1165176717724314,0.71338606911949],"aabb_xy":[[-0.33223762625978714,1.069750984653469],[-0.20423762792024727,1.163284358891394]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_26","position":[-0.09482839646452235,0.4782770342273417,0.71338606911949],"aabb_xy":[[-0.13584633985089323,0.4282770335963844],[-0.05381045307815148,0.528277034858299]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7121570953705344,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4790.png","name":"4790"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4790.png","name":"4790"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5170.png","name":"5170"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2480.png","name":"2480"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2883.png","name":"2883"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2547.png","name":"2547"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":625.2190704427203,"rotation_z_degrees":346.7575175746357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002472092685715445,0.016607235732618932,-0.0020778930054755167]},{"name":"camera_2","offset_m":[-0.011112552296654225,0.010636513982586991,-0.008561585522939343]},{"name":"camera_3","offset_m":[0.018522538893888964,-0.007368559921820754,-0.018795223804774844]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004473462832199583,0.00025602642779506794,0.0007919691588625191],"end_effector_yaw_offset_degrees":-0.004573827765276484},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017535450887752782,0.0012680717977095537,-0.0013899509365735618],"end_effector_yaw_offset_degrees":-0.14617800822416194},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009119931158942096,-0.0005275974854442214,0.0008784249087631043],"end_effector_yaw_offset_degrees":0.847112640412232}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003920490599396418,-0.004925728359465111],"position_m":[0.1814795094006036,-0.13762572835946513,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[4.362729487988534e-05,0.0032758965758813803],"position_m":[0.2675436272948799,-0.3979241034241186,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018411109889327872,0.0028554914629624435],"position_m":[0.18944111098893276,0.08745549146296244,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00043975254468285683,0.004145876942787168],"position_m":[0.34866024745531715,0.2942458769427872,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"17299547d36ea4e0e827e585afbaaf0a42b79912c0fc60f94aea48fcdc8bf950","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4790/tex_ceiling_textures_2547/tex_floor_textures_2883/tex_table_textures_5170/tex_wall_textures_2480","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3225964030187868584,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3225964030187868584,"visual_seed":3225964030187868584,"scene_id":"lab_003","finished_at":"2026-09-03T22:15:20"} +{"episode_id":"ep_000082","started_at":"2026-09-03T22:15:23","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.3033681815015181,0.9334687726263349,0.71338606911949],"aabb_xy":[[-0.3733681779114798,0.913030836974653],[-0.23336818509155624,0.9539067082780165]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.12067580868991146,-0.8729388343883902,0.71338606911949],"aabb_xy":[[0.09817580867976317,-0.8870350540279935],[0.14317580870005975,-0.858842614748787]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.29574275385652143,0.16367557461672666,0.71338606911949],"aabb_xy":[[-0.32820445473844884,0.13354274250182402],[-0.2632810529745939,0.19380840673162925]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.5915577124762401,0.8782768753669368,0.71338606911949],"aabb_xy":[[-0.636557713942469,0.8332770185054562],[-0.5465577110100113,0.9232767322284176]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[-0.09480693914841754,0.4038384173870595,0.71338606911949],"aabb_xy":[[-0.17480693780530354,0.38933355846279677],[-0.014806940491531528,0.41834327631132234]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[-0.2107011975066333,-0.9146770679397869,0.71338606911949],"aabb_xy":[[-0.28070119931537874,-0.9360308367039742],[-0.14070119569788786,-0.8933232991755995]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[0.428454911673424,-0.7551567947898632,0.71338606911949],"aabb_xy":[[0.42204109803023904,-0.7615666150375314],[0.4348687253166089,-0.7487469745421947]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[-0.11029748682728668,-2.2786175701874396,0.71338606911949],"aabb_xy":[[-0.12546965610892002,-2.293786427115643],[-0.09512531754565333,-2.263448713259236]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.4953426671954999,1.458684798586368,0.71338606911949],"aabb_xy":[[0.47784266806113274,1.44880517154878],[0.5128426663298671,1.4685644256239556]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[0.6292757480350535,-1.8725400860848331,0.71338606911949],"aabb_xy":[[0.5924252000980658,-1.910040086907867],[0.666126295972041,-1.8350400852617996]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.6245187860221568,-1.460349501295846,0.71338606911949],"aabb_xy":[[-0.6325450566527828,-1.469100996273199],[-0.6164925153915308,-1.4515980063184937]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[0.4223190012893985,0.7316070859408401,0.71338606911949],"aabb_xy":[[0.37233476558122125,0.6816070871273445],[0.4723032369975757,0.7816070847543357]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[-0.2316870723721926,-0.798880269018625,0.71338606911949],"aabb_xy":[[-0.30168707397447214,-0.8123130622202827],[-0.16168707076991318,-0.7854474758169675]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.09856035712909283,-0.4621268359511963,0.71338606911949],"aabb_xy":[[-0.10465498501721116,-0.470696230502865],[-0.09246572924097451,-0.4535574413995276]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.5513694146011923,1.3349920605299452,0.71338606911949],"aabb_xy":[[-0.5664717160622101,1.3198905388988829],[-0.536267113140174,1.3500935821610067]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.669644766193566,-0.6286076348671501,0.71338606911949],"aabb_xy":[[0.6196499332656245,-0.6786076337623936],[0.7196395991215077,-0.5786076359719066]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[-0.006283417098753463,0.8749848109992895,0.71338606911949],"aabb_xy":[[-0.07628341973533981,0.8548799460034239],[0.06371658553783288,0.8950896759951549]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[-0.1446140477980471,-1.868783210894848,0.71338606911949],"aabb_xy":[[-0.1612911837911426,-1.8854831348687782],[-0.1279369118049516,-1.8520832869209176]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[-0.23809262004067921,1.5473946439467325,0.71338606911949],"aabb_xy":[[-0.26309261920631233,1.540442398241376],[-0.2130926208750461,1.5543468896520891]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.24600845037270458,-0.535219420098632,0.71338606911949],"aabb_xy":[[0.2372272232254684,-0.5439991673871623],[0.25478967751994086,-0.526439672810102]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.5273188149051582,0.33291622332159143,0.71338606911949],"aabb_xy":[[0.523878138665101,0.32905479034722696],[0.5307594911452154,0.3367776562959559]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[-0.17563167429813442,1.1069822980546498,0.71338606911949],"aabb_xy":[[-0.22551437117583067,1.0569822988083752],[-0.12574897742043825,1.1569822973009247]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.33588019880850006,-2.430827202010765,0.71338606911949],"aabb_xy":[[0.33098090650193657,-2.458504121313333],[0.34077949111506356,-2.4031502827081956]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.21596377732156236,-1.753430317414435,0.71338606911949],"aabb_xy":[[0.16099005528522947,-1.8084303169786684],[0.27093749935789524,-1.698430317850202]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[0.39317340164221704,1.6378928770672014,0.71338606911949],"aabb_xy":[[0.37852999608818405,1.623234157410417],[0.40781680719625,1.6525515967239854]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[-0.6307085626770008,-1.1533691556116061,0.71338606911949],"aabb_xy":[[-0.6652996455310459,-1.2183691558966372],[-0.5961174798229555,-1.088369155326575]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[0.1882852271295562,1.6619527430622685,0.71338606911949],"aabb_xy":[[0.103285228712133,1.5770784475999837],[0.2732852255469794,1.7468270385245537]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[0.2685861549008576,-1.95702141967292,0.71338606911949],"aabb_xy":[[0.25103945998473864,-1.9945214212371711],[0.2861328498169765,-1.9195214181086686]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_28","position":[0.012592240999236282,-2.2765712357724506,0.71338606911949],"aabb_xy":[[-0.02187010639890552,-2.311065118170273],[0.047054588397378076,-2.2420773533746274]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_29","position":[0.6254337197899373,-2.481364020108823,0.71338606911949],"aabb_xy":[[0.5889378991626586,-2.5178479625355807],[0.6619295404172161,-2.4448800776820656]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_30","position":[-0.2500241527140343,-1.9176150681708128,0.71338606911949],"aabb_xy":[[-0.2678932604684897,-1.9314479761480237],[-0.23215504495957873,-1.903782160193602]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_31","position":[-0.5420086068721968,-2.382978392929438,0.71338606911949],"aabb_xy":[[-0.584775313751617,-2.446978396351241],[-0.49924189999277657,-2.318978389507636]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_32","position":[0.561137762741978,0.5247954973700093,0.71338606911949],"aabb_xy":[[0.5111646972094627,0.4747954975574764],[0.6111108282744936,0.5747954971825422]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_33","position":[-0.2807201249933946,-0.39263132159010405,0.71338606911949],"aabb_xy":[[-0.2887634849193498,-0.4776313226854704],[-0.27267676506743943,-0.30763132049473757]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_34","position":[-0.0588924065173041,-1.9869954032350483,0.71338606911949],"aabb_xy":[[-0.08217424871543542,-2.071995404532276],[-0.03561056431917275,-1.90199540193782]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7186468266865853,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2474.png","name":"2474"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2474.png","name":"2474"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8642.png","name":"8642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7211.png","name":"7211"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7379.png","name":"7379"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2883.png","name":"2883"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":786.5913148318955,"rotation_z_degrees":325.57649392679866,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008722410144506858,-0.008205395455318,-0.015200393907369759]},{"name":"camera_2","offset_m":[-0.004944280285344105,-0.014871967274404329,-0.01680682752766944]},{"name":"camera_3","offset_m":[0.0016302033099906237,0.002483658715506029,0.0172859793313825]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006678613102018265,-0.0009561996425317249,-0.0005327604301684605],"end_effector_yaw_offset_degrees":0.5379794749489941},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006328816784273777,0.0014887157629132862,0.0003585835469827655],"end_effector_yaw_offset_degrees":-0.4762637781582799},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010571763795659285,-0.0015570605033011975,0.0010186900633416028],"end_effector_yaw_offset_degrees":0.9046499803022436}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017857170044858106,0.0010167972012404217],"position_m":[0.1836142829955142,-0.13168320279875959,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003847479419327474,-0.002682892684025915],"position_m":[0.27134747941932746,-0.40388289268402594,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003927171713599414,0.0027490809179937896],"position_m":[0.18367282828640058,0.08734908091799379,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003918205356978822,0.003070924806483349],"position_m":[0.35301820535697886,0.2931709248064834,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c39e1c14e9912e207baf9be2089707ab672f5b03f621742e7ade0fb929bad77","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2474/tex_ceiling_textures_2883/tex_floor_textures_7379/tex_table_textures_8642/tex_wall_textures_7211","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6295609000108948298,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6295609000108948298,"visual_seed":6295609000108948298,"scene_id":"lab_003","finished_at":"2026-09-03T22:18:05"} +{"episode_id":"ep_000083","started_at":"2026-09-03T22:18:09","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.25358961723041934,0.18157201056642336,0.71338606911949],"aabb_xy":[[-0.271089617489756,0.16748046837765074],[-0.23608961697108277,0.195663552755196]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[-0.1540713050061091,-1.9596228861742775,0.71338606911949],"aabb_xy":[[-0.15803178877584348,-1.9672907507597979],[-0.15011082123637473,-1.9519550215887567]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[0.01510908759194085,-1.6709904157993989,0.71338606911949],"aabb_xy":[[-0.009890911959797632,-1.6811328996645336],[0.040109087143679334,-1.6608479319342642]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.35151441699406993,-2.3343490239920213,0.71338606911949],"aabb_xy":[[-0.4009948382080287,-2.3983490219048726],[-0.30203399578011114,-2.270349026079169]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.6994281577242152,-1.2989455716724274,0.71338606911949],"aabb_xy":[[0.6933911447235505,-1.3049722727413757],[0.7054651707248799,-1.2929188706034795]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[0.4107120902762045,0.4664905040428349,0.71338606911949],"aabb_xy":[[0.404399990739866,0.460723564789616],[0.41702418981254286,0.4722574432960536]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[-0.3103310648535741,0.6599948415845609,0.71338606911949],"aabb_xy":[[-0.374331061280896,0.6128252177624643],[-0.2463310684262522,0.7071644654066572]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.1391234113170069,-2.0673533059951983,0.71338606911949],"aabb_xy":[[0.12091758765575925,-2.07837870657719],[0.1573292349782546,-2.0563279054132066]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[0.07622943707646879,-1.8227819925111501,0.71338606911949],"aabb_xy":[[0.03872943850084797,-1.8355182881747079],[0.11372943565208958,-1.810045696847592]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[0.6379318773383855,-1.808405667443215,0.71338606911949],"aabb_xy":[[0.5879368663789336,-1.858405666478807],[0.6879268882978377,-1.7584056684076235]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.48357299980457935,-0.8802667890561062,0.71338606911949],"aabb_xy":[[-0.5385729980063241,-0.9207887556825437],[-0.42857300160283446,-0.8397448224296685]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[-0.09217628162510338,0.9785427892663314,0.71338606911949],"aabb_xy":[[-0.12897091475000966,0.9416369141697492],[-0.055381648500197125,1.0154486643629137]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[0.49154664675896065,-0.27540043163807315,0.71338606911949],"aabb_xy":[[0.43753105047706065,-0.33940043453033025],[0.5455622430408607,-0.21140042874581594]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.22837438576600033,-1.1540626735376889,0.71338606911949],"aabb_xy":[[0.21921450682212368,-1.1605938915812262],[0.23753426470987687,-1.147531455494152]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[0.1324617088104476,-2.5198337754168505,0.71338606911949],"aabb_xy":[[0.10746170953848531,-2.5361791390130124],[0.15746170808240986,-2.5034884118206877]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[-0.08602750466627418,-1.339500831221474,0.71338606911949],"aabb_xy":[[-0.10158327407653947,-1.3550512644658814],[-0.07047173525600893,-1.323950397977067]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[-0.15304672140019482,0.585725685872116,0.71338606911949],"aabb_xy":[[-0.19054672189755306,0.5817570023239976],[-0.11554672090283657,0.5896943694202345]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[-0.19600150684238288,-0.8425357071922324,0.71338606911949],"aabb_xy":[[-0.22465083920279907,-0.871181266469308],[-0.16735217448196663,-0.8138901479151565]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[-0.25893528857982456,-1.0888917984182778,0.71338606911949],"aabb_xy":[[-0.29393528855632045,-1.0983564144658946],[-0.22393528860332879,-1.0794271823706614]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.2343982586044937,-1.5764962807743486,0.71338606911949],"aabb_xy":[[-0.2983982559068401,-1.6208627077422053],[-0.17039826130214727,-1.5321298538064918]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[-0.5327618257314346,1.4601242918951924,0.71338606911949],"aabb_xy":[[-0.5967618260054128,1.4100581916979045],[-0.46876182545745637,1.5101903920924804]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.15610343524377335,-2.3915238461677846,0.71338606911949],"aabb_xy":[[0.14818015500502502,-2.414023846405788],[0.16402671548252168,-2.369023845929781]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[-0.6035912692460117,1.1194639976332028,0.71338606911949],"aabb_xy":[[-0.6260912697580522,1.0969721392678045],[-0.581091268733971,1.1419558559986012]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[0.663774570641519,-0.5431485298166243,0.71338606911949],"aabb_xy":[[0.6225257596116043,-0.5981485293288418],[0.7050233816714337,-0.4881485303044069]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[0.3856277886521724,1.435718983173818,0.71338606911949],"aabb_xy":[[0.3653434859287736,1.4154363580311087],[0.4059120913755711,1.4560016083165264]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[0.6684709840940888,-0.8393848265824051,0.71338606911949],"aabb_xy":[[0.6184935672288351,-0.8893848280716534],[0.7184484009593423,-0.7893848250931563]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.4004797345556504,-0.5476666934113195,0.71338606911949],"aabb_xy":[[-0.43507081740969555,-0.6126666936963504],[-0.3658886517016051,-0.48266669312628835]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[-0.534842667221824,0.8293566213907688,0.71338606911949],"aabb_xy":[[-0.614842664236072,0.8092220697173576],[-0.45484267020757607,0.8494911730641801]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_28","position":[-0.05104827456517458,-2.1201165555098433,0.71338606911949],"aabb_xy":[[-0.1360482729825978,-2.2049908509721283],[0.03395172385224864,-2.0352422600475584]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[-0.4120750067256564,0.18897590547895948,0.71338606911949],"aabb_xy":[[-0.45706759344410686,0.14397590620451067],[-0.36708242000720603,0.23397590475340818]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_30","position":[0.40258046647272017,-1.8396715428475026,0.71338606911949],"aabb_xy":[[0.32258046539959984,-1.849449589184887],[0.4825804675458405,-1.8298934965101181]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7082460258413716,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7202.png","name":"7202"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7202.png","name":"7202"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/299.png","name":"299"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/607.png","name":"607"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5859.png","name":"5859"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8746.png","name":"8746"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":726.1293289459056,"rotation_z_degrees":45.60166191520943,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016216941851624825,-0.006917012354369914,0.008852450363015501]},{"name":"camera_2","offset_m":[0.010610353753625183,-0.005132038978520673,-0.019831991613412262]},{"name":"camera_3","offset_m":[-0.007386405163689576,0.015859354952953406,0.019027222617264094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.3484352254396135e-05,0.0006363532023921166,0.0015199466370264827],"end_effector_yaw_offset_degrees":0.20675061509652348},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007629572967503724,0.00038835443861049215,0.00010735016874039794],"end_effector_yaw_offset_degrees":-0.08249840816658605},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011862665456271121,-0.00045343957976147833,0.0017475099193063667],"end_effector_yaw_offset_degrees":0.36278865180552033}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017052822466329491,0.0046090768454909855],"position_m":[0.18710528224663295,-0.12809092315450904,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004838024501395405,0.003040799906634574],"position_m":[0.2626619754986046,-0.3981592000933654,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012223423695161407,-0.004426065648961721],"position_m":[0.18637765763048386,0.08017393435103827,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002737107980903395,0.002513793935545898],"position_m":[0.3518371079809034,0.29261379393554593,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"29a4c35be668151723f3e01bed6ece2d7128539f6e5d3db2dc96970171c460af","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7202/tex_ceiling_textures_8746/tex_floor_textures_5859/tex_table_textures_299/tex_wall_textures_607","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1882255208160190289,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1882255208160190289,"visual_seed":1882255208160190289,"scene_id":"lab_003","finished_at":"2026-09-03T22:20:48"} +{"episode_id":"ep_000084","started_at":"2026-09-03T22:20:51","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[0.48427662494958756,1.5771020269428582,0.71338606911949],"aabb_xy":[[0.43427662458902144,1.527122039733255],[0.5342766253101535,1.627082014152461]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.2274877081467085,-1.1540739993458895,0.71338606911949],"aabb_xy":[[0.14748770671658126,-1.2335911543584988],[0.3074877095768357,-1.0745568443332798]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.5891046148949513,-1.9234894113646024,0.71338606911949],"aabb_xy":[[-0.6169496516755585,-1.9542739101029143],[-0.5612595781143442,-1.892704912626291]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[-0.12235218653746216,-1.4105441049708758,0.71338606911949],"aabb_xy":[[-0.20235218350050133,-1.4876197466146492],[-0.04235218957442298,-1.3334684633271023]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[0.07309848398521757,0.8153061191012889,0.71338606911949],"aabb_xy":[[0.04951336052132273,0.7503061168558571],[0.09668360744911243,0.8803061213467207]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[0.5144781019318234,1.0345771340335528,0.71338606911949],"aabb_xy":[[0.4759324091066225,0.9960313629773642],[0.5530237947570246,1.0731229050897415]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[0.39475281345638735,-0.8876656034798627,0.71338606911949],"aabb_xy":[[0.3647852565465617,-0.9176656037777484],[0.424720370366213,-0.8576656031819769]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.3276632691305584,0.34428310778901894,0.71338606911949],"aabb_xy":[[-0.39166326940453655,0.294217007591731],[-0.2636632688565801,0.3943492079863069]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.41243786468780375,1.3299806967712127,0.71338606911949],"aabb_xy":[[0.4084773809180694,1.322312832185692],[0.4163983484575381,1.3376485613567333]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.5140034756783408,0.42712528722322496,0.71338606911949],"aabb_xy":[[-0.5291663486552779,0.41195982992810626],[-0.49884060270140373,0.44229074451834377]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.1483073478641137,-1.451296306766702,0.71338606911949],"aabb_xy":[[0.1446040865349748,-1.4549983250754197],[0.15201060919325254,-1.4475942884579842]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.015086399099070502,0.9022750077107067,0.71338606911949],"aabb_xy":[[-0.032096496389121154,0.8861405192124329],[0.0019236981909801516,0.9184094962089807]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[-0.11398665457989987,0.17095512563516868,0.71338606911949],"aabb_xy":[[-0.19398665173947516,0.15940752467735164],[-0.033986657420324584,0.18250272659298572]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.3808845279747137,-2.318744108827246,0.71338606911949],"aabb_xy":[[0.3769706547792912,-2.327493124233803],[0.38479840117013625,-2.309995093420689]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[0.5641311845076327,-0.05292434356384357,0.71338606911949],"aabb_xy":[[0.5141311828461378,-0.10292278581954627],[0.6141311861691273,-0.0029259013081408543]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.4762040031252705,-1.5822077373200734,0.71338606911949],"aabb_xy":[[-0.49399751006018694,-1.600007482915871],[-0.45841049619035407,-1.5644079917242757]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.28717420753419287,-1.7038951829951439,0.71338606911949],"aabb_xy":[[0.22717420768762608,-1.7607138051881823],[0.34717420738075966,-1.647076560802105]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.533329497935294,0.8832300231977936,0.71338606911949],"aabb_xy":[[0.5156966623417665,0.8656070771821706],[0.5509623335288216,0.9008529692134165]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[0.05575554958774942,1.312749005749143,0.71338606911949],"aabb_xy":[[-0.00824445209024794,1.2642316142698287],[0.11975555126574677,1.361266397228457]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.24557681355588745,-2.399459240733532,0.71338606911949],"aabb_xy":[[0.19058456292037654,-2.454459242476845],[0.3005690641913984,-2.3444592389902197]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[-0.24259246374216953,0.9436017292281034,0.71338606911949],"aabb_xy":[[-0.3065924656545119,0.8876905799700929],[-0.17859246182982724,0.9995128784861138]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[0.32831974039498135,-1.3291724421148434,0.71338606911949],"aabb_xy":[[0.291525107270075,-1.3660783172114257],[0.36511437351988757,-1.2922665670182611]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_22","position":[-0.28924585428647237,-0.9647148586494383,0.71338606911949],"aabb_xy":[[-0.29727212491709837,-0.9734663536267909],[-0.2812195836558464,-0.9559633636720857]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[0.2736805905379852,1.2336200792342167,0.71338606911949],"aabb_xy":[[0.26809891890385645,1.2211200794164412],[0.279262262172114,1.2461200790519922]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[0.3108151881929275,1.0496116210496904,0.71338606911949],"aabb_xy":[[0.3027788534916427,1.0415735017452734],[0.31885152289421237,1.057649740354107]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_25","position":[-0.4466525371435837,-1.021823639685397,0.71338606911949],"aabb_xy":[[-0.4641525364216706,-1.039161739751743],[-0.42915253786549684,-1.004485539619051]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[0.3353129570122131,1.8007445807902633,0.71338606911949],"aabb_xy":[[0.31781295675287646,1.786653038601491],[0.3528129572715497,1.8148361229790362]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[-0.2470786796863475,0.08979910751779663,0.71338606911949],"aabb_xy":[[-0.31707867609630924,0.06936117186611487],[-0.17707868327638568,0.11023704316947833]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_28","position":[-0.3078518956236292,-0.7083978996220861,0.71338606911949],"aabb_xy":[[-0.37185189891333725,-0.7517328186260037],[-0.24385189233392104,-0.6650629806181685]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_29","position":[-0.4604627617422564,-2.05693555610784,0.71338606911949],"aabb_xy":[[-0.5504627603367265,-2.073186142421261],[-0.37046276314778653,-2.0406849697944187]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_30","position":[-0.36838451026697305,-1.742083425048993,0.71338606911949],"aabb_xy":[[-0.4333845103012757,-1.7887841017293202],[-0.30338451023267027,-1.6953827483686656]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_31","position":[-0.08112492446235797,-0.09979647660734114,0.71338606911949],"aabb_xy":[[-0.11862492427939153,-0.10443468791848301],[-0.043624924645324414,-0.09515826529619928]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7157949243944746,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1606.png","name":"1606"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1606.png","name":"1606"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/951.png","name":"951"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/497.png","name":"497"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7236.png","name":"7236"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4831.png","name":"4831"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":616.8562795134918,"rotation_z_degrees":321.8951139834923,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01903457686174387,-0.000441378453070157,0.0009690756697073588]},{"name":"camera_2","offset_m":[-0.011028624955589712,-0.0026005966180131027,0.0009172470796017448]},{"name":"camera_3","offset_m":[-0.00894963393970091,-0.0035317082762108855,0.006395031785487615]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009202262678998934,0.000519717648283491,0.00045149322360185],"end_effector_yaw_offset_degrees":-0.04892703146847399},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000482559560624189,0.0005082999974481313,-0.0003546426743575846],"end_effector_yaw_offset_degrees":-0.49443503471141437},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019510691974135904,0.0008395211425203616,0.0017887325836822626],"end_effector_yaw_offset_degrees":0.9879736011174807}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022474853551882113,0.0030766264870544244],"position_m":[0.1831525146448118,-0.1296233735129456,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009190323790033818,-0.004600809212143569],"position_m":[0.26658096762099665,-0.40580080921214357,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004092787953831767,-0.004811372683163129],"position_m":[0.1835072120461682,0.07978862731683686,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009547884110640567,-0.003876607833674022],"position_m":[0.34814521158893597,0.28622339216632603,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0cfb3e8e2ddb7243427393f5cea646528b5ead36d6ba2cf3fa64a1b034fdcb65","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1606/tex_ceiling_textures_4831/tex_floor_textures_7236/tex_table_textures_951/tex_wall_textures_497","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4868241600804805826,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4868241600804805826,"visual_seed":4868241600804805826,"scene_id":"lab_003","finished_at":"2026-09-03T22:23:36"} +{"episode_id":"ep_000085","started_at":"2026-09-03T22:23:40","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[0.6998912207747712,-2.0125449442634102,0.71338606911949],"aabb_xy":[[0.6824605056957644,-2.029817058927261],[0.7173219358537775,-1.9952728295995596]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.5023429448011382,-0.9676803689661346,0.71338606911949],"aabb_xy":[[-0.5523162388043985,-1.017680369520682],[-0.4523696507978776,-0.9176803684115873]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.3976089610555959,-2.335962622657295,0.71338606911949],"aabb_xy":[[-0.40769066813416927,-2.415962620549409],[-0.3875272539770223,-2.25596262476518]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.21293986849583962,-0.16545943588503942,0.71338606911949],"aabb_xy":[[-0.24342411862286975,-0.2154594356665354],[-0.18245561836880944,-0.1154594361035435]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.15247921634826567,0.902821473158864,0.71338606911949],"aabb_xy":[[0.12997921633811738,0.8887252535192605],[0.17497921635841396,0.916917692798467]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.5128292425155988,-1.4319800540401426,0.71338606911949],"aabb_xy":[[-0.5828292389255604,-1.4524179896918241],[-0.44282924610563684,-1.4115421183884607]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.6064900473328465,1.607296674308102,0.71338606911949],"aabb_xy":[[0.6024118894257968,1.603215694059839],[0.6105682052398962,1.6113776545563656]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.3861234467836505,-1.6003994971872273,0.71338606911949],"aabb_xy":[[0.3311279689629911,-1.655399498621134],[0.4411189246043099,-1.5453994957533201]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.13165029633291947,0.8880121194665649,0.71338606911949],"aabb_xy":[[-0.21165029329595864,0.8109364778227914],[-0.051650299369880304,0.9650877611103383]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[0.05030618777335094,1.5780753488413768,0.71338606911949],"aabb_xy":[[-0.00969381386957091,1.5260751995494326],[0.11030618941627279,1.630075498133321]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.04590686144178702,-1.5828764334607488,0.71338606911949],"aabb_xy":[[-0.018093137144785443,-1.6298833968602573],[0.10990686002835948,-1.5358694700612399]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.42443536137834553,-1.316644795721369,0.71338606911949],"aabb_xy":[[-0.43093699788635026,-1.326412617747679],[-0.41793372487034103,-1.3068769736950594]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[-0.18078915295428477,-2.211881234359823,0.71338606911949],"aabb_xy":[[-0.1844924142834236,-2.2155832526685404],[-0.17708589162514587,-2.208179216051105]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[0.3060174658667856,-2.187594918741635,0.71338606911949],"aabb_xy":[[0.2927865203321043,-2.200822337763634],[0.31924841140146687,-2.174367499719635]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.43607918573936444,1.252501580393238,0.71338606911949],"aabb_xy":[[0.3660791823478024,1.2171858066898071],[0.5060791891309263,1.2878173540966689]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.5687105803717429,1.4418046621474674,0.71338606911949],"aabb_xy":[[-0.6487105836295859,1.3618081543554834],[-0.4887105771139,1.5218011699394514]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[0.6516012519678467,-2.200840431325085,0.71338606911949],"aabb_xy":[[0.6341012517227972,-2.2183402191646513],[0.669101252212896,-2.1833406434855176]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.5892017909114168,0.2922614880862753,0.71338606911949],"aabb_xy":[[-0.6442017905331627,0.2372777952988026],[-0.534201791289671,0.34724518087374806]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.49011825924206054,-0.5395743803761857,0.71338606911949],"aabb_xy":[[-0.5517090184660535,-0.6035743784852327],[-0.42852750001806783,-0.4755743822671389]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.02716165835312101,1.2287190362247649,0.71338606911949],"aabb_xy":[[-0.011384034472080019,1.1901732651685761],[0.06570735117832205,1.2672648072809536]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[0.47479585699917637,-1.156666828257691,0.71338606911949],"aabb_xy":[[0.45229585747546897,-1.1791627757083116],[0.4972958565228838,-1.13417088080707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7090649378040542,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5154.png","name":"5154"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5154.png","name":"5154"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6257.png","name":"6257"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/489.png","name":"489"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5014.png","name":"5014"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3226.png","name":"3226"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":788.2319144381729,"rotation_z_degrees":89.83489790214891,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01684411228972434,0.01172034905107602,0.008724338851079417]},{"name":"camera_2","offset_m":[-0.0178012620334877,0.011814034846378305,-0.004619319276711175]},{"name":"camera_3","offset_m":[0.000131353188338533,0.00940873272374846,-0.014475782245816981]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00016331006585879005,0.001876316147735446,-0.00028550001644496925],"end_effector_yaw_offset_degrees":0.2587297739456882},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010876916272262163,-0.0012507768640334514,0.001628208596261952],"end_effector_yaw_offset_degrees":0.007163712253807741},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017807981017471707,0.0019759646472358432,0.0008379764742005346],"end_effector_yaw_offset_degrees":0.5705440869028686}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006162307570980619,-0.0028466277653888205],"position_m":[0.18478376924290194,-0.13554662776538884,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037521708234452633,0.0031821634195508186],"position_m":[0.26374782917655476,-0.3980178365804492,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011475162924250342,-0.0014177923486209786],"position_m":[0.18874751629242503,0.08318220765137901,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002930845503586167,-0.002572686685973894],"position_m":[0.34616915449641383,0.28752731331402615,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"44a3383c37b5e60a48a5478b6ca44056387d1eb937825f5ef66d745c653eda0a","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5154/tex_ceiling_textures_3226/tex_floor_textures_5014/tex_table_textures_6257/tex_wall_textures_489","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7791775095685237850,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7791775095685237850,"visual_seed":7791775095685237850,"scene_id":"lab_003","finished_at":"2026-09-03T22:26:19"} +{"episode_id":"ep_000086","started_at":"2026-09-03T22:26:22","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[-0.315299823065657,0.49868359066187296,0.71338606911949],"aabb_xy":[[-0.3415886473860976,0.47241215700722167],[-0.2890109987452163,0.5249550243165241]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[0.3460658922628026,0.7546293623062463,0.71338606911949],"aabb_xy":[[0.28206589155933326,0.7086109798333253],[0.410065892966272,0.8006477447791674]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[0.34290978444011544,-1.278306954225118,0.71338606911949],"aabb_xy":[[0.2829097835793026,-1.3297333842316041],[0.4029097853009282,-1.2268805242186314]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[-0.4313225626182433,0.18251752111306807,0.71338606911949],"aabb_xy":[[-0.521322559119115,0.1366058786946098],[-0.3413225661173715,0.22842916353152629]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.3218727368111457,-2.2925347884677936,0.71338606911949],"aabb_xy":[[-0.3387834692474874,-2.3060069940604078],[-0.30496200437480386,-2.2790625828751785]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.33413268658556616,0.6606528971948737,0.71338606911949],"aabb_xy":[[-0.3981326879935568,0.6088639456709489],[-0.27013268517757544,0.7124418487187983]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.5624135190798283,1.5608299971033799,0.71338606911949],"aabb_xy":[[-0.6424135160940763,1.5406954454299686],[-0.4824135220655803,1.5809645487767912]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[0.5312100106432966,0.2516620145350035,0.71338606911949],"aabb_xy":[[0.5275067493141576,0.2479599962262856],[0.5349132719724354,0.2553640328437213]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.6573181436337696,-0.5839769680621658,0.71338606911949],"aabb_xy":[[0.648158264689893,-0.5905081861057029],[0.6664780225776462,-0.5774457500186287]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[0.1345998572595053,0.7396890591150904,0.71338606911949],"aabb_xy":[[0.11101473379561044,0.6746890568696585],[0.15818498072340015,0.8046890613605221]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.548066093479951,-0.07510143577595851,0.71338606911949],"aabb_xy":[[-0.6120660907655997,-0.1166081547288025],[-0.4840660961943024,-0.03359471682311456]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.3258032317957267,-1.9773160589319385,0.71338606911949],"aabb_xy":[[0.31146880666956317,-1.9893762744864771],[0.3401376569218901,-1.9652558433773994]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[-0.13577628774831274,-0.11573093960801195,0.71338606911949],"aabb_xy":[[-0.14399083286399667,-0.12440752990565324],[-0.1275617426326287,-0.10705434931037067]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[-0.007904811981271243,0.7816681457792996,0.71338606911949],"aabb_xy":[[-0.01593108261189724,0.7729166508019469],[0.00012145864935475537,0.7904196407566522]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[0.6571057994743079,-0.8875428125490017,0.71338606911949],"aabb_xy":[[0.6396057992149714,-0.9016343547377743],[0.6746057997336447,-0.8734512703602291]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[0.10423013267857562,-2.2174795574675414,0.71338606911949],"aabb_xy":[[0.054413353213740856,-2.2674795559518452],[0.15404691214341037,-2.1674795589832385]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.09640492543074342,-1.4368836335760917,0.71338606911949],"aabb_xy":[[-0.10344637638149101,-1.4439103853138862],[-0.08936347447999582,-1.4298568818382968]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.4353344799411216,-2.5415354516536683,0.71338606911949],"aabb_xy":[[-0.45984810403812754,-2.5658000449557044],[-0.4108208558441158,-2.5172708583516314]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.12659310409743352,1.397050833140006,0.71338606911949],"aabb_xy":[[0.05659310196600395,1.3742888675143101],[0.19659310622886303,1.4198127987657014]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.5006124319503915,-1.0841613357184836,0.71338606911949],"aabb_xy":[[-0.5121814126973282,-1.1091613358354153],[-0.48904345120345505,-1.059161335601552]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[0.21439842462559244,-1.1060547578930895,0.71338606911949],"aabb_xy":[[0.2067741565354142,-1.1136879814296332],[0.2220226927157707,-1.0984215343565458]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[-0.18993693957867952,-0.573816426985827,0.71338606911949],"aabb_xy":[[-0.19337761581873672,-0.5776778599601916],[-0.18649626333862235,-0.5699549940114627]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.5053871331143547,-1.0876194271857722,0.71338606911949],"aabb_xy":[[0.4898313637040894,-1.1031698604301794],[0.5209429025246199,-1.072068993941365]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.5290622272725227,0.8108848712467864,0.71338606911949],"aabb_xy":[[0.5202810001252866,0.8021051239582565],[0.5378434544197591,0.8196646185353168]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_24","position":[-0.029686614462032024,-1.9636276212890662,0.71338606911949],"aabb_xy":[[-0.03432172961426541,-1.9674949563662145],[-0.025051499309798636,-1.959760286211917]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[-0.4188648035190575,-0.5785521443140915,0.71338606911949],"aabb_xy":[[-0.42970528174557243,-0.5957384256047403],[-0.4080243252925426,-0.5613658630234427]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[0.6504423908700094,-0.394823361883224,0.71338606911949],"aabb_xy":[[0.6463264407579368,-0.3989389169160694],[0.6545583409820821,-0.3907078068503784]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_27","position":[0.37999586625562065,1.171141420043638,0.71338606911949],"aabb_xy":[[0.33897792286924977,1.1211414194126808],[0.42101380964199153,1.2211414206745954]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_28","position":[0.3440880248469387,-1.8091073514396445,0.71338606911949],"aabb_xy":[[0.3090880249509198,-1.8174815869515848],[0.37908802474295755,-1.8007331159277047]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_29","position":[-0.07075112470814682,-2.088804826470616,0.71338606911949],"aabb_xy":[[-0.08825112384251398,-2.0986844535082034],[-0.05325112557377964,-2.078925199433028]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_30","position":[0.5460707477797395,-1.3097926834339708,0.71338606911949],"aabb_xy":[[0.4999856565250081,-1.3737926806865257],[0.592155839034471,-1.2457926861814155]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_31","position":[0.3922658683741176,1.792680204659367,0.71338606911949],"aabb_xy":[[0.38090413372083143,1.781311738253079],[0.40362760302740375,1.8040486710656551]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_32","position":[0.38090175721039166,-2.12268823007449,0.71338606911949],"aabb_xy":[[0.32592803517405877,-2.177688229638723],[0.43587547924672454,-2.0676882305102566]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_33","position":[0.23966098433735583,-0.8360324190143267,0.71338606911949],"aabb_xy":[[0.20216098354536038,-0.8424002599725167],[0.2771609851293513,-0.8296645780561365]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_34","position":[0.02409128225609347,1.7601997186806462,0.71338606911949],"aabb_xy":[[-0.03990871965624887,1.7042885694226357],[0.08809128416843581,1.8161108679386566]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7113015241451127,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6427.png","name":"6427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6427.png","name":"6427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9896.png","name":"9896"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5136.png","name":"5136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3065.png","name":"3065"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2647.png","name":"2647"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":768.6857757166399,"rotation_z_degrees":294.8379352207069,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01870263624371322,0.00650145461891068,-0.007903938891343434]},{"name":"camera_2","offset_m":[-0.010224012567324414,-0.019065741291441042,0.005387832214346574]},{"name":"camera_3","offset_m":[-0.018932172984085283,0.0026478430685609386,0.0060290810477303634]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014105692963128922,0.0007995607227877727,-0.0015760941852210255],"end_effector_yaw_offset_degrees":0.4471275487095423},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007091736385584535,-0.0010351338196154104,-0.0011026425244795952],"end_effector_yaw_offset_degrees":-0.40751510514330325},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000601590208843949,-0.001141563508680245,-0.0010244919561716425],"end_effector_yaw_offset_degrees":0.5180745466752412}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004164712977562634,0.003118166473898394],"position_m":[0.18123528702243738,-0.12958183352610161,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001538380926546008,0.0024621160538691187],"position_m":[0.265961619073454,-0.39873788394613086,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021254520864671294,-0.0028219698685196816],"position_m":[0.18972545208646713,0.08177803013148031,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036440193555719825,0.0020512740880423586],"position_m":[0.352744019355572,0.29215127408804237,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"da2a84d00e1fb83bd70c9dd2c4065f1a519501529c9d337ff589de2c34cfe332","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6427/tex_ceiling_textures_2647/tex_floor_textures_3065/tex_table_textures_9896/tex_wall_textures_5136","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7830734687493827146,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7830734687493827146,"visual_seed":7830734687493827146,"scene_id":"lab_003","finished_at":"2026-09-03T22:29:02"} +{"episode_id":"ep_000087","started_at":"2026-09-03T22:29:06","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.5682145807279342,1.712630112540697,0.71338606911949],"aabb_xy":[[-0.5986988308549643,1.6626301127592014],[-0.537730330600904,1.7626301123221932]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[-0.5555858202122149,-1.903424248131261,0.71338606911949],"aabb_xy":[[-0.5859839313113584,-1.9338311501329302],[-0.5251877091130712,-1.8730173461295911]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.5056028067356646,-1.2222923454297263,0.71338606911949],"aabb_xy":[[0.4584734277338288,-1.286292346474128],[0.5527321857375002,-1.1582923443853241]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.5603830548206912,0.063139341030094,0.71338606911949],"aabb_xy":[[0.5260861438029505,0.028842454820152616],[0.5946799658384316,0.09743622724003535]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.4223761367678544,0.9508440704511263,0.71338606911949],"aabb_xy":[[-0.47736934810499115,0.8958440701123327],[-0.3673829254307176,1.0058440707899199]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[-0.4750374104365076,-1.459546756229517,0.71338606911949],"aabb_xy":[[-0.5650374069373792,-1.505458398647975],[-0.3850374139356358,-1.4136351138110586]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.709551327901317,1.5639039524464455,0.71338606911949],"aabb_xy":[[0.7019270598111388,1.5562707289099023],[0.7171755959914953,1.5715371759829897]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[-0.1510876339991808,0.0358716920161406,0.71338606911949],"aabb_xy":[[-0.16369033313625728,0.023276295791275103],[-0.13848493486210436,0.048467088241006095]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.3289004610294734,1.106439304953803,0.71338606911949],"aabb_xy":[[-0.36640046182146885,1.1000714639956128],[-0.29140046023747795,1.1128071459119933]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.6303075111148315,-0.7240562960174726,0.71338606911949],"aabb_xy":[[-0.6586372210633717,-0.7285170382111896],[-0.6019778011662913,-0.7195955538237555]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[-0.4256228844257968,-0.2831188252664947,0.71338606911949],"aabb_xy":[[-0.4806183622464562,-0.33811882670040155],[-0.37062740660513743,-0.2281188238325877]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.39150171915281795,-1.1543175078542594,0.71338606911949],"aabb_xy":[[-0.47150171655641127,-1.234310079052442],[-0.3115017217492244,-1.0743249366560763]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.5485337515566359,0.9313133677511343,0.71338606911949],"aabb_xy":[[-0.5578807591389311,0.9170097455334904],[-0.5391867439743406,0.9456169899687784]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[0.5348812570350245,-1.684172832602063,0.71338606911949],"aabb_xy":[[0.5048895943011542,-1.7141728319388636],[0.5648729197688949,-1.6541728332652625]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[-0.43219638600207627,-1.8965510402802304,0.71338606911949],"aabb_xy":[[-0.4497430809181952,-1.9340510418444816],[-0.41464969108595734,-1.859051038715979]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[-0.0684074743997315,-0.7801162401952841,0.71338606911949],"aabb_xy":[[-0.08396324380999678,-0.7956666734396916],[-0.05285170498946626,-0.7645658069508772]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.09726300916276065,1.3382788818577884,0.71338606911949],"aabb_xy":[[-0.16125870655785723,1.2742788835570795],[-0.033267311767664065,1.4022788801584969]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[-0.545034961788949,1.4520159145407372,0.71338606911949],"aabb_xy":[[-0.5601978347658861,1.4368504572456182],[-0.529872088812012,1.4671813718358557]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[0.3955656807419625,1.1777445510175508,0.71338606911949],"aabb_xy":[[0.37888854474886696,1.1610446270436205],[0.41224281673505797,1.194444474991481]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[0.1464871191238778,1.7409090038513289,0.71338606911949],"aabb_xy":[[0.10999129849659903,1.7044250614245713],[0.1829829397511565,1.7773929462780864]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[-0.4259219856504778,1.5321909627465602,0.71338606911949],"aabb_xy":[[-0.4759219850906734,1.4822230382622437],[-0.37592198621028217,1.5821588872308763]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[-0.6308871723128141,-0.3706411640197702,0.71338606911949],"aabb_xy":[[-0.6441181178474953,-0.3838685830417695],[-0.6176562267781327,-0.3574137449977707]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.4019846684163759,-0.7988608231244594,0.71338606911949],"aabb_xy":[[0.3644846677517971,-0.8145478811246815],[0.4394846690809545,-0.7831737651242371]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[-0.3942944487767124,-0.5274003673904688,0.71338606911949],"aabb_xy":[[-0.41035637623522997,-0.6124003692030605],[-0.3782325213181947,-0.44240036557787693]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_24","position":[-0.559544699547638,-2.574714897335798,0.71338606911949],"aabb_xy":[[-0.5660463360556426,-2.584482719362108],[-0.5530430630396334,-2.5649470753094885]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[0.6165973976372625,1.7605298329740928,0.71338606911949],"aabb_xy":[[0.5815973962857807,1.7401700970172718],[0.6515973989887441,1.7808895689309134]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_26","position":[-0.46491774167584954,1.276166013525534,0.71338606911949],"aabb_xy":[[-0.47548522133394855,1.2656209834125254],[-0.45435026201775053,1.2867110436385425]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[-0.34175223391878984,-2.2022544900768235,0.71338606911949],"aabb_xy":[[-0.35053346106602606,-2.211034237365354],[-0.3329710067715536,-2.1934747427882937]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_28","position":[0.0319301305829266,0.8692589140132823,0.71338606911949],"aabb_xy":[[-0.004864502541979676,0.8323530389167],[0.06872476370783287,0.9061647891098645]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_29","position":[-0.050487651347432494,0.7142990012156019,0.71338606911949],"aabb_xy":[[-0.06242038570926057,0.7019168484077424],[-0.03855491698560443,0.7266811540234611]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_30","position":[-0.6451213132446963,0.6937747084261439,0.71338606911949],"aabb_xy":[[-0.6901213147109252,0.6487748515646632],[-0.6001213117784675,0.7387745652876245]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_31","position":[0.061909281955664364,0.7094372692749524,0.71338606911949],"aabb_xy":[[0.024409283380043546,0.6967009736113944],[0.09940928053128514,0.7221735649385103]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_32","position":[0.6796794096021745,-2.336399884931942,0.71338606911949],"aabb_xy":[[0.6724181620317672,-2.349186895195452],[0.6869406571725821,-2.323612874668433]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_33","position":[0.3117015792711084,-1.4432103038067778,0.71338606911949],"aabb_xy":[[0.2617282852678479,-1.4932103043613247],[0.3616748732743688,-1.39321030325223]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7171627760389886,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/560.png","name":"560"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/560.png","name":"560"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9285.png","name":"9285"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8407.png","name":"8407"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3620.png","name":"3620"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3298.png","name":"3298"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":657.6925660610071,"rotation_z_degrees":191.96651648044426,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007477305078239932,-0.001480909473002074,0.012514492310280467]},{"name":"camera_2","offset_m":[0.01584491181365644,0.014378498448927631,-0.0014917272546031007]},{"name":"camera_3","offset_m":[0.004384990949646915,0.011999895596691446,0.010637649240456418]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006982355910990358,0.0015616675251269455,0.00035681270437826033],"end_effector_yaw_offset_degrees":0.31237416605497437},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00016700668136142034,0.00048548258052726273,0.0001239818008896298],"end_effector_yaw_offset_degrees":0.8607323680245316},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017411473181878382,-0.00015232809042685477,0.0008631385204825315],"end_effector_yaw_offset_degrees":-0.8001886999447156}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0044406978779305386,-0.004556676278318972],"position_m":[0.18095930212206948,-0.13725667627831897,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004896932290267954,0.0015227219768854904],"position_m":[0.27239693229026796,-0.39967727802311453,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015091815148870133,-0.0004286062776991881],"position_m":[0.189109181514887,0.08417139372230081,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-6.295599454462803e-05,-0.004535526048277144],"position_m":[0.3490370440054554,0.2855644739517229,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f1bcdde8f6d36daddab0ddb2e65011eb0a8d5eaa900389d6aae8c8f2fd42149b","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0087.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_560/tex_ceiling_textures_3298/tex_floor_textures_3620/tex_table_textures_9285/tex_wall_textures_8407","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8915283908927535849,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8915283908927535849,"visual_seed":8915283908927535849,"scene_id":"lab_003","finished_at":"2026-09-03T22:31:48"} +{"episode_id":"ep_000088","started_at":"2026-09-03T22:31:51","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[0.06156096427893687,-1.8807910972401816,0.71338606911949],"aabb_xy":[[0.054148508737548395,-1.8866423076618093],[0.06897341982032534,-1.8749398868185534]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[0.34896335062571016,-1.3687813331363223,0.71338606911949],"aabb_xy":[[0.3121128026887226,-1.406281333959356],[0.3858138985626978,-1.3312813323132886]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.5707727692332003,0.5464900799487951,0.71338606911949],"aabb_xy":[[-0.5799326481770769,0.539958861905258],[-0.5616128902893237,0.5530212979923321]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[0.019091913015767736,1.123319654751668,0.71338606911949],"aabb_xy":[[-0.0509080887929777,1.1019658859874808],[0.08909191482451317,1.1446734235158555]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.16061873569524865,0.47970277868077194,0.71338606911949],"aabb_xy":[[-0.25061873219612035,0.4337911362623137],[-0.07061873919437688,0.5256144210992302]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.5516873130484727,-1.8367098358832075,0.71338606911949],"aabb_xy":[[0.5444435470022274,-1.9167098340868098],[0.5589310790947181,-1.756709837679605]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.33732913740321707,0.32797581694820943,0.71338606911949],"aabb_xy":[[-0.41732913456279225,0.3164282159903924],[-0.2573291402436417,0.33952341790602647]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[-0.4955192369574554,-0.19507025068691064,0.71338606911949],"aabb_xy":[[-0.533019236774489,-0.1997084619980525],[-0.45801923714042186,-0.19043203937576877]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.4576559483226312,-2.2128067820501927,0.71338606911949],"aabb_xy":[[-0.5376559504853937,-2.2927619656763363],[-0.37765594615986864,-2.132851598424049]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[-0.6291520802479214,-1.7858210180902936,0.71338606911949],"aabb_xy":[[-0.6516520797716286,-1.808316965540914],[-0.6066520807242138,-1.7633250706396724]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[0.3942915307828778,0.6648337597556293,0.71338606911949],"aabb_xy":[[0.37911936150124453,0.649664902827426],[0.4094637000645112,0.6800026166838327]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[0.04630846070155281,0.7943916041449435,0.71338606911949],"aabb_xy":[[0.03574098104345381,0.783846574031935],[0.05687594035965183,0.8049366342579521]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.14634743031886221,-1.7548215387183883,0.71338606911949],"aabb_xy":[[-0.1915187481670312,-1.818821535862927],[-0.10117611247069325,-1.6908215415738501]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[-0.4334217538754764,-2.0691513959451484,0.71338606911949],"aabb_xy":[[-0.4534801654887166,-2.089216482854306],[-0.41336334226223603,-2.049086309035991]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.21066053671031548,-2.504014416309485,0.71338606911949],"aabb_xy":[[-0.21561655689519676,-2.5265144165116067],[-0.20570451652543437,-2.481514416107364]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.19257545086452144,-1.2233718888960303,0.71338606911949],"aabb_xy":[[-0.20602197749856474,-1.2368417405491217],[-0.17912892423047808,-1.209902037242939]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[0.3151989951050438,-0.9247162500080306,0.71338606911949],"aabb_xy":[[0.29769899582695686,-0.9420543500743764],[0.3326989943831306,-0.9073781499416845]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.3380697305482636,-0.6887572273205527,0.71338606911949],"aabb_xy":[[0.288074897620322,-0.7387572262157961],[0.3880645634762052,-0.638757228425309]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.38306247749227995,1.1334303293114725,0.71338606911949],"aabb_xy":[[0.31906247544254795,1.0933358462221645],[0.44706247954201195,1.1735248124007804]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.5308187616696698,-2.5295994756053632,0.71338606911949],"aabb_xy":[[-0.5948187608394397,-2.5763661627243257],[-0.4668187624998999,-2.4828327884864008]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[-0.09420840681868203,-1.4302635290637977,0.71338606911949],"aabb_xy":[[-0.10233609501199525,-1.4391771374745055],[-0.08608071862536881,-1.42134992065309]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[0.2848967433846279,-1.1885058554115433,0.71338606911949],"aabb_xy":[[0.27547926881476514,-1.197922032549262],[0.29431421795449064,-1.179089678273824]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.2911048984817387,-0.11994589697846925,0.71338606911949],"aabb_xy":[[-0.35610489703881154,-0.14969843039235187],[-0.22610489992466587,-0.09019336356458663]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.27547540537083415,0.6039775449026474,0.71338606911949],"aabb_xy":[[-0.30069624223067376,0.5787537940497605],[-0.2502545685109944,0.629201295755534]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.2573453278363301,-1.059341107998032,0.71338606911949],"aabb_xy":[[-0.3051514954500987,-1.124341110705091],[-0.20953916022256136,-0.994341105290973]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[-0.43884688282235473,-0.7177209557937689,0.71338606911949],"aabb_xy":[[-0.468838545556225,-0.7477209551305695],[-0.40885522008848435,-0.6877209564569684]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_26","position":[-0.23789928702161123,-1.5855090515032488,0.71338606911949],"aabb_xy":[[-0.29289928522335607,-1.6260310181296862],[-0.1828992888198664,-1.544987084876811]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[-0.578805891264306,-1.6438329282253028,0.71338606911949],"aabb_xy":[[-0.6338013690849654,-1.6988329296592095],[-0.5238104134436466,-1.5888329267913956]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_28","position":[-0.1361056157349103,0.3645762814542284,0.71338606911949],"aabb_xy":[[-0.15301634817125206,0.35110407586161374],[-0.11919488329856852,0.3780484870468428]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.717585193665563,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9785.png","name":"9785"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9785.png","name":"9785"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2615.png","name":"2615"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8124.png","name":"8124"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7232.png","name":"7232"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6408.png","name":"6408"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":568.8288738382219,"rotation_z_degrees":258.58186107199595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016032527964976246,-0.005457198166801392,-0.01529556246908208]},{"name":"camera_2","offset_m":[0.014977071876484494,-0.00045531855388317513,0.008275364811707774]},{"name":"camera_3","offset_m":[-0.011088482683716951,0.0003224029929477061,0.0045127152479400474]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019244753313197487,-0.0008947224911779342,-0.0013974704856196635],"end_effector_yaw_offset_degrees":-0.8714657085039059},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001042085534392251,-0.001889660037207953,-0.0008797560887366549],"end_effector_yaw_offset_degrees":0.05188107328172409},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001237635333550119,0.0009010849654906513,0.00030356117056130026],"end_effector_yaw_offset_degrees":-0.6047458295192889}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002146808654566075,0.0030610334503940037],"position_m":[0.18561468086545663,-0.12963896654960602,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003503663186342259,-0.0012987950745528567],"position_m":[0.2710036631863423,-0.4024987950745529,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029504062095272155,0.001839258200398393],"position_m":[0.18464959379047277,0.08643925820039838,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035276056386689472,0.0015012237998461861],"position_m":[0.3455723943613311,0.2916012237998462,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1d1b27be8ecbdd069d62eef1fd85953a8931b8786652193c627a44e5823c629f","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0088.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9785/tex_ceiling_textures_6408/tex_floor_textures_7232/tex_table_textures_2615/tex_wall_textures_8124","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5401532528845305220,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5401532528845305220,"visual_seed":5401532528845305220,"scene_id":"lab_003","finished_at":"2026-09-03T22:34:25"} +{"episode_id":"ep_000089","started_at":"2026-09-03T22:34:28","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[-0.33420941426876505,1.7082366101922069,0.71338606911949],"aabb_xy":[[-0.3841923644562443,1.6582366105496462],[-0.2842264640812856,1.758236609834767]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.3275181482038365,-0.16665309851654797,0.71338606911949],"aabb_xy":[[-0.377491213736352,-0.21665309832908092],[-0.27754508267132105,-0.1166530987040151]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.5235838353747083,0.6119834899687531,0.71338606911949],"aabb_xy":[[-0.5411621375636552,0.5944090003946482],[-0.5060055331857615,0.629557979542858]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.17357263876667983,-1.7728722393195577,0.71338606911949],"aabb_xy":[[0.15107263895277745,-1.7773468556900387],[0.19607263858058221,-1.7683976229490772]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.18288675434345658,-1.0518215348712134,0.71338606911949],"aabb_xy":[[-0.2107317911240637,-1.0826060336095251],[-0.15504171756284946,-1.0210370361329018]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.49383175513206257,0.9952013103276327,0.71338606911949],"aabb_xy":[[0.4486604372838937,0.9312013131830943],[0.5390030729802316,1.0592013074721711]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[0.07738545200368241,-1.8370005798076887,0.71338606911949],"aabb_xy":[[0.07034514207014542,-1.9170005792073603],[0.0844257619372194,-1.7570005804080175]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.11493384661594197,-1.1820426342468955,0.71338606911949],"aabb_xy":[[0.08115828742524898,-1.1960811294600604],[0.14870940580663494,-1.1680041390337306]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.6886621614670334,-2.012137395585415,0.71338606911949],"aabb_xy":[[0.6667534793276823,-2.0340380624055054],[0.7105708436063843,-1.990236728765324]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.4464412514423636,0.8052509159445296,0.71338606911949],"aabb_xy":[[-0.45240779038309925,0.7992897712851655],[-0.4404747125016277,0.8112120606038936]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.38222141894979744,1.3066881182674783,0.71338606911949],"aabb_xy":[[0.3703493359382963,1.221688118573828],[0.3940935019612985,1.3916881179611287]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[-0.29784520497024725,-1.9034993427346567,0.71338606911949],"aabb_xy":[[-0.37784520713300973,-1.9834545263608006],[-0.21784520280748476,-1.8235441591085133]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[-0.4738814742826368,1.5588186767716636,0.71338606911949],"aabb_xy":[[-0.5388814752397639,1.506870464837958],[-0.4088814733255096,1.6107668887053692]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[0.11584086386257242,1.3345907853768608,0.71338606911949],"aabb_xy":[[0.06584086442237679,1.2846228608925443],[0.16584086330276804,1.384558709861177]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.5971030451519418,-1.6367877279957745,0.71338606911949],"aabb_xy":[[-0.677103042114981,-1.7138633696395478],[-0.5171030481889026,-1.5597120863520009]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[0.682417738592358,-1.5715648940109754,0.71338606911949],"aabb_xy":[[0.6777826234401245,-1.575432229088124],[0.6870528537445912,-1.5676975589338265]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[-0.6318270229534884,0.33453354041221717,0.71338606911949],"aabb_xy":[[-0.643595209748146,0.24953354050699567],[-0.620058836158831,0.41953354031743884]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.4286083373896357,-0.3897504699688832,0.71338606911949],"aabb_xy":[[-0.46545888532662333,-0.42725047079191697],[-0.3917577894526481,-0.3522504691458495]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[-0.3849671452531956,-1.655546508492578,0.71338606911949],"aabb_xy":[[-0.44996714340911464,-1.6818427530424902],[-0.3199671470972765,-1.6292502639426658]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[-0.07529960339475628,0.9924426734585667,0.71338606911949],"aabb_xy":[[-0.1652996001303665,0.9392592101412722],[0.014700393340853934,1.0456261367758612]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[0.61836138454033,-1.3140826997222705,0.71338606911949],"aabb_xy":[[0.5543613841627963,-1.3638279665730828],[0.6823613849178636,-1.2643374328714583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7121522655032583,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2149.png","name":"2149"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2149.png","name":"2149"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9977.png","name":"9977"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9233.png","name":"9233"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9173.png","name":"9173"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7585.png","name":"7585"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":590.7318751212879,"rotation_z_degrees":246.37145039983207,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005894934799611354,0.0027373859704555893,0.01844904448712206]},{"name":"camera_2","offset_m":[0.0018469251211594186,0.01711181388519185,-0.016433053020705676]},{"name":"camera_3","offset_m":[0.002184005276601609,-0.0032757224049301745,0.01606551852169386]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017699842587883179,-0.0015083662803828189,-0.001400466394019544],"end_effector_yaw_offset_degrees":0.5847546376179558},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001774137942939365,0.0008187891024177413,-0.0015946017898403983],"end_effector_yaw_offset_degrees":0.8416653430368841},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007362316881199941,-0.0010879558505300234,-0.0012803451286177063],"end_effector_yaw_offset_degrees":0.7335352122168806}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029664173764699384,-0.003625468854861649],"position_m":[0.18836641737646995,-0.13632546885486166,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003674297946261616,0.0026751177286351005],"position_m":[0.26713257020537384,-0.3985248822713649,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002606128619167279,-0.002804829047842894],"position_m":[0.19020612861916728,0.0817951709521571,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004372980435962285,0.0007165176356316747],"position_m":[0.34472701956403773,0.2908165176356317,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4fbfbbddab335d461a18d28ba9ec934a99bc9c837ae312971a5e1821cd9b7224","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2149/tex_ceiling_textures_7585/tex_floor_textures_9173/tex_table_textures_9977/tex_wall_textures_9233","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":201481355222670021,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":201481355222670021,"visual_seed":201481355222670021,"scene_id":"lab_003","finished_at":"2026-09-03T22:37:16"} +{"episode_id":"ep_000090","started_at":"2026-09-03T22:37:19","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[0.2584527550643365,1.2979292003247567,0.71338606911949],"aabb_xy":[[0.23216393074389588,1.2716577666701054],[0.2847415793847772,1.324200633979408]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.48229945146776965,-2.482271125398859,0.71338606911949],"aabb_xy":[[0.46562231547467414,-2.4989710493727895],[0.49897658746086515,-2.465571201424929]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.6263754857367132,1.303240880682707,0.71338606911949],"aabb_xy":[[0.5613754857024106,1.2565402040023796],[0.691375485771016,1.3499415573630342]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.5564895199125786,-1.8370298515886612,0.71338606911949],"aabb_xy":[[0.5456490416860637,-1.8542161328793099],[0.5673299981390935,-1.8198435702980125]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[0.2685908751942584,1.6547119170429574,0.71338606911949],"aabb_xy":[[0.24612610522285322,1.6322119161640969],[0.29105564516566346,1.677211917921818]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.32238820664056345,-0.8196546378805356,0.71338606911949],"aabb_xy":[[0.2848882061432052,-0.8236233214286539],[0.3598882071379217,-0.8156859543324171]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.36202371575441455,0.09121085166675469,0.71338606911949],"aabb_xy":[[-0.3654643919944717,0.08734941869239021],[-0.3585830395143574,0.09507228464111918]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[0.3800678721241695,-2.414179767285263,0.71338606911949],"aabb_xy":[[0.34256787183199466,-2.418221242685867],[0.4175678724163443,-2.4101382918846594]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.24181018632139079,-1.9251988699263656,0.71338606911949],"aabb_xy":[[-0.24973346656013914,-1.9476988701643692],[-0.23388690608264248,-1.9026988696883624]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.5878552188003323,0.6127795793245938,0.71338606911949],"aabb_xy":[[-0.6378394545085095,0.5627795805110983],[-0.5378709830921551,0.6627795781380895]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.18942241846436936,0.1929194381031536,0.71338606911949],"aabb_xy":[[-0.25342241557647505,0.14388706830874298],[-0.12542242135226367,0.2419518078975642]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.26124687977343075,-2.3095058477898074,0.71338606911949],"aabb_xy":[[-0.27730880723194834,-2.3945058496023988],[-0.24518495231491308,-2.224505845977215]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[0.560597042761932,-1.9662787117306197,0.71338606911949],"aabb_xy":[[0.4965970424879538,-2.0163448119279077],[0.6245970430359102,-1.9162126115333318]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[0.21656344012171547,-1.4992861427026059,0.71338606911949],"aabb_xy":[[0.2072164325394202,-1.5135897649202499],[0.22591044770401067,-1.4849825204849618]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[0.2612586745928147,0.7734328135435287,0.71338606911949],"aabb_xy":[[0.20125867434141353,0.719151488507064],[0.3212586748442159,0.8277141385799933]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.4381803252738985,-0.43238992039225055,0.71338606911949],"aabb_xy":[[0.40818866254002817,-0.4623899197290511],[0.4681719880077688,-0.40238992105545]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[-0.2687495834055566,-0.5101689773550695,0.71338606911949],"aabb_xy":[[-0.30374958171625205,-0.5178839922786151],[-0.23374958509486116,-0.5024539624315238]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.517536452066293,-2.417520218169286,0.71338606911949],"aabb_xy":[[-0.5725296634034298,-2.4725202185080795],[-0.4625432407291563,-2.3625202178304923]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[0.69555441103253,-1.0284218954670967,0.71338606911949],"aabb_xy":[[0.6752701083091311,-1.0487045206098053],[0.7158387137559287,-1.0081392703243877]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[-0.6877861799827326,-0.04594830053286092,0.71338606911949],"aabb_xy":[[-0.691746663752467,-0.05361616511838152],[-0.6838256962129983,-0.03828043594734032]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.17286783162183905,1.121180891328478,0.71338606911949],"aabb_xy":[[-0.21786041834028946,1.076180892054029],[-0.12787524490338864,1.1661808906029265]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.4554308301292802,-1.9007344598137352,0.71338606911949],"aabb_xy":[[-0.5006021479774493,-1.9647344569582739],[-0.41025951228111135,-1.836734462669197]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[-0.6544957673365036,-0.9491138088645898,0.71338606911949],"aabb_xy":[[-0.6639132419063664,-0.9585299860023088],[-0.6450782927666409,-0.9396976317268707]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.5066735386391461,-0.049039818174768435,0.71338606911949],"aabb_xy":[[0.4516998166028132,-0.10403981773900162],[0.561647260675479,0.00596018138946474]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[0.2623035083244585,-0.6780306688042568,0.71338606911949],"aabb_xy":[[0.20230350668153663,-0.7300308180962009],[0.32230350996738033,-0.6260305195123125]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[0.5776689125353562,0.4035612882745796,0.71338606911949],"aabb_xy":[[0.5417554081103665,0.367647780057825],[0.6135824169603458,0.4394747964913342]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[0.6038711231716569,1.6446326734576062,0.71338606911949],"aabb_xy":[[0.5537736591905832,1.5806326729477942],[0.6539685871527304,1.7086326739674178]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7106729699566794,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1980.png","name":"1980"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1980.png","name":"1980"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7869.png","name":"7869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8167.png","name":"8167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4.png","name":"4"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/968.png","name":"968"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":608.5154435950933,"rotation_z_degrees":128.28620664911926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008788749583816747,-0.006513455442178278,0.019270978523074505]},{"name":"camera_2","offset_m":[-0.009128539506731443,-0.010736225048890052,0.006403397548359696]},{"name":"camera_3","offset_m":[-0.006638640739920159,-0.001879523053203113,0.009476478428782045]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004589476206990199,-0.0016657257757104055,0.0007488478770595443],"end_effector_yaw_offset_degrees":-0.1973624111068104},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016004435273151497,0.0013975312857188553,-0.0010689841726635842],"end_effector_yaw_offset_degrees":0.06356232250799465},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017739458962028202,2.2216593671725744e-05,0.0005048475652600294],"end_effector_yaw_offset_degrees":-0.3812882471645682}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007500944875391225,-0.004589625497601315],"position_m":[0.18615009448753914,-0.13728962549760132,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003574269179666206,0.0005850720964824642],"position_m":[0.2639257308203338,-0.40061492790351755,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014889759538742435,0.0009842339686289307],"position_m":[0.18908897595387422,0.08558423396862892,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0049756541491643045,0.0014785488489718066],"position_m":[0.3540756541491643,0.29157854884897183,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a2feb293719e640e3b157ff6f959124f4a12dbc691a7e7b8044f5be1a1077535","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0090.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1980/tex_ceiling_textures_968/tex_floor_textures_4/tex_table_textures_7869/tex_wall_textures_8167","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":360869676502363073,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":360869676502363073,"visual_seed":360869676502363073,"scene_id":"lab_003","finished_at":"2026-09-03T22:39:58"} +{"episode_id":"ep_000091","started_at":"2026-09-03T22:40:01","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[-0.13073421480977654,1.744907914600447,0.71338606911949],"aabb_xy":[[-0.18071302332009243,1.6949079145947281],[-0.08075540629946065,1.7949079146061657]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.6579380717363366,0.8041486742434092,0.71338606911949],"aabb_xy":[[0.5939380698239942,0.7482375249853989],[0.7219380736486789,0.8600598235014197]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.359762674169031,-1.2398726916492142,0.71338606911949],"aabb_xy":[[-0.3972626745172588,-1.2516640872302978],[-0.32226267382080326,-1.2280812960681307]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[0.5802709797160925,-2.321259820355278,0.71338606911949],"aabb_xy":[[0.5162709790126233,-2.367278202828199],[0.644270980419562,-2.275241437882357]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[-0.24118355757229143,-2.055096818996808,0.71338606911949],"aabb_xy":[[-0.3311835561667614,-2.071347405310229],[-0.15118355897782149,-2.0388462326833867]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.5039614888829267,-1.712687776257792,0.71338606911949],"aabb_xy":[[-0.5191243618598639,-1.7278532335529109],[-0.4887986159059897,-1.6975223189626734]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[-0.2891865303963973,0.9668604826393539,0.71338606911949],"aabb_xy":[[-0.29414255058127853,0.9443604824372324],[-0.2842305102115162,0.9893604828414756]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.6634967683689734,0.2055615165149698,0.71338606911949],"aabb_xy":[[-0.6854054505083245,0.183660849694879],[-0.6415880862296224,0.22746218333506046]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[0.36569443369156884,-2.034796532299503,0.71338606911949],"aabb_xy":[[0.30169443510499633,-2.081803495699012],[0.42969443227814125,-1.9877895688999945]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[0.11297783553515206,-2.1316924823362355,0.71338606911949],"aabb_xy":[[0.05297783528375087,-2.1859738073727],[0.17297783578655324,-2.077411157299771]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.6624859396756125,-1.0938190077261234,0.71338606911949],"aabb_xy":[[-0.6673295344368426,-1.0986706602051075],[-0.6576423449143827,-1.0889673552471393]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[0.5806259924917345,-0.256679837534326,0.71338606911949],"aabb_xy":[[0.5106259908894549,-0.27011263073598357],[0.6506259940940139,-0.24324704433266842]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.18167062994883887,-1.6059001100395092,0.71338606911949],"aabb_xy":[[-0.2666706286409135,-1.6378859734343878],[-0.09667063125676423,-1.57391424664463]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.5338446048060248,-0.3365324572118409,0.71338606911949],"aabb_xy":[[-0.5513912997221437,-0.3740324587760922],[-0.5162979098899059,-0.2990324556475897]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.4471879249856594,-1.9057922762179826,0.71338606911949],"aabb_xy":[[0.4096879248137874,-1.9384930116008896],[0.4846879251575313,-1.8730915408350752]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[0.16102315698637204,-1.945865429090874,0.71338606911949],"aabb_xy":[[0.15505661804563622,-1.951826573750238],[0.1669896959271078,-1.9399042844315098]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[-0.13489343107759488,-0.41570524154762856,0.71338606911949],"aabb_xy":[[-0.15006560035922822,-0.43087409847583197],[-0.11972126179596154,-0.40053638461942526]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[-0.15884890568295384,1.4048324732313646,0.71338606911949],"aabb_xy":[[-0.2288489090745158,1.3695166995279335],[-0.08884890229139185,1.4401482469347953]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.29406810554503177,1.2724504467355118,0.71338606911949],"aabb_xy":[[-0.3840681022806419,1.219266983418217],[-0.2040681088094215,1.325633910052806]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[-0.12241311195848614,-0.7634807988568411,0.71338606911949],"aabb_xy":[[-0.15240477469235647,-0.7934807981936415],[-0.0924214492246158,-0.7334807995200404]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[0.3060087692407407,0.8107992422147645,0.71338606911949],"aabb_xy":[[0.30055082360372065,0.7307992389071053],[0.3114667148777608,0.8907992455224235]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[0.04758930781415027,-1.7338388882328966,0.71338606911949],"aabb_xy":[[0.011093487186871531,-1.7703228306596541],[0.08408512844142901,-1.697354945806139]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.4869199724733796,-0.5498432147983032,0.71338606911949],"aabb_xy":[[-0.5173180835725231,-0.5802501167999726],[-0.456521861374236,-0.5194363127966336]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[0.6587551733959109,-2.4722202438784744,0.71338606911949],"aabb_xy":[[0.6237551750852155,-2.47993525880202],[0.6937551717066064,-2.4645052289549287]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[-0.3996967283306432,-1.4645146020175963,0.71338606911949],"aabb_xy":[[-0.40899034656779376,-1.5020146005057302],[-0.3904031100934926,-1.4270146035294624]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[0.35354592020269004,-0.6808076064641249,0.71338606911949],"aabb_xy":[[0.3454182320093768,-0.6897212148748325],[0.36167360839600327,-0.6718939980534172]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[-0.4441212855743612,-0.9204238124366484,0.71338606911949],"aabb_xy":[[-0.46663497739781834,-0.990423813037656],[-0.42160759375090395,-0.850423811835641]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_27","position":[-0.509809248241732,0.0474972981815327,0.71338606911949],"aabb_xy":[[-0.5473092485339068,0.043455822780929104],[-0.4723092479495572,0.051538773582136294]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[0.17810207428335623,1.217590284445869,0.71338606911949],"aabb_xy":[[0.09810207712378094,1.206042683488052],[0.2581020714429315,1.229137885403686]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_29","position":[0.12278775500117467,1.4622544232388175,0.71338606911949],"aabb_xy":[[0.1112187742542381,1.437254423121886],[0.13435673574811124,1.4872544233557494]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_30","position":[-0.04087048543337757,0.54415437646117,0.71338606911949],"aabb_xy":[[-0.07837048385677792,0.5309901624933393],[-0.003370487009977212,0.5573185904290006]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7136331063251422,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9763.png","name":"9763"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9763.png","name":"9763"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2014.png","name":"2014"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4698.png","name":"4698"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9142.png","name":"9142"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4080.png","name":"4080"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":835.9650118282809,"rotation_z_degrees":353.2036293076583,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017226744866448863,0.008931450575071963,-0.00891430853653445]},{"name":"camera_2","offset_m":[0.014417153822136698,0.01732253132599954,0.009896198627166678]},{"name":"camera_3","offset_m":[0.01319509786509188,-0.01140609941763083,0.008827963329924846]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019127561276829179,-0.0006170964757342943,5.1258586211017435e-05],"end_effector_yaw_offset_degrees":-0.5331706630823505},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001963854623237664,-0.0016384279748437032,-0.0004045495325990594],"end_effector_yaw_offset_degrees":0.6502961571182979},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011902083914872809,0.0012316734635628244,0.0008229126958215816],"end_effector_yaw_offset_degrees":-0.18792819063188926}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004210498369916003,-0.0026516318507583837],"position_m":[0.189610498369916,-0.1353516318507584,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016239884726584352,-0.0018074793157951707],"position_m":[0.2658760115273416,-0.40300747931579517,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004422987717786914,0.004184115893829524],"position_m":[0.1831770122822131,0.08878411589382952,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004433824669670873,-0.0026564307429349844],"position_m":[0.35353382466967087,0.28744356925706505,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d066e594419a2ef646f75bbae1de2e6cf978e7286180853932945584673978c7","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9763/tex_ceiling_textures_4080/tex_floor_textures_9142/tex_table_textures_2014/tex_wall_textures_4698","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6622503336206637211,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6622503336206637211,"visual_seed":6622503336206637211,"scene_id":"lab_003","finished_at":"2026-09-03T22:42:47"} +{"episode_id":"ep_000092","started_at":"2026-09-03T22:42:50","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[0.11791114349002774,-1.0352425498382745,0.71338606911949],"aabb_xy":[[0.0829111435135319,-1.044707165885891],[0.15291114346652357,-1.0257779337906578]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.3618875324306732,-0.9689796441905132,0.71338606911949],"aabb_xy":[[-0.42588753101724564,-1.0159866075900221],[-0.2978875338441007,-0.9219726807910046]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[-0.08627447351682316,0.4283122765455474,0.71338606911949],"aabb_xy":[[-0.10370518859582964,0.4110401618816965],[-0.06884375843781662,0.44558439120939813]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.33867644750771814,-1.1147109478811414,0.71338606911949],"aabb_xy":[[-0.40267644955745013,-1.1548054309704494],[-0.27467644545798614,-1.0746164647918335]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[-0.6020394476454003,1.1971832747183138,0.71338606911949],"aabb_xy":[[-0.6220978592586406,1.1771181878091563],[-0.58198103603216,1.2172483616274712]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.32767612164942167,-1.8242074725472137,0.71338606911949],"aabb_xy":[[-0.36517612175501457,-1.8310296344001946],[-0.29017612154382866,-1.8173853106942324]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[-0.001030956400421501,-1.5077631630307595,0.71338606911949],"aabb_xy":[[-0.06603095455634056,-1.5340594075806717],[0.06396904175549756,-1.4814669184808473]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.5499698778997824,0.8207668510695285,0.71338606911949],"aabb_xy":[[-0.5745160935225331,0.7905179545204912],[-0.5254236622770316,0.8510157476185654]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[-0.6053780044843148,-1.1282049501125844,0.71338606911949],"aabb_xy":[[-0.6358622546113449,-1.1782049498940803],[-0.5748937543572846,-1.0782049503310884]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[0.5580845317205128,-0.9248096423102026,0.71338606911949],"aabb_xy":[[0.5452126282195726,-1.0048096427240385],[0.5709564352214529,-0.8448096418963663]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.14142570895522377,1.4135687966784531,0.71338606911949],"aabb_xy":[[0.12955362594372266,1.328568796984803],[0.15329779196672488,1.4985687963721037]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.4500998252125069,-1.3454464387391991,0.71338606911949],"aabb_xy":[[-0.4627266124997032,-1.354992512440772],[-0.4374730379253105,-1.3359003650376262]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[-0.5722885562399843,-2.366157259248339,0.71338606911949],"aabb_xy":[[-0.5809865185306996,-2.378282233555814],[-0.563590593949269,-2.3540322849408644]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.017697914688566407,-0.4000856549171177,0.71338606911949],"aabb_xy":[[-0.02573424938985125,-0.4081237742215344],[-0.009661579987281566,-0.39204753561270084]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[0.2749378524641618,-0.7569318675027767,0.71338606911949],"aabb_xy":[[0.22495490227668244,-0.806931867145337],[0.3249208026516411,-0.7069318678602162]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.41511125357583134,-0.8021757077018044,0.71338606911949],"aabb_xy":[[-0.46520871755690496,-0.8661757082116162],[-0.3650137895947577,-0.7381757071919925]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.44349965391972557,-1.399108113240622,0.71338606911949],"aabb_xy":[[0.43550616412444365,-1.4071062451810976],[0.4514931437150077,-1.3911099813001464]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.2582151747787555,-1.3443916707188304,0.71338606911949],"aabb_xy":[[-0.31318889681508844,-1.3993916702830635],[-0.20324145274242267,-1.2893916711545972]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.23906997510638817,-2.4481236426937207,0.71338606911949],"aabb_xy":[[0.2320296651728512,-2.5281236420933926],[0.2461102850399252,-2.36812364329405]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[-0.49433185212238784,-2.2901499587811234,0.71338606911949],"aabb_xy":[[-0.505693586775674,-2.301518425187411],[-0.4829701174691017,-2.278781492374835]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7162541935215104,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3765.png","name":"3765"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3765.png","name":"3765"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2983.png","name":"2983"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/970.png","name":"970"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4575.png","name":"4575"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9922.png","name":"9922"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":736.9399493780612,"rotation_z_degrees":44.164996360845066,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016604028590320893,0.010070261262266816,0.010525786793750064]},{"name":"camera_2","offset_m":[0.0012991735507035598,0.013836621022260808,0.002984187907981547]},{"name":"camera_3","offset_m":[-0.0064092378528287156,0.0042962071463243275,-0.016822729161610234]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016791142737867572,0.0014689656330950742,0.001456185525728835],"end_effector_yaw_offset_degrees":-0.381355117874584},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003423645137517815,0.0005654519491011699,-0.00035534449785366916],"end_effector_yaw_offset_degrees":-0.9736687597531213},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010544948627727343,0.0016995360017618838,0.0011331069763476902],"end_effector_yaw_offset_degrees":-0.3461895452192951}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002705615543422014,-0.002683973673603538],"position_m":[0.18567056155434222,-0.13538397367360355,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00024663588069947975,-0.004433568822215648],"position_m":[0.26725336411930056,-0.40563356882221563,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010558180999347957,-0.0035394420605114165],"position_m":[0.18865581809993479,0.08106055793948858,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023594658703909146,0.004590482456418506],"position_m":[0.3467405341296091,0.29469048245641855,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"658144d067f29f53d3f10cf550267bbf5552271a420620da3b2f73d0e2290866","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3765/tex_ceiling_textures_9922/tex_floor_textures_4575/tex_table_textures_2983/tex_wall_textures_970","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7537054069025032709,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7537054069025032709,"visual_seed":7537054069025032709,"scene_id":"lab_003","finished_at":"2026-09-03T22:45:30"} +{"episode_id":"ep_000093","started_at":"2026-09-03T22:45:33","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.5497826116100453,1.78371177928384,0.71338606911949],"aabb_xy":[[0.512987978485139,1.7468059041872572],[0.5865772447349515,1.8206176543804218]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.20595457948704626,-1.0894979860968408,0.71338606911949],"aabb_xy":[[-0.22723258763051848,-1.1544979884229138],[-0.184676571343574,-1.0244979837707677]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.1349845930006589,-1.711428738363912,0.71338606911949],"aabb_xy":[[0.09280017883982819,-1.7754287386411234],[0.17716900716148967,-1.647428738086701]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.2824004648801979,-1.9684281772009273,0.71338606911949],"aabb_xy":[[-0.32848555613492936,-2.032428174453482],[-0.23631537362546642,-1.904428179948372]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.2867501362193515,-2.188392533943367,0.71338606911949],"aabb_xy":[[0.2697400389293008,-2.2045270224416407],[0.3037602335094021,-2.172258045445093]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.3925340161253219,-1.683063714200362,0.71338606911949],"aabb_xy":[[0.32853401683115363,-1.7470498545692164],[0.45653401541949007,-1.619077573831508]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[-0.03159408139255093,-2.232618369231853,0.71338606911949],"aabb_xy":[[-0.1115940783555901,-2.309694010875626],[0.048405915570488234,-2.155542727588079]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[-0.2215986242081655,-1.6100029314004158,0.71338606911949],"aabb_xy":[[-0.239467731962621,-1.6238358393776269],[-0.20372951645371,-1.5961700234232052]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.29308671991583013,-2.463407140485195,0.71338606911949],"aabb_xy":[[0.25454102709062904,-2.5019529115413834],[0.3316324127410311,-2.424861369429006]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.5520459364428312,-2.5253314604494257,0.71338606911949],"aabb_xy":[[0.48804593606529756,-2.5750767273002375],[0.6160459368203648,-2.475586193598613]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.5919714188209403,0.2665097231502238,0.71338606911949],"aabb_xy":[[-0.626433896834028,0.25984604596730093],[-0.5575089408078524,0.2731734003331466]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.5132418011844564,-2.030998013143462,0.71338606911949],"aabb_xy":[[0.42824180276703316,-2.115872308605747],[0.5982417996018796,-1.9461237176811772]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.5769976366207279,0.5718094961951214,0.71338606911949],"aabb_xy":[[-0.5818969289272913,0.5441325768925526],[-0.5720983443141643,0.5994864154976901]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.4793694519514414,0.7111717252902645,0.71338606911949],"aabb_xy":[[-0.4970022875449689,0.6935487792746415],[-0.46173661635791374,0.7287946713058875]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.20484949026858223,0.9358248576295463,0.71338606911949],"aabb_xy":[[0.16734949184518186,0.9226606436617154],[0.24234948869198256,0.9489890715973767]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[-0.3502232300385334,0.5954516820934859,0.71338606911949],"aabb_xy":[[-0.41422322732418204,0.5539449631406419],[-0.28622323275288475,0.6369584010463298]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.24243673379065012,-0.7095571578243705,0.71338606911949],"aabb_xy":[[0.23441046316002417,-0.7183086528017232],[0.25046300442127617,-0.700805662847018]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.08315798114028305,-1.0445585943056717,0.71338606911949],"aabb_xy":[[0.019157979732292395,-1.0963475458295961],[0.14715798254827372,-0.9927696427817468]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.11472926949528106,-0.8084115104182026,0.71338606911949],"aabb_xy":[[-0.13215998457428754,-0.8256836250820533],[-0.09729855441627454,-0.7911393957543517]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.41129331105668854,-0.18546837197153332,0.71338606911949],"aabb_xy":[[-0.4457556584548303,-0.219962254369356],[-0.3768309636585467,-0.1509744895737106]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[-0.08604734259808244,-0.9626683956189763,0.71338606911949],"aabb_xy":[[-0.13317672159991809,-1.0266683966633783],[-0.038917963596246746,-0.8986683945745744]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.15842944661298897,1.229176192432631,0.71338606911949],"aabb_xy":[[-0.22242944852533134,1.1732650431746205],[-0.09442944470064665,1.2850873416906414]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[-0.44044977246437467,1.4853591981091507,0.71338606911949],"aabb_xy":[[-0.4607340751877734,1.4650765729664414],[-0.42016546974097585,1.5056418232518591]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[0.16134963575304462,0.7341251530032205,0.71338606911949],"aabb_xy":[[0.10134963590647783,0.6773065308101818],[0.2213496355996114,0.7909437751962591]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.5501546978809471,-0.5322020914701824,0.71338606911949],"aabb_xy":[[0.486154694591239,-0.5755370104741],[0.6141547011706552,-0.4888671724662648]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_25","position":[0.04086189553690489,0.9618095164520843,0.71338606911949],"aabb_xy":[[-0.02072886368708793,0.8978095183430375],[0.10245265476089771,1.0258095145611312]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7133930257904615,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3615.png","name":"3615"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3615.png","name":"3615"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2521.png","name":"2521"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8934.png","name":"8934"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/585.png","name":"585"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9677.png","name":"9677"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":609.9430764427873,"rotation_z_degrees":247.95940044932456,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005358998526154353,-0.013466878260930395,0.013184960291637255]},{"name":"camera_2","offset_m":[-0.010356742843289411,-0.004443618337978874,0.01738164753004327]},{"name":"camera_3","offset_m":[-0.0014773481725048436,0.015433119139421695,-0.011272523776830768]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009670143310216892,0.0003445355846739078,-0.001283973522651841],"end_effector_yaw_offset_degrees":0.13110294605280925},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015437193184001394,0.0005040418637564498,0.00020532673404370433],"end_effector_yaw_offset_degrees":0.9089081401727164},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00016443140450975516,-0.0005302285726012999,0.0011590817422203726],"end_effector_yaw_offset_degrees":0.5591439335346351}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004692079429590347,0.003267418036702114],"position_m":[0.19009207942959036,-0.1294325819632979,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009986802965958382,0.002481522570161484],"position_m":[0.26849868029659585,-0.3987184774298385,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000683808835121336,0.0006464190115500557],"position_m":[0.18828380883512133,0.08524641901155006,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009605772079128473,0.0012562751805076404],"position_m":[0.3500605772079129,0.29135627518050766,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"996ce6785cab62affdbbca6824da193f565c20c7c64aea30a613382974dea21d","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3615/tex_ceiling_textures_9677/tex_floor_textures_585/tex_table_textures_2521/tex_wall_textures_8934","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3683863958908511071,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3683863958908511071,"visual_seed":3683863958908511071,"scene_id":"lab_003","finished_at":"2026-09-03T22:48:07"} +{"episode_id":"ep_000094","started_at":"2026-09-03T22:48:11","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[0.1448415169959727,-1.8926134347580439,0.71338606911949],"aabb_xy":[[0.1292857475857075,-1.9081638680024513],[0.16039728640623802,-1.877063001513637]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[0.05790834664493605,1.0369946533003382,0.71338606911949],"aabb_xy":[[-0.02209165442818429,1.0272166069629538],[0.13790834771805638,1.0467726996377227]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.4757471559122588,1.5275865099275614,0.71338606911949],"aabb_xy":[[0.4382471554149006,1.5236178263794429],[0.513247156409617,1.53155519347568]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.4784626867949193,-2.257211186902703,0.71338606911949],"aabb_xy":[[0.44346268689890045,-2.2655854224146426],[0.5134626866909382,-2.2488369513907625]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[0.42900949221478757,-1.9924742221970004,0.71338606911949],"aabb_xy":[[0.42405347202990645,-2.014974222399122],[0.4339655123996688,-1.969974221994879]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.12632891684901792,0.3746122100271272,0.71338606911949],"aabb_xy":[[-0.19032891906942495,0.33023912590183885],[-0.0623289146286109,0.4189852941524154]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.6059716476280181,1.0433973992557988,0.71338606911949],"aabb_xy":[[0.5222494221279356,0.9533973957211028],[0.6896938731281005,1.1333974027904947]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[0.27831798450189404,1.348712618048347,0.71338606911949],"aabb_xy":[[0.24331798537193838,1.342967396972683],[0.3133179836318497,1.3544578391240112]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[0.6023672816402856,0.7651192579358015,0.71338606911949],"aabb_xy":[[0.5383672830537131,0.7181122945362928],[0.666367280226858,0.8121262213353102]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[0.35908947489263787,-0.9229432501320447,0.71338606911949],"aabb_xy":[[0.32860522476560766,-0.9729432499135405],[0.38957372501966797,-0.8729432503505486]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.518498394453615,-0.398199607409234,0.71338606911949],"aabb_xy":[[0.46852097758836136,-0.4481996088984825],[0.5684758113188685,-0.3481996059199854]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.3059690949338252,0.32795490357512724,0.71338606911949],"aabb_xy":[[-0.36094281697015806,0.27295490401089406],[-0.2509953728974923,0.3829549031393604]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.6840587663136354,0.8184743951218492,0.71338606911949],"aabb_xy":[[-0.6881369242206852,0.8143934148735859],[-0.6799806084065856,0.8225553753701125]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.3691838806087872,-0.9096926550667086,0.71338606911949],"aabb_xy":[[-0.4268143494960579,-0.969692653993419],[-0.31155341172151624,-0.8496926561399978]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[0.6065015858412113,0.35643343753958723,0.71338606911949],"aabb_xy":[[0.516501586118037,0.33336008500440734],[0.6965015855643854,0.379506790074767]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.20298048176972233,0.7719647764100461,0.71338606911949],"aabb_xy":[[-0.23082551855032946,0.7411802776717346],[-0.1751354449891152,0.8027492751483579]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.0895223481119749,1.1552103243961245,0.71338606911949],"aabb_xy":[[0.05955479120214924,1.1252103240982387],[0.11948990502180057,1.1852103246940102]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[-0.049264433152898524,-1.9179405254561113,0.71338606911949],"aabb_xy":[[-0.11326443644260663,-1.9612754444600289],[0.014735570136809593,-1.8746056064521937]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.17639074203439042,-2.2893132620306695,0.71338606911949],"aabb_xy":[[-0.18510471108432489,-2.311813262689857],[-0.1676767729844559,-2.2668132613714804]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.21756443324689168,-2.010285030907878,0.71338606911949],"aabb_xy":[[-0.25489570977213427,-2.044938085702731],[-0.18023315672164908,-1.9756319761130263]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[0.40187631430012516,-2.151227338549917,0.71338606911949],"aabb_xy":[[0.3768763143676073,-2.1581100067708405],[0.4268763142326431,-2.1443446703289935]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.5221823415570706,-2.1172536385099345,0.71338606911949],"aabb_xy":[[-0.539975848491987,-2.135053384105732],[-0.5043888346221541,-2.099453892914137]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[0.09222366675243543,-1.0155337872117498,0.71338606911949],"aabb_xy":[[0.054723668176814615,-1.0282700828753075],[0.1297236653280562,-1.0027974915481916]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[0.5622607747655375,-1.50321772022667,0.71338606911949],"aabb_xy":[[0.544760774520488,-1.520717508066237],[0.5797607750105868,-1.4857179323871033]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.6785561745400277,0.47493884976517675,0.71338606911949],"aabb_xy":[[-0.6819968507800849,0.4710774167908124],[-0.6751154982999705,0.47880028273954134]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[0.13201065979222049,-0.8160759496282493,0.71338606911949],"aabb_xy":[[0.06701065883509326,-0.8680241615619548],[0.19701066074934767,-0.7641277376945437]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_26","position":[0.04540633560446916,-2.4936322395487327,0.71338606911949],"aabb_xy":[[0.03719179048878517,-2.502308829846373],[0.05362088072015313,-2.4849556492510905]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[-0.39456576690333683,-1.2461968112718518,0.71338606911949],"aabb_xy":[[-0.4058108224739546,-1.2574386089959473],[-0.38332071133271894,-1.2349550135477567]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[0.11280296015233249,-1.101519324144969,0.71338606911949],"aabb_xy":[[0.10033560204259685,-1.1139846487782925],[0.12527031826206814,-1.0890539995116455]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_29","position":[0.23481821228491784,-1.5882620057387018,0.71338606911949],"aabb_xy":[[0.20050193511029993,-1.6382620057118795],[0.2691344894595358,-1.538262005765524]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_30","position":[-0.22833231158287204,1.029297493123762,0.71338606911949],"aabb_xy":[[-0.2359565796730503,1.0216642695872182],[-0.22070804349269382,1.0369307166603057]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_31","position":[0.20533713767715833,0.7640460623333194,0.71338606911949],"aabb_xy":[[0.18282344585370114,0.6940460617323118],[0.22785082950061553,0.8340460629343268]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7139047001118954,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3897.png","name":"3897"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3897.png","name":"3897"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5822.png","name":"5822"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5031.png","name":"5031"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4142.png","name":"4142"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1386.png","name":"1386"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":596.8854939262552,"rotation_z_degrees":295.9702671823867,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009541509526261338,0.00034491324404586216,-0.013638685907132825]},{"name":"camera_2","offset_m":[-0.017004759505627187,-0.008035822212579915,0.01456623504360106]},{"name":"camera_3","offset_m":[-0.009216627798211526,0.01253288386869145,0.008420766559387064]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006752714303021254,0.0010646361589683028,0.0016394752975679777],"end_effector_yaw_offset_degrees":0.7537324072030192},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015346841229371773,0.0011394655469133957,0.001869888469940734],"end_effector_yaw_offset_degrees":-0.49494189343469563},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007952636226491424,0.0018918093488369458,0.001431221454430072],"end_effector_yaw_offset_degrees":-0.4888304491698996}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011659426453711416,0.0007071605874583329],"position_m":[0.18656594264537116,-0.13199283941254167,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011393742138552819,-0.0015799518150165694],"position_m":[0.2663606257861447,-0.4027799518150166,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00454471672124603,0.004137958242255299],"position_m":[0.18305528327875395,0.08873795824225529,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001737380950414199,0.0005199280316583368],"position_m":[0.3508373809504142,0.29061992803165837,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"33a39ba4ed93abdff633ea283b9bb07767cf15d796606b17722921bacde7938b","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3897/tex_ceiling_textures_1386/tex_floor_textures_4142/tex_table_textures_5822/tex_wall_textures_5031","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6232824620329630560,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6232824620329630560,"visual_seed":6232824620329630560,"scene_id":"lab_003","finished_at":"2026-09-03T22:50:50"} +{"episode_id":"ep_000095","started_at":"2026-09-03T22:50:54","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[0.4979439140717954,-2.2332622388410344,0.71338606911949],"aabb_xy":[[0.46044391340721663,-2.248949296841256],[0.535443914736374,-2.2175751808408117]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.4247266461438512,1.0697483633265152,0.71338606911949],"aabb_xy":[[-0.4341441207137139,1.0603321861887962],[-0.4153091715739884,1.0791645404642343]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[-0.29298645323272354,0.3092197856178802,0.71338606911949],"aabb_xy":[[-0.34296526174303943,0.25921978561216136],[-0.24300764472240766,0.35921978562359896]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[-0.44080271452054665,0.4999062030012693,0.71338606911949],"aabb_xy":[[-0.458302714765596,0.48240641516170235],[-0.4233027142754972,0.5174059908408359]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.5682985473532141,-0.6384823122982783,0.71338606911949],"aabb_xy":[[0.5511964693948459,-0.6555891178295481],[0.5854006253115822,-0.6213755067670086]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.17735967135310582,1.26330182948552,0.71338606911949],"aabb_xy":[[-0.20364849567354645,1.2370303958308686],[-0.15107084703266513,1.289573263140171]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.6478074870865131,0.4401379599805346,0.71338606911949],"aabb_xy":[[0.6191581547260967,0.41149240070345877],[0.6764568194469291,0.46878351925761036]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[0.6444741441890962,-0.4365238097172819,0.71338606911949],"aabb_xy":[[0.5944911940016168,-0.48652380935984224],[0.6944570943765754,-0.3865238100747214]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.019586361290445442,-1.5187455117750543,0.71338606911949],"aabb_xy":[[-0.05388327230818606,-1.5530423979849954],[0.014710549727295179,-1.4844486255651128]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.632626185572239,-0.8605315323392799,0.71338606911949],"aabb_xy":[[-0.6701261870878708,-0.8717583053554249],[-0.5951261840566073,-0.8493047593231348]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.591723418256578,-0.5768235245201141,0.71338606911949],"aabb_xy":[[-0.6767234169486528,-0.6088093879149928],[-0.5067234195645035,-0.5448376611252351]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.2541062369004229,0.7412504308563119,0.71338606911949],"aabb_xy":[[0.24684498933001547,0.7284634205928024],[0.2613674844708303,0.7540374411198214]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.24069421786701772,-2.297892767755682,0.71338606911949],"aabb_xy":[[0.23657826775494506,-2.3020083227885273],[0.2448101679790904,-2.293777212722836]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.1442172789095939,-0.9986402400237975,0.71338606911949],"aabb_xy":[[-0.15225361361087875,-1.0066783593282143],[-0.13618094420830906,-0.9906021207193806]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.3475913088512317,-1.7836400039632183,0.71338606911949],"aabb_xy":[[0.3300446139351128,-1.8211400055274698],[0.36513800376735067,-1.7461400023989673]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.4059259858478012,-1.1637548246156892,0.71338606911949],"aabb_xy":[[-0.467516745071794,-1.227754822724736],[-0.3443352266238084,-1.0997548265066421]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[-0.3494964481628141,-0.2661208895181306,0.71338606911949],"aabb_xy":[[-0.36212323545001046,-0.2756669632197035],[-0.33686966087561776,-0.2565748158165577]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[-0.5958250270430986,-1.8690430545572891,0.71338606911949],"aabb_xy":[[-0.6758250240061376,-1.9461186962010626],[-0.5158250300800593,-1.7919674129135157]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.5965216138446426,1.276232568108059,0.71338606911949],"aabb_xy":[[-0.6333721617816302,1.2387325672850253],[-0.559671065907655,1.3137325689310928]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.1749855371942517,-1.806104041106951,0.71338606911949],"aabb_xy":[[-0.17982913195548167,-1.8109556935859354],[-0.17014194243302172,-1.8012523886279672]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.32647832431846874,-1.7075782951278118,0.71338606911949],"aabb_xy":[[-0.3762951037833035,-1.757578293612115],[-0.276661544853634,-1.6575782966435082]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[0.01780537813966865,-0.9596070073971568,0.71338606911949],"aabb_xy":[[-0.0034726300038036007,-1.0246070097232298],[0.0390833862831409,-0.8946070050710836]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[0.6664737906286347,-1.8636795412838376,0.71338606911949],"aabb_xy":[[0.6592300245823893,-1.9436795394874398],[0.67371755667488,-1.783679543080235]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[-0.2681810261006275,-0.44481366655417,0.71338606911949],"aabb_xy":[[-0.3180637229783237,-0.4948136658004448],[-0.2182983292229313,-0.3948136673078953]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[-0.568258354420825,-1.5713554619755732,0.71338606911949],"aabb_xy":[[-0.5776053620031202,-1.5856590841932172],[-0.5589113468385297,-1.5570518397579292]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[0.06700046440111884,1.6602312789146878,0.71338606911949],"aabb_xy":[[0.022007877682668417,1.615231279640239],[0.11199305111956924,1.7052312781891366]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7112067703571527,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8417.png","name":"8417"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8417.png","name":"8417"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4480.png","name":"4480"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5408.png","name":"5408"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6119.png","name":"6119"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4095.png","name":"4095"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":520.546549400694,"rotation_z_degrees":87.85523702767155,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009553287033752396,-0.018977363528727254,0.00029720744216653674]},{"name":"camera_2","offset_m":[-0.006278821204900038,-0.00014908486369488022,0.005801567054691301]},{"name":"camera_3","offset_m":[0.0013100790680601604,-0.010357135794785229,0.01461835432636963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001370558100371989,0.001249306118543183,0.00022812057414203085],"end_effector_yaw_offset_degrees":-0.29687311574812436},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009140250049806996,-0.0002485581074002923,-0.000662625376551921],"end_effector_yaw_offset_degrees":-0.6765221378244011},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000278647871785981,-0.0015919859302457678,-0.0011661670511650764],"end_effector_yaw_offset_degrees":-0.5791956967222436}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008582977428432158,-0.000137667747660517],"position_m":[0.18625829774284322,-0.13283766774766054,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009606918954280039,0.003486225394388794],"position_m":[0.266539308104572,-0.3977137746056112,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023265822736748044,-0.004210799366774166],"position_m":[0.1852734177263252,0.08038920063322583,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004893552701463316,-0.004495852852136776],"position_m":[0.3442064472985367,0.28560414714786325,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7eeb5f470dd18f65b2363a673ca40108b31025d83f14e019e674ea229eb29f63","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0095.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8417/tex_ceiling_textures_4095/tex_floor_textures_6119/tex_table_textures_4480/tex_wall_textures_5408","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6773660888652467352,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6773660888652467352,"visual_seed":6773660888652467352,"scene_id":"lab_003","finished_at":"2026-09-03T22:53:39"} +{"episode_id":"ep_000096","started_at":"2026-09-03T22:53:42","dimensions":{"distractor":{"count":23,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[0.2984715259311441,1.482418804226533,0.71338606911949],"aabb_xy":[[0.2609715244155124,1.4711920312103879],[0.33597152744677583,1.493645577242678]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[0.4310011209557969,-1.6475952195217072,0.71338606911949],"aabb_xy":[[0.381001119294302,-1.6975936617774094],[0.48100112261729155,-1.597596777266004]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.11694434982711133,1.095770120502702,0.71338606911949],"aabb_xy":[[-0.1209048335968457,1.0881022559171813],[-0.11298386605737695,1.1034379850882226]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.13155047978066936,1.2974184732669838,0.71338606911949],"aabb_xy":[[0.04155047610375117,1.2359860666898792],[0.2215504834575875,1.358850879844088]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.5699288918003401,0.04954821514930208,0.71338606911949],"aabb_xy":[[-0.5918186393892808,-0.04045178213994704],[-0.5480391442113992,0.13954821243855117]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[-0.29984639114958295,0.26737861389514483,0.71338606911949],"aabb_xy":[[-0.34994385513065657,0.20337861338533303],[-0.24974892716850933,0.33137861440495664]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.06289123472452629,-1.8044525382601815,0.71338606911949],"aabb_xy":[[-0.07167246187176253,-1.8132322855487115],[-0.05411000757729008,-1.7956727909716514]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.19300394299879686,-1.7986145064785146,0.71338606911949],"aabb_xy":[[-0.19834151866480143,-1.8236145074076546],[-0.1876663673327923,-1.773614505549375]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[0.2032676163296494,0.7193096451472498,0.71338606911949],"aabb_xy":[[0.14563714744237852,0.6593096462205391],[0.2608980852169202,0.7793096440739602]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.28428401895569744,-1.9610107572850493,0.71338606911949],"aabb_xy":[[0.26760688296260193,-1.9777106812589793],[0.30096115494879294,-1.9443108333111188]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[-0.5063003115229526,-0.7291292116991297,0.71338606911949],"aabb_xy":[[-0.5144279997162658,-0.7380428201098372],[-0.4981726233296394,-0.7202156032884219]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[0.6029673893068739,0.6025044899725125,0.71338606911949],"aabb_xy":[[0.5679673909961784,0.5947894750489668],[0.6379673876175693,0.6102195048960581]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[0.46473907619329813,-0.10685755268501085,0.71338606911949],"aabb_xy":[[0.4559370208843253,-0.11466887883993991],[0.47354113150227073,-0.09904622653008176]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.4264409124891624,0.8161136696877276,0.71338606911949],"aabb_xy":[[0.3836742056097422,0.7521136662659251],[0.4692076193685826,0.88011367310953]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[0.45039955562937917,1.3357439526329133,0.71338606911949],"aabb_xy":[[0.4082151414685484,1.2717439523557021],[0.4925839697902099,1.3997439529101245]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[-0.45694956866474834,-1.1935447341529528,0.71338606911949],"aabb_xy":[[-0.5219495686990511,-1.24024541083328],[-0.3919495686304456,-1.1468440574726255]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[-0.39139009221917737,-0.6062340124186694,0.71338606911949],"aabb_xy":[[-0.39672260687379035,-0.611558340663905],[-0.3860575775645644,-0.6009096841734339]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[-0.3705223394885997,-2.431497419006055,0.71338606911949],"aabb_xy":[[-0.38239442250010075,-2.5164974186997053],[-0.35865025647709853,-2.3464974193124046]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[0.6316616480687056,-1.8107165243405758,0.71338606911949],"aabb_xy":[[0.5676616447789974,-1.8540514433444932],[0.6956616513584136,-1.767381605336658]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[-0.4295065003698962,1.7297316693691722,0.71338606911949],"aabb_xy":[[-0.45579532469033684,1.703460235714521],[-0.4032176760494555,1.7560031030238235]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[0.3050371013185347,-1.5874570463467954,0.71338606911949],"aabb_xy":[[0.2907026761923712,-1.599517261901334],[0.31937152644469813,-1.5753968307922563]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[-0.5506250204162327,-0.4789152749969121,0.71338606911949],"aabb_xy":[[-0.630625017819826,-0.5589078461950948],[-0.47062502301263925,-0.39892270379872924]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.5774203954665983,-2.490858128364968,0.71338606911949],"aabb_xy":[[-0.6225917133147674,-2.5548581255095066],[-0.5322490776184294,-2.42685813122043]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7136777877540025,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6763.png","name":"6763"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6763.png","name":"6763"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4785.png","name":"4785"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8216.png","name":"8216"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8103.png","name":"8103"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3864.png","name":"3864"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":836.597063245886,"rotation_z_degrees":190.1480952638316,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0045033676428235785,0.0036970890842290376,-0.01795770116312364]},{"name":"camera_2","offset_m":[-0.0178488661110417,0.005540293897588963,-0.0045481839779054]},{"name":"camera_3","offset_m":[-0.01787041647410852,-0.011396738686348199,0.017589823909412373]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.8287502531098514e-05,1.0736202890561028e-05,-0.0009515692091001835],"end_effector_yaw_offset_degrees":0.29419119520921355},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013745682907857861,0.0016144485117686402,-0.0019183790840819302],"end_effector_yaw_offset_degrees":0.8091791753202604},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001575749445165672,-0.0007481577958486408,0.0017956665563952255],"end_effector_yaw_offset_degrees":-0.9754252575545117}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002325807525427908,0.0038715426837028786],"position_m":[0.1830741924745721,-0.12882845731629713,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029429779713172934,-0.0038069682077047726],"position_m":[0.2645570220286827,-0.40500696820770477,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021252426421869385,-0.0009467581806719043],"position_m":[0.18972524264218693,0.0836532418193281,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00029133230251613546,-0.004033283984193293],"position_m":[0.34880866769748387,0.28606671601580674,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1e60c0d5c6f965ab183d18995d661bd473adc3b1884d77ad665eccdbee76ccd3","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0096.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6763/tex_ceiling_textures_3864/tex_floor_textures_8103/tex_table_textures_4785/tex_wall_textures_8216","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1323588516687076937,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1323588516687076937,"visual_seed":1323588516687076937,"scene_id":"lab_003","finished_at":"2026-09-03T22:56:22"} +{"episode_id":"ep_000097","started_at":"2026-09-03T22:56:25","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.3977042003067856,0.9430485784002878,0.71338606911949],"aabb_xy":[[-0.42020420012068793,0.9385739620298071],[-0.37520420049288317,0.9475231947707686]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.3026120883262663,1.504232892278448,0.71338606911949],"aabb_xy":[[0.22261209136322707,1.4271572506346746],[0.3826120852893054,1.5813085339222215]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.5375095372770501,0.7662307303470857,0.71338606911949],"aabb_xy":[[-0.5533940305423751,0.7518777900482615],[-0.5216250440117248,0.7805836706459096]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.4570368286664735,-0.05969494245948059,0.71338606911949],"aabb_xy":[[-0.46167194381870685,-0.06356227753662923],[-0.45240171351424,-0.05582760738233194]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.6556648548312196,-0.8789564447945113,0.71338606911949],"aabb_xy":[[0.6405019818542826,-0.8941219020896302],[0.6708277278081568,-0.8637909874993926]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.2229239576477734,0.23574171299040536,0.71338606911949],"aabb_xy":[[-0.3129239570661443,0.2023662161462156],[-0.13292395822940248,0.2691172098345951]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.6116670769649245,-1.1365220093726989,0.71338606911949],"aabb_xy":[[-0.66164014249744,-1.186522009185232],[-0.561694011432409,-1.0865220095601662]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[-0.28145385397144723,-2.3263263488965826,0.71338606911949],"aabb_xy":[[-0.3059674780684531,-2.350590942198619],[-0.2569402298744414,-2.302061755594546]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.12775680639464815,0.8878190386304654,0.71338606911949],"aabb_xy":[[0.10864449903666928,0.8686842597532234],[0.146869113752627,0.9069538175077074]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.6192645332206044,1.5821394721840467,0.71338606911949],"aabb_xy":[[0.5697841120066457,1.5181394742711949],[0.6687449544345633,1.6461394700968985]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[0.34251321500985576,-2.152972199844479,0.71338606911949],"aabb_xy":[[0.3212352068663835,-2.217972202170552],[0.363791223153328,-2.087972197518406]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.5420475017162077,1.4370837669902454,0.71338606911949],"aabb_xy":[[-0.5460079854859421,1.429415902404725],[-0.5380870179464734,1.4447516315757662]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.01267373909562397,0.722972277654335,0.71338606911949],"aabb_xy":[[-0.021967357332774547,0.6854722791662011],[-0.0033801208584733865,0.7604722761424689]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.6300269053183698,0.23775347405512592,0.71338606911949],"aabb_xy":[[-0.6675269052621362,0.22946038402028937],[-0.5925269053746034,0.24604656408996253]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.5875313417366526,-1.8688933500070108,0.71338606911949],"aabb_xy":[[-0.6775313382375242,-1.914804992425469],[-0.49753134523578074,-1.8229817075885526]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.07166093480509117,-1.1819764002431365,0.71338606911949],"aabb_xy":[[-0.09524605826898602,-1.2469764024885683],[-0.04807581134119632,-1.1169763979977048]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.2611935300463758,-2.2286383638365646,0.71338606911949],"aabb_xy":[[0.25705767371367566,-2.2661383632809216],[0.26532938637907605,-2.1911383643922075]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[0.37564599216010164,-1.701633057304014,0.71338606911949],"aabb_xy":[[0.3675183039667885,-1.7105466657147217],[0.3837736803534149,-1.6927194488933066]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.032748269486633674,-2.2590220455222076,0.71338606911949],"aabb_xy":[[-0.10274826589659544,-2.2794599811738885],[0.03725172692332813,-2.238584109870525]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.10928161621247057,-2.125800344738624,0.71338606911949],"aabb_xy":[[0.029281618231685524,-2.1334018857004753],[0.18928161419325562,-2.1181988037767714]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[0.357059796876265,1.0811304924368086,0.71338606911949],"aabb_xy":[[0.31205979541003614,1.036130635575328],[0.4020597983424939,1.1261303492982893]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.6435227103679552,1.4137856808413711,0.71338606911949],"aabb_xy":[[-0.6740069604949853,1.3637856810598752],[-0.613038460240925,1.463785680622867]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[-0.6245207063610624,-2.441664856819137,0.71338606911949],"aabb_xy":[[-0.6697993212422115,-2.5056648561673205],[-0.579242091479913,-2.377664857470953]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.16291182617772415,-0.47210691042958697,0.71338606911949],"aabb_xy":[[-0.20145751900292516,-0.5106526814857757],[-0.12436613335252308,-0.43356113937339835]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[0.03928469555420233,-1.9546435674933402,0.71338606911949],"aabb_xy":[[-0.010715306107292431,-2.0046420097490425],[0.08928469721569708,-1.9046451252376373]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.2432368287202874,1.5858136213584646,0.71338606911949],"aabb_xy":[[-0.25879259813055266,1.5702631881140576],[-0.22768105931002217,1.601364054602872]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[-0.3749294576243724,-2.2194105794361008,0.71338606911949],"aabb_xy":[[-0.38755624491156876,-2.2289566531376734],[-0.36230267033717606,-2.209864505734527]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[-0.17208669101503404,-2.489740677446534,0.71338606911949],"aabb_xy":[[-0.2270821688356934,-2.5447406788804403],[-0.11709121319437463,-2.4347406760126264]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[-0.5297799958398087,-1.7352797859103508,0.71338606911949],"aabb_xy":[[-0.538477958130524,-1.7474047602178255],[-0.5210820335490934,-1.723154811602876]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_29","position":[-0.1751043394769568,-1.6328043146200981,0.71338606911949],"aabb_xy":[[-0.265104336212567,-1.6859877779373929],[-0.0851043427413466,-1.5796208513028038]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[-0.10300563560841747,-2.0425000337742123,0.71338606911949],"aabb_xy":[[-0.11092891584716583,-2.0650000340122157],[-0.09508235536966916,-2.020000033536209]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_31","position":[-0.4747666396212076,1.264969933346419,0.71338606911949],"aabb_xy":[[-0.5122666381968284,1.2522336376828607],[-0.4372666410455868,1.2777062290099765]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_32","position":[-0.2973177191454617,0.3744070326647546,0.71338606911949],"aabb_xy":[[-0.3523109304825985,0.319407032325961],[-0.24232450780832498,0.42940703300354827]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7175036836473271,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3339.png","name":"3339"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3339.png","name":"3339"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3038.png","name":"3038"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4163.png","name":"4163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2796.png","name":"2796"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9109.png","name":"9109"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":690.6740206975622,"rotation_z_degrees":0.4246073762335678,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002712152038097413,-0.0012433800888496105,0.019916881201458504]},{"name":"camera_2","offset_m":[0.019453350075052025,-0.0002696536250535904,-0.013138709306664286]},{"name":"camera_3","offset_m":[0.00021228466578604444,0.017670534464778235,0.007482586730805055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017251281872845713,0.0002965555754650597,0.000921684266331073],"end_effector_yaw_offset_degrees":-0.4795879457886749},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013211260883225833,-0.0012653578729128123,0.00024585149151479246],"end_effector_yaw_offset_degrees":0.2919734388466715},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006549319733299157,0.0019763536432608284,-0.0016321641835296754],"end_effector_yaw_offset_degrees":0.34396153027231646}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004736497614147452,-0.0006612226296024279],"position_m":[0.18066350238585255,-0.13336122262960243,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002099579841897724,-0.0032187764984072135],"position_m":[0.26959957984189775,-0.40441877649840724,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002915373442214801,0.003742639269763961],"position_m":[0.19051537344221478,0.08834263926976396,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026928229007914164,0.0020131929101607693],"position_m":[0.3464071770992086,0.2921131929101608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"512b0c7b5d927445b2f2d8429977bee67ffa98380d7df33a3a7f4b4ec557dbe0","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3339/tex_ceiling_textures_9109/tex_floor_textures_2796/tex_table_textures_3038/tex_wall_textures_4163","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6739596581549439662,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6739596581549439662,"visual_seed":6739596581549439662,"scene_id":"lab_003","finished_at":"2026-09-03T22:59:07"} +{"episode_id":"ep_000098","started_at":"2026-09-03T22:59:11","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.019559307557690753,-0.8361454863909623,0.71338606911949],"aabb_xy":[[-0.0054406917142715274,-0.8524908499871248],[0.04455930682965303,-0.8198001227948001]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[-0.5893918263230159,-1.2828756074157603,0.71338606911949],"aabb_xy":[[-0.6268918264948878,-1.3155763427986675],[-0.551891826151144,-1.2501748720328532]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.06946540298548631,-1.3456967326341642,0.71338606911949],"aabb_xy":[[-0.08696540324482294,-1.3597882748229368],[-0.05196540272614969,-1.3316051904453916]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.04890716062997191,0.9600055211651757,0.71338606911949],"aabb_xy":[[-0.08594127005803162,0.9256283138314662],[-0.011873051201912191,0.994382728498885]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.5009871377880977,1.5707028861045287,0.71338606911949],"aabb_xy":[[-0.5065688094222265,1.5582028862867532],[-0.49540546615396897,1.5832028859223042]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[0.12706317752661112,0.8280451541460336,0.71338606911949],"aabb_xy":[[0.07193797189702032,0.7680451527047465],[0.18218838315620187,0.8880451555873208]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[-0.14924606575999466,-1.2449398342892186,0.71338606911949],"aabb_xy":[[-0.2142460643170675,-1.2746923677031012],[-0.08424606720292183,-1.215187300875336]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[0.513449867342954,-2.504415281897902,0.71338606911949],"aabb_xy":[[0.46356717046525786,-2.554415281144177],[0.5633325642206503,-2.4544152826516275]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[-0.3123709583169674,0.43808343527260796,0.71338606911949],"aabb_xy":[[-0.39236478189552565,0.35808343267976644],[-0.2323771347384092,0.5180834378654495]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.25345300866713993,1.5543587315423815,0.71338606911949],"aabb_xy":[[0.24849698848225873,1.5318587313402598],[0.2584090288520211,1.576858731744503]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[-0.3362146496664807,0.8448053625481653,0.71338606911949],"aabb_xy":[[-0.34230927755459906,0.8362359679964966],[-0.3301200217783624,0.853374757099834]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.5614095180980974,0.48007282496670367,0.71338606911949],"aabb_xy":[[0.5437338875094989,0.46239260868730087],[0.5790851486866956,0.49775304124610636]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[0.2622470053155822,1.2601588980404945,0.71338606911949],"aabb_xy":[[0.1982470032658502,1.2200644149511868],[0.3262470073653142,1.3002533811298027]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.02713067970231342,-2.3798412423511426,0.71338606911949],"aabb_xy":[[-0.07713068098615337,-2.4298200967417642],[0.022869321581526544,-2.32986238796052]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.01522582219668811,-1.171464654051476,0.71338606911949],"aabb_xy":[[-0.03973944629369397,-1.1957292473535124],[0.009287801900317747,-1.1472000607494395]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[-0.6214287669160158,1.166309322761431,0.71338606911949],"aabb_xy":[[-0.636591639892953,1.1511438654663122],[-0.6062658939390788,1.1814747800565497]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_16","position":[-0.20304196727924634,0.9672532361378257,0.71338606911949],"aabb_xy":[[-0.24405991066561725,0.9172532355068683],[-0.16202402389287549,1.017253236768783]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[0.3498449661094747,-1.2129878012725663,0.71338606911949],"aabb_xy":[[0.3070782592300545,-1.2769878046943688],[0.3926116729888949,-1.1489877978507639]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.6289519797996639,-1.5037044383271694,0.71338606911949],"aabb_xy":[[-0.6415787670868601,-1.513250512028742],[-0.6163251925124674,-1.4941583646255963]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.08665752203970789,-1.7358144346143316,0.71338606911949],"aabb_xy":[[0.07488933524505037,-1.8208144345195536],[0.09842570883436542,-1.6508144347091105]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7106633274173466,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/952.png","name":"952"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/952.png","name":"952"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4526.png","name":"4526"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/543.png","name":"543"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5858.png","name":"5858"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4186.png","name":"4186"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":541.1791347845349,"rotation_z_degrees":30.618181372335815,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01497762328120367,0.0042541647178635025,0.015872493572944815]},{"name":"camera_2","offset_m":[-0.013144900386342254,-0.005748039337008409,0.0018213259255733284]},{"name":"camera_3","offset_m":[0.00019956918249882868,-0.013167479706666096,0.019788044088005458]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010490207129426623,-0.0016729824800827435,0.0015763255127231035],"end_effector_yaw_offset_degrees":-0.4721254051628079},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.19046948940331e-05,-0.0017309899206165743,0.00011683089456099522],"end_effector_yaw_offset_degrees":-0.011182943580539728},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001690179376791415,-0.0014572894301490842,0.0010134419332986184],"end_effector_yaw_offset_degrees":-0.532712710670217}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034284240155650803,0.003169349181636972],"position_m":[0.18197157598443492,-0.12953065081836304,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00154096810022074,0.0035978466515224254],"position_m":[0.26595903189977926,-0.3976021533484776,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004703843698970357,-0.002487583586327501],"position_m":[0.19230384369897036,0.08211241641367249,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004813438987142351,-0.003886518086157773],"position_m":[0.34428656101285765,0.28621348191384227,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ace09a07b8f5b3259e0faf127f05ba6e9fe1f92fd1a006dd654e3ad5b2a973c","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0098.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_952/tex_ceiling_textures_4186/tex_floor_textures_5858/tex_table_textures_4526/tex_wall_textures_543","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":22674243030205299,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":22674243030205299,"visual_seed":22674243030205299,"scene_id":"lab_003","finished_at":"2026-09-03T23:01:51"} +{"episode_id":"ep_000099","started_at":"2026-09-03T23:01:55","dimensions":{"distractor":{"count":23,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[-0.5853828215142571,-2.0983295639034756,0.71338606911949],"aabb_xy":[[-0.6753828182498673,-2.1515130272207696],[-0.4953828247786469,-2.0451461005861806]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[-0.3588807411695755,1.6873118996541234,0.71338606911949],"aabb_xy":[[-0.3690337567237248,1.6512423580813826],[-0.34872772561542603,1.7233814412268633]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.406091510617395,1.3733665611228032,0.71338606911949],"aabb_xy":[[0.342091508567663,1.3332720780334952],[0.470091512667127,1.4134610442121112]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.4175743791909401,0.7489819718232424,0.71338606911949],"aabb_xy":[[0.40887641690022486,0.7368569975157677],[0.42627234148165544,0.7611069461307173]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[0.291036987799032,-2.3965340434095848,0.71338606911949],"aabb_xy":[[0.2837757402286246,-2.4093210536730942],[0.29829823536943945,-2.3837470331460753]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.4545687128122724,-1.7023264795108048,0.71338606911949],"aabb_xy":[[0.40456871323593774,-1.7523070584629108],[0.5045687123886071,-1.652345900558699]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[0.18755295776498704,-0.8729642696894535,0.71338606911949],"aabb_xy":[[0.16255295783246915,-0.8798469379103768],[0.21255295769750493,-0.8660816014685302]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.14779441185101272,-1.6849341884559716,0.71338606911949],"aabb_xy":[[0.1302477169348938,-1.7224341900202227],[0.16534110676713165,-1.6474341868917202]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.6580605824729135,-2.2468089431774834,0.71338606911949],"aabb_xy":[[0.6405605833385464,-2.256688570215071],[0.6755605816072807,-2.2369293161398955]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.3570767055869612,1.239129723011462,0.71338606911949],"aabb_xy":[[-0.37957670609900174,1.2166378646460634],[-0.33457670507492054,1.26162158137686]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[-0.5831108038047594,1.0828783609020216,0.71338606911949],"aabb_xy":[[-0.5911042936000415,1.0748802289615462],[-0.5751173140094774,1.0908764928424974]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.019759090456896167,-0.7192187318942251,0.71338606911949],"aabb_xy":[[-0.017740911058735542,-0.7304455049103702],[0.057259091972527876,-0.7079919588780801]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.3357868813966807,-1.816615680194574,0.71338606911949],"aabb_xy":[[-0.3909120870262714,-1.8766156816358612],[-0.28066167576708984,-1.756615678753287]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[-0.3086872548418063,0.3324632666572809,0.71338606911949],"aabb_xy":[[-0.38868725511541324,0.2595137188315641],[-0.2286872545681993,0.40541281448299754]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[-0.27746360474306114,-2.0301642064177745,0.71338606911949],"aabb_xy":[[-0.2900903920302575,-2.039710280119347],[-0.2648368174558648,-2.020618132716201]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[0.11831777073853633,-1.2981875643401648,0.71338606911949],"aabb_xy":[[0.11235123179780052,-1.304148708999529],[0.12428430967927209,-1.2922264196808007]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[-0.3244297020351118,0.8320154294720541,0.71338606911949],"aabb_xy":[[-0.3422988097895673,0.8181825214948432],[-0.3065605942806563,0.845848337449265]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[0.5788224444868952,-0.05261015834256488,0.71338606911949],"aabb_xy":[[0.5706078993712111,-0.061286748640206154],[0.5870369896025791,-0.043933568044923585]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.49068776173849216,-2.216203683976457,0.71338606911949],"aabb_xy":[[0.4356945504013554,-2.271203684315251],[0.5456809730756289,-2.161203683637664]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[0.03414331715325092,0.7705398634317588,0.71338606911949],"aabb_xy":[[-0.05085668126417231,0.6856655679694739],[0.11914331557067415,0.8554141588940438]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[0.01548075565877971,-1.9560229091047119,0.71338606911949],"aabb_xy":[[-0.048519246561627316,-2.0003959932300006],[0.07948075787918674,-1.9116498249794238]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[0.4166576111019289,-1.9412493149641,0.71338606911949],"aabb_xy":[[0.3754088000720141,-1.9962493144763171],[0.45790642213184357,-1.8862493154518822]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.3514083589776362,-2.261140074822735,0.71338606911949],"aabb_xy":[[0.32640835981200306,-2.2680923205280914],[0.3764083581432693,-2.2541878291173783]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7186052726864758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6274.png","name":"6274"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6274.png","name":"6274"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9395.png","name":"9395"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4179.png","name":"4179"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7598.png","name":"7598"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1913.png","name":"1913"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":716.8678604656819,"rotation_z_degrees":245.50920284811494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013546243230359255,0.014964651687195827,-0.016548246025810058]},{"name":"camera_2","offset_m":[0.01619379506540122,-0.013189095861883065,0.018615158117680244]},{"name":"camera_3","offset_m":[-0.009985690390942282,0.011918497722274105,-0.005076506426971137]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009411621942888608,-0.001431396619292459,-0.0011933558080103736],"end_effector_yaw_offset_degrees":-0.7750732642565377},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003866065316172737,0.0010731097122141367,-0.0014141610328758923],"end_effector_yaw_offset_degrees":0.7533441262042735},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003751283312500276,-0.0002510359465003381,-0.0008969490706217682],"end_effector_yaw_offset_degrees":0.5259345004765434}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00018244580958171747,-0.0008508893635772383],"position_m":[0.1852175541904183,-0.13355088936357726,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004492788576387176,-0.0016574289888291417],"position_m":[0.2719927885763872,-0.40285742898882915,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004160428331422263,0.0020229416802843014],"position_m":[0.19176042833142226,0.0866229416802843,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020470919297822464,-0.00035898172156631405],"position_m":[0.34705290807021777,0.28974101827843374,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"938b5617d67c5752fa076747fa6e5e966957d7f05cb2917005292a83c2569137","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/dataset/episode_0099.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6274/tex_ceiling_textures_1913/tex_floor_textures_7598/tex_table_textures_9395/tex_wall_textures_4179","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8419936895730135683,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8419936895730135683,"visual_seed":8419936895730135683,"scene_id":"lab_003","finished_at":"2026-09-03T23:04:34"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e0621ed5debdc66358309eab1b6bdc41fc07f840 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00000 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00000 + reproducibility: + enabled: true + layout_id: layout_00000 + action_seed: 7341943718102437219 + step_seeds: + - 2500273653211418822 + - 70012352371227459 + - 3039154489468777781 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1854 + - 0.1854 + 'y': + - -0.1327 + - -0.1327 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1876 + - 0.1876 + 'y': + - 0.0846 + - 0.0846 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3491 + - 0.3491 + 'y': + - 0.2901 + - 0.2901 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2675 + - 0.2675 + 'y': + - -0.4012 + - -0.4012 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..082dfee36b5fc27b359d40a4711d8c715dc12ca3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21772995735017328, + -0.13069124766764367, + 1.1655349229531917 + ], + "current_z": 1.1655349229531917, + "required_z": 0.8611065886952649, + "initial_z": 0.7611065886952649, + "lift_margin": 0.3044283342579268, + "gripper_z": 1.1591768494406138, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21295890786226487, + -0.1352246452852396, + 1.1591768494406138 + ], + "object_minus_gripper": [ + 0.0047710494879084075, + 0.004533397617595913, + 0.006358073512577889 + ], + "object_to_gripper_xy": 0.006581383378537933, + "object_to_gripper_z": 0.006358073512577889, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21772995735017328, + -0.15475691213555245, + 1.1655349229531917 + ], + "finger_b": [ + 0.20764268019313134, + -0.13069124766764367, + 1.1655349229531917 + ], + "finger_midpoint": [ + 0.2126863187716523, + -0.14272407990159808, + 1.1655349229531917 + ], + "object_minus_finger_midpoint": [ + 0.00504363857852097, + 0.012032832233954405, + 0.0 + ], + "finger_gap": 0.02609424010629448, + "fingertip_max_gap": 0.09204046713268635, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013047120053147253, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1655349229531917, + "object_top_z": 1.215900737723974, + "finger_top_clearance": 0.05036581477078217, + "fingertip_min_top_clearance": 0.015109744431234617, + "object_projection_between_fingers": 0.8505628422584423, + "object_to_finger_line_xy": 0.00930308859224508, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852023356634318, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0749701879520517, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3300835442700638, + -0.39481001188387055, + 0.8515396575502232 + ], + "target_position": [ + 0.3229844532743637, + -0.3965490695377382, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007308995450040046, + "xy_threshold": 0.08, + "gripper_dist": 0.18285725540044623, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396575502232, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567925603654704, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671278563656325, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15065887782081125, + "release_required_pad_clearance": 0.053356392818281626, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7291333266680617, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008919298648834229, + "max_z_decrease": 0.008919298648834229, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503880641687853, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008919298648834229, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02095366054833725, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008919298648834229, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008919579988033935, + "max_button_displacement": 0.12, + "button_start": [ + 0.1786843836307525, + -0.45281052589416493, + 0.7768088579177856 + ], + "button_final": [ + 0.1786843836307525, + -0.45281052589416493, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17817758890200294, + -0.4506714259829511, + 0.8028617676232072 + ], + "closest_button": [ + 0.17873223125934598, + -0.45275828242301935, + 0.7678895592689514 + ], + "closest_ee_minus_button": [ + -0.0005546423573430381, + 0.00208685644006823, + 0.03497220835425574 + ], + "button_min_z_position": [ + 0.17873223125934598, + -0.45275828242301935, + 0.7678895592689514 + ], + "min_active_finger_to_button": 0.1454986370684273, + "closest_active_finger": [ + 0.050364769995212555, + -0.5120553374290466, + 0.8103084564208984 + ], + "closest_active_finger_button": [ + 0.17868874967098233, + -0.45281192660331715, + 0.7757682204246521 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12832397967576978, + -0.05924341082572948, + 0.03454023599624634 + ], + "min_contact_pad_to_button": 0.02095366054833725, + "closest_contact_pad": [ + 0.17873223125934598, + -0.45275828242301935, + 0.7888432198172887 + ], + "closest_contact_pad_button": [ + 0.17873223125934598, + -0.45275828242301935, + 0.7678895592689514 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02095366054833725 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0c325744724517da934a55360825ad3acf2a572a1234e3ab1f7a2640f6bf6593", + "visual_seed": 1036254655038263871, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..33d048f2302534c454fcbd187de32cd099fd3655 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21195635228250204, + -0.13883394636383467, + 1.1662915617612706 + ], + "current_z": 1.1662915617612706, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3051851133511495, + "gripper_z": 1.1596740740433484, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20774303468108457, + -0.14321878150456568, + 1.1596740740433484 + ], + "object_minus_gripper": [ + 0.004213317601417466, + 0.004384835140731014, + 0.006617487717922144 + ], + "object_to_gripper_xy": 0.006081021659376309, + "object_to_gripper_z": 0.006617487717922144, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21195635228250204, + -0.1624031121928001, + 1.1662915617612706 + ], + "finger_b": [ + 0.20180591254071817, + -0.13883394636383467, + 1.1662915617612706 + ], + "finger_midpoint": [ + 0.2068811324116101, + -0.15061852927831737, + 1.1662915617612706 + ], + "object_minus_finger_midpoint": [ + 0.005075219870891934, + 0.0117845829144827, + 0.0 + ], + "finger_gap": 0.02566197585582328, + "fingertip_max_gap": 0.09263449150566228, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012830987927911626, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1662915617612706, + "object_top_z": 1.2164324703962643, + "finger_top_clearance": 0.050140908634993764, + "fingertip_min_top_clearance": 0.015042272590498095, + "object_projection_between_fingers": 0.8435449698396411, + "object_to_finger_line_xy": 0.00932264136070942, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881724575283114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.076359102747899, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3299053691610401, + -0.3984875797543109, + 0.8515396003259729 + ], + "target_position": [ + 0.3229431350208767, + -0.40014478645650214, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007156747744348978, + "xy_threshold": 0.08, + "gripper_dist": 0.18379168727701606, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396003259729, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755237848801618, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08684269951791072, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15194951932190323, + "release_required_pad_clearance": 0.053421349758955364, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8570332443001456, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00904536247253418, + "max_z_decrease": 0.00904536247253418, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349811851499187, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00904536247253418, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.020933484656283724, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00904536247253418, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009045739854223887, + "max_button_displacement": 0.12, + "button_start": [ + 0.17864306271076197, + -0.45640623569488525, + 0.7768088579177856 + ], + "button_final": [ + 0.17864306271076197, + -0.45640623569488525, + 0.7768088579177856 + ], + "closest_ee": [ + 0.178331933853245, + -0.4564246286514089, + 0.8027428992902043 + ], + "closest_button": [ + 0.17867167294025416, + -0.45632871985435486, + 0.7677634954452515 + ], + "closest_ee_minus_button": [ + -0.00033973908700915545, + -9.59087970540673e-05, + 0.034979403844952794 + ], + "button_min_z_position": [ + 0.17867167294025416, + -0.45632871985435486, + 0.7677634954452515 + ], + "min_active_finger_to_button": 0.1460785018479895, + "closest_active_finger": [ + 0.037679098546504974, + -0.43976253271102905, + 0.8113046884536743 + ], + "closest_active_finger_button": [ + 0.17864583432674402, + -0.4564080834388733, + 0.7768049240112305 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14096673578023905, + 0.01664555072784424, + 0.03449976444244385 + ], + "min_contact_pad_to_button": 0.020933484656283724, + "closest_contact_pad": [ + 0.17867167294025416, + -0.45764452430948155, + 0.788655585778455 + ], + "closest_contact_pad_button": [ + 0.17867167294025416, + -0.45632871985435486, + 0.7677634954452515 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00131580445512669, + 0.020892090333203495 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "889f32dd8fd03345afbf904959c112c02b490d5a34130b0eb547c1eb16b9f08f", + "visual_seed": 6786788845233132872, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..13d47a5de14ec5c342d5d2220a30bf77020b3fe3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21132020786123054, + -0.13728583834629365, + 1.1655590414114299 + ], + "current_z": 1.1655590414114299, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30445259300130867, + "gripper_z": 1.158843804531649, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20712663427261863, + -0.14180892716071647, + 1.158843804531649 + ], + "object_minus_gripper": [ + 0.004193573588611915, + 0.004523088814422815, + 0.006715236879780928 + ], + "object_to_gripper_xy": 0.006168013607820609, + "object_to_gripper_z": 0.006715236879780928, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21132020786123054, + -0.16063444788606182, + 1.1655590414114299 + ], + "finger_b": [ + 0.20064508377807444, + -0.13728583834629365, + 1.1655590414114299 + ], + "finger_midpoint": [ + 0.20598264581965248, + -0.14896014311617772, + 1.1655590414114299 + ], + "object_minus_finger_midpoint": [ + 0.0053375620415780645, + 0.01167430476988407, + 0.0 + ], + "finger_gap": 0.02567325148148034, + "fingertip_max_gap": 0.09213497067845552, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012836625740740163, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1655590414114299, + "object_top_z": 1.2155410328469642, + "finger_top_clearance": 0.04998199143553439, + "fingertip_min_top_clearance": 0.014994597430660317, + "object_projection_between_fingers": 0.8271043312982297, + "object_to_finger_line_xy": 0.009708521111398223, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048567485339227764, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.868643400890601, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33198890470588416, + -0.39945523396381966, + 0.8515395737520337 + ], + "target_position": [ + 0.3242022299346738, + -0.40162343823906693, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008082908744493196, + "xy_threshold": 0.08, + "gripper_dist": 0.1834807225613618, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395737520337, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532566037577963, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08503373585450823, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1522062602553207, + "release_required_pad_clearance": 0.052516867927254116, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.10467831170623988, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0088767409324646, + "max_z_decrease": 0.0088767409324646, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501898245273176, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0088767409324646, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020969713126926574, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0088767409324646, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008877042110023173, + "max_button_displacement": 0.12, + "button_start": [ + 0.17990215122699738, + -0.45788490772247314, + 0.7768088579177856 + ], + "button_final": [ + 0.17990215122699738, + -0.45788490772247314, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1782321471508663, + -0.45831453150587603, + 0.8036725539969732 + ], + "closest_button": [ + 0.17987017333507538, + -0.457818865776062, + 0.7686954140663147 + ], + "closest_ee_minus_button": [ + -0.0016380261842090793, + -0.000495665729814021, + 0.03497713993065854 + ], + "button_min_z_position": [ + 0.17987211048603058, + -0.45781823992729187, + 0.767932116985321 + ], + "min_active_finger_to_button": 0.14735135316713818, + "closest_active_finger": [ + 0.03753909468650818, + -0.44185909628868103, + 0.8098297715187073 + ], + "closest_active_finger_button": [ + 0.17990535497665405, + -0.457887589931488, + 0.7753717303276062 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14236626029014587, + 0.01602849364280695, + 0.034458041191101074 + ], + "min_contact_pad_to_button": 0.020969713126926574, + "closest_contact_pad": [ + 0.17987211048603058, + -0.4594735641498801, + 0.788836393350307 + ], + "closest_contact_pad_button": [ + 0.17987211048603058, + -0.45781823992729187, + 0.767932116985321 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016553242225882392, + 0.02090427636498593 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "13ab0dfd629cd3548b802f5a8273c44e8b76995f4742b20eaa31dfa5ad79e3b3", + "visual_seed": 1272194349222466168, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..93bb88a94d5658aea65b1f9045ec15cb4aaf994a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21288832159591267, + -0.1386159340889908, + 1.1646721222416443 + ], + "current_z": 1.1646721222416443, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30356561422687833, + "gripper_z": 1.1579955843153695, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20863917786814531, + -0.14301253572289013, + 1.1579955843153695 + ], + "object_minus_gripper": [ + 0.004249143727767357, + 0.004396601633899322, + 0.0066765379262747615 + ], + "object_to_gripper_xy": 0.006114354286957116, + "object_to_gripper_z": 0.0066765379262747615, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21288832159591267, + -0.16213557135058074, + 1.1646721222416443 + ], + "finger_b": [ + 0.20263080227144714, + -0.1386159340889908, + 1.1646721222416443 + ], + "finger_midpoint": [ + 0.2077595619336799, + -0.15037575271978576, + 1.1646721222416443 + ], + "object_minus_finger_midpoint": [ + 0.005128759662232779, + 0.01175981863079495, + 0.0 + ], + "finger_gap": 0.025659112213959258, + "fingertip_max_gap": 0.09246496623629921, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01282955610697962, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646721222416443, + "object_top_z": 1.2147636222293103, + "finger_top_clearance": 0.050091499987666044, + "fingertip_min_top_clearance": 0.015027449996299812, + "object_projection_between_fingers": 0.8401909258008511, + "object_to_finger_line_xy": 0.00940224009714295, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873248311814961, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9401968092756907, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 332, + "max_stable_success_frames": 332, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32879255171976457, + -0.395353559845035, + 0.8515395824595853 + ], + "target_position": [ + 0.32123072102054695, + -0.39721156901334675, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007786750387238603, + "xy_threshold": 0.08, + "gripper_dist": 0.18389936636573148, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395824595853, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535618328115411, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601084454650752, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15261866113636235, + "release_required_pad_clearance": 0.05300542227325376, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.043791603275033, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0089263916015625, + "max_z_decrease": 0.0089263916015625, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035083574457651034, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0089263916015625, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02091371426838451, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0089263916015625, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008926720774093918, + "max_button_displacement": 0.12, + "button_start": [ + 0.17693065106868738, + -0.4534730315208435, + 0.7768088579177856 + ], + "button_final": [ + 0.17693065106868738, + -0.4534730315208435, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17793606781993093, + -0.4510301191556751, + 0.8028703159796478 + ], + "closest_button": [ + 0.17689888179302213, + -0.4534032642841339, + 0.7678824663162231 + ], + "closest_ee_minus_button": [ + 0.001037186026908804, + 0.00237314512845882, + 0.03498784966342461 + ], + "button_min_z_position": [ + 0.17689888179302213, + -0.4534032642841339, + 0.7678824663162231 + ], + "min_active_finger_to_button": 0.1440084947746192, + "closest_active_finger": [ + 0.0508025586605072, + -0.5138653516769409, + 0.8107383847236633 + ], + "closest_active_finger_button": [ + 0.17693372070789332, + -0.453474909067154, + 0.7763527631759644 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12613116204738611, + -0.06039044260978693, + 0.034385621547698975 + ], + "min_contact_pad_to_button": 0.02091371426838451, + "closest_contact_pad": [ + 0.17689888179302213, + -0.4534032642841339, + 0.7887961805846077 + ], + "closest_contact_pad_button": [ + 0.17689888179302213, + -0.4534032642841339, + 0.7678824663162231 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02091371426838451 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "03366e668dfa826d2d54170757e99622223a262495bbc8908518f92ccd9b4fa0", + "visual_seed": 2956765040527688750, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..82479e81c11d2d8e1f2e0154e9db8f3ec6381e46 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21404074844915963, + -0.14024536924738212, + 1.1664317164923503 + ], + "current_z": 1.1664317164923503, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30532526808222904, + "gripper_z": 1.159749168543838, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2098335115235989, + -0.1446779944927059, + 1.159749168543838 + ], + "object_minus_gripper": [ + 0.004207236925560742, + 0.004432625245323785, + 0.006682547948512418 + ], + "object_to_gripper_xy": 0.0061113835678415366, + "object_to_gripper_z": 0.006682547948512418, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21404074844915963, + -0.16374449158770274, + 1.1664317164923503 + ], + "finger_b": [ + 0.20372709013152174, + -0.14024536924738212, + 1.1664317164923503 + ], + "finger_midpoint": [ + 0.20888391929034067, + -0.15199493041754242, + 1.1664317164923503 + ], + "object_minus_finger_midpoint": [ + 0.00515682915881896, + 0.011749561170160294, + 0.0 + ], + "finger_gap": 0.02566281938249063, + "fingertip_max_gap": 0.0925394447000297, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012831409691245308, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1664317164923503, + "object_top_z": 1.2165847661067664, + "finger_top_clearance": 0.05015304961441602, + "fingertip_min_top_clearance": 0.015045914884324807, + "object_projection_between_fingers": 0.8384835560527972, + "object_to_finger_line_xy": 0.00944408776643608, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876972235001485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9957091618978817, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3260497420646373, + -0.40039646681835994, + 0.8515395944923576 + ], + "target_position": [ + 0.3196618448250515, + -0.4019476698819184, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006573542582801249, + "xy_threshold": 0.08, + "gripper_dist": 0.18574416782822617, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395944923576, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558654888409669, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08606813297570075, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1537232248066119, + "release_required_pad_clearance": 0.053034066487850376, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0993044645592034, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008912622928619385, + "max_z_decrease": 0.008912622928619385, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506882141060171, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008912622928619385, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020954296478594446, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008912622928619385, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008912875002022588, + "max_button_displacement": 0.12, + "button_start": [ + 0.17536176741123194, + -0.4582091271877289, + 0.7768088579177856 + ], + "button_final": [ + 0.17536176741123194, + -0.4582091271877289, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17734207818187941, + -0.459095517051684, + 0.8028965018870897 + ], + "closest_button": [ + 0.17536845803260798, + -0.4581424295902252, + 0.7678962349891663 + ], + "closest_ee_minus_button": [ + 0.001973620149271438, + -0.0009530874614587792, + 0.03500026689792346 + ], + "button_min_z_position": [ + 0.17536845803260798, + -0.4581424295902252, + 0.7678962349891663 + ], + "min_active_finger_to_button": 0.1437594126037742, + "closest_active_finger": [ + 0.03636293113231659, + -0.4451773464679718, + 0.8110386729240417 + ], + "closest_active_finger_button": [ + 0.17536424100399012, + -0.45820900797843933, + 0.7767519354820251 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13900130987167353, + 0.01303166151046753, + 0.0342867374420166 + ], + "min_contact_pad_to_button": 0.020954296478594446, + "closest_contact_pad": [ + 0.17536845803260798, + -0.4600730403796041, + 0.7887614041208261 + ], + "closest_contact_pad_button": [ + 0.17536845803260798, + -0.4581424295902252, + 0.7678962349891663 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019306107893788949, + 0.02086516913165981 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ea06ad42a309ab67c1574bdc10253917979b16bd0979221eea721a8d85f63e9b", + "visual_seed": 4209357939288775292, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec7c06a114bb44114142976d8067259596b998da --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21091439274392526, + -0.13563017900912425, + 1.1646552583885943 + ], + "current_z": 1.1646552583885943, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30354875037382834, + "gripper_z": 1.1582979725873181, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2064189158244067, + -0.1400393494977807, + 1.1582979725873181 + ], + "object_minus_gripper": [ + 0.004495476919518571, + 0.0044091704886564664, + 0.006357285801276147 + ], + "object_to_gripper_xy": 0.006296832309341204, + "object_to_gripper_z": 0.006357285801276147, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21091439274392526, + -0.15946991953726647, + 1.1646552583885943 + ], + "finger_b": [ + 0.20089549135817156, + -0.13563017900912425, + 1.1646552583885943 + ], + "finger_midpoint": [ + 0.20590494205104842, + -0.14755004927319537, + 1.1646552583885943 + ], + "object_minus_finger_midpoint": [ + 0.005009450692876838, + 0.011919870264071125, + 0.0 + ], + "finger_gap": 0.0258594588772968, + "fingertip_max_gap": 0.0926044505114581, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012929729438648408, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646552583885943, + "object_top_z": 1.2148416565777662, + "finger_top_clearance": 0.05018639818917192, + "fingertip_min_top_clearance": 0.015055919456751542, + "object_projection_between_fingers": 0.8498928641853553, + "object_to_finger_line_xy": 0.009236388531823006, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048802225255729054, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8786446268583445, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 327, + "max_stable_success_frames": 327, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32908047803206525, + -0.4030650566589006, + 0.8515396133232789 + ], + "target_position": [ + 0.3223513967514029, + -0.40451370706944506, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006883249442939808, + "xy_threshold": 0.08, + "gripper_dist": 0.1860200219873492, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396133232789, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521071242083008, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08666129611375482, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15488166534683973, + "release_required_pad_clearance": 0.053330648056877414, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.678602297946005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0089491605758667, + "max_z_decrease": 0.0089491605758667, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035018330495683175, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0089491605758667, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021000722211458857, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0089491605758667, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008949552334693741, + "max_button_displacement": 0.12, + "button_start": [ + 0.17805132269859308, + -0.46077516674995417, + 0.7768088579177856 + ], + "button_final": [ + 0.17805132269859308, + -0.46077516674995417, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1767754168202801, + -0.4618500998548216, + 0.8036748096570127 + ], + "closest_button": [ + 0.17801457643508908, + -0.46071252226829523, + 0.7686969041824341 + ], + "closest_ee_minus_button": [ + -0.0012391596148089712, + -0.0011375775865263837, + 0.034977905474578574 + ], + "button_min_z_position": [ + 0.17800797522068018, + -0.46070352196693415, + 0.767859697341919 + ], + "min_active_finger_to_button": 0.14689539768410617, + "closest_active_finger": [ + 0.03604672849178314, + -0.4456348419189453, + 0.8104012608528137 + ], + "closest_active_finger_button": [ + 0.17805214226245875, + -0.4607777595520019, + 0.7760004997253418 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1420054137706756, + 0.015142917633056585, + 0.034400761127471924 + ], + "min_contact_pad_to_button": 0.021000722211458857, + "closest_contact_pad": [ + 0.17800797522068018, + -0.4629853982902899, + 0.78873608050203 + ], + "closest_contact_pad_button": [ + 0.17800797522068018, + -0.46070352196693415, + 0.767859697341919 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002281876323355747, + 0.02087638316011109 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "76464fc46cf2a6a584e0937a17ab8aa561e80cc3f6001690ee2e7555edffa8ea", + "visual_seed": 8880186841478931609, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..09c51157fdc1ea2c99b509251e2b49e661832657 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21180076193093356, + -0.13967077662279054, + 1.1636305304084789 + ], + "current_z": 1.1636305304084789, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.3025239627890681, + "gripper_z": 1.1570147123412424, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2075597839571229, + -0.14409661379019822, + 1.1570147123412424 + ], + "object_minus_gripper": [ + 0.00424097797381065, + 0.004425837167407687, + 0.006615818067236434 + ], + "object_to_gripper_xy": 0.006129757646657361, + "object_to_gripper_z": 0.006615818067236434, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21180076193093356, + -0.16325359897060465, + 1.1636305304084789 + ], + "finger_b": [ + 0.2015727436473522, + -0.13967077662279054, + 1.1636305304084789 + ], + "finger_midpoint": [ + 0.2066867527891429, + -0.1514621877966976, + 1.1636305304084789 + ], + "object_minus_finger_midpoint": [ + 0.005114009141790665, + 0.011791411173907057, + 0.0 + ], + "finger_gap": 0.02570528871453957, + "fingertip_max_gap": 0.09231144571107264, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01285264435726978, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636305304084789, + "object_top_z": 1.213689671081129, + "finger_top_clearance": 0.05005914067265005, + "fingertip_min_top_clearance": 0.015017742201795014, + "object_projection_between_fingers": 0.8416791841483059, + "object_to_finger_line_xy": 0.009383498502215296, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865572285553632, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8991743724358863, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 332, + "max_stable_success_frames": 332, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32302408413626926, + -0.40314999720149325, + 0.8515396072701045 + ], + "target_position": [ + 0.3161103394256369, + -0.40477169909945765, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007101393030220102, + "xy_threshold": 0.08, + "gripper_dist": 0.18458903945519126, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396072701045, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754085314880055, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08633555507661687, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15304669023678108, + "release_required_pad_clearance": 0.05316777753830844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3596751928851187, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00896453857421875, + "max_z_decrease": 0.00896453857421875, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035011488626134714, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00896453857421875, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02084371626915034, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00896453857421875, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008964939881508822, + "max_button_displacement": 0.12, + "button_start": [ + 0.17181026935577398, + -0.4610331654548644, + 0.7768088579177856 + ], + "button_final": [ + 0.17181026935577398, + -0.4610331654548644, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17000321005808203, + -0.46086711025811883, + 0.8028059779445691 + ], + "closest_button": [ + 0.17186762392520907, + -0.46097066998481734, + 0.7678443193435669 + ], + "closest_ee_minus_button": [ + -0.001864413867127046, + 0.00010355972669850999, + 0.0349616586010022 + ], + "button_min_z_position": [ + 0.17186762392520907, + -0.46097066998481734, + 0.7678443193435669 + ], + "min_active_finger_to_button": 0.14733209755895574, + "closest_active_finger": [ + 0.04264707863330841, + -0.5231010913848877, + 0.8105784058570862 + ], + "closest_active_finger_button": [ + 0.1718108654022217, + -0.4610347747802733, + 0.7763550877571106 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1291637867689133, + -0.06206631660461437, + 0.034223318099975586 + ], + "min_contact_pad_to_button": 0.02084371626915034, + "closest_contact_pad": [ + 0.17186762392520907, + -0.4621131265921067, + 0.7886567026960161 + ], + "closest_contact_pad_button": [ + 0.17186762392520907, + -0.46097066998481734, + 0.7678443193435669 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011424566072893438, + 0.02081238335244917 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c196b1961ee83633997079c4ff5144acc53e86c64965de96610cadba4e2f96ac", + "visual_seed": 1595225531561116728, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..66b655b098d70f52d776428b35c6af74de4df5bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21024226374140254, + -0.1348421416231776, + 1.1633285673440086 + ], + "current_z": 1.1633285673440086, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3022221189338874, + "gripper_z": 1.1568002243492428, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20599725568730995, + -0.1392420760128925, + 1.1568002243492428 + ], + "object_minus_gripper": [ + 0.004245008054092586, + 0.004399934389714921, + 0.00652834299476579 + ], + "object_to_gripper_xy": 0.006113878966180712, + "object_to_gripper_z": 0.00652834299476579, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21024226374140254, + -0.15834290514684973, + 1.1633285673440086 + ], + "finger_b": [ + 0.19995547496295282, + -0.1348421416231776, + 1.1633285673440086 + ], + "finger_midpoint": [ + 0.2050988693521777, + -0.14659252338501366, + 1.1633285673440086 + ], + "object_minus_finger_midpoint": [ + 0.005143394389224842, + 0.01175038176183607, + 0.0 + ], + "finger_gap": 0.025653536005159173, + "fingertip_max_gap": 0.09241847426699687, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01282676800257958, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633285673440086, + "object_top_z": 1.213357626206942, + "finger_top_clearance": 0.05002905886293352, + "fingertip_min_top_clearance": 0.015008717658880021, + "object_projection_between_fingers": 0.8392077271780659, + "object_to_finger_line_xy": 0.009423550439662315, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870923713349844, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9801952421998765, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 329, + "max_stable_success_frames": 329, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3258994395857797, + -0.39485298720343087, + 0.8515395744116342 + ], + "target_position": [ + 0.3182690021823324, + -0.396667126646407, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007843129278960644, + "xy_threshold": 0.08, + "gripper_dist": 0.18476235991873585, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395744116342, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561682158011794, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08654768906336345, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15268539345129037, + "release_required_pad_clearance": 0.05327384453168173, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.567193184668921, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0088462233543396, + "max_z_decrease": 0.0088462233543396, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034983992347589345, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0088462233543396, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020853433146248237, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0088462233543396, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008846563160001526, + "max_button_displacement": 0.12, + "button_start": [ + 0.1739689260721206, + -0.45292857289314264, + 0.7768088579177856 + ], + "button_final": [ + 0.1739689260721206, + -0.45292857289314264, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17357848415182417, + -0.4525919412506044, + 0.8029426750804495 + ], + "closest_button": [ + 0.17402292788028711, + -0.4528729319572448, + 0.767962634563446 + ], + "closest_ee_minus_button": [ + -0.00044444372846294544, + 0.00028099070664039383, + 0.03498004051700343 + ], + "button_min_z_position": [ + 0.17402292788028711, + -0.4528729319572448, + 0.767962634563446 + ], + "min_active_finger_to_button": 0.1460175288193045, + "closest_active_finger": [ + 0.04699523746967316, + -0.5163956880569458, + 0.8106470704078674 + ], + "closest_active_finger_button": [ + 0.17396974563598627, + -0.4529294669628143, + 0.7764325737953186 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12697450816631312, + -0.06346622109413153, + 0.03421449661254883 + ], + "min_contact_pad_to_button": 0.020853433146248237, + "closest_contact_pad": [ + 0.17402292788028711, + -0.4536850016966729, + 0.7888002499914011 + ], + "closest_contact_pad_button": [ + 0.17402292788028711, + -0.4528729319572448, + 0.767962634563446 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008120697394281007, + 0.020837615427955036 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ad05e9c7af332b4adccae42847b337ab49431dc1d1e0cc2e91d16e7ce13cea3", + "visual_seed": 8299612944073942157, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..38a43efa90851c12049f025689f36b6de65d0ada --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.20990175994501004, + -0.13766379682049504, + 1.1638799635721297 + ], + "current_z": 1.1638799635721297, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.3027733959527191, + "gripper_z": 1.1571092847099886, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2057944602810412, + -0.14211689609779282, + 1.1571092847099886 + ], + "object_minus_gripper": [ + 0.004107299663968833, + 0.004453099277297784, + 0.006770678862141111 + ], + "object_to_gripper_xy": 0.006058052797979606, + "object_to_gripper_z": 0.006770678862141111, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20990175994501004, + -0.16093279793888124, + 1.1638799635721297 + ], + "finger_b": [ + 0.19929861169191682, + -0.13766379682049504, + 1.1638799635721297 + ], + "finger_midpoint": [ + 0.20460018581846343, + -0.14929829737968814, + 1.1638799635721297 + ], + "object_minus_finger_midpoint": [ + 0.00530157412654661, + 0.0116345005591931, + 0.0 + ], + "finger_gap": 0.02557094378243658, + "fingertip_max_gap": 0.09211108916037386, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01278547189121829, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638799635721297, + "object_top_z": 1.2138303073932568, + "finger_top_clearance": 0.04995034382112706, + "fingertip_min_top_clearance": 0.014985103146338085, + "object_projection_between_fingers": 0.8280603047563361, + "object_to_finger_line_xy": 0.009648633646799694, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855554458018693, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8916765461210914, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3294350116547712, + -0.3997732454965851, + 0.8515395568872356 + ], + "target_position": [ + 0.32151448263772314, + -0.40175797471159985, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008165410581644566, + "xy_threshold": 0.08, + "gripper_dist": 0.1854031550127871, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395568872356, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517876880025466, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504863196828415, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1543835239496031, + "release_required_pad_clearance": 0.052524315984142075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11869397991869726, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00904160737991333, + "max_z_decrease": 0.00904160737991333, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499884637511881, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00904160737991333, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.02081245888965567, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00904160737991333, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009041987542114705, + "max_button_displacement": 0.12, + "button_start": [ + 0.17721441388130188, + -0.45801943540573115, + 0.7768088579177856 + ], + "button_final": [ + 0.17721441388130188, + -0.45801943540573115, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1759485339381117, + -0.4574248493716807, + 0.8031552175045052 + ], + "closest_button": [ + 0.17718704044818878, + -0.4579327702522277, + 0.7681819796562195 + ], + "closest_ee_minus_button": [ + -0.001238506510077092, + 0.0005079208805470192, + 0.034973237848285765 + ], + "button_min_z_position": [ + 0.17719002068042755, + -0.4579401910305022, + 0.7677672505378723 + ], + "min_active_finger_to_button": 0.14670087817236457, + "closest_active_finger": [ + 0.05006737262010574, + -0.5227157473564148, + 0.8110073804855347 + ], + "closest_active_finger_button": [ + 0.17721319198608398, + -0.4580207765102386, + 0.7768072485923767 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12714581936597824, + -0.0646949708461762, + 0.03420013189315796 + ], + "min_contact_pad_to_button": 0.02081245888965567, + "closest_contact_pad": [ + 0.17719002068042755, + -0.45835677878546116, + 0.7885755397437639 + ], + "closest_contact_pad_button": [ + 0.17719002068042755, + -0.4579401910305022, + 0.7677672505378723 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004165877549589525, + 0.020808289205891617 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8e5dbfe0fd8eff08767c2a4dd39acb63f1790bfc9f0a0a8c53c7c81015aa23eb", + "visual_seed": 6836627555250052550, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..867fe4afbf7902c7197e8bfa98581064da96cdaa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21810628954374903, + -0.13136588217420614, + 1.162774261309347 + ], + "current_z": 1.162774261309347, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30166775329458095, + "gripper_z": 1.156301463424484, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2136981761648847, + -0.1358775094874481, + 1.156301463424484 + ], + "object_minus_gripper": [ + 0.00440811337886432, + 0.00451162731324195, + 0.006472797884863102 + ], + "object_to_gripper_xy": 0.006307633833262152, + "object_to_gripper_z": 0.006472797884863102, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21810628954374903, + -0.1549482555678324, + 1.162774261309347 + ], + "finger_b": [ + 0.2076874197403718, + -0.13136588217420614, + 1.162774261309347 + ], + "finger_midpoint": [ + 0.21289685464206043, + -0.14315706887101926, + 1.162774261309347 + ], + "object_minus_finger_midpoint": [ + 0.005209434901688598, + 0.011791186696813116, + 0.0 + ], + "finger_gap": 0.025781411576097563, + "fingertip_max_gap": 0.09258612414106973, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012890705788048764, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162774261309347, + "object_top_z": 1.2130367479702153, + "finger_top_clearance": 0.0502624866608683, + "fingertip_min_top_clearance": 0.01507874599826049, + "object_projection_between_fingers": 0.8366843371234406, + "object_to_finger_line_xy": 0.009530187178370538, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879306207053487, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7892371869985984, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3227491726437889, + -0.40269721694582455, + 0.8515395886836061 + ], + "target_position": [ + 0.3165111695385166, + -0.4040575188952949, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006384598979976695, + "xy_threshold": 0.08, + "gripper_dist": 0.18236442264046077, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395886836061, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559938893576175, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08678892822819205, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15036131481488077, + "release_required_pad_clearance": 0.05339446411409603, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8040119359247726, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008932232856750488, + "max_z_decrease": 0.008932232856750488, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035024097548841567, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008932232856750488, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020825813741296304, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008932232856750488, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008932505124989894, + "max_button_displacement": 0.12, + "button_start": [ + 0.17221109569072723, + -0.4603189826011657, + 0.7768088579177856 + ], + "button_final": [ + 0.17221109569072723, + -0.4603189826011657, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17055437194014117, + -0.4590363293927596, + 0.8032520696056635 + ], + "closest_button": [ + 0.17219774425029755, + -0.4602342545986175, + 0.7682870626449585 + ], + "closest_ee_minus_button": [ + -0.0016433723101563769, + 0.0011979252058578749, + 0.034965006960705036 + ], + "button_min_z_position": [ + 0.17220564186573029, + -0.46024945378303517, + 0.7678766250610352 + ], + "min_active_finger_to_button": 0.14680086600716, + "closest_active_finger": [ + 0.043026186525821686, + -0.5210472345352173, + 0.8106276392936707 + ], + "closest_active_finger_button": [ + 0.17221148312091827, + -0.4603205025196075, + 0.7763651609420776 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1291852965950966, + -0.0607267320156098, + 0.03426247835159302 + ], + "min_contact_pad_to_button": 0.020825813741296304, + "closest_contact_pad": [ + 0.17220564186573029, + -0.460284030025969, + 0.7887024100995539 + ], + "closest_contact_pad_button": [ + 0.17220564186573029, + -0.46024945378303517, + 0.7678766250610352 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -3.457624293384809e-05, + 0.02082578503851873 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "295ed909d5c799ee02fbfc82d756a05bfc2a3188a99ab2183a9f49fb8542e7e7", + "visual_seed": 4534209343896997607, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..21b6ceefc20ecc12615f65f0bd24b11ebe83c36a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21334193025126966, + -0.140236089143927, + 1.1652829676377499 + ], + "current_z": 1.1652829676377499, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3041765192276288, + "gripper_z": 1.1585536720745293, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20913479323246043, + -0.14464744059952944, + 1.1585536720745293 + ], + "object_minus_gripper": [ + 0.004207137018809232, + 0.0044113514556024525, + 0.00672929556322055 + ], + "object_to_gripper_xy": 0.0060959021940875085, + "object_to_gripper_z": 0.00672929556322055, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21334193025126966, + -0.16370737750873665, + 1.1652829676377499 + ], + "finger_b": [ + 0.2030215610253322, + -0.140236089143927, + 1.1652829676377499 + ], + "finger_midpoint": [ + 0.20818174563830094, + -0.15197173332633182, + 1.1652829676377499 + ], + "object_minus_finger_midpoint": [ + 0.005160184612968716, + 0.01173564418240483, + 0.0 + ], + "finger_gap": 0.025640035071421534, + "fingertip_max_gap": 0.09238545798933281, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012820017535710762, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1652829676377499, + "object_top_z": 1.2153464479418434, + "finger_top_clearance": 0.05006348030409358, + "fingertip_min_top_clearance": 0.015019044091228105, + "object_projection_between_fingers": 0.8379857404228537, + "object_to_finger_line_xy": 0.009447427098228843, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869272899466641, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9327273832438474, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3318838440857773, + -0.39588887907517245, + 0.8515396128608983 + ], + "target_position": [ + 0.3253828868578507, + -0.3973607910187675, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00666550595596679, + "xy_threshold": 0.08, + "gripper_dist": 0.18395348460467695, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396128608983, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523925163589497, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08547932841005294, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1527331363834587, + "release_required_pad_clearance": 0.052739664205026474, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.530816381672903, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009026646614074707, + "max_z_decrease": 0.009026646614074707, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502716923062034, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009026646614074707, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020900015593428356, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009026646614074707, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009026936178196839, + "max_button_displacement": 0.12, + "button_start": [ + 0.1810828149318695, + -0.45362225174903864, + 0.7768088579177856 + ], + "button_final": [ + 0.1810828149318695, + -0.45362225174903864, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18115742769678864, + -0.4517444665803624, + 0.802762124074428 + ], + "closest_button": [ + 0.18112429976463318, + -0.4535630345344543, + 0.7677822113037109 + ], + "closest_ee_minus_button": [ + 3.312793215545784e-05, + 0.0018185679540919097, + 0.0349799127707171 + ], + "button_min_z_position": [ + 0.18112429976463318, + -0.4535630345344543, + 0.7677822113037109 + ], + "min_active_finger_to_button": 0.14501263344170462, + "closest_active_finger": [ + 0.054381951689720154, + -0.5151961445808411, + 0.8105894327163696 + ], + "closest_active_finger_button": [ + 0.1810868382453918, + -0.4536239802837371, + 0.7761887907981873 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12670488655567164, + -0.06157216429710394, + 0.03440064191818237 + ], + "min_contact_pad_to_button": 0.020900015593428356, + "closest_contact_pad": [ + 0.18112429976463318, + -0.4535630345344543, + 0.7886822268971393 + ], + "closest_contact_pad_button": [ + 0.18112429976463318, + -0.4535630345344543, + 0.7677822113037109 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020900015593428356 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1863f3ddd43ace58fea6b7e02ee8707ede85ff775dc398624593d9f0bb402710", + "visual_seed": 1827514413923822130, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7f4e4efa7f9f132325b8645f304f76cd15e7f89f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21096047094768666, + -0.13654383106818108, + 1.1632401335600686 + ], + "current_z": 1.1632401335600686, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30213362554530265, + "gripper_z": 1.1564853899793297, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20685302409561424, + -0.14099626711777866, + 1.1564853899793297 + ], + "object_minus_gripper": [ + 0.004107446852072427, + 0.00445243604959758, + 0.006754743580738909 + ], + "object_to_gripper_xy": 0.006057665096252499, + "object_to_gripper_z": 0.006754743580738909, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21096047094768666, + -0.15986342165237738, + 1.1632401335600686 + ], + "finger_b": [ + 0.20043220810298149, + -0.13654383106818108, + 1.1632401335600686 + ], + "finger_midpoint": [ + 0.20569633952533406, + -0.14820362636027923, + 1.1632401335600686 + ], + "object_minus_finger_midpoint": [ + 0.0052641314223526026, + 0.011659795292098152, + 0.0 + ], + "finger_gap": 0.02558608261422089, + "fingertip_max_gap": 0.09220164977351519, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012793041307110451, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1632401335600686, + "object_top_z": 1.213216771465749, + "finger_top_clearance": 0.0499766379056803, + "fingertip_min_top_clearance": 0.014992991371704088, + "object_projection_between_fingers": 0.8306809426306078, + "object_to_finger_line_xy": 0.009595637706761409, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0486008248867576, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9160647008998188, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32723267787706334, + -0.4044084825542794, + 0.8515395125877481 + ], + "target_position": [ + 0.3203054443333474, + -0.40612829593971606, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00713752916981152, + "xy_threshold": 0.08, + "gripper_dist": 0.184338168068281, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395125877481, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753937889780508, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528535168753619, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1529286003491656, + "release_required_pad_clearance": 0.0526426758437681, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3449170300315163, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008913576602935791, + "max_z_decrease": 0.008913576602935791, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500744987393807, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008913576602935791, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02083456705247523, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008913576602935791, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008913997652057535, + "max_button_displacement": 0.12, + "button_start": [ + 0.17600536346435547, + -0.46238976716995234, + 0.7768088579177856 + ], + "button_final": [ + 0.17600536346435547, + -0.46238976716995234, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17433544256428626, + -0.4621056812873478, + 0.8028590770972424 + ], + "closest_button": [ + 0.17606863379478455, + -0.46233057975769043, + 0.7678952813148499 + ], + "closest_ee_minus_button": [ + -0.0017331912304982822, + 0.0002248984703426271, + 0.034963795782392504 + ], + "button_min_z_position": [ + 0.17606863379478455, + -0.46233057975769043, + 0.7678952813148499 + ], + "min_active_finger_to_button": 0.14716477816176063, + "closest_active_finger": [ + 0.04748052358627319, + -0.5253859162330627, + 0.8102729320526123 + ], + "closest_active_finger_button": [ + 0.17600347101688385, + -0.46239256858825684, + 0.7760506868362427 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12852294743061066, + -0.06299334764480591, + 0.03422224521636963 + ], + "min_contact_pad_to_button": 0.02083456705247523, + "closest_contact_pad": [ + 0.17606863379478455, + -0.46324705191964366, + 0.788709681691523 + ], + "closest_contact_pad_button": [ + 0.17606863379478455, + -0.46233057975769043, + 0.7678952813148499 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009164721619532301, + 0.020814400376673148 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "88c439e5eb9383c28828797f3f5218a890ecdcfa4dc8759b752479aab16186bd", + "visual_seed": 569126768096412137, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..75f1618cd06d38c49775e6d4d53e997da4ccc000 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2147087426093381, + -0.13369795951593008, + 1.1655624349060674 + ], + "current_z": 1.1655624349060674, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30445604610059096, + "gripper_z": 1.1589267662817302, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21043207560483557, + -0.1382572186337291, + 1.1589267662817302 + ], + "object_minus_gripper": [ + 0.004276667004502521, + 0.0045592591177990305, + 0.0066356686243371765 + ], + "object_to_gripper_xy": 0.006251137846075238, + "object_to_gripper_z": 0.0066356686243371765, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2147087426093381, + -0.15709923823165908, + 1.1655624349060674 + ], + "finger_b": [ + 0.204014352294753, + -0.13369795951593008, + 1.1655624349060674 + ], + "finger_midpoint": [ + 0.20936154745204555, + -0.14539859887379458, + 1.1655624349060674 + ], + "object_minus_finger_midpoint": [ + 0.005347195157292539, + 0.0117006393578645, + 0.0 + ], + "finger_gap": 0.025729163020431163, + "fingertip_max_gap": 0.09224800463589006, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012864581510215582, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1655624349060674, + "object_top_z": 1.215639320701097, + "finger_top_clearance": 0.05007688579502956, + "fingertip_min_top_clearance": 0.015023065738508867, + "object_projection_between_fingers": 0.827233019203624, + "object_to_finger_line_xy": 0.00972679943951805, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04862400231794503, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8143285215640144, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3250915477109815, + -0.3945091488786787, + 0.8515395708962983 + ], + "target_position": [ + 0.3170180046378574, + -0.39648082318694755, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008310812074128327, + "xy_threshold": 0.08, + "gripper_dist": 0.18479688807162986, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395708962983, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753583294920152, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08534853262210233, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15348629923406748, + "release_required_pad_clearance": 0.05267426631105117, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.40541755852144945, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008737623691558838, + "max_z_decrease": 0.008737623691558838, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502530843193876, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008737623691558838, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020874723454941124, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008737623691558838, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008737772645091565, + "max_button_displacement": 0.12, + "button_start": [ + 0.17271792888641357, + -0.45274227857589716, + 0.7768088579177856 + ], + "button_final": [ + 0.17271792888641357, + -0.45274227857589716, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17278560526227457, + -0.4511429446946583, + 0.803062143540602 + ], + "closest_button": [ + 0.17270545661449432, + -0.45269280672073353, + 0.7680712342262268 + ], + "closest_ee_minus_button": [ + 8.014864778024822e-05, + 0.0015498620260752105, + 0.03499090931437521 + ], + "button_min_z_position": [ + 0.17270545661449432, + -0.45269280672073353, + 0.7680712342262268 + ], + "min_active_finger_to_button": 0.14511421384682813, + "closest_active_finger": [ + 0.04582344740629196, + -0.5142468214035034, + 0.8108775019645691 + ], + "closest_active_finger_button": [ + 0.17271961271762848, + -0.45274353027343744, + 0.776630699634552 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12689616531133652, + -0.061503291130065973, + 0.03424680233001709 + ], + "min_contact_pad_to_button": 0.020874723454941124, + "closest_contact_pad": [ + 0.17270545661449432, + -0.45269280672073353, + 0.7889459576811679 + ], + "closest_contact_pad_button": [ + 0.17270545661449432, + -0.45269280672073353, + 0.7680712342262268 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020874723454941124 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d5c95e7a28bf458bb382d4ac6dbda9c655b0e0606e3ec4d09b6e57422de4d6ce", + "visual_seed": 6733465675449543421, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..954a7cd130fa8e517b211fe4cea64524f4140cc5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21384683851770128, + -0.13695473107532072, + 1.1650431982213232 + ], + "current_z": 1.1650431982213232, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3039366902065571, + "gripper_z": 1.1584759881422697, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20951600415252047, + -0.14152061463229493, + 1.1584759881422697 + ], + "object_minus_gripper": [ + 0.004330834365180808, + 0.0045658835569742096, + 0.006567210079053476 + ], + "object_to_gripper_xy": 0.006293124736923503, + "object_to_gripper_z": 0.006567210079053476, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21384683851770128, + -0.1603588118816875, + 1.1650431982213232 + ], + "finger_b": [ + 0.2030837036981669, + -0.13695473107532072, + 1.1650431982213232 + ], + "finger_midpoint": [ + 0.20846527110793409, + -0.1486567714785041, + 1.1650431982213232 + ], + "object_minus_finger_midpoint": [ + 0.005381567409767196, + 0.011702040403183372, + 0.0 + ], + "finger_gap": 0.02576035849002143, + "fingertip_max_gap": 0.09248471345618353, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012880179245010703, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650431982213232, + "object_top_z": 1.2150617050330303, + "finger_top_clearance": 0.050018506811707164, + "fingertip_min_top_clearance": 0.015005552043512149, + "object_projection_between_fingers": 0.8254283344011505, + "object_to_finger_line_xy": 0.009778640198030607, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874235672809177, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.115865304924464, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32590960819691017, + -0.3973982452088669, + 0.8515396719281045 + ], + "target_position": [ + 0.31791656280695657, + -0.3994427926523027, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00825039083039818, + "xy_threshold": 0.08, + "gripper_dist": 0.1844781272666659, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396719281045, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550829633986314, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08590161566812425, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1527940530322989, + "release_required_pad_clearance": 0.05295080783406213, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.93794429795043, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008876025676727295, + "max_z_decrease": 0.008876025676727295, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501022440408815, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008876025676727295, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020832174403672687, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008876025676727295, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008876235387280227, + "max_button_displacement": 0.12, + "button_start": [ + 0.17361648380756378, + -0.45570424199104304, + 0.7768088579177856 + ], + "button_final": [ + 0.17361648380756378, + -0.45570424199104304, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17210049172961422, + -0.45510437791511255, + 0.8032816037491302 + ], + "closest_button": [ + 0.1736128181219101, + -0.4556323587894439, + 0.7683080434799194 + ], + "closest_ee_minus_button": [ + -0.0015123263922958707, + 0.0005279808743313685, + 0.034973560269210724 + ], + "button_min_z_position": [ + 0.17361757159233093, + -0.4556432366371154, + 0.7679328322410583 + ], + "min_active_finger_to_button": 0.14691599668797956, + "closest_active_finger": [ + 0.04528195410966873, + -0.5185121893882751, + 0.8105801939964294 + ], + "closest_active_finger_button": [ + 0.173616424202919, + -0.45570614933967585, + 0.7763752937316895 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12833447009325027, + -0.0628060400485993, + 0.03420490026473999 + ], + "min_contact_pad_to_button": 0.020832174403672687, + "closest_contact_pad": [ + 0.17361757159233093, + -0.4562192958240735, + 0.7887570404180373 + ], + "closest_contact_pad_button": [ + 0.17361757159233093, + -0.4556432366371154, + 0.7679328322410583 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005760591869580778, + 0.020824208176978942 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3f07bc20b56f3d25f3bb9523cba00fc68acf4ce14a9c1ec20ffa422537c84006", + "visual_seed": 3513321295651710635, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..742304cc1e537fd2b0af3ef789fdcbf064097b76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2139091713550344, + -0.13065417709994853, + 1.165244972214853 + ], + "current_z": 1.165244972214853, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30413846420008706, + "gripper_z": 1.1588358750042067, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2094572993037811, + -0.13527819018494208, + 1.1588358750042067 + ], + "object_minus_gripper": [ + 0.004451872051253303, + 0.00462401308499355, + 0.0064090972106463084 + ], + "object_to_gripper_xy": 0.006418774164193804, + "object_to_gripper_z": 0.0064090972106463084, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2139091713550344, + -0.15418671155860322, + 1.165244972214853 + ], + "finger_b": [ + 0.20315712537412817, + -0.13065417709994853, + 1.165244972214853 + ], + "finger_midpoint": [ + 0.20853314836458128, + -0.14242044432927586, + 1.165244972214853 + ], + "object_minus_finger_midpoint": [ + 0.0053760229904531165, + 0.011766267229327332, + 0.0 + ], + "finger_gap": 0.025872508011850964, + "fingertip_max_gap": 0.09219583468713036, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01293625400592547, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165244972214853, + "object_top_z": 1.215322844401751, + "finger_top_clearance": 0.050077872186897965, + "fingertip_min_top_clearance": 0.015023361656069389, + "object_projection_between_fingers": 0.8272948987267179, + "object_to_finger_line_xy": 0.0097796043750694, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859791734356518, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7189002203317705, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 332, + "max_stable_success_frames": 332, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3306618090478422, + -0.39871785441436247, + 0.8515395804818864 + ], + "target_position": [ + 0.32210054314480646, + -0.4008748927177672, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008828821444838356, + "xy_threshold": 0.08, + "gripper_dist": 0.18537130397124657, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395804818864, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517501266002277, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541050242631541, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15454297876931022, + "release_required_pad_clearance": 0.05270525121315771, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.46478009214024224, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00896841287612915, + "max_z_decrease": 0.00896841287612915, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504618121965649, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00896841287612915, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020879472916597974, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00896841287612915, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00896876066282471, + "max_button_displacement": 0.12, + "button_start": [ + 0.17780047655105588, + -0.4571363627910613, + 0.7768088579177856 + ], + "button_final": [ + 0.17780047655105588, + -0.4571363627910613, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17694036125330057, + -0.4547939500726164, + 0.8028032261384452 + ], + "closest_button": [ + 0.1777732670307159, + -0.45706221461296076, + 0.7678404450416565 + ], + "closest_ee_minus_button": [ + -0.0008329057774153215, + 0.0022682645403443447, + 0.03496278109678874 + ], + "button_min_z_position": [ + 0.1777732670307159, + -0.45706221461296076, + 0.7678404450416565 + ], + "min_active_finger_to_button": 0.14572356067562284, + "closest_active_finger": [ + 0.04957878589630127, + -0.5172251462936401, + 0.8106557130813599 + ], + "closest_active_finger_button": [ + 0.17780441045761103, + -0.457138955593109, + 0.776258111000061 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12822562456130976, + -0.06008619070053112, + 0.03439760208129883 + ], + "min_contact_pad_to_button": 0.020879472916597974, + "closest_contact_pad": [ + 0.1777732670307159, + -0.45706221461296076, + 0.7887199179582545 + ], + "closest_contact_pad_button": [ + 0.1777732670307159, + -0.45706221461296076, + 0.7678404450416565 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020879472916597974 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "585543356ff2f7699dec2eca4530da0f1247607cd055e475e813399728625504", + "visual_seed": 1774862146454360858, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..178179af01d13d873f689c8764fbcc063d299fcc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21170208321853903, + -0.13336444740290845, + 1.1652415004929737 + ], + "current_z": 1.1652415004929737, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3041350520828524, + "gripper_z": 1.159118829089452, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20714586624581355, + -0.13782196224368887, + 1.159118829089452 + ], + "object_minus_gripper": [ + 0.004556216972725485, + 0.004457514840780413, + 0.006122671403521629 + ], + "object_to_gripper_xy": 0.006374053000903697, + "object_to_gripper_z": 0.006122671403521629, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21170208321853903, + -0.15729814559498526, + 1.1652415004929737 + ], + "finger_b": [ + 0.20170197359917177, + -0.13336444740290845, + 1.1652415004929737 + ], + "finger_midpoint": [ + 0.2067020284088554, + -0.14533129649894685, + 1.1652415004929737 + ], + "object_minus_finger_midpoint": [ + 0.0050000548096836295, + 0.011966849096038401, + 0.0 + ], + "finger_gap": 0.02593885312709068, + "fingertip_max_gap": 0.09276275469594042, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01296942656354534, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1652415004929737, + "object_top_z": 1.215473408000776, + "finger_top_clearance": 0.050231907507802376, + "fingertip_min_top_clearance": 0.015069572252340745, + "object_projection_between_fingers": 0.8513694854730005, + "object_to_finger_line_xy": 0.009227069691360123, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04888137734797021, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9750706133057907, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 327, + "max_stable_success_frames": 327, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3237037926399233, + -0.3998598933845524, + 0.8515395631939799 + ], + "target_position": [ + 0.31766656621551087, + -0.4009458067338517, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006134110424650867, + "xy_threshold": 0.08, + "gripper_dist": 0.18299818943831095, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395631939799, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569509661592827, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0881766921880661, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15070210351111643, + "release_required_pad_clearance": 0.054088346094033055, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1899096235870896, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008939027786254883, + "max_z_decrease": 0.008939027786254883, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501844714886252, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008939027786254883, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020919843957078417, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008939027786254883, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008939335240175948, + "max_button_displacement": 0.12, + "button_start": [ + 0.17336648702621457, + -0.4572072625160217, + 0.7768088579177856 + ], + "button_final": [ + 0.17336648702621457, + -0.4572072625160217, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17184736764290298, + -0.45798208559740433, + 0.803684124678834 + ], + "closest_button": [ + 0.1733441203832626, + -0.457137644290924, + 0.7687078714370728 + ], + "closest_ee_minus_button": [ + -0.0014967527403596248, + -0.0008444413064803147, + 0.034976253241761235 + ], + "button_min_z_position": [ + 0.17334741353988647, + -0.45713561773300165, + 0.7678698301315308 + ], + "min_active_finger_to_button": 0.1471093382993692, + "closest_active_finger": [ + 0.03110574185848236, + -0.4421280324459076, + 0.8107035160064697 + ], + "closest_active_finger_button": [ + 0.1733662039041519, + -0.4572088718414306, + 0.776415228843689 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14226046204566953, + 0.015080839395523016, + 0.03428828716278076 + ], + "min_contact_pad_to_button": 0.020919843957078417, + "closest_contact_pad": [ + 0.17334741353988647, + -0.45907804778252087, + 0.788699300520651 + ], + "closest_contact_pad_button": [ + 0.17334741353988647, + -0.45713561773300165, + 0.7678698301315308 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001942430049519217, + 0.020829470389120197 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "172c1633d17294760d9e9e1cb62928975427e764a183e8937218a0c95ec9d5af", + "visual_seed": 8690433110079146224, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0de8c4280d04548159dea0a002a8528f8495fad3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21778030590094435, + -0.13272432134335316, + 1.1642609384956277 + ], + "current_z": 1.1642609384956277, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30315449008550654, + "gripper_z": 1.1577092873744896, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21333899774955065, + -0.13707396044012551, + 1.1577092873744896 + ], + "object_minus_gripper": [ + 0.004441308151393708, + 0.004349639096772356, + 0.006551651121138091 + ], + "object_to_gripper_xy": 0.006216476362683835, + "object_to_gripper_z": 0.006551651121138091, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21778030590094435, + -0.1566160128539303, + 1.1642609384956277 + ], + "finger_b": [ + 0.2080481434922791, + -0.13272432134335316, + 1.1642609384956277 + ], + "finger_midpoint": [ + 0.21291422469661173, + -0.14467016709864172, + 1.1642609384956277 + ], + "object_minus_finger_midpoint": [ + 0.0048660812043326285, + 0.011945845755288564, + 0.0 + ], + "finger_gap": 0.025797827590423587, + "fingertip_max_gap": 0.09270509991005671, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012898913795211794, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642609384956277, + "object_top_z": 1.2146153612374722, + "finger_top_clearance": 0.05035442274184443, + "fingertip_min_top_clearance": 0.015106326822553327, + "object_projection_between_fingers": 0.8576844277222793, + "object_to_finger_line_xy": 0.009013077600572027, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885254995502836, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7232248488965956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 324, + "max_stable_success_frames": 324, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32440216566120705, + -0.4030039293086384, + 0.8515395911662551 + ], + "target_position": [ + 0.3184459343040163, + -0.4039766552742657, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0060351377601996796, + "xy_threshold": 0.08, + "gripper_dist": 0.18288208563373193, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395911662551, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516168270942744, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08666132266552228, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1519265024529036, + "release_required_pad_clearance": 0.05333066133276114, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6786022974265702, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009030818939208984, + "max_z_decrease": 0.009030818939208984, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034984878396377414, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009030818939208984, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.020785812481299924, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009030818939208984, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009031301561100455, + "max_button_displacement": 0.12, + "button_start": [ + 0.1741458624601364, + -0.46023809909820557, + 0.7768088579177856 + ], + "button_final": [ + 0.1741458624601364, + -0.46023809909820557, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17341053423871847, + -0.45949500293980483, + 0.8027471852578831 + ], + "closest_button": [ + 0.17421185970306396, + -0.4601720571517944, + 0.7677780389785767 + ], + "closest_ee_minus_button": [ + -0.0008013254643454981, + 0.0006770542119895473, + 0.03496914627930647 + ], + "button_min_z_position": [ + 0.17421185970306396, + -0.4601720571517944, + 0.7677780389785767 + ], + "min_active_finger_to_button": 0.14612817672599665, + "closest_active_finger": [ + 0.047483280301094055, + -0.5246033072471619, + 0.8104057908058167 + ], + "closest_active_finger_button": [ + 0.17414590716362, + -0.46023860573768616, + 0.7762413620948792 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12666262686252594, + -0.06436470150947571, + 0.0341644287109375 + ], + "min_contact_pad_to_button": 0.020785812481299924, + "closest_contact_pad": [ + 0.17421185970306396, + -0.46046248754799374, + 0.7885618223370686 + ], + "closest_contact_pad_button": [ + 0.17421185970306396, + -0.4601720571517944, + 0.7677780389785767 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002904303961993593, + 0.02078378335849196 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c08dd51136ff4404319ded91dd4d839807aabfe809e55fa8a938732b1b181af4", + "visual_seed": 6542204992656001143, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fbdecde130ef481745147355eca683a27049fd20 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2099878734039187, + -0.12998132209885632, + 1.1656489645480645 + ], + "current_z": 1.1656489645480645, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3045425161379435, + "gripper_z": 1.15935035064936, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20540850073440234, + -0.13440886594638823, + 1.15935035064936 + ], + "object_minus_gripper": [ + 0.004579372669516357, + 0.004427543847531912, + 0.006298613898704453 + ], + "object_to_gripper_xy": 0.006369756554856006, + "object_to_gripper_z": 0.006298613898704453, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2099878734039187, + -0.15390695295358978, + 1.1656489645480645 + ], + "finger_b": [ + 0.20000223087560387, + -0.12998132209885632, + 1.1656489645480645 + ], + "finger_midpoint": [ + 0.20499505213976127, + -0.14194413752622304, + 1.1656489645480645 + ], + "object_minus_finger_midpoint": [ + 0.0049928212641574266, + 0.011962815427366713, + 0.0 + ], + "finger_gap": 0.025925833998162204, + "fingertip_max_gap": 0.09280111031265822, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012962916999081094, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656489645480645, + "object_top_z": 1.2159591099340652, + "finger_top_clearance": 0.05031014538600065, + "fingertip_min_top_clearance": 0.015093043615800194, + "object_projection_between_fingers": 0.8516503391194049, + "object_to_finger_line_xy": 0.009215240558769443, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048900555156329115, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8207129219308527, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3236568556777934, + -0.3980347266721714, + 0.8515395584517572 + ], + "target_position": [ + 0.31755426156033056, + -0.39917550558116977, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006208303430222103, + "xy_threshold": 0.08, + "gripper_dist": 0.18336095920245046, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395584517572, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565951873695345, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08775291779250459, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15099188315478476, + "release_required_pad_clearance": 0.0538764588962523, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7625204692426317, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008887827396392822, + "max_z_decrease": 0.008887827396392822, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502469823209324, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008887827396392822, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020863453740171622, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008887827396392822, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008888096610800767, + "max_button_displacement": 0.12, + "button_start": [ + 0.1732541918754577, + -0.4554369747638702, + 0.7768088579177856 + ], + "button_final": [ + 0.1732541918754577, + -0.4554369747638702, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1731970662809467, + -0.45372081390139457, + 0.8029058901376528 + ], + "closest_button": [ + 0.17330257594585413, + -0.45538753271102894, + 0.7679210305213928 + ], + "closest_ee_minus_button": [ + -0.0001055096649074383, + 0.001666718809634371, + 0.03498485961625997 + ], + "button_min_z_position": [ + 0.17330257594585413, + -0.45538753271102894, + 0.7679210305213928 + ], + "min_active_finger_to_button": 0.14514425419711427, + "closest_active_finger": [ + 0.046241044998168945, + -0.5167649388313293, + 0.8106064200401306 + ], + "closest_active_finger_button": [ + 0.1732558906078338, + -0.45543828606605524, + 0.776355504989624 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12701484560966486, + -0.0613266527652741, + 0.03425091505050659 + ], + "min_contact_pad_to_button": 0.020863453740171622, + "closest_contact_pad": [ + 0.17330257594585413, + -0.45538753271102894, + 0.7887844842615644 + ], + "closest_contact_pad_button": [ + 0.17330257594585413, + -0.45538753271102894, + 0.7679210305213928 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020863453740171622 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6033115532c600b8bc8c0527314453db2bf320789b51c6862cf0c283de1c7fbe", + "visual_seed": 1828508785702214845, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ef8b18c7bb151b40d29a6ba8d1a294a988f23fca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21029158455690597, + -0.13605471827588492, + 1.164572361913228 + ], + "current_z": 1.164572361913228, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3034659135031067, + "gripper_z": 1.1581698879605242, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20593917833437683, + -0.14047610578143424, + 1.1581698879605242 + ], + "object_minus_gripper": [ + 0.004352406222529137, + 0.0044213875055493235, + 0.006402473952703769 + ], + "object_to_gripper_xy": 0.006204200786575014, + "object_to_gripper_z": 0.006402473952703769, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21029158455690597, + -0.1597482342662475, + 1.164572361913228 + ], + "finger_b": [ + 0.20014797257975758, + -0.13605471827588492, + 1.164572361913228 + ], + "finger_midpoint": [ + 0.2052197785683318, + -0.1479014762710662, + 1.164572361913228 + ], + "object_minus_finger_midpoint": [ + 0.0050718059885741795, + 0.011846757995181284, + 0.0 + ], + "finger_gap": 0.025773543876008134, + "fingertip_max_gap": 0.09244111822743803, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012886771938004048, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164572361913228, + "object_top_z": 1.2146400936696664, + "finger_top_clearance": 0.050067731756438416, + "fingertip_min_top_clearance": 0.015020319526931558, + "object_projection_between_fingers": 0.8451051498350454, + "object_to_finger_line_xy": 0.009324981994591836, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872055911371902, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.983837627359002, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 329, + "max_stable_success_frames": 329, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33020192160673134, + -0.3952477898779255, + 0.8515395766484175 + ], + "target_position": [ + 0.3238454881720897, + -0.3967250442090605, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006525835300395448, + "xy_threshold": 0.08, + "gripper_dist": 0.1831721638821916, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395766484175, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586188498894862, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08757012736348806, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1505633448765635, + "release_required_pad_clearance": 0.05378506368174403, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5793561436058794, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008851706981658936, + "max_z_decrease": 0.008851706981658936, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035016201112283, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008851706981658936, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02102776215131115, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008851706981658936, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008851948260659806, + "max_button_displacement": 0.12, + "button_start": [ + 0.17954541742801666, + -0.4529865086078644, + 0.7768088579177856 + ], + "button_final": [ + 0.17954541742801666, + -0.4529865086078644, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1787332490240047, + -0.4543354448688919, + 0.8036315209867153 + ], + "closest_button": [ + 0.17957195639610288, + -0.45296198129653925, + 0.7686523199081421 + ], + "closest_ee_minus_button": [ + -0.0008387073720981797, + -0.001373463572352629, + 0.03497920107857322 + ], + "button_min_z_position": [ + 0.17957520484924316, + -0.45292833447456354, + 0.7679571509361267 + ], + "min_active_finger_to_button": 0.1465278601189631, + "closest_active_finger": [ + 0.03782863914966583, + -0.4387342929840088, + 0.8105030655860901 + ], + "closest_active_finger_button": [ + 0.17954635620117188, + -0.452988713979721, + 0.7761037349700928 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14171771705150604, + 0.014254420995712225, + 0.034399330615997314 + ], + "min_contact_pad_to_button": 0.02102776215131115, + "closest_contact_pad": [ + 0.17957520484924316, + -0.4554190403095809, + 0.7888368819098611 + ], + "closest_contact_pad_button": [ + 0.17957520484924316, + -0.45292833447456354, + 0.7679571509361267 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024907058350173705, + 0.02087973097373441 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eecf8095d3eb5cfcc1df2969271c7cd65fc1c9c12bf3dbee80a225e4d3ed6cb9", + "visual_seed": 4942968582075427054, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1b57f21973c22b4a7933b30e240f4ada8d276643 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21906065064898386, + -0.1274997972387288, + 1.1656272109961892 + ], + "current_z": 1.1656272109961892, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3045207029814231, + "gripper_z": 1.1591601413105626, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2145383028619491, + -0.13189185128528896, + 1.1591601413105626 + ], + "object_minus_gripper": [ + 0.004522347787034753, + 0.004392054046560151, + 0.006467069685626603 + ], + "object_to_gripper_xy": 0.006304107252799838, + "object_to_gripper_z": 0.006467069685626603, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21906065064898386, + -0.15137136003713222, + 1.1656272109961892 + ], + "finger_b": [ + 0.20917889222470482, + -0.1274997972387288, + 1.1656272109961892 + ], + "finger_midpoint": [ + 0.21411977143684435, + -0.13943557863793052, + 1.1656272109961892 + ], + "object_minus_finger_midpoint": [ + 0.0049408792121395095, + 0.011935781399201706, + 0.0 + ], + "finger_gap": 0.025836034138271447, + "fingertip_max_gap": 0.0928661109796747, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012918017069135718, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656272109961892, + "object_top_z": 1.2159784723627682, + "finger_top_clearance": 0.05035126136657908, + "fingertip_min_top_clearance": 0.01510537840997369, + "object_projection_between_fingers": 0.8537092838879016, + "object_to_finger_line_xy": 0.00913038802787445, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048933055489837354, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6786066133560091, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 324, + "max_stable_success_frames": 324, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33138446570762314, + -0.4002320628896457, + 0.8515395752955808 + ], + "target_position": [ + 0.3253633906242523, + -0.4012327822770447, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006103669752854058, + "xy_threshold": 0.08, + "gripper_dist": 0.18254454421332977, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395752955808, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522881810019894, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086205403586523, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15128917580849244, + "release_required_pad_clearance": 0.0531027017932615, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2328759690213058, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008961200714111328, + "max_z_decrease": 0.008961200714111328, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499559652558817, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008961200714111328, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020953538092395304, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008961200714111328, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008961726388039146, + "max_button_displacement": 0.12, + "button_start": [ + 0.18106330931186676, + -0.45749422907829285, + 0.7768088579177856 + ], + "button_final": [ + 0.18106330931186676, + -0.45749422907829285, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18132189855395525, + -0.45692621789940546, + 0.8028383685908371 + ], + "closest_button": [ + 0.18100430071353912, + -0.45741716027259827, + 0.7678476572036743 + ], + "closest_ee_minus_button": [ + 0.0003175978404161284, + 0.0004909423731928042, + 0.03499071138716281 + ], + "button_min_z_position": [ + 0.18100430071353912, + -0.45741716027259827, + 0.7678476572036743 + ], + "min_active_finger_to_button": 0.14547924380019261, + "closest_active_finger": [ + 0.05423212796449661, + -0.5198652744293213, + 0.8103421926498413 + ], + "closest_active_finger_button": [ + 0.18106897175312042, + -0.45749646425247187, + 0.7758928537368774 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1268368437886238, + -0.06236881017684942, + 0.03444933891296387 + ], + "min_contact_pad_to_button": 0.020953538092395304, + "closest_contact_pad": [ + 0.18100430071353912, + -0.4581052677031396, + 0.7887898936351898 + ], + "closest_contact_pad_button": [ + 0.18100430071353912, + -0.45741716027259827, + 0.7678476572036743 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006881074305413182, + 0.020942236431515493 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09e36fd387347598be5c05563fbe8b44c115bbb3678a129cc9e7699b1aa3d273", + "visual_seed": 1499028782378705333, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..35e156199731295bbdf4bba02750ac1ecd8857c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2196198212115482, + -0.13980673135908675, + 1.1626682667711448 + ], + "current_z": 1.1626682667711448, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3015618183610237, + "gripper_z": 1.156087640655668, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21527035174413992, + -0.14423372982455562, + 1.156087640655668 + ], + "object_minus_gripper": [ + 0.0043494694674082734, + 0.004426998465468873, + 0.006580626115476829 + ], + "object_to_gripper_xy": 0.006206142123830276, + "object_to_gripper_z": 0.006580626115476829, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2196198212115482, + -0.16345613795582298, + 1.1626682667711448 + ], + "finger_b": [ + 0.20947442085578505, + -0.13980673135908675, + 1.1626682667711448 + ], + "finger_midpoint": [ + 0.21454712103366663, + -0.15163143465745488, + 1.1626682667711448 + ], + "object_minus_finger_midpoint": [ + 0.005072700177881556, + 0.011824703298368128, + 0.0 + ], + "finger_gap": 0.025733705150181342, + "fingertip_max_gap": 0.0928158502760556, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01286685257509068, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626682667711448, + "object_top_z": 1.2128888307045655, + "finger_top_clearance": 0.05022056393342078, + "fingertip_min_top_clearance": 0.0150661691800262, + "object_projection_between_fingers": 0.8445703968119936, + "object_to_finger_line_xy": 0.009323674795365573, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0489079251380278, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.075856113182166, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 326, + "max_stable_success_frames": 326, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32314066959440213, + -0.3952612514607562, + 0.8515396109787131 + ], + "target_position": [ + 0.3167961333245031, + -0.3965501090471827, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0064741249878383636, + "xy_threshold": 0.08, + "gripper_dist": 0.18158417804254862, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396109787131, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577012963172673, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08694820241932709, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14918042572482296, + "release_required_pad_clearance": 0.053474101209663547, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9611714229595365, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008845150470733643, + "max_z_decrease": 0.008845150470733643, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500160453210421, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008845150470733643, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020991888337823186, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008845150470733643, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008845433206653444, + "max_button_displacement": 0.12, + "button_start": [ + 0.1724960654973984, + -0.4528115689754485, + 0.7768088579177856 + ], + "button_final": [ + 0.1724960654973984, + -0.4528115689754485, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17205027641970505, + -0.4538562216548319, + 0.8036220212877014 + ], + "closest_button": [ + 0.17252814769744879, + -0.4527920186519622, + 0.768639862537384 + ], + "closest_ee_minus_button": [ + -0.0004778712777437355, + -0.0010642030028696903, + 0.034982158750317405 + ], + "button_min_z_position": [ + 0.17253284156322485, + -0.45275115966796864, + 0.767963707447052 + ], + "min_active_finger_to_button": 0.14616814016293628, + "closest_active_finger": [ + 0.03131458908319473, + -0.4369520843029022, + 0.8107942342758179 + ], + "closest_active_finger_button": [ + 0.17249754071235662, + -0.4528133273124694, + 0.7764297127723694 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1411829516291619, + 0.015861243009567205, + 0.034364521503448486 + ], + "min_contact_pad_to_button": 0.020991888337823186, + "closest_contact_pad": [ + 0.17253284156322485, + -0.4550318706415153, + 0.7888313314958694 + ], + "closest_contact_pad_button": [ + 0.17253284156322485, + -0.45275115966796864, + 0.767963707447052 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022807109735466513, + 0.020867624048817368 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cf2b1f39ef240929de3bcbf3396f3dc2788ca9c06172086ebdca5c7b4ea6268f", + "visual_seed": 5822924525457219592, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0b5545c82415ac6687c88c9292dc0100e409593b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.211034475588768, + -0.13259797160936074, + 1.165395500756123 + ], + "current_z": 1.165395500756123, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.30428893313671235, + "gripper_z": 1.1589708449566252, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2065919739156117, + -0.13702993839231759, + 1.1589708449566252 + ], + "object_minus_gripper": [ + 0.004442501673156296, + 0.004431966782956848, + 0.006424655799497803 + ], + "object_to_gripper_xy": 0.00627520124627325, + "object_to_gripper_z": 0.006424655799497803, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.211034475588768, + -0.15640262646763206, + 1.165395500756123 + ], + "finger_b": [ + 0.2009753945732735, + -0.13259797160936074, + 1.165395500756123 + ], + "finger_midpoint": [ + 0.20600493508102075, + -0.1445002990384964, + 1.165395500756123 + ], + "object_minus_finger_midpoint": [ + 0.00502954050774726, + 0.011902327429135662, + 0.0 + ], + "finger_gap": 0.025842730192410054, + "fingertip_max_gap": 0.092737004393327, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012921365096205032, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165395500756123, + "object_top_z": 1.2156213631037676, + "finger_top_clearance": 0.05022586234764459, + "fingertip_min_top_clearance": 0.015067758704293376, + "object_projection_between_fingers": 0.8484905139145049, + "object_to_finger_line_xy": 0.009265776099599677, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488685021966635, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9583962778721347, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 329, + "max_stable_success_frames": 329, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3295416458231679, + -0.4021704779918126, + 0.8515395925358232 + ], + "target_position": [ + 0.323102881102205, + -0.4035647319065759, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00658799173578335, + "xy_threshold": 0.08, + "gripper_dist": 0.18330864540826275, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395925358232, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543420948206973, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08694545481939951, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15173425787777153, + "release_required_pad_clearance": 0.05347272740969976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9583756687391554, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008992791175842285, + "max_z_decrease": 0.008992791175842285, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502876001829239, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008992791175842285, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020936255771664268, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008992791175842285, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0089932712826716, + "max_button_displacement": 0.12, + "button_start": [ + 0.17880280315875996, + -0.4598262012004852, + 0.7768088579177856 + ], + "button_final": [ + 0.17880280315875996, + -0.4598262012004852, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18010815493734417, + -0.4596995370605128, + 0.8032315440050611 + ], + "closest_button": [ + 0.17875398695468897, + -0.4597516059875488, + 0.7682290077209473 + ], + "closest_ee_minus_button": [ + 0.0013541679826551967, + 5.206892703596422e-05, + 0.03500253628411387 + ], + "button_min_z_position": [ + 0.1787456274032592, + -0.4597529470920562, + 0.7678160667419434 + ], + "min_active_finger_to_button": 0.14452697992463606, + "closest_active_finger": [ + 0.039304912090301514, + -0.44427117705345154, + 0.8103114366531372 + ], + "closest_active_finger_button": [ + 0.17880639433860768, + -0.45982840657234186, + 0.7758824229240417 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13950148224830616, + 0.015557229518890325, + 0.03442901372909546 + ], + "min_contact_pad_to_button": 0.020936255771664268, + "closest_contact_pad": [ + 0.1787456274032592, + -0.46079567471969785, + 0.7887263399307637 + ], + "closest_contact_pad_button": [ + 0.1787456274032592, + -0.4597529470920562, + 0.7678160667419434 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010427276276416264, + 0.020910273188820327 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "788581206aaf4178944a5d80a054d1fcd88edf0516913680f3224d4fa325b96c", + "visual_seed": 665129816848462923, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f2b41031db6837a828dc9ba6a6f7f252c2790639 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21631360212705075, + -0.13465606174027425, + 1.1644874841269348 + ], + "current_z": 1.1644874841269348, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30338097611216863, + "gripper_z": 1.1579352093370487, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21204003040395658, + -0.13915472011521607, + 1.1579352093370487 + ], + "object_minus_gripper": [ + 0.004273571723094172, + 0.004498658374941816, + 0.00655227478988607 + ], + "object_to_gripper_xy": 0.006204944999503559, + "object_to_gripper_z": 0.00655227478988607, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21631360212705075, + -0.15815129263971503, + 1.1644874841269348 + ], + "finger_b": [ + 0.20587459161139746, + -0.13465606174027425, + 1.1644874841269348 + ], + "finger_midpoint": [ + 0.2110940968692241, + -0.14640367718999464, + 1.1644874841269348 + ], + "object_minus_finger_midpoint": [ + 0.005219505257826662, + 0.011747615449720389, + 0.0 + ], + "finger_gap": 0.025709897229743196, + "fingertip_max_gap": 0.09247311393184132, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012854948614871603, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644874841269348, + "object_top_z": 1.2146249821647483, + "finger_top_clearance": 0.05013749803781353, + "fingertip_min_top_clearance": 0.015041249411344092, + "object_projection_between_fingers": 0.835138977589626, + "object_to_finger_line_xy": 0.009539787741478045, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873655696592066, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.904280143508604, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 331, + "max_stable_success_frames": 331, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.324751172481081, + -0.3988311092966407, + 0.8515395423218015 + ], + "target_position": [ + 0.3168069121970344, + -0.40077565948988014, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008178786396202545, + "xy_threshold": 0.08, + "gripper_dist": 0.18586518477930872, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395423218015, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524442462975245, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496543574072583, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15473620680162448, + "release_required_pad_clearance": 0.05248271787036292, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956461377123385, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008983850479125977, + "max_z_decrease": 0.008983850479125977, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503700680775808, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008983850479125977, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02090699491987713, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008983850479125977, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008984254903332826, + "max_button_displacement": 0.12, + "button_start": [ + 0.17250683903694156, + -0.4570371210575103, + 0.7768088579177856 + ], + "button_final": [ + 0.17250683903694156, + -0.4570371210575103, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1738889215756228, + -0.4572596203578744, + 0.8032438727980011 + ], + "closest_button": [ + 0.17247056961059576, + -0.45697340369224543, + 0.7682367563247681 + ], + "closest_ee_minus_button": [ + 0.0014183519650270426, + -0.00028621666562894665, + 0.03500711647323307 + ], + "button_min_z_position": [ + 0.1724575608968735, + -0.45696756243705744, + 0.7678250074386597 + ], + "min_active_finger_to_button": 0.14437560143025513, + "closest_active_finger": [ + 0.03297668695449829, + -0.4428894519805908, + 0.8106365203857422 + ], + "closest_active_finger_button": [ + 0.1725074499845505, + -0.45703831315040583, + 0.7763540148735046 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1395307630300522, + 0.014148861169815008, + 0.03428250551223755 + ], + "min_contact_pad_to_button": 0.02090699491987713, + "closest_contact_pad": [ + 0.1724575608968735, + -0.4582687130953424, + 0.7886914744022885 + ], + "closest_contact_pad_button": [ + 0.1724575608968735, + -0.45696756243705744, + 0.7678250074386597 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013011506582849552, + 0.020866466963628816 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "adff723f25d6f85563c7823e56ae1f7a5cc6f1c018a4007b4d47c1b1258699e9", + "visual_seed": 4409630182579309518, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8055decc457b6f778487042ed08e0a2a79aa2359 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.22059571666449376, + -0.1359382080170626, + 1.1633855415724839 + ], + "current_z": 1.1633855415724839, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30227915276700745, + "gripper_z": 1.1569252606321676, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21609971079732648, + -0.14031961652330938, + 1.1569252606321676 + ], + "object_minus_gripper": [ + 0.00449600586716728, + 0.00438140850624677, + 0.006460280940316254 + ], + "object_to_gripper_xy": 0.0062778029003955, + "object_to_gripper_z": 0.006460280940316254, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22059571666449376, + -0.15984279818674196, + 1.1633855415724839 + ], + "finger_b": [ + 0.21078388768039455, + -0.1359382080170626, + 1.1633855415724839 + ], + "finger_midpoint": [ + 0.21568980217244416, + -0.14789050310190227, + 1.1633855415724839 + ], + "object_minus_finger_midpoint": [ + 0.004905914492049607, + 0.011952295084839665, + 0.0 + ], + "finger_gap": 0.025839919101915555, + "fingertip_max_gap": 0.09291818496219256, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012919959550957765, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633855415724839, + "object_top_z": 1.2138276731650026, + "finger_top_clearance": 0.05044213159251876, + "fingertip_min_top_clearance": 0.015132639477755627, + "object_projection_between_fingers": 0.8558158104119531, + "object_to_finger_line_xy": 0.009076953753407299, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048959092481096284, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7913822614212418, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 324, + "max_stable_success_frames": 324, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3251139613073982, + -0.40122589240201406, + 0.8515395543518618 + ], + "target_position": [ + 0.31889407718862306, + -0.4024190183118315, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00633328571025098, + "xy_threshold": 0.08, + "gripper_dist": 0.18453644599021457, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395543518618, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553026725342939, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0881967683452559, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15254883476204623, + "release_required_pad_clearance": 0.05409838417262795, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.210212689247573, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008896291255950928, + "max_z_decrease": 0.008896291255950928, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506082844093525, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008896291255950928, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02110900200896032, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008896291255950928, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008896573082009158, + "max_button_displacement": 0.12, + "button_start": [ + 0.1745939999818802, + -0.4586804807186126, + 0.7768088579177856 + ], + "button_final": [ + 0.1745939999818802, + -0.4586804807186126, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1758532502363821, + -0.46043946560921106, + 0.8029029854227556 + ], + "closest_button": [ + 0.17459462583065033, + -0.45860967040061945, + 0.7679125666618347 + ], + "closest_ee_minus_button": [ + 0.0012586244057317675, + -0.0018297952085916114, + 0.034990418760920905 + ], + "button_min_z_position": [ + 0.17459462583065033, + -0.45860967040061945, + 0.7679125666618347 + ], + "min_active_finger_to_button": 0.14438048014154548, + "closest_active_finger": [ + 0.035105593502521515, + -0.44434046745300293, + 0.8104727268218994 + ], + "closest_active_finger_button": [ + 0.1745971292257309, + -0.4586823284626006, + 0.7760903835296631 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13949153572320938, + 0.014341861009597667, + 0.03438234329223633 + ], + "min_contact_pad_to_button": 0.02110900200896032, + "closest_contact_pad": [ + 0.17459462583065033, + -0.4616109667869934, + 0.7888071158509278 + ], + "closest_contact_pad_button": [ + 0.17459462583065033, + -0.45860967040061945, + 0.7679125666618347 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003001296386373975, + 0.02089454918909306 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6879582ed6f159e9a36f3ad30726349a82d73b903167497c8f092183ca5f7939", + "visual_seed": 7347940524461004507, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c794c2a705e2ed0085b41300c329595ceae964b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21595685642155343, + -0.1322728993968954, + 1.1635920456247413 + ], + "current_z": 1.1635920456247413, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.30248565681926465, + "gripper_z": 1.1571766700368296, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21148692515426257, + -0.13681193868621117, + 1.1571766700368296 + ], + "object_minus_gripper": [ + 0.004469931267290866, + 0.0045390392893157605, + 0.00641537558791172 + ], + "object_to_gripper_xy": 0.00637049159831929, + "object_to_gripper_z": 0.00641537558791172, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21595685642155343, + -0.15590913479803967, + 1.1635920456247413 + ], + "finger_b": [ + 0.20549009239972355, + -0.1322728993968954, + 1.1635920456247413 + ], + "finger_midpoint": [ + 0.2107234744106385, + -0.14409101709746752, + 1.1635920456247413 + ], + "object_minus_finger_midpoint": [ + 0.005233382010914944, + 0.011818117700572117, + 0.0 + ], + "finger_gap": 0.02585004396566818, + "fingertip_max_gap": 0.09239629890492598, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012925021982834076, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635920456247413, + "object_top_z": 1.213776417323973, + "finger_top_clearance": 0.05018437169923162, + "fingertip_min_top_clearance": 0.015055311509769452, + "object_projection_between_fingers": 0.8360534456206854, + "object_to_finger_line_xy": 0.009570385978328221, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048698149452462994, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.714266551937857, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 330, + "max_stable_success_frames": 330, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3304904658910628, + -0.40146791351557604, + 0.8515395135549028 + ], + "target_position": [ + 0.32384323874979504, + -0.4031077028194834, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0068464982019142894, + "xy_threshold": 0.08, + "gripper_dist": 0.18232225185319534, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395135549028, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582975593521084, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08787450144582835, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1497773188097274, + "release_required_pad_clearance": 0.05393725072291418, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.884772917605414, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008907437324523926, + "max_z_decrease": 0.008907437324523926, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03497534542308689, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008907437324523926, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021007115895684887, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008907437324523926, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00890766322982204, + "max_button_displacement": 0.12, + "button_start": [ + 0.17954316735267634, + -0.4593691527843475, + 0.7768088579177856 + ], + "button_final": [ + 0.17954316735267634, + -0.4593691527843475, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17767586531628118, + -0.4607605433934753, + 0.802795113807752 + ], + "closest_button": [ + 0.17957827448844904, + -0.4593163132667541, + 0.7679014205932617 + ], + "closest_ee_minus_button": [ + -0.001902409172167857, + -0.00144423012672118, + 0.03489369321449032 + ], + "button_min_z_position": [ + 0.17957827448844904, + -0.4593163132667541, + 0.7679014205932617 + ], + "min_active_finger_to_button": 0.1474498122102416, + "closest_active_finger": [ + 0.037167616188526154, + -0.4428950250148773, + 0.808057427406311 + ], + "closest_active_finger_button": [ + 0.17955192923545832, + -0.45937642455101, + 0.7734667062759399 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14238431304693216, + 0.0164813995361327, + 0.034590721130371094 + ], + "min_contact_pad_to_button": 0.021007115895684887, + "closest_contact_pad": [ + 0.17957827448844904, + -0.4620838000374633, + 0.7887254436250557 + ], + "closest_contact_pad_button": [ + 0.17957827448844904, + -0.4593163132667541, + 0.7679014205932617 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027674867707092043, + 0.02082402303179398 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "67ece2e07abd3600a5e3cdefaa70324ad64fc3c89976335a0c1ad0b1cc1d3d18", + "visual_seed": 434632167564161665, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..59ab84f3f2b191a92e32a4e68a9a20bf2db85570 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2180940380818835, + -0.1348139347349478, + 1.165418131666553 + ], + "current_z": 1.165418131666553, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30431168325643165, + "gripper_z": 1.158609545837354, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21392318534570737, + -0.13928339207691834, + 1.158609545837354 + ], + "object_minus_gripper": [ + 0.004170852736176123, + 0.004469457341970545, + 0.006808585829199076 + ], + "object_to_gripper_xy": 0.00611326929543941, + "object_to_gripper_z": 0.006808585829199076, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2180940380818835, + -0.15817991395631037, + 1.165418131666553 + ], + "finger_b": [ + 0.2076185653600749, + -0.1348139347349478, + 1.165418131666553 + ], + "finger_midpoint": [ + 0.2128563017209792, + -0.14649692434562908, + 1.165418131666553 + ], + "object_minus_finger_midpoint": [ + 0.005237736360904299, + 0.011682989610681288, + 0.0 + ], + "finger_gap": 0.02560672789948969, + "fingertip_max_gap": 0.0923878170848837, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012803363949744845, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165418131666553, + "object_top_z": 1.2155758941751311, + "finger_top_clearance": 0.05015776250857806, + "fingertip_min_top_clearance": 0.015047328752573384, + "object_projection_between_fingers": 0.8326448477179982, + "object_to_finger_line_xy": 0.00955880340949802, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869390854244185, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.783674652283606, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32785458551910396, + -0.3984467812576345, + 0.8515395798184638 + ], + "target_position": [ + 0.32100046462156356, + -0.4002420098562112, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007085324198598656, + "xy_threshold": 0.08, + "gripper_dist": 0.18283313115345864, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395798184638, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567984259729284, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08619297086039977, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1506812894994603, + "release_required_pad_clearance": 0.05309648543019989, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2207541395568524, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009039044380187988, + "max_z_decrease": 0.009039044380187988, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035042980581643436, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009039044380187988, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.020856109032503234, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009039044380187988, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00903934852463496, + "max_button_displacement": 0.12, + "button_start": [ + 0.17670038342475894, + -0.45650348067283625, + 0.7768088579177856 + ], + "button_final": [ + 0.17670038342475894, + -0.45650348067283625, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17791214780657322, + -0.45508800839174535, + 0.8027670627892599 + ], + "closest_button": [ + 0.17674161493778232, + -0.4564418494701385, + 0.7677698135375977 + ], + "closest_ee_minus_button": [ + 0.0011705328687909022, + 0.0013538410783931476, + 0.034997249251662255 + ], + "button_min_z_position": [ + 0.17674161493778232, + -0.4564418494701385, + 0.7677698135375977 + ], + "min_active_finger_to_button": 0.1441303261346528, + "closest_active_finger": [ + 0.05187634378671646, + -0.5199218392372131, + 0.8104264736175537 + ], + "closest_active_finger_button": [ + 0.17670102417469025, + -0.45650443434715265, + 0.7762126922607422 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12482468038797379, + -0.06341740489006048, + 0.03421378135681152 + ], + "min_contact_pad_to_button": 0.020856109032503234, + "closest_contact_pad": [ + 0.17674161493778232, + -0.4564418494701385, + 0.7886259225701009 + ], + "closest_contact_pad_button": [ + 0.17674161493778232, + -0.4564418494701385, + 0.7677698135375977 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020856109032503234 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f0ed3309718c434b1198bfaa30ab86a26f9d08594975c78835a5e0c6c114ecd5", + "visual_seed": 1411467314200384363, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f12eba01ffb96d4c2c2ad642a148a7036b3ade08 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21416678718586352, + -0.1360628290964194, + 1.1641060591785841 + ], + "current_z": 1.1641060591785841, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30299961076846305, + "gripper_z": 1.1575184907803624, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2097753782315425, + -0.14041115181343977, + 1.1575184907803624 + ], + "object_minus_gripper": [ + 0.004391408954321024, + 0.004348322717020375, + 0.0065875683982217215 + ], + "object_to_gripper_xy": 0.006179998629081266, + "object_to_gripper_z": 0.0065875683982217215, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21416678718586352, + -0.15991392297588594, + 1.1641060591785841 + ], + "finger_b": [ + 0.20437911095119507, + -0.1360628290964194, + 1.1641060591785841 + ], + "finger_midpoint": [ + 0.20927294906852928, + -0.14798837603615267, + 1.1641060591785841 + ], + "object_minus_finger_midpoint": [ + 0.004893838117334237, + 0.011925546939733273, + 0.0 + ], + "finger_gap": 0.02578125841230059, + "fingertip_max_gap": 0.09283802726709736, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0128906292061503, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641060591785841, + "object_top_z": 1.2144592167610528, + "finger_top_clearance": 0.05035315758246872, + "fingertip_min_top_clearance": 0.015105947274740582, + "object_projection_between_fingers": 0.8558711352024477, + "object_to_finger_line_xy": 0.009054902635145225, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04891901363354868, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.96600046364736, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3296865858830318, + -0.3963181395251568, + 0.851539599127905 + ], + "target_position": [ + 0.3230218121427894, + -0.39776020653253197, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006819000385861869, + "xy_threshold": 0.08, + "gripper_dist": 0.18464337061419, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539599127905, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534381441833105, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08737035209866682, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1531783867519522, + "release_required_pad_clearance": 0.053685176049333413, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.379850981869386, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009028911590576172, + "max_z_decrease": 0.009028911590576172, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003755198980684, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009028911590576172, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021044219814360478, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009028911590576172, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009029278183669717, + "max_button_displacement": 0.12, + "button_start": [ + 0.17872174084186546, + -0.45402166247367853, + 0.7768088579177856 + ], + "button_final": [ + 0.17872174084186546, + -0.45402166247367853, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17830658647075728, + -0.4550766886001949, + 0.8027626403252318 + ], + "closest_button": [ + 0.17873857915401448, + -0.453942060470581, + 0.7677799463272095 + ], + "closest_ee_minus_button": [ + -0.000431992683257193, + -0.0011346281296139016, + 0.03498269399802234 + ], + "button_min_z_position": [ + 0.17873857915401448, + -0.453942060470581, + 0.7677799463272095 + ], + "min_active_finger_to_button": 0.1460793400767098, + "closest_active_finger": [ + 0.03765580803155899, + -0.4382936954498291, + 0.8088260293006897 + ], + "closest_active_finger_button": [ + 0.17872826755046833, + -0.45402455329895014, + 0.7743256688117981 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14107245951890934, + 0.015730857849121038, + 0.0345003604888916 + ], + "min_contact_pad_to_button": 0.021044219814360478, + "closest_contact_pad": [ + 0.17873857915401448, + -0.4563085574941689, + 0.788690682312164 + ], + "closest_contact_pad_button": [ + 0.17873857915401448, + -0.453942060470581, + 0.7677799463272095 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002366497023587877, + 0.02091073598495452 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "86c29e0dd76b1145f5fb79ad0bfd66cf18d60d50ab5442eda790bcb2c3d03c7a", + "visual_seed": 1551628467722548924, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f6be543d018edf4464937276899f85490b243822 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21938396930338772, + -0.13117687411032364, + 1.165822748626073 + ], + "current_z": 1.165822748626073, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30471630021595186, + "gripper_z": 1.1592991242962074, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21496816879557284, + -0.1355343697774075, + 1.1592991242962074 + ], + "object_minus_gripper": [ + 0.004415800507814871, + 0.004357495667083849, + 0.0065236243298656404 + ], + "object_to_gripper_xy": 0.006203794211083456, + "object_to_gripper_z": 0.0065236243298656404, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21938396930338772, + -0.15499682058768807, + 1.165822748626073 + ], + "finger_b": [ + 0.20956405672038966, + -0.13117687411032364, + 1.165822748626073 + ], + "finger_midpoint": [ + 0.21447401301188868, + -0.14308684734900584, + 1.165822748626073 + ], + "object_minus_finger_midpoint": [ + 0.00490995629149904, + 0.011909973238682203, + 0.0 + ], + "finger_gap": 0.025764714889209037, + "fingertip_max_gap": 0.09285970588975709, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01288235744460451, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165822748626073, + "object_top_z": 1.2162642890968884, + "finger_top_clearance": 0.050441540470815394, + "fingertip_min_top_clearance": 0.015132462141244585, + "object_projection_between_fingers": 0.8547338048506637, + "object_to_finger_line_xy": 0.009078687388750372, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048929852944878546, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7391912577219057, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3224860712147898, + -0.3964302150635777, + 0.8515395612557616 + ], + "target_position": [ + 0.31648756104114467, + -0.39747259927928175, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00608840612611157, + "xy_threshold": 0.08, + "gripper_dist": 0.18404397774027142, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395612557616, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557315712122491, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08761760306340986, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15194843447881518, + "release_required_pad_clearance": 0.05380880153170493, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6268663670329504, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00874471664428711, + "max_z_decrease": 0.00874471664428711, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500667083571263, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00874471664428711, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020830064832008135, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00874471664428711, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00874504999262036, + "max_button_displacement": 0.12, + "button_start": [ + 0.17218749225139612, + -0.4537340700626373, + 0.7768088579177856 + ], + "button_final": [ + 0.17218749225139612, + -0.4537340700626373, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17092634966231204, + -0.4527016377049865, + 0.8030317050933156 + ], + "closest_button": [ + 0.172251284122467, + -0.45369210839271545, + 0.7680641412734985 + ], + "closest_ee_minus_button": [ + -0.0013249344601549695, + 0.0009904706877289504, + 0.03496756381981703 + ], + "button_min_z_position": [ + 0.172251284122467, + -0.45369210839271545, + 0.7680641412734985 + ], + "min_active_finger_to_button": 0.1464808415334142, + "closest_active_finger": [ + 0.04391124099493027, + -0.5156275033950806, + 0.8108141422271729 + ], + "closest_active_finger_button": [ + 0.17218871414661405, + -0.45373532176017756, + 0.776595950126648 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12827747315168378, + -0.06189218163490301, + 0.0342181921005249 + ], + "min_contact_pad_to_button": 0.020830064832008135, + "closest_contact_pad": [ + 0.172251284122467, + -0.45388051548360614, + 0.788893354020834 + ], + "closest_contact_pad_button": [ + 0.172251284122467, + -0.45369210839271545, + 0.7680641412734985 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00018840709089068541, + 0.020829212747335513 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3a0785e00615dd2e40ab9fc94164521eab669b5f0ee887ae8b2a19098dd3ece6", + "visual_seed": 4270218466738397484, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d747dab62297c9e433bbe3324fa34121bf507351 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21200477663351586, + -0.13238670983399745, + 1.165402021459113 + ], + "current_z": 1.165402021459113, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3042955730489917, + "gripper_z": 1.1588794945430119, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2076711961225347, + -0.13691621896255962, + 1.1588794945430119 + ], + "object_minus_gripper": [ + 0.00433358051098115, + 0.004529509128562176, + 0.006522526916101112 + ], + "object_to_gripper_xy": 0.00626868191814545, + "object_to_gripper_z": 0.006522526916101112, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21200477663351586, + -0.15591963136940143, + 1.165402021459113 + ], + "finger_b": [ + 0.20148271290589875, + -0.13238670983399745, + 1.165402021459113 + ], + "finger_midpoint": [ + 0.2067437447697073, + -0.14415317060169944, + 1.165402021459113 + ], + "object_minus_finger_midpoint": [ + 0.005261031863808552, + 0.011766460767701992, + 0.0 + ], + "finger_gap": 0.025778134553910533, + "fingertip_max_gap": 0.09223834113232374, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012889067276955267, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165402021459113, + "object_top_z": 1.2155119599745015, + "finger_top_clearance": 0.050109938515388475, + "fingertip_min_top_clearance": 0.015032981554616576, + "object_projection_between_fingers": 0.8333908368033047, + "object_to_finger_line_xy": 0.009605617488522674, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861917056616187, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7538659726565027, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3284691281328558, + -0.40231433107586945, + 0.8515395741095763 + ], + "target_position": [ + 0.32100940891241886, + -0.40429138717745017, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007717263872419654, + "xy_threshold": 0.08, + "gripper_dist": 0.1842415505310456, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395741095763, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554394743357967, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862203109392111, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15235790516229222, + "release_required_pad_clearance": 0.053110155469605555, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.247392172033945, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008911550045013428, + "max_z_decrease": 0.008911550045013428, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499760218458583, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008911550045013428, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02097200321982083, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008911550045013428, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008911866629253395, + "max_button_displacement": 0.12, + "button_start": [ + 0.17670933902263636, + -0.4605528414249419, + 0.7768088579177856 + ], + "button_final": [ + 0.17670933902263636, + -0.4605528414249419, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17660448595013184, + -0.46144023059989747, + 0.8028816563647547 + ], + "closest_button": [ + 0.17674678564071652, + -0.4604877233505248, + 0.7678973078727722 + ], + "closest_ee_minus_button": [ + -0.00014229969058468517, + -0.0009525072493726805, + 0.03498434849198251 + ], + "button_min_z_position": [ + 0.17674678564071652, + -0.4604877233505248, + 0.7678973078727722 + ], + "min_active_finger_to_button": 0.1457803532615647, + "closest_active_finger": [ + 0.035836875438690186, + -0.4455798864364624, + 0.8103653788566589 + ], + "closest_active_finger_button": [ + 0.17671179771423334, + -0.46055451035499567, + 0.7759861946105957 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14087492227554316, + 0.01497462391853327, + 0.03437918424606323 + ], + "min_contact_pad_to_button": 0.02097200321982083, + "closest_contact_pad": [ + 0.17674678564071652, + -0.4625879817943691, + 0.7887638800282853 + ], + "closest_contact_pad_button": [ + 0.17674678564071652, + -0.4604877233505248, + 0.7678973078727722 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002100258443844316, + 0.02086657215551313 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "54133e8aa700ca266ed586e98a4bffe646e8067b564e4cda97cd7b99a28e183b", + "visual_seed": 3385090668073994452, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a7f80f154bda6529d47c3b143b942a31491f294 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21327925081538412, + -0.13406642301756902, + 1.164900844025515 + ], + "current_z": 1.164900844025515, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.3037942168014597, + "gripper_z": 1.1581905497106642, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2091387232121167, + -0.1385417104272659, + 1.1581905497106642 + ], + "object_minus_gripper": [ + 0.004140527603267413, + 0.004475287409696882, + 0.006710294314850929 + ], + "object_to_gripper_xy": 0.006096898082862368, + "object_to_gripper_z": 0.006710294314850929, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21327925081538412, + -0.1573723634051827, + 1.164900844025515 + ], + "finger_b": [ + 0.20270080729656903, + -0.13406642301756902, + 1.164900844025515 + ], + "finger_midpoint": [ + 0.20799002905597658, + -0.14571939321137586, + 1.164900844025515 + ], + "object_minus_finger_midpoint": [ + 0.0052892217594075475, + 0.011652970193806844, + 0.0 + ], + "finger_gap": 0.02559434165263416, + "fingertip_max_gap": 0.09229675328912901, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01279717082631708, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164900844025515, + "object_top_z": 1.2149101796682775, + "finger_top_clearance": 0.05000933564276244, + "fingertip_min_top_clearance": 0.015002800692828732, + "object_projection_between_fingers": 0.8291733527332877, + "object_to_finger_line_xy": 0.009632620263856992, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048648376644564506, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9481963825242803, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3277067270028371, + -0.39707248839158726, + 0.851539567520936 + ], + "target_position": [ + 0.3197218596502514, + -0.3991603016035681, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008253306649247345, + "xy_threshold": 0.08, + "gripper_dist": 0.1858023776819053, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539567520936, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551350119836138, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566663354802577, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15402685637921962, + "release_required_pad_clearance": 0.05283331677401289, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.711065545993663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008902251720428467, + "max_z_decrease": 0.008902251720428467, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502807712331978, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008902251720428467, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020839376761996653, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008902251720428467, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008902536602977924, + "max_button_displacement": 0.12, + "button_start": [ + 0.17542178928852087, + -0.4554217457771301, + 0.7768088579177856 + ], + "button_final": [ + 0.17542178928852087, + -0.4554217457771301, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17576758446051055, + -0.4537840249988166, + 0.8029417552068082 + ], + "closest_button": [ + 0.17547364532947543, + -0.45537257194519043, + 0.7679509520530701 + ], + "closest_ee_minus_button": [ + 0.00029393913103512026, + 0.0015885469463738366, + 0.03499080315373815 + ], + "button_min_z_position": [ + 0.17547342181205755, + -0.45537269115448, + 0.7679066061973572 + ], + "min_active_finger_to_button": 0.14478788618461294, + "closest_active_finger": [ + 0.04987848550081253, + -0.5189386010169983, + 0.8106061220169067 + ], + "closest_active_finger_button": [ + 0.17542177438735967, + -0.4554222524166107, + 0.7764288187026978 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12554328888654714, + -0.06351634860038757, + 0.034177303314208984 + ], + "min_contact_pad_to_button": 0.020839376761996653, + "closest_contact_pad": [ + 0.17547342181205755, + -0.45537269115448, + 0.7887459829593538 + ], + "closest_contact_pad_button": [ + 0.17547342181205755, + -0.45537269115448, + 0.7679066061973572 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020839376761996653 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7805b71411d93311007671728c3946e76ca39d2e9ed113cdad7fedbe328283f9", + "visual_seed": 1819061064340973951, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1a54dfd77b5f71fdf38a59cbefcf2f147e8d63fd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2148630868663266, + -0.1403712814804788, + 1.164160546074474 + ], + "current_z": 1.164160546074474, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30305415726899765, + "gripper_z": 1.1577532059856643, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.210401277153046, + -0.14478259816266026, + 1.1577532059856643 + ], + "object_minus_gripper": [ + 0.004461809713280612, + 0.004411316682181449, + 0.00640734008880961 + ], + "object_to_gripper_xy": 0.006274349431456425, + "object_to_gripper_z": 0.00640734008880961, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2148630868663266, + -0.16421213910013804, + 1.164160546074474 + ], + "finger_b": [ + 0.2048903689330183, + -0.1403712814804788, + 1.164160546074474 + ], + "finger_midpoint": [ + 0.20987672789967243, + -0.1522917102903084, + 1.164160546074474 + ], + "object_minus_finger_midpoint": [ + 0.00498635896665417, + 0.011920428809829603, + 0.0 + ], + "finger_gap": 0.025842631348571937, + "fingertip_max_gap": 0.09261540705775934, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01292131567428596, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164160546074474, + "object_top_z": 1.2143477823698892, + "finger_top_clearance": 0.050187236295415216, + "fingertip_min_top_clearance": 0.015056170888624563, + "object_projection_between_fingers": 0.8510798013792178, + "object_to_finger_line_xy": 0.009200229849742607, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04880770352887967, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9120668848731968, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 326, + "max_stable_success_frames": 326, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3231345693388611, + -0.4023355261818987, + 0.8515395795591546 + ], + "target_position": [ + 0.316783287643502, + -0.4035347567857397, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006463507810391523, + "xy_threshold": 0.08, + "gripper_dist": 0.18373514447171058, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395795591546, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549979190734327, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08769844217132909, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15184803950629275, + "release_required_pad_clearance": 0.05384922108566455, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.707860117239204, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008970201015472412, + "max_z_decrease": 0.008970201015472412, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503931297435977, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008970201015472412, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02080293485410112, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008970201015472412, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008970397692962637, + "max_button_displacement": 0.12, + "button_start": [ + 0.17248322069644922, + -0.45979622006416315, + 0.7768088579177856 + ], + "button_final": [ + 0.17248322069644922, + -0.45979622006416315, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17210100933911265, + -0.4577181395116793, + 0.8028177414892625 + ], + "closest_button": [ + 0.17247399687767023, + -0.4597375392913818, + 0.7678386569023132 + ], + "closest_ee_minus_button": [ + -0.0003729875385575787, + 0.002019399779702502, + 0.034979084586949316 + ], + "button_min_z_position": [ + 0.17247399687767023, + -0.4597375392913818, + 0.7678386569023132 + ], + "min_active_finger_to_button": 0.14526185670022376, + "closest_active_finger": [ + 0.04629884660243988, + -0.5231414437294006, + 0.8104999661445618 + ], + "closest_active_finger_button": [ + 0.17248296737670893, + -0.459796130657196, + 0.7763540148735046 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12618412077426905, + -0.06334531307220465, + 0.03414595127105713 + ], + "min_contact_pad_to_button": 0.02080293485410112, + "closest_contact_pad": [ + 0.17247399687767023, + -0.4597375392913818, + 0.7886415917564144 + ], + "closest_contact_pad_button": [ + 0.17247399687767023, + -0.4597375392913818, + 0.7678386569023132 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02080293485410112 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a19d3fa053a8a4ee73b17578d8a42a41e86841cbeb2fcdc254811b210acb1c34", + "visual_seed": 1032558614814252791, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..542cefce1b57dbe0c71465f98678f94a80e936d2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2195360100962029, + -0.13889216567002968, + 1.1651497007644411 + ], + "current_z": 1.1651497007644411, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.30404331195896495, + "gripper_z": 1.1584886491367397, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2151271725983154, + -0.1432940437117072, + 1.1584886491367397 + ], + "object_minus_gripper": [ + 0.004408837497887508, + 0.0044018780416775205, + 0.006661051627701475 + ], + "object_to_gripper_xy": 0.0062301186486761, + "object_to_gripper_z": 0.006661051627701475, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2195360100962029, + -0.16265102242400226, + 1.1651497007644411 + ], + "finger_b": [ + 0.20954061091995158, + -0.13889216567002968, + 1.1651497007644411 + ], + "finger_midpoint": [ + 0.21453831050807726, + -0.15077159404701596, + 1.1651497007644411 + ], + "object_minus_finger_midpoint": [ + 0.004997699588125654, + 0.011879428376986273, + 0.0 + ], + "finger_gap": 0.025775788619330234, + "fingertip_max_gap": 0.09270150169102609, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0128878943096651, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651497007644411, + "object_top_z": 1.2155266980162518, + "finger_top_clearance": 0.05037699725181066, + "fingertip_min_top_clearance": 0.015113099175543198, + "object_projection_between_fingers": 0.8496247499655002, + "object_to_finger_line_xy": 0.009213268340090137, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885075084551305, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7212746110481287, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.323855754493685, + -0.39720558142415063, + 0.8515395601997152 + ], + "target_position": [ + 0.31723456423226126, + -0.3986223995751673, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006771080722530384, + "xy_threshold": 0.08, + "gripper_dist": 0.18496612398919612, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395601997152, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565564722656534, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08742217134270878, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15279663641695104, + "release_required_pad_clearance": 0.053711085671354394, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.431584230895784, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008896887302398682, + "max_z_decrease": 0.008896887302398682, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502878101620439, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008896887302398682, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020886333733965933, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008896887302398682, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008897122320650524, + "max_button_displacement": 0.12, + "button_start": [ + 0.17293448746204376, + -0.45488384366035456, + 0.7768088579177856 + ], + "button_final": [ + 0.17293448746204376, + -0.45488384366035456, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17433418871939954, + -0.4549904536164429, + 0.8029135405767158 + ], + "closest_button": [ + 0.17296357452869415, + -0.4548260867595672, + 0.767911970615387 + ], + "closest_ee_minus_button": [ + 0.0013706141907053881, + -0.0001643668568757084, + 0.03500156996132886 + ], + "button_min_z_position": [ + 0.17296357452869415, + -0.4548260867595672, + 0.767911970615387 + ], + "min_active_finger_to_button": 0.14437371927989112, + "closest_active_finger": [ + 0.03335416316986084, + -0.441192090511322, + 0.8107083439826965 + ], + "closest_active_finger_button": [ + 0.1729346662759781, + -0.454884260892868, + 0.7764508128166199 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13958050310611725, + 0.013692170381545965, + 0.03425753116607666 + ], + "min_contact_pad_to_button": 0.020886333733965933, + "closest_contact_pad": [ + 0.17296357452869415, + -0.4559596104312858, + 0.7887675228960689 + ], + "closest_contact_pad_button": [ + 0.17296357452869415, + -0.4548260867595672, + 0.767911970615387 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011335236717185948, + 0.02085555228068192 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01a44b2079bbb2749bc67535a8fea5c87f71f72f438eb2b47916acd3054a109f", + "visual_seed": 3126725892530198662, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..892906736a1c3164e09a4db22feafbcfa2287772 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21313857058998212, + -0.13163504728654854, + 1.1628786040346806 + ], + "current_z": 1.1628786040346806, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3017721556245595, + "gripper_z": 1.1564806109601093, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20874266210863343, + -0.136156828795861, + 1.1564806109601093 + ], + "object_minus_gripper": [ + 0.004395908481348687, + 0.004521781509312456, + 0.006397993074571229 + ], + "object_to_gripper_xy": 0.006306387190329607, + "object_to_gripper_z": 0.006397993074571229, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21313857058998212, + -0.15522740706452567, + 1.1628786040346806 + ], + "finger_b": [ + 0.20268279036601605, + -0.13163504728654854, + 1.1628786040346806 + ], + "finger_midpoint": [ + 0.2079106804779991, + -0.1434312271755371, + 1.1628786040346806 + ], + "object_minus_finger_midpoint": [ + 0.005227890111983019, + 0.011796179888988567, + 0.0 + ], + "finger_gap": 0.025805479650364824, + "fingertip_max_gap": 0.09259751881428277, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012902739825182407, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1628786040346806, + "object_top_z": 1.2130002118491077, + "finger_top_clearance": 0.050121607814427094, + "fingertip_min_top_clearance": 0.015036482344328094, + "object_projection_between_fingers": 0.8358318060627423, + "object_to_finger_line_xy": 0.009559075519829699, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879875940714139, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9109986880317056, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 327, + "max_stable_success_frames": 327, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3282014241354818, + -0.3957712437398543, + 0.8515395736913635 + ], + "target_position": [ + 0.32011267148587924, + -0.3978175417712936, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008343575675927256, + "xy_threshold": 0.08, + "gripper_dist": 0.18575604113611155, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395736913635, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756158072039403, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08617569414013519, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1537748659762016, + "release_required_pad_clearance": 0.0530878470700676, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2039686230670121, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008857786655426025, + "max_z_decrease": 0.008857786655426025, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499885224206803, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008857786655426025, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020816899631884586, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008857786655426025, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008857979205035381, + "max_button_displacement": 0.12, + "button_start": [ + 0.1758126020431518, + -0.45407900214195246, + 0.7768088579177856 + ], + "button_final": [ + 0.1758126020431518, + -0.45407900214195246, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17421518451104281, + -0.4542270159757243, + 0.8029136721545892 + ], + "closest_button": [ + 0.1757946610450744, + -0.4540234208106994, + 0.7679510712623596 + ], + "closest_ee_minus_button": [ + -0.001579476534031593, + -0.0002035951650248835, + 0.03496260089222958 + ], + "button_min_z_position": [ + 0.1757946610450744, + -0.4540234208106994, + 0.7679510712623596 + ], + "min_active_finger_to_button": 0.14724076921169985, + "closest_active_finger": [ + 0.03321271389722824, + -0.44091013073921204, + 0.8107258677482605 + ], + "closest_active_finger_button": [ + 0.17581178247928614, + -0.45408076047897333, + 0.7764930725097656 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1425990685820579, + 0.013170629739761297, + 0.03423279523849487 + ], + "min_contact_pad_to_button": 0.020816899631884586, + "closest_contact_pad": [ + 0.1757946610450744, + -0.45514674211649875, + 0.7887376404724985 + ], + "closest_contact_pad_button": [ + 0.1757946610450744, + -0.4540234208106994, + 0.7679510712623596 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011233213057993408, + 0.020786569210138883 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3f1ae1a8d570ac7719ca96b88c5636a822b14daca3641e0844103f5a381d3b26", + "visual_seed": 1865557599631445, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b341646d82e40d8b31515e25b6f8936a9ff167f1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.20891500287925557, + -0.13788139542853317, + 1.1637712305748535 + ], + "current_z": 1.1637712305748535, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3026647225600876, + "gripper_z": 1.1571048371951491, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.204836971058518, + -0.14231485369852187, + 1.1571048371951491 + ], + "object_minus_gripper": [ + 0.004078031820737571, + 0.004433458269988699, + 0.006666393379704427 + ], + "object_to_gripper_xy": 0.006023777532635098, + "object_to_gripper_z": 0.006666393379704427, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20891500287925557, + -0.16118565051484693, + 1.1637712305748535 + ], + "finger_b": [ + 0.19841081839084077, + -0.13788139542853317, + 1.1637712305748535 + ], + "finger_midpoint": [ + 0.20366291063504816, + -0.14953352297169004, + 1.1637712305748535 + ], + "object_minus_finger_midpoint": [ + 0.005252092244207418, + 0.011652127543156865, + 0.0 + ], + "finger_gap": 0.02556220250476541, + "fingertip_max_gap": 0.09228252736007958, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012781101252382698, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637712305748535, + "object_top_z": 1.2137274212578233, + "finger_top_clearance": 0.04995619068296975, + "fingertip_min_top_clearance": 0.014986857204890958, + "object_projection_between_fingers": 0.8311394733008443, + "object_to_finger_line_xy": 0.009576334228088674, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864126368003979, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0326260216754517, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3308961116653893, + -0.39695178585646784, + 0.8515396056789402 + ], + "target_position": [ + 0.3231208048432022, + -0.39896879321640083, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008032665489684777, + "xy_threshold": 0.08, + "gripper_dist": 0.18655716503929382, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396056789402, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537127838331517, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08556213882228579, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15511742448555263, + "release_required_pad_clearance": 0.0527810694111429, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6103749019255319, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009019672870635986, + "max_z_decrease": 0.009019672870635986, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506329953272349, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009019672870635986, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02095422973546235, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009019672870635986, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009019991701107203, + "max_button_displacement": 0.12, + "button_start": [ + 0.17882072925567621, + -0.4552302658557891, + 0.7768088579177856 + ], + "button_final": [ + 0.17882072925567621, + -0.4552302658557891, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17977701665687015, + -0.45299368101395443, + 0.8027731942348203 + ], + "closest_button": [ + 0.17885404825210566, + -0.4551621377468108, + 0.7677891850471497 + ], + "closest_ee_minus_button": [ + 0.0009229684047644959, + 0.002168456732856372, + 0.03498400918767064 + ], + "button_min_z_position": [ + 0.17885404825210566, + -0.4551621377468108, + 0.7677891850471497 + ], + "min_active_finger_to_button": 0.1441646473159496, + "closest_active_finger": [ + 0.05220343917608261, + -0.5148828029632568, + 0.8094629645347595 + ], + "closest_active_finger_button": [ + 0.1788285225629806, + -0.4552328288555144, + 0.7749460935592651 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12662508338689799, + -0.05964997410774242, + 0.034516870975494385 + ], + "min_contact_pad_to_button": 0.02095422973546235, + "closest_contact_pad": [ + 0.17885404825210566, + -0.4551621377468108, + 0.788743414782612 + ], + "closest_contact_pad_button": [ + 0.17885404825210566, + -0.4551621377468108, + 0.7677891850471497 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02095422973546235 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e3d98529963fc0ffa9f6e1888681c13ce3f35c1333140523b5a519f88683aa5c", + "visual_seed": 5800919307735297476, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c53c526299b70adc5af80b85e5aade19e56920e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.22094851146549654, + -0.1268235463415076, + 1.165415229400788 + ], + "current_z": 1.165415229400788, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.30430878099066705, + "gripper_z": 1.159089877748556, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21629114918315537, + -0.13126443377826102, + 1.159089877748556 + ], + "object_minus_gripper": [ + 0.0046573622823411764, + 0.004440887436753416, + 0.006325351652231914 + ], + "object_to_gripper_xy": 0.0064352548243941776, + "object_to_gripper_z": 0.006325351652231914, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22094851146549654, + -0.15086107983425834, + 1.165415229400788 + ], + "finger_b": [ + 0.2110839208823337, + -0.1268235463415076, + 1.165415229400788 + ], + "finger_midpoint": [ + 0.21601621617391512, + -0.13884231308788297, + 1.165415229400788 + ], + "object_minus_finger_midpoint": [ + 0.004932295291581429, + 0.012018766746375364, + 0.0 + ], + "finger_gap": 0.025982939860387976, + "fingertip_max_gap": 0.09252979294654984, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012991469930193988, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165415229400788, + "object_top_z": 1.215740984873313, + "finger_top_clearance": 0.050325755472524936, + "fingertip_min_top_clearance": 0.01509772664175748, + "object_projection_between_fingers": 0.8558609836203621, + "object_to_finger_line_xy": 0.009126004517162053, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876489647327492, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5379228330610502, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 324, + "max_stable_success_frames": 324, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3249772895595914, + -0.40110526837912075, + 0.8515395605524255 + ], + "target_position": [ + 0.3192602092040372, + -0.4020126476594033, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00578863930040123, + "xy_threshold": 0.08, + "gripper_dist": 0.1833222847499863, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395605524255, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555370032341018, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08820611672396288, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15118676118277097, + "release_required_pad_clearance": 0.05410305836198144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.219708483509615, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009027421474456787, + "max_z_decrease": 0.009027421474456787, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034984025967730495, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009027421474456787, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020940767008582356, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009027421474456787, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00902779675770888, + "max_button_displacement": 0.12, + "button_start": [ + 0.17496013641357422, + -0.45827409625053406, + 0.7768088579177856 + ], + "button_final": [ + 0.17496013641357422, + -0.45827409625053406, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17463199303838498, + -0.4585507003364652, + 0.8027618362510849 + ], + "closest_button": [ + 0.17499162256717682, + -0.4581980407238006, + 0.7677814364433289 + ], + "closest_ee_minus_button": [ + -0.00035962952879184384, + -0.00035265961266461865, + 0.034980399807756024 + ], + "button_min_z_position": [ + 0.17499162256717682, + -0.4581980407238006, + 0.7677814364433289 + ], + "min_active_finger_to_button": 0.14605012696639147, + "closest_active_finger": [ + 0.03404606878757477, + -0.44135722517967224, + 0.8099879622459412 + ], + "closest_active_finger_button": [ + 0.17496472597122192, + -0.45827639102935785, + 0.775545060634613 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14091865718364716, + 0.016919165849685613, + 0.034442901611328125 + ], + "min_contact_pad_to_button": 0.020940767008582356, + "closest_contact_pad": [ + 0.17499162256717682, + -0.4598181243128896, + 0.788659440468429 + ], + "closest_contact_pad_button": [ + 0.17499162256717682, + -0.4581980407238006, + 0.7677814364433289 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016200835890889942, + 0.020878004025100094 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cd438c1c9669a6b5d12e034b39e3106eeb6ba56078d6bedaa61e1933f5ac834d", + "visual_seed": 3397768921942648669, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c9c43c49a8abc50f42655c6fdfbfda3199cd19d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21960927860078655, + -0.1305413898625883, + 1.164211581844254 + ], + "current_z": 1.164211581844254, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3031051334341326, + "gripper_z": 1.1578102927004856, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2150942659867033, + -0.13505254941573447, + 1.1578102927004856 + ], + "object_minus_gripper": [ + 0.004515012614083241, + 0.004511159553146182, + 0.006401289143768363 + ], + "object_to_gripper_xy": 0.006382468129123156, + "object_to_gripper_z": 0.006401289143768363, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21960927860078655, + -0.1542699192231834, + 1.164211581844254 + ], + "finger_b": [ + 0.20932385951306823, + -0.1305413898625883, + 1.164211581844254 + ], + "finger_midpoint": [ + 0.2144665690569274, + -0.14240565454288584, + 1.164211581844254 + ], + "object_minus_finger_midpoint": [ + 0.0051427095438591475, + 0.011864264680297554, + 0.0 + ], + "finger_gap": 0.025861804875658322, + "fingertip_max_gap": 0.09262683526563595, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012930902437829154, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164211581844254, + "object_top_z": 1.2145517383656563, + "finger_top_clearance": 0.050340156521402335, + "fingertip_min_top_clearance": 0.015102046956420666, + "object_projection_between_fingers": 0.8418291957889484, + "object_to_finger_line_xy": 0.00943700062630438, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048813417632817976, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6959854340047322, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33254168712485077, + -0.39954278693309, + 0.8515395597409893 + ], + "target_position": [ + 0.3255601627579131, + -0.4012989019314123, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007199001484475263, + "xy_threshold": 0.08, + "gripper_dist": 0.18310371760821256, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395597409893, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552435153340961, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08696185329891974, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15128048823376194, + "release_required_pad_clearance": 0.05348092664945987, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.97469449432613, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008926033973693848, + "max_z_decrease": 0.008926033973693848, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503964277139458, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008926033973693848, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02102519771678457, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008926033973693848, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008926565102000933, + "max_button_displacement": 0.12, + "button_start": [ + 0.18126009404659266, + -0.45756036043167103, + 0.7768088579177856 + ], + "button_final": [ + 0.18126009404659266, + -0.45756036043167103, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18213383695428154, + -0.4558024388238113, + 0.8028697875083426 + ], + "closest_button": [ + 0.18120223283767695, + -0.45748203992843617, + 0.7678828239440918 + ], + "closest_ee_minus_button": [ + 0.0009316041166045896, + 0.0016796011046248949, + 0.034986963564250795 + ], + "button_min_z_position": [ + 0.18120223283767695, + -0.45748203992843617, + 0.7678828239440918 + ], + "min_active_finger_to_button": 0.1445257171209467, + "closest_active_finger": [ + 0.05426841229200363, + -0.5172060132026672, + 0.8093867897987366 + ], + "closest_active_finger_button": [ + 0.18126767873764033, + -0.45756167173385615, + 0.7747252583503723 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1269992664456367, + -0.05964434146881109, + 0.03466153144836426 + ], + "min_contact_pad_to_button": 0.02102519771678457, + "closest_contact_pad": [ + 0.18120223283767695, + -0.45748203992843617, + 0.7889080216608764 + ], + "closest_contact_pad_button": [ + 0.18120223283767695, + -0.45748203992843617, + 0.7678828239440918 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02102519771678457 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e9017a192497b82156179099440ab04c56b1fe9ffab944eab018604ace774895", + "visual_seed": 4599797839959996483, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..074cf143efcdbd83ff3c8d72cfdea7774793caa2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2161454430803415, + -0.13650414023099883, + 1.163542259295641 + ], + "current_z": 1.163542259295641, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30243581088551996, + "gripper_z": 1.156967082827928, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21178580188197382, + -0.14095069933834803, + 1.156967082827928 + ], + "object_minus_gripper": [ + 0.004359641198367681, + 0.004446559107349202, + 0.006575176467713106 + ], + "object_to_gripper_xy": 0.006227227254055766, + "object_to_gripper_z": 0.006575176467713106, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2161454430803415, + -0.16010179707273153, + 1.163542259295641 + ], + "finger_b": [ + 0.20587603223374945, + -0.13650414023099883, + 1.163542259295641 + ], + "finger_midpoint": [ + 0.21101073765704548, + -0.14830296865186518, + 1.163542259295641 + ], + "object_minus_finger_midpoint": [ + 0.0051347054232960265, + 0.011798828420866353, + 0.0 + ], + "finger_gap": 0.025735388234030526, + "fingertip_max_gap": 0.0927841265847189, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012867694117015263, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163542259295641, + "object_top_z": 1.213733749814109, + "finger_top_clearance": 0.05019149051846794, + "fingertip_min_top_clearance": 0.015057447155540415, + "object_projection_between_fingers": 0.8407682715245764, + "object_to_finger_line_xy": 0.009416373707710481, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048892063292359456, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0165898845106796, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 326, + "max_stable_success_frames": 326, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3324525616292755, + -0.4024975109919, + 0.8515395638461283 + ], + "target_position": [ + 0.32534609131993175, + -0.4042878490392541, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007328521718695238, + "xy_threshold": 0.08, + "gripper_dist": 0.18670028959550525, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395638461283, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753189865516733, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580532201101303, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15533381588250525, + "release_required_pad_clearance": 0.052902661005506516, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8448723220168933, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008919835090637207, + "max_z_decrease": 0.008919835090637207, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504275661119364, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008919835090637207, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020820577803428053, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008919835090637207, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00892003347132913, + "max_button_displacement": 0.12, + "button_start": [ + 0.18104602396488184, + -0.4605492949485779, + 0.7768088579177856 + ], + "button_final": [ + 0.18104602396488184, + -0.4605492949485779, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18004795391436137, + -0.45848570590101073, + 0.8028603514686183 + ], + "closest_button": [ + 0.18103946745395658, + -0.4604901671409607, + 0.7678890228271484 + ], + "closest_ee_minus_button": [ + -0.0009915135395952013, + 0.0020044612399499617, + 0.0349713286414699 + ], + "button_min_z_position": [ + 0.18103946745395658, + -0.4604901671409607, + 0.7678890228271484 + ], + "min_active_finger_to_button": 0.145839036138929, + "closest_active_finger": [ + 0.054248712956905365, + -0.5239567756652832, + 0.810822069644928 + ], + "closest_active_finger_button": [ + 0.1810473054647445, + -0.4605498015880584, + 0.7766066193580627 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12679859250783915, + -0.06340697407722479, + 0.034215450286865234 + ], + "min_contact_pad_to_button": 0.020820577803428053, + "closest_contact_pad": [ + 0.18103946745395658, + -0.4604901671409607, + 0.7887096006305765 + ], + "closest_contact_pad_button": [ + 0.18103946745395658, + -0.4604901671409607, + 0.7678890228271484 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020820577803428053 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "180250092b898633368b3ed2440f630a422ad10f93cb92ba941e86667a1aa83d", + "visual_seed": 1609746675696760985, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..97235c7bd474b43d3915e6daa9cd825ea4c6777e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21549617749686759, + -0.13821514903397145, + 1.1646539216170169 + ], + "current_z": 1.1646539216170169, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30354747320689557, + "gripper_z": 1.1579571634327621, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21124094796960266, + -0.14273223695303788, + 1.1579571634327621 + ], + "object_minus_gripper": [ + 0.004255229527264925, + 0.004517087919066437, + 0.0066967581842547474 + ], + "object_to_gripper_xy": 0.006205728127970419, + "object_to_gripper_z": 0.0066967581842547474, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21549617749686759, + -0.16163133428777873, + 1.1646539216170169 + ], + "finger_b": [ + 0.2049062313880729, + -0.13821514903397145, + 1.1646539216170169 + ], + "finger_midpoint": [ + 0.21020120444247026, + -0.1499232416608751, + 1.1646539216170169 + ], + "object_minus_finger_midpoint": [ + 0.005294973054397328, + 0.011708092626903643, + 0.0 + ], + "finger_gap": 0.025699507591154302, + "fingertip_max_gap": 0.09242426065310655, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012849753795577144, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646539216170169, + "object_top_z": 1.2146998299042364, + "finger_top_clearance": 0.050045908287219554, + "fingertip_min_top_clearance": 0.015013772486165866, + "object_projection_between_fingers": 0.8301999180084318, + "object_to_finger_line_xy": 0.009649061914194975, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871213032655328, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0402644733777677, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 333, + "max_stable_success_frames": 333, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3314662699205013, + -0.3978670452884394, + 0.8515395596970912 + ], + "target_position": [ + 0.32354398267284057, + -0.39987799992333356, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008173528844877863, + "xy_threshold": 0.08, + "gripper_dist": 0.18305448109230504, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395596970912, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547918934224629, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08605549523407972, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15138414198741762, + "release_required_pad_clearance": 0.053027747617039864, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0871332586227362, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00904083251953125, + "max_z_decrease": 0.00904083251953125, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035000875542040844, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00904083251953125, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.0209296198223163, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00904083251953125, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009041141185275877, + "max_button_displacement": 0.12, + "button_start": [ + 0.17924390733242024, + -0.45613944530487055, + 0.7768088579177856 + ], + "button_final": [ + 0.17924390733242024, + -0.45613944530487055, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17783849706314647, + -0.4561403428665473, + 0.8027395564546306 + ], + "closest_button": [ + 0.1792696714401244, + -0.45606932044029225, + 0.7677680253982544 + ], + "closest_ee_minus_button": [ + -0.0014311743769779284, + -7.102242625506294e-05, + 0.03497153105637618 + ], + "button_min_z_position": [ + 0.1792696714401244, + -0.45606932044029225, + 0.7677680253982544 + ], + "min_active_finger_to_button": 0.14709595155051472, + "closest_active_finger": [ + 0.05059797316789627, + -0.5186319351196289, + 0.8105474710464478 + ], + "closest_active_finger_button": [ + 0.17924542725086204, + -0.4561417698860168, + 0.7761667966842651 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12864745408296577, + -0.062490165233612116, + 0.03438067436218262 + ], + "min_contact_pad_to_button": 0.0209296198223163, + "closest_contact_pad": [ + 0.1792696714401244, + -0.4573651493792385, + 0.7886574919607994 + ], + "closest_contact_pad_button": [ + 0.1792696714401244, + -0.45606932044029225, + 0.7677680253982544 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001295828938946253, + 0.020889466562544978 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cce9469d22cf224a16f05817602ad1525096fef1a28a4c80b3c7d4e1a61b45e7", + "visual_seed": 8443601007856037668, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ef3083444d00cf4872b77044f11e0f8ba5f9cf58 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2103987496692924, + -0.13848416633795368, + 1.1647757756523172 + ], + "current_z": 1.1647757756523172, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3036693272421961, + "gripper_z": 1.1582611220148118, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20619553237010727, + -0.14281974944297954, + 1.1582611220148118 + ], + "object_minus_gripper": [ + 0.00420321729918513, + 0.004335583105025853, + 0.006514653637505363 + ], + "object_to_gripper_xy": 0.006038569079240111, + "object_to_gripper_z": 0.006514653637505363, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2103987496692924, + -0.16205529392705947, + 1.1647757756523172 + ], + "finger_b": [ + 0.20035264542244985, + -0.13848416633795368, + 1.1647757756523172 + ], + "finger_midpoint": [ + 0.20537569754587112, + -0.15026973013250658, + 1.1647757756523172 + ], + "object_minus_finger_midpoint": [ + 0.005023052123421273, + 0.011785563794552895, + 0.0 + ], + "finger_gap": 0.02562269045905078, + "fingertip_max_gap": 0.09262078791730163, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01281134522952539, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647757756523172, + "object_top_z": 1.2148072246936628, + "finger_top_clearance": 0.0500314490413456, + "fingertip_min_top_clearance": 0.015009434712403713, + "object_projection_between_fingers": 0.8462745047507108, + "object_to_finger_line_xy": 0.009241730697805718, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881039395865082, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.181900749482517, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3310307678192468, + -0.39947092529112926, + 0.8515396110382704 + ], + "target_position": [ + 0.3248209008646211, + -0.4007485616986676, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006339937096219438, + "xy_threshold": 0.08, + "gripper_dist": 0.18519000130993746, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396110382704, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539090834753265, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08629725165500178, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535290455103148, + "release_required_pad_clearance": 0.05314862582750089, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3223203261606562, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008885979652404785, + "max_z_decrease": 0.008885979652404785, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504118291616969, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008885979652404785, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021090250412092205, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008885979652404785, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008886228116063604, + "max_button_displacement": 0.12, + "button_start": [ + 0.18052083253860474, + -0.45701003074645996, + 0.7768088579177856 + ], + "button_final": [ + 0.18052083253860474, + -0.45701003074645996, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17853506100239308, + -0.4579142941580722, + 0.8032691284756068 + ], + "closest_button": [ + 0.18051227927207947, + -0.4569582641124725, + 0.7682968378067017 + ], + "closest_ee_minus_button": [ + -0.001977218269686387, + -0.0009560300455997428, + 0.03497229066890517 + ], + "button_min_z_position": [ + 0.18054291605949405, + -0.45694735646247864, + 0.7679228782653809 + ], + "min_active_finger_to_button": 0.14764861120494863, + "closest_active_finger": [ + 0.03803187608718872, + -0.439778208732605, + 0.80830979347229 + ], + "closest_active_finger_button": [ + 0.18052799999713898, + -0.45701301097869873, + 0.7736986875534058 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14249612390995026, + 0.01723480224609375, + 0.03461110591888428 + ], + "min_contact_pad_to_button": 0.021090250412092205, + "closest_contact_pad": [ + 0.18054291605949405, + -0.45926013637783514, + 0.7888859341377454 + ], + "closest_contact_pad_button": [ + 0.18054291605949405, + -0.45694735646247864, + 0.7679228782653809 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023127799153565, + 0.020963055872364578 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "94d1fef5dd09f6b2dd252451cc0d35f793e83883d39def3a4cd463ba8ffee497", + "visual_seed": 6210098579107423971, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4001112b0382e7ee135496d03b67476a0989c4f3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21357776966444647, + -0.13109552608838393, + 1.1630673279464592 + ], + "current_z": 1.1630673279464592, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3019608199316931, + "gripper_z": 1.1566760582694888, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20908918130663354, + -0.13548235623313726, + 1.1566760582694888 + ], + "object_minus_gripper": [ + 0.004488588357812934, + 0.004386830144753329, + 0.006391269676970346 + ], + "object_to_gripper_xy": 0.006276281077581717, + "object_to_gripper_z": 0.006391269676970346, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21357776966444647, + -0.15502812257576867, + 1.1630673279464592 + ], + "finger_b": [ + 0.20378064720193068, + -0.13109552608838393, + 1.1630673279464592 + ], + "finger_midpoint": [ + 0.20867920843318857, + -0.14306182433207631, + 1.1630673279464592 + ], + "object_minus_finger_midpoint": [ + 0.0048985612312578974, + 0.011966298243692386, + 0.0 + ], + "finger_gap": 0.025860254893823303, + "fingertip_max_gap": 0.09264455429834484, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012930127446911665, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1630673279464592, + "object_top_z": 1.2133808390149923, + "finger_top_clearance": 0.0503135110685331, + "fingertip_min_top_clearance": 0.015094053320559929, + "object_projection_between_fingers": 0.8564737060382027, + "object_to_finger_line_xy": 0.009066831691936894, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04882227714917242, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7142917550294168, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 324, + "max_stable_success_frames": 324, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3250807546992396, + -0.4033695903449327, + 0.8515395743980749 + ], + "target_position": [ + 0.31918351102641346, + -0.40442566095017246, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005991057340732039, + "xy_threshold": 0.08, + "gripper_dist": 0.18244124495961886, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395743980749, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553483315773064, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08779127830159365, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15061435601864545, + "release_required_pad_clearance": 0.05389563915079683, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.801070381923268, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009016931056976318, + "max_z_decrease": 0.009016931056976318, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504600392541633, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009016931056976318, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.020827169455766015, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009016931056976318, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009017255683529055, + "max_button_displacement": 0.12, + "button_start": [ + 0.17488344013690948, + -0.4606871306896209, + 0.7768088579177856 + ], + "button_final": [ + 0.17488344013690948, + -0.4606871306896209, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17361371645067936, + -0.4586136073741465, + 0.8027545780215646 + ], + "closest_button": [ + 0.17493826150894168, + -0.46063375473022455, + 0.7677919268608093 + ], + "closest_ee_minus_button": [ + -0.001324545058262322, + 0.002020147356078028, + 0.034962651160755254 + ], + "button_min_z_position": [ + 0.17493826150894168, + -0.46063375473022455, + 0.7677919268608093 + ], + "min_active_finger_to_button": 0.14608580602075946, + "closest_active_finger": [ + 0.04637301713228226, + -0.5211086869239807, + 0.8104982376098633 + ], + "closest_active_finger_button": [ + 0.17488455772399908, + -0.4606884121894836, + 0.7762165069580078 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12851154059171682, + -0.060420274734497126, + 0.03428173065185547 + ], + "min_contact_pad_to_button": 0.020827169455766015, + "closest_contact_pad": [ + 0.17493826150894168, + -0.46063375473022455, + 0.7886190963165753 + ], + "closest_contact_pad_button": [ + 0.17493826150894168, + -0.46063375473022455, + 0.7677919268608093 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020827169455766015 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b45794e679b163940cbf23ba4b4e7fb9be227e05e2b6cbc0d4be2f30a0868ed", + "visual_seed": 2487463282128981328, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d30b829d98c089b137fa9326983aaa44c603acf2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21544622706439043, + -0.13827020808223486, + 1.1663858860755767 + ], + "current_z": 1.1663858860755767, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30527937806081074, + "gripper_z": 1.1599391217025423, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21078441751476354, + -0.1428093543545847, + 1.1599391217025423 + ], + "object_minus_gripper": [ + 0.0046618095496268885, + 0.004539146272349831, + 0.006446764373034375 + ], + "object_to_gripper_xy": 0.006506636393619964, + "object_to_gripper_z": 0.006446764373034375, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21544622706439043, + -0.16231046879135613, + 1.1663858860755767 + ], + "finger_b": [ + 0.20537201009597206, + -0.13827020808223486, + 1.1663858860755767 + ], + "finger_midpoint": [ + 0.21040911858018124, + -0.1502903384367955, + 1.1663858860755767 + ], + "object_minus_finger_midpoint": [ + 0.005037108484209185, + 0.012020130354560649, + 0.0 + ], + "finger_gap": 0.0260657626492932, + "fingertip_max_gap": 0.09296455677566737, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013032881324646613, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1663858860755767, + "object_top_z": 1.2167744342987834, + "finger_top_clearance": 0.05038854822320671, + "fingertip_min_top_clearance": 0.015116564466962011, + "object_projection_between_fingers": 0.8506236898572114, + "object_to_finger_line_xy": 0.009291376032981644, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048982278387833686, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9484278858190007, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 331, + "max_stable_success_frames": 331, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3253802748980814, + -0.40405302117207764, + 0.8515395816363391 + ], + "target_position": [ + 0.3201625708884014, + -0.40483628471897926, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005276166877244872, + "xy_threshold": 0.08, + "gripper_dist": 0.18020349621401097, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395816363391, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566912206269408, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08797640111496922, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14798648481792565, + "release_required_pad_clearance": 0.053988200557484614, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.987414586473932, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008946120738983154, + "max_z_decrease": 0.008946120738983154, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501522796942664, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008946120738983154, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021117619313285353, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008946120738983154, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0089464408002543, + "max_button_displacement": 0.12, + "button_start": [ + 0.1758624911308288, + -0.4610977470874786, + 0.7768088579177856 + ], + "button_final": [ + 0.1758624911308288, + -0.4610977470874786, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17594260588879604, + -0.4624457344516226, + 0.8028490174442395 + ], + "closest_button": [ + 0.17587804794311518, + -0.46102368831634516, + 0.7678627371788025 + ], + "closest_ee_minus_button": [ + 6.455794568085982e-05, + -0.001422046135277466, + 0.03498628026543704 + ], + "button_min_z_position": [ + 0.17587804794311518, + -0.46102368831634516, + 0.7678627371788025 + ], + "min_active_finger_to_button": 0.14557315790338984, + "closest_active_finger": [ + 0.03544565290212631, + -0.4443489909172058, + 0.809281587600708 + ], + "closest_active_finger_button": [ + 0.17586745321750635, + -0.46110001206398005, + 0.7747465968132019 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14042180031538004, + 0.016751021146774236, + 0.034534990787506104 + ], + "min_contact_pad_to_button": 0.021117619313285353, + "closest_contact_pad": [ + 0.17587804794311518, + -0.463793361041709, + 0.788797940986151 + ], + "closest_contact_pad_button": [ + 0.17587804794311518, + -0.46102368831634516, + 0.7678627371788025 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027696727253638254, + 0.02093520380734848 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7dc8489a313213950704489e9fb3ccc938b49983a5aa15ef8b617a3b0a7e15e4", + "visual_seed": 6863373903747995988, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6617b3db69eb48afd8c2fd4a38d8ac3fd721a256 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2086256323537778, + -0.13897666815741064, + 1.1667219969790534 + ], + "current_z": 1.1667219969790534, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.3056154293596425, + "gripper_z": 1.1600079662178857, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20445319413015556, + -0.14349099573549418, + 1.1600079662178857 + ], + "object_minus_gripper": [ + 0.004172438223622232, + 0.004514327578083538, + 0.006714030761167722 + ], + "object_to_gripper_xy": 0.006147226546353195, + "object_to_gripper_z": 0.006714030761167722, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2086256323537778, + -0.16230334501662477, + 1.1667219969790534 + ], + "finger_b": [ + 0.19794444803022326, + -0.13897666815741064, + 1.1667219969790534 + ], + "finger_midpoint": [ + 0.20328504019200053, + -0.1506400065870177, + 1.1667219969790534 + ], + "object_minus_finger_midpoint": [ + 0.005340592161777263, + 0.011663338429607067, + 0.0 + ], + "finger_gap": 0.025655828808439286, + "fingertip_max_gap": 0.0920897481816895, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012827914404219643, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1667219969790534, + "object_top_z": 1.2166612259169653, + "finger_top_clearance": 0.04993922893791192, + "fingertip_min_top_clearance": 0.014981768681373608, + "object_projection_between_fingers": 0.8266728000117162, + "object_to_finger_line_xy": 0.009711498195969486, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854487409084475, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8915692475897141, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3269074998999747, + -0.3959344138067067, + 0.8515396128267289 + ], + "target_position": [ + 0.3197895106171197, + -0.3977790970209178, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007353137261851636, + "xy_threshold": 0.08, + "gripper_dist": 0.18443430016877654, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396128267289, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583389371983468, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0866489047687544, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15201004662623696, + "release_required_pad_clearance": 0.053324452384377205, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6664347464840799, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008992612361907959, + "max_z_decrease": 0.008992612361907959, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499708986803648, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008992612361907959, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020919977047129674, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008992612361907959, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00899298412448384, + "max_button_displacement": 0.12, + "button_start": [ + 0.17548944056034083, + -0.45404055714607233, + 0.7768088579177856 + ], + "button_final": [ + 0.17548944056034083, + -0.45404055714607233, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17511483016336102, + -0.4549026552015764, + 0.8027984225871471 + ], + "closest_button": [ + 0.17552712559700007, + -0.4539679884910583, + 0.7678162455558777 + ], + "closest_ee_minus_button": [ + -0.0004122954336390483, + -0.0009346667105181172, + 0.03498217703126938 + ], + "button_min_z_position": [ + 0.17552712559700007, + -0.4539679884910583, + 0.7678162455558777 + ], + "min_active_finger_to_button": 0.14598673176977794, + "closest_active_finger": [ + 0.03426048904657364, + -0.44023939967155457, + 0.8105350732803345 + ], + "closest_active_finger_button": [ + 0.17549009621143336, + -0.4540416598320007, + 0.7762448191642761 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14122960716485972, + 0.013802260160446111, + 0.03429025411605835 + ], + "min_contact_pad_to_button": 0.020919977047129674, + "closest_contact_pad": [ + 0.17552712559700007, + -0.45594589312222944, + 0.7886425110137658 + ], + "closest_contact_pad_button": [ + 0.17552712559700007, + -0.4539679884910583, + 0.7678162455558777 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019779046311711457, + 0.020826265457888127 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4177ebd50544a32fc7530dde54ae29b3c8c625ee1250e0ae2670796c20274695", + "visual_seed": 3001592002393638999, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..777c4a516616000be78d0f77dd2bbe38cb734e98 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21707609351846222, + -0.13534185108264135, + 1.1649124440160377 + ], + "current_z": 1.1649124440160377, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3038059360012717, + "gripper_z": 1.1583253529273867, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2127065400530648, + -0.13979764131871242, + 1.1583253529273867 + ], + "object_minus_gripper": [ + 0.004369553465397413, + 0.004455790236071067, + 0.006587091088650965 + ], + "object_to_gripper_xy": 0.006240758296459877, + "object_to_gripper_z": 0.006587091088650965, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21707609351846222, + -0.15900721181246852, + 1.1649124440160377 + ], + "finger_b": [ + 0.20688102326349653, + -0.13534185108264135, + 1.1649124440160377 + ], + "finger_midpoint": [ + 0.21197855839097937, + -0.14717453144755493, + 1.1649124440160377 + ], + "object_minus_finger_midpoint": [ + 0.005097535127482844, + 0.011832680364913584, + 0.0 + ], + "finger_gap": 0.02576797927615846, + "fingertip_max_gap": 0.0925324574356923, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01288398963807923, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1649124440160377, + "object_top_z": 1.2151028338083112, + "finger_top_clearance": 0.050190389792273526, + "fingertip_min_top_clearance": 0.015057116937682058, + "object_projection_between_fingers": 0.8434620216560418, + "object_to_finger_line_xy": 0.009363171735896505, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876622871784615, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7856196133238085, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 329, + "max_stable_success_frames": 329, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3294728895077283, + -0.39997757978009185, + 0.8515395605833348 + ], + "target_position": [ + 0.3222893261803201, + -0.40167742996321737, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007381942340871815, + "xy_threshold": 0.08, + "gripper_dist": 0.18285315292818116, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395605833348, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515458886315456, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557396365420687, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1520765760165424, + "release_required_pad_clearance": 0.05278698182710344, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6218085466826988, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009029686450958252, + "max_z_decrease": 0.009029686450958252, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500939506539572, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009029686450958252, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.02084384299549935, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009029686450958252, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0090300107760856, + "max_button_displacement": 0.12, + "button_start": [ + 0.17798925936222076, + -0.4579388797283172, + 0.7768088579177856 + ], + "button_final": [ + 0.17798925936222076, + -0.4579388797283172, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17725155429696088, + -0.4564438793786841, + 0.8027500280423164 + ], + "closest_button": [ + 0.1780419647693634, + -0.45788338780403126, + 0.7677791714668274 + ], + "closest_ee_minus_button": [ + -0.0007904104724025252, + 0.0014395084253471802, + 0.03497085657548904 + ], + "button_min_z_position": [ + 0.1780419647693634, + -0.45788338780403126, + 0.7677791714668274 + ], + "min_active_finger_to_button": 0.14584400617612664, + "closest_active_finger": [ + 0.0504961758852005, + -0.5199030637741089, + 0.8105116486549377 + ], + "closest_active_finger_button": [ + 0.17799116671085358, + -0.4579405188560485, + 0.7762166857719421 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12749499082565308, + -0.061962544918060414, + 0.034294962882995605 + ], + "min_contact_pad_to_button": 0.02084384299549935, + "closest_contact_pad": [ + 0.1780419647693634, + -0.45788338780403126, + 0.7886230144623267 + ], + "closest_contact_pad_button": [ + 0.1780419647693634, + -0.45788338780403126, + 0.7677791714668274 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02084384299549935 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f4cb8bdf98ae633e66a6cdbffc88e37894dab3f752901de54747ef7e052b5cb1", + "visual_seed": 5518440709587018720, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..39afafbf20f7f890c252abc531d0fb22d18649bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21261718764238846, + -0.13396666068362456, + 1.166034943285437 + ], + "current_z": 1.166034943285437, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.30492837566602615, + "gripper_z": 1.159801696586314, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20810824515085535, + -0.13839430338267095, + 1.159801696586314 + ], + "object_minus_gripper": [ + 0.004508942491533108, + 0.004427642699046386, + 0.006233246699123063 + ], + "object_to_gripper_xy": 0.006319381477832427, + "object_to_gripper_z": 0.006233246699123063, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21261718764238846, + -0.15785317585380967, + 1.166034943285437 + ], + "finger_b": [ + 0.20264365153925168, + -0.13396666068362456, + 1.166034943285437 + ], + "finger_midpoint": [ + 0.20763041959082007, + -0.14590991826871713, + 1.166034943285437 + ], + "object_minus_finger_midpoint": [ + 0.004986768051568391, + 0.01194325758509257, + 0.0 + ], + "finger_gap": 0.025885073486008426, + "fingertip_max_gap": 0.09281617691508906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012942536743004225, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166034943285437, + "object_top_z": 1.2163556615763373, + "finger_top_clearance": 0.050320718290900235, + "fingertip_min_top_clearance": 0.015096215487270036, + "object_projection_between_fingers": 0.8515433953057768, + "object_to_finger_line_xy": 0.00920349024918692, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890808845754453, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9138798320470092, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 329, + "max_stable_success_frames": 329, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.326199206359819, + -0.40425858151318994, + 0.8515396047895698 + ], + "target_position": [ + 0.32001612339694596, + -0.4055999802115573, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00632691594647446, + "xy_threshold": 0.08, + "gripper_dist": 0.18388655265958576, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396047895698, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567194632727586, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08822553619616867, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15167552799850748, + "release_required_pad_clearance": 0.05411276809808434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2393415982483424, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008872687816619873, + "max_z_decrease": 0.008872687816619873, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502835690417859, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008872687816619873, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.0209202903523944, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008872687816619873, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008872938439011671, + "max_button_displacement": 0.12, + "button_start": [ + 0.17571604251861572, + -0.4618614315986633, + 0.7768088579177856 + ], + "button_final": [ + 0.17571604251861572, + -0.4618614315986633, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17511560226996337, + -0.45999936356426, + 0.8029115879450703 + ], + "closest_button": [ + 0.17576166987419128, + -0.4618127942085266, + 0.7679361701011658 + ], + "closest_ee_minus_button": [ + -0.0006460676042279179, + 0.0018134306442665893, + 0.034975417843904566 + ], + "button_min_z_position": [ + 0.17576166987419128, + -0.4618127942085266, + 0.7679361701011658 + ], + "min_active_finger_to_button": 0.1456645923049254, + "closest_active_finger": [ + 0.04716309905052185, + -0.5210624933242798, + 0.8105626702308655 + ], + "closest_active_finger_button": [ + 0.1757209599018097, + -0.4618633091449737, + 0.7761169672012329 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12855786085128784, + -0.059199184179306086, + 0.03444570302963257 + ], + "min_contact_pad_to_button": 0.0209202903523944, + "closest_contact_pad": [ + 0.17576166987419128, + -0.4618127942085266, + 0.7888564604535602 + ], + "closest_contact_pad_button": [ + 0.17576166987419128, + -0.4618127942085266, + 0.7679361701011658 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0209202903523944 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "582a0b8e38de80187fffacf493669889742fc1f412b8ae581696d05297c335b6", + "visual_seed": 3486091410378992, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5236b5e28b161df3c301788cf03ef565b8a2cf43 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21310584791185544, + -0.13262402139246798, + 1.1656377187050913 + ], + "current_z": 1.1656377187050913, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30453127029496996, + "gripper_z": 1.1591534116076343, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2086812657492761, + -0.13699737192224395, + 1.1591534116076343 + ], + "object_minus_gripper": [ + 0.004424582162579349, + 0.004373350529775971, + 0.006484307097456954 + ], + "object_to_gripper_xy": 0.006221183341592427, + "object_to_gripper_z": 0.006484307097456954, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21310584791185544, + -0.15637834466338793, + 1.1656377187050913 + ], + "finger_b": [ + 0.20309802689721895, + -0.13262402139246798, + 1.1656377187050913 + ], + "finger_midpoint": [ + 0.2081019374045372, + -0.14450118302792797, + 1.1656377187050913 + ], + "object_minus_finger_midpoint": [ + 0.005003910507318243, + 0.011877161635459987, + 0.0 + ], + "finger_gap": 0.02577643023229494, + "fingertip_max_gap": 0.09281682178308234, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012888215116147484, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656377187050913, + "object_top_z": 1.2159209165255016, + "finger_top_clearance": 0.05028319782041035, + "fingertip_min_top_clearance": 0.015084959346123104, + "object_projection_between_fingers": 0.8492582629928453, + "object_to_finger_line_xy": 0.009222728418046574, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048908410891541174, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8696313610014705, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 330, + "max_stable_success_frames": 330, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33107815017695363, + -0.39561937765063604, + 0.8515395848698256 + ], + "target_position": [ + 0.3247529774309867, + -0.3970609576865288, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006487369518241401, + "xy_threshold": 0.08, + "gripper_dist": 0.18386221060046104, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395848698256, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576273671482742, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0876324752532182, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15148314496136986, + "release_required_pad_clearance": 0.0538162376266091, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.641723302263176, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009013891220092773, + "max_z_decrease": 0.009013891220092773, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500505564955184, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009013891220092773, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.0211040975809945, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009013891220092773, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009014223919021484, + "max_button_displacement": 0.12, + "button_start": [ + 0.18045289814472187, + -0.4533224105834961, + 0.7768088579177856 + ], + "button_final": [ + 0.18045289814472187, + -0.4533224105834961, + 0.7768088579177856 + ], + "closest_ee": [ + 0.178724113026465, + -0.45488731959683437, + 0.8035830138676304 + ], + "closest_button": [ + 0.18048225343227375, + -0.4533045887947082, + 0.7686579823493958 + ], + "closest_ee_minus_button": [ + -0.0017581404058087668, + -0.0015827308021261755, + 0.03492503151823467 + ], + "button_min_z_position": [ + 0.1804688423871993, + -0.4532466232776642, + 0.7677949666976929 + ], + "min_active_finger_to_button": 0.14744158986375863, + "closest_active_finger": [ + 0.03799056261777878, + -0.43759727478027344, + 0.8077812194824219 + ], + "closest_active_finger_button": [ + 0.18046019971370686, + -0.45332872867584223, + 0.7732276916503906 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14246963709592808, + 0.015731453895568792, + 0.03455352783203125 + ], + "min_contact_pad_to_button": 0.0211040975809945, + "closest_contact_pad": [ + 0.1804688423871993, + -0.4560719943298649, + 0.7887090818624691 + ], + "closest_contact_pad_button": [ + 0.1804688423871993, + -0.4532466232776642, + 0.7677949666976929 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002825371052200709, + 0.02091411516477626 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f452be9dd6fe45a123d75eecd8ee12b18e6addf5c58829fb889c57ffef7d9c9d", + "visual_seed": 1508247774240101470, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f0ba5ea30fb2d6eec00c04946ce51a0aaf2427a0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21501088693450224, + -0.13606513880167218, + 1.1643344948870178 + ], + "current_z": 1.1643344948870178, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30322798687225194, + "gripper_z": 1.1579202548862986, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2105924578988148, + -0.140526231515258, + 1.1579202548862986 + ], + "object_minus_gripper": [ + 0.004418429035687427, + 0.004461092713585829, + 0.006414240000719218 + ], + "object_to_gripper_xy": 0.006278842516150115, + "object_to_gripper_z": 0.006414240000719218, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21501088693450224, + -0.1597499005435796, + 1.1643344948870178 + ], + "finger_b": [ + 0.20477006439879075, + -0.13606513880167218, + 1.1643344948870178 + ], + "finger_midpoint": [ + 0.20989047566664648, + -0.1479075196726259, + 1.1643344948870178 + ], + "object_minus_finger_midpoint": [ + 0.005120411267855757, + 0.011842380870953712, + 0.0 + ], + "finger_gap": 0.02580392189142685, + "fingertip_max_gap": 0.09255917557790103, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01290196094571343, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1643344948870178, + "object_top_z": 1.2145042404033517, + "finger_top_clearance": 0.05016974551633391, + "fingertip_min_top_clearance": 0.015050923654900138, + "object_projection_between_fingers": 0.8424935862091955, + "object_to_finger_line_xy": 0.00939978980017253, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048779587788950515, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9179170667305074, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 330, + "max_stable_success_frames": 330, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3289668041724372, + -0.4017663047518232, + 0.8515395958134419 + ], + "target_position": [ + 0.3219322130288736, + -0.4034566396784316, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007234825825216216, + "xy_threshold": 0.08, + "gripper_dist": 0.18566837262649644, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395958134419, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542690356514618, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08653857627206683, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15406838317942215, + "release_required_pad_clearance": 0.05326928813603342, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5581774760484017, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008872747421264648, + "max_z_decrease": 0.008872747421264648, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500353267154237, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008872747421264648, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02096758557753696, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008872747421264648, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008872990871726943, + "max_button_displacement": 0.12, + "button_start": [ + 0.17763213813304898, + -0.459718108177185, + 0.7768088579177856 + ], + "button_final": [ + 0.17763213813304898, + -0.459718108177185, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17627693613812376, + -0.45941198414143614, + 0.8029112249218088 + ], + "closest_button": [ + 0.17766495048999786, + -0.4596611559391021, + 0.767936110496521 + ], + "closest_ee_minus_button": [ + -0.0013880143518741062, + 0.0002491717976659813, + 0.03497511442528778 + ], + "button_min_z_position": [ + 0.17766495048999786, + -0.4596611559391021, + 0.767936110496521 + ], + "min_active_finger_to_button": 0.14696426777993363, + "closest_active_finger": [ + 0.04834797978401184, + -0.520505964756012, + 0.8106073141098022 + ], + "closest_active_finger_button": [ + 0.17763516306877136, + -0.4597203135490417, + 0.7761337757110596 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12928718328475952, + -0.06078565120697027, + 0.034473538398742676 + ], + "min_contact_pad_to_button": 0.02096758557753696, + "closest_contact_pad": [ + 0.17766495048999786, + -0.46077300529242887, + 0.7888741962726096 + ], + "closest_contact_pad_button": [ + 0.17766495048999786, + -0.4596611559391021, + 0.767936110496521 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011118493533267548, + 0.020938085776088577 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b55e80218595eb00d0325362166f5fe4a80313d2811d4746e8b55b736f4e03a0", + "visual_seed": 6291345457773614774, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b608631ba83b5f834451b884637483dee7dee76a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21339506636952857, + -0.1340559161092098, + 1.164262083651054 + ], + "current_z": 1.164262083651054, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3031556352409326, + "gripper_z": 1.1577814290937098, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2089730565798771, + -0.1385615212215195, + 1.1577814290937098 + ], + "object_minus_gripper": [ + 0.00442200978965146, + 0.004505605112309685, + 0.006480654557344145 + ], + "object_to_gripper_xy": 0.00631305377831082, + "object_to_gripper_z": 0.006480654557344145, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21339506636952857, + -0.1576845711017356, + 1.164262083651054 + ], + "finger_b": [ + 0.2029806923105396, + -0.1340559161092098, + 1.164262083651054 + ], + "finger_midpoint": [ + 0.20818787934003408, + -0.14587024360547268, + 1.164262083651054 + ], + "object_minus_finger_midpoint": [ + 0.005207187029494492, + 0.011814327496262877, + 0.0 + ], + "finger_gap": 0.025821938807850112, + "fingertip_max_gap": 0.09233946979592433, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01291096940392505, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164262083651054, + "object_top_z": 1.2143798081363262, + "finger_top_clearance": 0.050117724485272186, + "fingertip_min_top_clearance": 0.015035317345581655, + "object_projection_between_fingers": 0.8373370479889968, + "object_to_finger_line_xy": 0.009529789898198903, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866973489796217, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7760896834827262, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 332, + "max_stable_success_frames": 332, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3256461743247444, + -0.40410494270910635, + 0.8515395839396099 + ], + "target_position": [ + 0.3190348782777686, + -0.4055003617134695, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006756954167263208, + "xy_threshold": 0.08, + "gripper_dist": 0.1855059120669491, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395839396099, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519094934610565, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08570779174838404, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15438858884845866, + "release_required_pad_clearance": 0.05285389587419202, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7506883987656778, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008913755416870117, + "max_z_decrease": 0.008913755416870117, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499170966898386, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008913755416870117, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02088995760631385, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008913755416870117, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008914049739787155, + "max_button_displacement": 0.12, + "button_start": [ + 0.17473480105400085, + -0.4617618322372436, + 0.7768088579177856 + ], + "button_final": [ + 0.17473480105400085, + -0.4617618322372436, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17435397004155537, + -0.46221342689526523, + 0.8036464586703868 + ], + "closest_button": [ + 0.17471091449260712, + -0.4616939425468444, + 0.7686604261398315 + ], + "closest_ee_minus_button": [ + -0.00035694445105174943, + -0.0005194843484208067, + 0.03498603253055521 + ], + "button_min_z_position": [ + 0.1747131049633026, + -0.46169272065162653, + 0.7678951025009155 + ], + "min_active_finger_to_button": 0.1460573502423641, + "closest_active_finger": [ + 0.03350124508142471, + -0.4473100006580353, + 0.8103765249252319 + ], + "closest_active_finger_button": [ + 0.17473569512367249, + -0.46176293492317194, + 0.7760735750198364 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14123445004224777, + 0.014452934265136663, + 0.03430294990539551 + ], + "min_contact_pad_to_button": 0.02088995760631385, + "closest_contact_pad": [ + 0.1747131049633026, + -0.4632343395530655, + 0.7887280989238096 + ], + "closest_contact_pad_button": [ + 0.1747131049633026, + -0.46169272065162653, + 0.7678951025009155 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015416189014389459, + 0.020832996422894046 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09a1bfa8e7f70b6a2bd2785afe2e3a60331ceb56f35c661b01c1e3b4cb36bf76", + "visual_seed": 3359667093583343629, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fdb63dbac5d2931f6e6df86f3cb6111f3015da42 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21493013101795427, + -0.1346779404108231, + 1.165614130646939 + ], + "current_z": 1.165614130646939, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.304507622632173, + "gripper_z": 1.1589505294863425, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21066881731523374, + -0.1392032057423423, + 1.1589505294863425 + ], + "object_minus_gripper": [ + 0.004261313702720537, + 0.0045252653315192015, + 0.0066636011605964995 + ], + "object_to_gripper_xy": 0.006215852378688172, + "object_to_gripper_z": 0.0066636011605964995, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21493013101795427, + -0.15813765414765565, + 1.165614130646939 + ], + "finger_b": [ + 0.20438891081898283, + -0.1346779404108231, + 1.165614130646939 + ], + "finger_midpoint": [ + 0.20965952091846857, + -0.14640779727923936, + 1.165614130646939 + ], + "object_minus_finger_midpoint": [ + 0.005270610099485706, + 0.011729856868416266, + 0.0 + ], + "finger_gap": 0.025719165847619047, + "fingertip_max_gap": 0.09222984644658297, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012859582923809504, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165614130646939, + "object_top_z": 1.2157004280978867, + "finger_top_clearance": 0.050086297450947725, + "fingertip_min_top_clearance": 0.015025889235284317, + "object_projection_between_fingers": 0.8320159633360236, + "object_to_finger_line_xy": 0.009615164417460314, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861492322329149, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7732837847312106, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3323005969720705, + -0.39938336931352125, + 0.8515396109035116 + ], + "target_position": [ + 0.32483466698010616, + -0.40151021367462597, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007762961907756303, + "xy_threshold": 0.08, + "gripper_dist": 0.18397403783219599, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396109035116, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591390504140912, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08682417422265136, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15135482414051646, + "release_required_pad_clearance": 0.05341208711132568, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8388199755154884, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008964717388153076, + "max_z_decrease": 0.008964717388153076, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500620866502124, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008964717388153076, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02093120669592485, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008964717388153076, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008965124303345125, + "max_button_displacement": 0.12, + "button_start": [ + 0.1805345863103866, + -0.45777165889739985, + 0.7768088579177856 + ], + "button_final": [ + 0.1805345863103866, + -0.45777165889739985, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17989807166705696, + -0.4588077644132177, + 0.8036645260159977 + ], + "closest_button": [ + 0.18050539493560785, + -0.45770224928855885, + 0.7686810493469238 + ], + "closest_ee_minus_button": [ + -0.0006073232685508967, + -0.0011055151246588402, + 0.034983476669073865 + ], + "button_min_z_position": [ + 0.1805009841918945, + -0.4576931297779082, + 0.7678441405296326 + ], + "min_active_finger_to_button": 0.1462478400359203, + "closest_active_finger": [ + 0.03892533481121063, + -0.44519972801208496, + 0.8109238743782043 + ], + "closest_active_finger_button": [ + 0.1805352866649627, + -0.457772135734558, + 0.776616632938385 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14160995185375208, + 0.012572407722473034, + 0.034307241439819336 + ], + "min_contact_pad_to_button": 0.02093120669592485, + "closest_contact_pad": [ + 0.1805009841918945, + -0.4597109924175482, + 0.788677854651581 + ], + "closest_contact_pad_button": [ + 0.1805009841918945, + -0.4576931297779082, + 0.7678441405296326 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002017862639639989, + 0.020833714121948455 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "330ac1fd02fda0de7c95fc941ec7ad2b2c9e3df79c62e1d0231ca58a7b03355b", + "visual_seed": 1288876367110037682, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a43295186148d6321eb7a9da058a6475193d15fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21905416709096148, + -0.13779072440372614, + 1.1625837918505462 + ], + "current_z": 1.1625837918505462, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30147740304506965, + "gripper_z": 1.156069767383127, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2147104063610653, + -0.14226305752345247, + 1.156069767383127 + ], + "object_minus_gripper": [ + 0.004343760729896173, + 0.004472333119726335, + 0.0065140244674191106 + ], + "object_to_gripper_xy": 0.006234582649415214, + "object_to_gripper_z": 0.0065140244674191106, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21905416709096148, + -0.1613311916200756, + 1.1625837918505462 + ], + "finger_b": [ + 0.20869087478080348, + -0.13779072440372614, + 1.1625837918505462 + ], + "finger_midpoint": [ + 0.2138725209358825, + -0.14956095801190086, + 1.1625837918505462 + ], + "object_minus_finger_midpoint": [ + 0.005181646155078989, + 0.011770233608174724, + 0.0 + ], + "finger_gap": 0.02572064198790153, + "fingertip_max_gap": 0.09279133119031857, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01286032099395076, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1625837918505462, + "object_top_z": 1.2127563574925202, + "finger_top_clearance": 0.05017256564197403, + "fingertip_min_top_clearance": 0.015051769692592176, + "object_projection_between_fingers": 0.8376576278641952, + "object_to_finger_line_xy": 0.009484862119517594, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889566559515929, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1047869401856016, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 325, + "max_stable_success_frames": 325, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3235921177005191, + -0.402254357371442, + 0.8515395702444124 + ], + "target_position": [ + 0.31665882059528005, + -0.4038432811398576, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007113036446648663, + "xy_threshold": 0.08, + "gripper_dist": 0.18370796069857276, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395702444124, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554256360280173, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08655732209751275, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15185606060313767, + "release_required_pad_clearance": 0.05327866104875638, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.576653839030109, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009004652500152588, + "max_z_decrease": 0.009004652500152588, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503568134932182, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009004652500152588, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.0208460844824927, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009004652500152588, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009004955775455284, + "max_button_displacement": 0.12, + "button_start": [ + 0.17235875129699701, + -0.46010473370552063, + 0.7768088579177856 + ], + "button_final": [ + 0.17235875129699701, + -0.46010473370552063, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17193065673112676, + -0.45804426439120566, + 0.8027790942154817 + ], + "closest_button": [ + 0.17240945994853968, + -0.46005097031593317, + 0.7678042054176331 + ], + "closest_ee_minus_button": [ + -0.00047880321741292087, + 0.0020067059247275143, + 0.0349748887978486 + ], + "button_min_z_position": [ + 0.17240945994853968, + -0.46005097031593317, + 0.7678042054176331 + ], + "min_active_finger_to_button": 0.1453511078346462, + "closest_active_finger": [ + 0.04451088607311249, + -0.5201588869094849, + 0.8104789853096008 + ], + "closest_active_finger_button": [ + 0.17236040532588953, + -0.46010622382164, + 0.7761989235877991 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12784951925277704, + -0.06005266308784485, + 0.03428006172180176 + ], + "min_contact_pad_to_button": 0.0208460844824927, + "closest_contact_pad": [ + 0.17240945994853968, + -0.46005097031593317, + 0.7886502899001258 + ], + "closest_contact_pad_button": [ + 0.17240945994853968, + -0.46005097031593317, + 0.7678042054176331 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0208460844824927 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e74158842569ceb7fb85c93c82ca6afce94fbe9294b632cb41ce0363d21232d", + "visual_seed": 3049876523888943193, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4662e0c5f22319083aeb2ea09daf292275cd8306 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21506160063567475, + -0.1323593958058379, + 1.165394163344525 + ], + "current_z": 1.165394163344525, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30428771493440376, + "gripper_z": 1.1590077968156394, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21055614031245087, + -0.13689280269182613, + 1.1590077968156394 + ], + "object_minus_gripper": [ + 0.004505460323223881, + 0.004533406885988245, + 0.00638636652888569 + ], + "object_to_gripper_xy": 0.00639147484686205, + "object_to_gripper_z": 0.00638636652888569, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21506160063567475, + -0.15598129052988033, + 1.165394163344525 + ], + "finger_b": [ + 0.20455456105272338, + -0.1323593958058379, + 1.165394163344525 + ], + "finger_midpoint": [ + 0.20980808084419905, + -0.1441703431678591, + 1.165394163344525 + ], + "object_minus_finger_midpoint": [ + 0.005253519791475703, + 0.011810947362021207, + 0.0 + ], + "finger_gap": 0.025853274282988822, + "fingertip_max_gap": 0.09257542782072459, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012926637141494404, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165394163344525, + "object_top_z": 1.2155359312102445, + "finger_top_clearance": 0.050141767865719444, + "fingertip_min_top_clearance": 0.015042530359715799, + "object_projection_between_fingers": 0.8348305855050635, + "object_to_finger_line_xy": 0.009600183720370564, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048787713910362296, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8226261377394968, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 329, + "max_stable_success_frames": 329, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3314541975177357, + -0.39975470669666024, + 0.8515395659220257 + ], + "target_position": [ + 0.3235339344895202, + -0.40185049833221237, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00819285719488428, + "xy_threshold": 0.08, + "gripper_dist": 0.1864261486204828, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395659220257, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546316240393357, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08621059783383832, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15476110999200754, + "release_required_pad_clearance": 0.05310529891691916, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2379443889699848, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008929431438446045, + "max_z_decrease": 0.008929431438446045, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350001966889639, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008929431438446045, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02102513789655957, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008929431438446045, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008929936958806537, + "max_button_displacement": 0.12, + "button_start": [ + 0.17923386394977564, + -0.45811197161674494, + 0.7768088579177856 + ], + "button_final": [ + 0.17923386394977564, + -0.45811197161674494, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1797664321894279, + -0.45832594224270357, + 0.8032851751069461 + ], + "closest_button": [ + 0.1791792511940002, + -0.45804199576377863, + 0.7682910561561584 + ], + "closest_ee_minus_button": [ + 0.0005871809954277052, + -0.00028394647892493463, + 0.034994118950787634 + ], + "button_min_z_position": [ + 0.17917034029960627, + -0.4580413103103637, + 0.7678794264793396 + ], + "min_active_finger_to_button": 0.14528407560579956, + "closest_active_finger": [ + 0.039170995354652405, + -0.44104453921318054, + 0.8076163530349731 + ], + "closest_active_finger_button": [ + 0.17924378812313074, + -0.45811626315116877, + 0.7730384469032288 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14007279276847834, + 0.017071723937988226, + 0.034577906131744385 + ], + "min_contact_pad_to_button": 0.02102513789655957, + "closest_contact_pad": [ + 0.17917034029960627, + -0.45958816233915906, + 0.7888475850148514 + ], + "closest_contact_pad_button": [ + 0.17917034029960627, + -0.4580413103103637, + 0.7678794264793396 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015468520287953424, + 0.020968158535511816 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e57d92364f7b750d932e40ecc9a0dec8093c6f0d31080c6f92cd43e070088a5c", + "visual_seed": 2391713011119777435, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b8600cb903031f1556a0c0c86396c5fb57fcc880 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2096235441975645, + -0.13927506183722219, + 1.165107588664291 + ], + "current_z": 1.165107588664291, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3040010806495249, + "gripper_z": 1.1585787347218384, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20537365988822337, + -0.14361780713068723, + 1.1585787347218384 + ], + "object_minus_gripper": [ + 0.004249884309341118, + 0.004342745293465039, + 0.006528853942452617 + ], + "object_to_gripper_xy": 0.006076261459705019, + "object_to_gripper_z": 0.006528853942452617, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2096235441975645, + -0.1629553180543388, + 1.165107588664291 + ], + "finger_b": [ + 0.1996675875290443, + -0.13927506183722219, + 1.165107588664291 + ], + "finger_midpoint": [ + 0.2046455658633044, + -0.1511151899457805, + 1.165107588664291 + ], + "object_minus_finger_midpoint": [ + 0.004977978334260086, + 0.011840128108558307, + 0.0 + ], + "finger_gap": 0.025688044061269864, + "fingertip_max_gap": 0.09253441532255699, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012844022030634925, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165107588664291, + "object_top_z": 1.2151532840333994, + "finger_top_clearance": 0.05004569536910841, + "fingertip_min_top_clearance": 0.015013708610732555, + "object_projection_between_fingers": 0.8497882448907621, + "object_to_finger_line_xy": 0.009177795095443898, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487672076612785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.094274529058004, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 329, + "max_stable_success_frames": 329, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32257440738107374, + -0.3999254585505896, + 0.851539609048001 + ], + "target_position": [ + 0.31629429892424593, + -0.4009829614834496, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006368522174141157, + "xy_threshold": 0.08, + "gripper_dist": 0.1831106500190069, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539609048001, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525155419758825, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08668768777545942, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15198524856340875, + "release_required_pad_clearance": 0.05334384388772971, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7045143720174132, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008875846862792969, + "max_z_decrease": 0.008875846862792969, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035004835155676865, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008875846862792969, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020794144950870935, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008875846862792969, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008876034126464177, + "max_button_displacement": 0.12, + "button_start": [ + 0.17199422419071195, + -0.4572444260120391, + 0.7768088579177856 + ], + "button_final": [ + 0.17199422419071195, + -0.4572444260120391, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1705508360231222, + -0.4566825454118342, + 0.8032789318432998 + ], + "closest_button": [ + 0.17199239134788513, + -0.4571756720542907, + 0.7683072686195374 + ], + "closest_ee_minus_button": [ + -0.001441555324762922, + 0.0004931266424565428, + 0.03497166322376244 + ], + "button_min_z_position": [ + 0.1719965934753418, + -0.4571868181228637, + 0.7679330110549927 + ], + "min_active_finger_to_button": 0.14685751269903802, + "closest_active_finger": [ + 0.0444968044757843, + -0.5216333866119385, + 0.8105637431144714 + ], + "closest_active_finger_button": [ + 0.17199403047561646, + -0.4572453796863555, + 0.7764203548431396 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12749722599983215, + -0.064388006925583, + 0.03414338827133179 + ], + "min_contact_pad_to_button": 0.020794144950870935, + "closest_contact_pad": [ + 0.1719965934753418, + -0.4576485842597289, + 0.7887220282581381 + ], + "closest_contact_pad_button": [ + 0.1719965934753418, + -0.4571868181228637, + 0.7679330110549927 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00046176613686516044, + 0.02078901720314541 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ec6a90f78afa165e0cafde8d3b0eea607f33ec70dec0500959f23ee5b4fc61f", + "visual_seed": 5167446289044415372, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..10784e915c79eeb532770d00fe1fde80b5a73876 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21084888473023683, + -0.12977784988677435, + 1.1626545003443032 + ], + "current_z": 1.1626545003443032, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30154799232953733, + "gripper_z": 1.1564115878028762, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2063491012778754, + -0.1342498775167888, + 1.1564115878028762 + ], + "object_minus_gripper": [ + 0.004499783452361433, + 0.004472027630014447, + 0.006242912541426948 + ], + "object_to_gripper_xy": 0.006344058814493952, + "object_to_gripper_z": 0.006242912541426948, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21084888473023683, + -0.15357515708337374, + 1.1626545003443032 + ], + "finger_b": [ + 0.20067611168442168, + -0.12977784988677435, + 1.1626545003443032 + ], + "finger_midpoint": [ + 0.20576249820732925, + -0.14167650348507405, + 1.1626545003443032 + ], + "object_minus_finger_midpoint": [ + 0.005086386522907577, + 0.011898653598299697, + 0.0 + ], + "finger_gap": 0.025880439355833677, + "fingertip_max_gap": 0.0927671990528674, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012940219677916838, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626545003443032, + "object_top_z": 1.2128512303834553, + "finger_top_clearance": 0.05019673003915215, + "fingertip_min_top_clearance": 0.015059019011745644, + "object_projection_between_fingers": 0.8454975319118515, + "object_to_finger_line_xy": 0.009353960413271793, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488835995264337, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9493148719482754, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 325, + "max_stable_success_frames": 325, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32453364003112634, + -0.40054904387663626, + 0.8515395832982778 + ], + "target_position": [ + 0.3178088320719124, + -0.40187778122245166, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006854822027045748, + "xy_threshold": 0.08, + "gripper_dist": 0.18405679022575383, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395832982778, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752427315949022, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08648478711787132, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1529472643285712, + "release_required_pad_clearance": 0.05324239355893566, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5055496502120604, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009008467197418213, + "max_z_decrease": 0.009008467197418213, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501122381322657, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009008467197418213, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02081839444510092, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009008467197418213, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009008725385036633, + "max_button_displacement": 0.12, + "button_start": [ + 0.1735087633132934, + -0.4581392407417297, + 0.7768088579177856 + ], + "button_final": [ + 0.1735087633132934, + -0.4581392407417297, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17174022380127116, + -0.45899805323006615, + 0.8035727996752698 + ], + "closest_button": [ + 0.17356783151626584, + -0.45812574028968805, + 0.7686201930046082 + ], + "closest_ee_minus_button": [ + -0.0018276077149946834, + -0.0008723129403780949, + 0.03495260667066169 + ], + "button_min_z_position": [ + 0.1735268086194992, + -0.45807346701622004, + 0.7678003907203674 + ], + "min_active_finger_to_button": 0.1474551663111504, + "closest_active_finger": [ + 0.030676893889904022, + -0.44516533613204956, + 0.8104997277259827 + ], + "closest_active_finger_button": [ + 0.17350955307483673, + -0.45814135670661926, + 0.7762436270713806 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1428326591849327, + 0.012976020574569702, + 0.03425610065460205 + ], + "min_contact_pad_to_button": 0.02081839444510092, + "closest_contact_pad": [ + 0.1735268086194992, + -0.4597519437926449, + 0.7885510115058478 + ], + "closest_contact_pad_button": [ + 0.1735268086194992, + -0.45807346701622004, + 0.7678003907203674 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016784767764248532, + 0.0207506207854804 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "34c92e49f585e6fb0e0fe194d5d63758c884eb3314b11dd075ca698d57efc47e", + "visual_seed": 5047503323057492393, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..26dbd5ca314a6778fb7dfc7b8717774ea03dc4a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2135623417463357, + -0.13423057664335117, + 1.1635148343824122 + ], + "current_z": 1.1635148343824122, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30240832636764636, + "gripper_z": 1.1568582413192956, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20937982262373128, + -0.1387108545456615, + 1.1568582413192956 + ], + "object_minus_gripper": [ + 0.004182519122604422, + 0.004480277902310342, + 0.0066565930631166115 + ], + "object_to_gripper_xy": 0.0061291399309268526, + "object_to_gripper_z": 0.0066565930631166115, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2135623417463357, + -0.15760442049623147, + 1.1635148343824122 + ], + "finger_b": [ + 0.20302879063211932, + -0.13423057664335117, + 1.1635148343824122 + ], + "finger_midpoint": [ + 0.2082955661892275, + -0.1459174985697913, + 1.1635148343824122 + ], + "object_minus_finger_midpoint": [ + 0.005266775557108194, + 0.011686921926440136, + 0.0 + ], + "finger_gap": 0.02563771197932139, + "fingertip_max_gap": 0.09237771554419574, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012818855989660682, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635148343824122, + "object_top_z": 1.2135774686587468, + "finger_top_clearance": 0.05006263427633462, + "fingertip_min_top_clearance": 0.015018790282900384, + "object_projection_between_fingers": 0.8311927536565703, + "object_to_finger_line_xy": 0.009603414655668665, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048688857772097874, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.934412979637194, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3235343616527693, + -0.4006806520625501, + 0.8515395721157785 + ], + "target_position": [ + 0.3157644830840578, + -0.402493682665496, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007978602192097327, + "xy_threshold": 0.08, + "gripper_dist": 0.18319673706743692, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395721157785, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522793351392287, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08553757846178033, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15214788249457895, + "release_required_pad_clearance": 0.052768789230890165, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5868397086588684, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008889913558959961, + "max_z_decrease": 0.008889913558959961, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034993194272759355, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008889913558959961, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020806801923365148, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008889913558959961, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008890341230522165, + "max_button_displacement": 0.12, + "button_start": [ + 0.17146441340446472, + -0.4587551355361938, + 0.7768088579177856 + ], + "button_final": [ + 0.17146441340446472, + -0.4587551355361938, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1703430209613565, + -0.4582580930520992, + 0.802889136451724 + ], + "closest_button": [ + 0.17153209447860718, + -0.4587001502513885, + 0.7679189443588257 + ], + "closest_ee_minus_button": [ + -0.0011890735172506717, + 0.000442057199289303, + 0.03497019209289831 + ], + "button_min_z_position": [ + 0.17153209447860718, + -0.4587001502513885, + 0.7679189443588257 + ], + "min_active_finger_to_button": 0.14657861313916154, + "closest_active_finger": [ + 0.04398243874311447, + -0.522524893283844, + 0.810581386089325 + ], + "closest_active_finger_button": [ + 0.17146451771259308, + -0.4587558507919311, + 0.7764182686805725 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274820789694786, + -0.0637690424919129, + 0.03416311740875244 + ], + "min_contact_pad_to_button": 0.020806801923365148, + "closest_contact_pad": [ + 0.17153209447860718, + -0.4593075368415595, + 0.788716879059373 + ], + "closest_contact_pad_button": [ + 0.17153209447860718, + -0.4587001502513885, + 0.7679189443588257 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006073865901710107, + 0.02079793470054736 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2b1f9bf876156baf42dba0a1c097479675664ce693676fb3eceb71bf7caada3", + "visual_seed": 2397490581639763899, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dca30fc14c3acf109689082f5c5627e4acd8723e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21093952039603547, + -0.13275255710964362, + 1.1644305264998696 + ], + "current_z": 1.1644305264998696, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3033240184851036, + "gripper_z": 1.1580549912675873, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20659783242147284, + -0.13731229342642193, + 1.1580549912675873 + ], + "object_minus_gripper": [ + 0.004341687974562636, + 0.004559736316778307, + 0.006375535232282292 + ], + "object_to_gripper_xy": 0.006296145626254908, + "object_to_gripper_z": 0.006375535232282292, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21093952039603547, + -0.15618833135723265, + 1.1644305264998696 + ], + "finger_b": [ + 0.20021620948401517, + -0.13275255710964362, + 1.1644305264998696 + ], + "finger_midpoint": [ + 0.20557786494002533, + -0.14447044423343813, + 1.1644305264998696 + ], + "object_minus_finger_midpoint": [ + 0.005361655456010139, + 0.011717887123794513, + 0.0 + ], + "finger_gap": 0.025772561213426397, + "fingertip_max_gap": 0.09227875133835023, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012886280606713194, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644305264998696, + "object_top_z": 1.2144384679339943, + "finger_top_clearance": 0.05000794143412479, + "fingertip_min_top_clearance": 0.015002382430237438, + "object_projection_between_fingers": 0.8268818363704408, + "object_to_finger_line_xy": 0.00975103295476486, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04863937566917512, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9287165831984578, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 333, + "max_stable_success_frames": 333, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32733923326428094, + -0.4011419495411921, + 0.851539583581518 + ], + "target_position": [ + 0.31916941671141447, + -0.4031302292735135, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008408279181940327, + "xy_threshold": 0.08, + "gripper_dist": 0.18426888536064914, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539583581518, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522901414992876, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08532593520466412, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15326778730445123, + "release_required_pad_clearance": 0.052662967602332064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3835939815989816, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00884920358657837, + "max_z_decrease": 0.00884920358657837, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500227303422374, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00884920358657837, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02087977586912435, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00884920358657837, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008849393046343561, + "max_button_displacement": 0.12, + "button_start": [ + 0.1748693436384201, + -0.45939168334007263, + 0.7768088579177856 + ], + "button_final": [ + 0.1748693436384201, + -0.45939168334007263, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17365458883143406, + -0.45907649332468464, + 0.8033146341575175 + ], + "closest_button": [ + 0.1748521775007248, + -0.459332674741745, + 0.7683337926864624 + ], + "closest_ee_minus_button": [ + -0.0011975886692907334, + 0.0002561814170603527, + 0.03498084147105507 + ], + "button_min_z_position": [ + 0.17485164105892184, + -0.4593365490436554, + 0.7679596543312073 + ], + "min_active_finger_to_button": 0.14678340442145751, + "closest_active_finger": [ + 0.04655928164720535, + -0.5218988656997681, + 0.8110204339027405 + ], + "closest_active_finger_button": [ + 0.17487399280071259, + -0.45939210057258606, + 0.7767624855041504 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12831471115350723, + -0.062506765127182, + 0.03425794839859009 + ], + "min_contact_pad_to_button": 0.02087977586912435, + "closest_contact_pad": [ + 0.17485164105892184, + -0.46025350194096104, + 0.7888192861047787 + ], + "closest_contact_pad_button": [ + 0.17485164105892184, + -0.4593365490436554, + 0.7679596543312073 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009169528973056451, + 0.02085963177357142 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a7607468445982f5363b06b50b3723832dd8244780799bbb1317e9afac83a3d5", + "visual_seed": 2446891640654432796, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ae77babe4f31b04795e9e05f54ecf8e580951b31 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21190106870251793, + -0.13718811882591161, + 1.1662346608541658 + ], + "current_z": 1.1662346608541658, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.30512821244404487, + "gripper_z": 1.1594624832462868, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2077838865131049, + -0.1416611938838333, + 1.1594624832462868 + ], + "object_minus_gripper": [ + 0.004117182189413038, + 0.004473075057921688, + 0.006772177607879071 + ], + "object_to_gripper_xy": 0.006079439912904893, + "object_to_gripper_z": 0.006772177607879071, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21190106870251793, + -0.16050178674984972, + 1.1662346608541658 + ], + "finger_b": [ + 0.20132596316279594, + -0.13718811882591161, + 1.1662346608541658 + ], + "finger_midpoint": [ + 0.20661351593265692, + -0.14884495278788068, + 1.1662346608541658 + ], + "object_minus_finger_midpoint": [ + 0.005287552769861009, + 0.011656833961969065, + 0.0 + ], + "finger_gap": 0.025599999399295286, + "fingertip_max_gap": 0.09213794545309095, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012799999699647662, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1662346608541658, + "object_top_z": 1.2162269914336632, + "finger_top_clearance": 0.04999233057949737, + "fingertip_min_top_clearance": 0.014997699173849209, + "object_projection_between_fingers": 0.8293565942007736, + "object_to_finger_line_xy": 0.009630644710892582, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856897272654548, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.859743045237544, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3241619200512781, + -0.3956961417820961, + 0.8515396006629193 + ], + "target_position": [ + 0.31735603405606677, + -0.39728317535547947, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00698847334851178, + "xy_threshold": 0.08, + "gripper_dist": 0.18319711658891094, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396006629193, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560513977773928, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0859380559322651, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15125611555838722, + "release_required_pad_clearance": 0.05296902796613255, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9731654202901182, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008828699588775635, + "max_z_decrease": 0.008828699588775635, + "final_z_decrease": -5.960464477539063e-08, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510998232204251, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008828699588775635, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02089736055297886, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008828699588775635, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 5.960464477539063e-08, + "button_max_displacement": 0.008828953523725343, + "max_button_displacement": 0.12, + "button_start": [ + 0.17305596172809604, + -0.4535446465015411, + 0.7768088579177856 + ], + "button_final": [ + 0.17305596172809604, + -0.4535446465015411, + 0.7768089175224304 + ], + "closest_ee": [ + 0.17495163853391787, + -0.4515124518704816, + 0.8029852222767009 + ], + "closest_button": [ + 0.17309865355491638, + -0.453493058681488, + 0.76798015832901 + ], + "closest_ee_minus_button": [ + 0.001852984979001493, + 0.001980606811006369, + 0.03500506394769087 + ], + "button_min_z_position": [ + 0.17309865355491638, + -0.453493058681488, + 0.76798015832901 + ], + "min_active_finger_to_button": 0.14330033390781016, + "closest_active_finger": [ + 0.04812793433666229, + -0.5148106813430786, + 0.8107854723930359 + ], + "closest_active_finger_button": [ + 0.17305834591388705, + -0.45354625582694996, + 0.7765210866928101 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12493041157722476, + -0.06126442551612865, + 0.03426438570022583 + ], + "min_contact_pad_to_button": 0.02089736055297886, + "closest_contact_pad": [ + 0.17309865355491638, + -0.453493058681488, + 0.7888775188819889 + ], + "closest_contact_pad_button": [ + 0.17309865355491638, + -0.453493058681488, + 0.76798015832901 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02089736055297886 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7193706ba484db68580e7c5763f0cdb05b8142fade688e535dad4f0c65862140", + "visual_seed": 2523355324290113084, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..29eb0a917b50c6f163140450b9dde3eeb5c5dab9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21045271032117221, + -0.13675467343716596, + 1.162140099100617 + ], + "current_z": 1.162140099100617, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3010336506904957, + "gripper_z": 1.1554813445042984, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2062921022103162, + -0.14127646017696094, + 1.1554813445042984 + ], + "object_minus_gripper": [ + 0.004160608110856001, + 0.004521786739794975, + 0.0066587545963185946 + ], + "object_to_gripper_xy": 0.00614468999806389, + "object_to_gripper_z": 0.0066587545963185946, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21045271032117221, + -0.16010528123766654, + 1.162140099100617 + ], + "finger_b": [ + 0.1998320116827269, + -0.13675467343716596, + 1.162140099100617 + ], + "finger_midpoint": [ + 0.20514236100194955, + -0.14842997733741625, + 1.162140099100617 + ], + "object_minus_finger_midpoint": [ + 0.005310349319222668, + 0.011675303900250289, + 0.0 + ], + "finger_gap": 0.025652487680953528, + "fingertip_max_gap": 0.09236690137061929, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012826243840476769, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162140099100617, + "object_top_z": 1.2121350012123364, + "finger_top_clearance": 0.04999490211171942, + "fingertip_min_top_clearance": 0.014998470633515792, + "object_projection_between_fingers": 0.8285856420099839, + "object_to_finger_line_xy": 0.009667669333207847, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048683450685309645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9513718204468815, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3294886040888581, + -0.4037470421137087, + 0.8515395634965335 + ], + "target_position": [ + 0.3225837581193326, + -0.4055219797643624, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0071293268634970465, + "xy_threshold": 0.08, + "gripper_dist": 0.18264115680129117, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395634965335, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565713031950191, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581105698209444, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15059278110822777, + "release_required_pad_clearance": 0.052905528491047224, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8504125530733694, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008961319923400879, + "max_z_decrease": 0.008961319923400879, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035031929315864824, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008961319923400879, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02100972172549779, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008961319923400879, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008961792309654448, + "max_button_displacement": 0.12, + "button_start": [ + 0.17828369140624994, + -0.4617834389209747, + 0.7768088579177856 + ], + "button_final": [ + 0.17828369140624994, + -0.4617834389209747, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17645157443005824, + -0.4625918865424054, + 0.8036604292885858 + ], + "closest_button": [ + 0.17824217677116386, + -0.46170794963836664, + 0.7686854600906372 + ], + "closest_ee_minus_button": [ + -0.0017906023411056182, + -0.0008839369040387623, + 0.034974969197948624 + ], + "button_min_z_position": [ + 0.17823982238769526, + -0.46170255541801447, + 0.7678475379943848 + ], + "min_active_finger_to_button": 0.14745072087752223, + "closest_active_finger": [ + 0.035885222256183624, + -0.4452018141746521, + 0.8104085326194763 + ], + "closest_active_finger_button": [ + 0.17828609049320215, + -0.46178516745567316, + 0.7759310007095337 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14240086823701853, + 0.016583353281021063, + 0.03447753190994263 + ], + "min_contact_pad_to_button": 0.02100972172549779, + "closest_contact_pad": [ + 0.17823982238769526, + -0.46382599643821687, + 0.78874967676573 + ], + "closest_contact_pad_button": [ + 0.17823982238769526, + -0.46170255541801447, + 0.7678475379943848 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002123441020202399, + 0.02090213877134528 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "48b9134b81914e943ef42f657657fbe9892a0b6c4789c2b70f680d2ccd5cf14b", + "visual_seed": 3882142380478292578, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c3b32cc4be2e0ffc1210a659ba48a184abd55795 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21006270889647113, + -0.12859823452989858, + 1.1646076078988612 + ], + "current_z": 1.1646076078988612, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.303501219093385, + "gripper_z": 1.158408897003572, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.205513634508426, + -0.13304391336751198, + 1.158408897003572 + ], + "object_minus_gripper": [ + 0.004549074388045138, + 0.004445678837613404, + 0.006198710895289228 + ], + "object_to_gripper_xy": 0.006360671200052076, + "object_to_gripper_z": 0.006198710895289228, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21006270889647113, + -0.1525225732101127, + 1.1646076078988612 + ], + "finger_b": [ + 0.20007710164586595, + -0.12859823452989858, + 1.1646076078988612 + ], + "finger_midpoint": [ + 0.20506990527116853, + -0.14056040387000562, + 1.1646076078988612 + ], + "object_minus_finger_midpoint": [ + 0.004992803625302605, + 0.011962169340107048, + 0.0 + ], + "finger_gap": 0.02592462793269999, + "fingertip_max_gap": 0.09266763492154159, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012962313966349987, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646076078988612, + "object_top_z": 1.2148341802249907, + "finger_top_clearance": 0.05022657232612948, + "fingertip_min_top_clearance": 0.015067971697838876, + "object_projection_between_fingers": 0.8516375840412533, + "object_to_finger_line_xy": 0.009215138994907042, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488338174607708, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8805250228858448, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 327, + "max_stable_success_frames": 327, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3269436437238939, + -0.4023811979151015, + 0.8515395032143577 + ], + "target_position": [ + 0.3207733505812925, + -0.4035130106267109, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006273238197278506, + "xy_threshold": 0.08, + "gripper_dist": 0.18239831324381017, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395032143577, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545782291907983, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08739357243104838, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15074436851439085, + "release_required_pad_clearance": 0.05369678621552419, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.403089598430555, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00882875919342041, + "max_z_decrease": 0.00882875919342041, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504621466407717, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00882875919342041, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02085903989504123, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00882875919342041, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008829098109625065, + "max_button_displacement": 0.12, + "button_start": [ + 0.17647327482700348, + -0.45977446436882013, + 0.7768088579177856 + ], + "button_final": [ + 0.17647327482700348, + -0.45977446436882013, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1751616640067715, + -0.45765219868585383, + 0.8029373717473606 + ], + "closest_button": [ + 0.1765386462211609, + -0.45973309874534607, + 0.7679800987243652 + ], + "closest_ee_minus_button": [ + -0.001376982214389394, + 0.002080900059492241, + 0.03495727302299534 + ], + "button_min_z_position": [ + 0.1765386462211609, + -0.45973309874534607, + 0.7679800987243652 + ], + "min_active_finger_to_button": 0.14613918830580172, + "closest_active_finger": [ + 0.04769987612962723, + -0.519722044467926, + 0.8104819059371948 + ], + "closest_active_finger_button": [ + 0.17647479474544528, + -0.45977658033370966, + 0.7761275172233582 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12877491861581805, + -0.059945464134216364, + 0.03435438871383667 + ], + "min_contact_pad_to_button": 0.02085903989504123, + "closest_contact_pad": [ + 0.1765386462211609, + -0.45973309874534607, + 0.7888391386194065 + ], + "closest_contact_pad_button": [ + 0.1765386462211609, + -0.45973309874534607, + 0.7679800987243652 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02085903989504123 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8961ed753f534f0a301e7f7adceb91902d6941e1e5f16718193700d1dc672790", + "visual_seed": 6166571900337869233, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..392381b749eb182e845e456f36f8fdf19aad9af1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21445181884680795, + -0.13142818253661132, + 1.1657812203210258 + ], + "current_z": 1.1657812203210258, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3046748315155494, + "gripper_z": 1.159577383294607, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20979510735929696, + -0.13589001428716135, + 1.159577383294607 + ], + "object_minus_gripper": [ + 0.004656711487510984, + 0.004461831750550038, + 0.006203837026418801 + ], + "object_to_gripper_xy": 0.0064492561158736115, + "object_to_gripper_z": 0.006203837026418801, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21445181884680795, + -0.1554356066429889, + 1.1657812203210258 + ], + "finger_b": [ + 0.20449253032129083, + -0.13142818253661132, + 1.1657812203210258 + ], + "finger_midpoint": [ + 0.20947217458404938, + -0.1434318945898001, + 1.1657812203210258 + ], + "object_minus_finger_midpoint": [ + 0.00497964426275857, + 0.012003712053188786, + 0.0 + ], + "finger_gap": 0.025991226214974465, + "fingertip_max_gap": 0.09287002853255136, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012995613107487237, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1657812203210258, + "object_top_z": 1.216173546499387, + "finger_top_clearance": 0.0503923261783612, + "fingertip_min_top_clearance": 0.015117697853508394, + "object_projection_between_fingers": 0.853173958463892, + "object_to_finger_line_xy": 0.009199137487869545, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04893501426627568, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7828168266849085, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 327, + "max_stable_success_frames": 327, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32694249849993556, + -0.40034689890620195, + 0.8515395053846865 + ], + "target_position": [ + 0.32093119995420033, + -0.40145627465999284, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0061128082555448795, + "xy_threshold": 0.08, + "gripper_dist": 0.18320613486148168, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395053846865, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552215323149565, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08767583513329945, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15121732194494922, + "release_required_pad_clearance": 0.053837917566649726, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.685218194065119, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008890390396118164, + "max_z_decrease": 0.008890390396118164, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035047297110803684, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008890390396118164, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02103442420964597, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008890390396118164, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008890882550049325, + "max_button_displacement": 0.12, + "button_start": [ + 0.1766311228275299, + -0.4577177464962005, + 0.7768088579177856 + ], + "button_final": [ + 0.1766311228275299, + -0.4577177464962005, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17797167953447285, + -0.458729820203949, + 0.8029209583536687 + ], + "closest_button": [ + 0.17656853795051575, + -0.45764821767807007, + 0.7679184675216675 + ], + "closest_ee_minus_button": [ + 0.0014031415839571015, + -0.0010816025258789108, + 0.03500249083200124 + ], + "button_min_z_position": [ + 0.17656853795051575, + -0.45764821767807007, + 0.7679184675216675 + ], + "min_active_finger_to_button": 0.1443937833305952, + "closest_active_finger": [ + 0.03717278689146042, + -0.44302475452423096, + 0.8104061484336853 + ], + "closest_active_finger_button": [ + 0.17663492262363434, + -0.45772007107734675, + 0.7759979367256165 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13946213573217392, + 0.01469531655311579, + 0.03440821170806885 + ], + "min_contact_pad_to_button": 0.02103442420964597, + "closest_contact_pad": [ + 0.17656853795051575, + -0.4598659419816193, + 0.7888356542527933 + ], + "closest_contact_pad_button": [ + 0.17656853795051575, + -0.45764821767807007, + 0.7679184675216675 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002217724303549218, + 0.02091718673112586 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "007d9f534548d5e48bf46b2b38ea8c257c0633451cd366c4d208cecf6d07b959", + "visual_seed": 4890752653878211300, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d8a7b27b49764b6285ae0fc58c2496032dedab1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21469439404473953, + -0.13953799314359497, + 1.166469426657475 + ], + "current_z": 1.166469426657475, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3053630378519987, + "gripper_z": 1.1597341678773792, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21050914016728237, + -0.14395248627665858, + 1.1597341678773792 + ], + "object_minus_gripper": [ + 0.004185253877457162, + 0.004414493133063607, + 0.006735258780095954 + ], + "object_to_gripper_xy": 0.0060830995093485, + "object_to_gripper_z": 0.006735258780095954, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21469439404473953, + -0.162975331202488, + 1.166469426657475 + ], + "finger_b": [ + 0.20435211843124115, + -0.13953799314359497, + 1.166469426657475 + ], + "finger_midpoint": [ + 0.20952325623799034, + -0.15125666217304148, + 1.166469426657475 + ], + "object_minus_finger_midpoint": [ + 0.0051711378067491875, + 0.011718669029446516, + 0.0 + ], + "finger_gap": 0.02561779616111423, + "fingertip_max_gap": 0.09255800812508946, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012808898080557116, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166469426657475, + "object_top_z": 1.2166059097908895, + "finger_top_clearance": 0.050136483133414345, + "fingertip_min_top_clearance": 0.015040944940024302, + "object_projection_between_fingers": 0.8370146073683951, + "object_to_finger_line_xy": 0.009461993074163951, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048779004062544734, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0195783953312274, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33185181512116846, + -0.39757740531434027, + 0.8515395856109069 + ], + "target_position": [ + 0.32383177979896394, + -0.399641365247137, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008281358413545358, + "xy_threshold": 0.08, + "gripper_dist": 0.18368430726185275, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395856109069, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525108890054166, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08532152802585445, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1526978863335197, + "release_required_pad_clearance": 0.05266076401292723, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.37949126765718616, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009050607681274414, + "max_z_decrease": 0.009050607681274414, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035026126233795245, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009050607681274414, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.020982446780570926, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009050607681274414, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009051259388423043, + "max_button_displacement": 0.12, + "button_start": [ + 0.17953170835971827, + -0.4559028148651123, + 0.7768088579177856 + ], + "button_final": [ + 0.17953170835971827, + -0.4559028148651123, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17800847720125507, + -0.4570405456693707, + 0.8035764053277659 + ], + "closest_button": [ + 0.17947751283645624, + -0.45582225918769836, + 0.7686023116111755 + ], + "closest_ee_minus_button": [ + -0.0014690356352011769, + -0.001218286481672326, + 0.034974093716590327 + ], + "button_min_z_position": [ + 0.17947073280811304, + -0.45581293106079096, + 0.7677582502365112 + ], + "min_active_finger_to_button": 0.14709107558182646, + "closest_active_finger": [ + 0.03718554973602295, + -0.44200223684310913, + 0.8111478686332703 + ], + "closest_active_finger_button": [ + 0.1795316189527511, + -0.45590475201606745, + 0.7767952680587769 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14234606921672815, + 0.013902515172958319, + 0.03435260057449341 + ], + "min_contact_pad_to_button": 0.020982446780570926, + "closest_contact_pad": [ + 0.17947073280811304, + -0.458068270563849, + 0.7886191350841258 + ], + "closest_contact_pad_button": [ + 0.17947073280811304, + -0.45581293106079096, + 0.7677582502365112 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022553395030580625, + 0.020860884847614614 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d3b5b2a30b965cc44c8ab741ff7b17624aca51fd50c8a1329109ed35bf740061", + "visual_seed": 8941036090273429293, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8b09847aec613dee2deb5bb86525df50d55aa652 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2107643675525136, + -0.13278824912828996, + 1.162272638122236 + ], + "current_z": 1.162272638122236, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30116613010746995, + "gripper_z": 1.1559350830689752, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20632583695101012, + -0.13725127143753368, + 1.1559350830689752 + ], + "object_minus_gripper": [ + 0.004438530601503482, + 0.004463022309243725, + 0.006337555053260724 + ], + "object_to_gripper_xy": 0.006294372250930989, + "object_to_gripper_z": 0.006337555053260724, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2107643675525136, + -0.15645917787607397, + 1.162272638122236 + ], + "finger_b": [ + 0.20045994877179768, + -0.13278824912828996, + 1.162272638122236 + ], + "finger_midpoint": [ + 0.20561215816215564, + -0.14462371350218195, + 1.162272638122236 + ], + "object_minus_finger_midpoint": [ + 0.005152209390357959, + 0.01183546437389199, + 0.0 + ], + "finger_gap": 0.025816543420664168, + "fingertip_max_gap": 0.09252231335419606, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012908271710332072, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162272638122236, + "object_top_z": 1.2123977395989582, + "finger_top_clearance": 0.050125101476722334, + "fingertip_min_top_clearance": 0.0150375304430167, + "object_projection_between_fingers": 0.8406871478530319, + "object_to_finger_line_xy": 0.009448017837679169, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876115667709803, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9042479421035008, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 327, + "max_stable_success_frames": 327, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3273095984528439, + -0.4030558046651831, + 0.8515395552014993 + ], + "target_position": [ + 0.319892151762263, + -0.40487363691418293, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007636951583787451, + "xy_threshold": 0.08, + "gripper_dist": 0.18392460168877747, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395552014993, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519833363882439, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561579542608581, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15288434095875564, + "release_required_pad_clearance": 0.05280789771304291, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6620446751777277, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008970022201538086, + "max_z_decrease": 0.008970022201538086, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350334075560613, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008970022201538086, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02104603874203909, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008970022201538086, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008970574215840998, + "max_button_displacement": 0.12, + "button_start": [ + 0.17559207975864408, + -0.46113508939743036, + 0.7768088579177856 + ], + "button_final": [ + 0.17559207975864408, + -0.46113508939743036, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17592771308781516, + -0.46273979184734465, + 0.8036670111937065 + ], + "closest_button": [ + 0.1755574643611908, + -0.46107107400894165, + 0.7686753273010254 + ], + "closest_ee_minus_button": [ + 0.0003702487266243615, + -0.001668717838403, + 0.03499168389268115 + ], + "button_min_z_position": [ + 0.17553827166557312, + -0.4610513746738434, + 0.7678388357162476 + ], + "min_active_finger_to_button": 0.14526669098337322, + "closest_active_finger": [ + 0.035122841596603394, + -0.4473564028739929, + 0.8102933764457703 + ], + "closest_active_finger_button": [ + 0.17559464275836945, + -0.4611373245716095, + 0.7759397625923157 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14047180116176605, + 0.013780921697616577, + 0.03435361385345459 + ], + "min_contact_pad_to_button": 0.02104603874203909, + "closest_contact_pad": [ + 0.17553827166557312, + -0.46380325588822513, + 0.7887041872952012 + ], + "closest_contact_pad_button": [ + 0.17553827166557312, + -0.4610513746738434, + 0.7678388357162476 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002751881214381746, + 0.02086535157895364 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "842e8f6aa8662f38bdedb387c82d13c094bc387573deb592f6e24462de0b423e", + "visual_seed": 353321982659022883, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b31844ccdd193ee57f307e14c62bb85f23b2a476 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_64_success.json @@ -0,0 +1,700 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21247782903000634, + -0.13749592929422824, + 1.1647890347207288 + ], + "current_z": 1.1647890347207288, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.3036826459152526, + "gripper_z": 1.158143178240722, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20821899178029393, + -0.1419341790709824, + 1.158143178240722 + ], + "object_minus_gripper": [ + 0.004258837249712405, + 0.004438249776754166, + 0.006645856480006707 + ], + "object_to_gripper_xy": 0.006151077612938755, + "object_to_gripper_z": 0.006645856480006707, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21247782903000634, + -0.16105354311149478, + 1.1647890347207288 + ], + "finger_b": [ + 0.20218826661131803, + -0.13749592929422824, + 1.1647890347207288 + ], + "finger_midpoint": [ + 0.2073330478206622, + -0.14927473620286152, + 1.1647890347207288 + ], + "object_minus_finger_midpoint": [ + 0.00514478120934414, + 0.011778806908633283, + 0.0 + ], + "finger_gap": 0.025706735761888363, + "fingertip_max_gap": 0.09230622826354579, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012853367880944188, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647890347207288, + "object_top_z": 1.2148678628652083, + "finger_top_clearance": 0.050078828144479504, + "fingertip_min_top_clearance": 0.01502364844334385, + "object_projection_between_fingers": 0.8397861912082735, + "object_to_finger_line_xy": 0.009429339456139193, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048653114131772895, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.84131965964023, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3287666816145094, + -0.4033619112557314, + 0.8515396084364536 + ], + "target_position": [ + 0.3221797406441312, + -0.40495487588182016, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006776822828377405, + "xy_threshold": 0.08, + "gripper_dist": 0.1829928577820552, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396084364536, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755463289311278, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0871023847478896, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1511198748436965, + "release_required_pad_clearance": 0.0535511923739448, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1136876939274574, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008908510208129883, + "max_z_decrease": 0.008908510208129883, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502085586620667, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008908510208129883, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020862742262594436, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008908510208129883, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00890878706323541, + "max_button_displacement": 0.12, + "button_start": [ + 0.17787966132164001, + -0.46121633052825917, + 0.7768088579177856 + ], + "button_final": [ + 0.17787966132164001, + -0.46121633052825917, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17716233559956782, + -0.4595819747818588, + 0.8028768485905475 + ], + "closest_button": [ + 0.17793041467666626, + -0.4611677825450896, + 0.7679003477096558 + ], + "closest_ee_minus_button": [ + -0.0007680790770984436, + 0.0015858077632308065, + 0.03497650088089177 + ], + "button_min_z_position": [ + 0.17793041467666626, + -0.4611677825450896, + 0.7679003477096558 + ], + "min_active_finger_to_button": 0.14577685207092375, + "closest_active_finger": [ + 0.050304606556892395, + -0.5228522419929504, + 0.8108925223350525 + ], + "closest_active_finger_button": [ + 0.1778818815946579, + -0.4612171947956084, + 0.7765989303588867 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1275772750377655, + -0.06163504719734203, + 0.03429359197616577 + ], + "min_contact_pad_to_button": 0.020862742262594436, + "closest_contact_pad": [ + 0.17793041467666626, + -0.4611677825450896, + 0.7887630899722502 + ], + "closest_contact_pad_button": [ + 0.17793041467666626, + -0.4611677825450896, + 0.7679003477096558 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020862742262594436 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a11f29872879fc3cfee6e722c059523ce0c3be0de078fd08607db4b15e2ba27e", + "visual_seed": 3344563495854560908, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..257d5975376e96b7161b703a1eb53aceba4a23a0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_65_success.json @@ -0,0 +1,700 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.20902619937197592, + -0.13664025554775702, + 1.1666272600505707 + ], + "current_z": 1.1666272600505707, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.3055208712450942, + "gripper_z": 1.1599675060787413, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2049339200000983, + -0.14108924302197695, + 1.1599675060787413 + ], + "object_minus_gripper": [ + 0.004092279371877616, + 0.004448987474219929, + 0.006659753971829385 + ], + "object_to_gripper_xy": 0.0060448523557867714, + "object_to_gripper_z": 0.006659753971829385, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20902619937197592, + -0.15993638322089615, + 1.1666272600505707 + ], + "finger_b": [ + 0.19847696154184813, + -0.13664025554775702, + 1.1666272600505707 + ], + "finger_midpoint": [ + 0.20375158045691202, + -0.14828831938432657, + 1.1666272600505707 + ], + "object_minus_finger_midpoint": [ + 0.0052746189150638945, + 0.01164806383656955, + 0.0 + ], + "finger_gap": 0.02557334517343787, + "fingertip_max_gap": 0.09231975546628154, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012786672586718922, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1666272600505707, + "object_top_z": 1.2165783993173573, + "finger_top_clearance": 0.049951139266786626, + "fingertip_min_top_clearance": 0.014985341780035986, + "object_projection_between_fingers": 0.8298362350409503, + "object_to_finger_line_xy": 0.009609864868215391, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048659877733140774, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.07211723433678, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3245144845928629, + -0.39585583846107053, + 0.8515395691376603 + ], + "target_position": [ + 0.31670274846953234, + -0.39762370782992124, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008009281076717716, + "xy_threshold": 0.08, + "gripper_dist": 0.18472184264008018, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691376603, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514537220955923, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15375969533974104, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008788526058197021, + "max_z_decrease": 0.008788526058197021, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035004023621673847, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008788526058197021, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02085447016512108, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008788526058197021, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008788647389994016, + "max_button_displacement": 0.12, + "button_start": [ + 0.17240267992019648, + -0.4538851678371429, + 0.7768088579177856 + ], + "button_final": [ + 0.17240267992019648, + -0.4538851678371429, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1711507562045611, + -0.4540279372430773, + 0.8033749431735461 + ], + "closest_button": [ + 0.1723982691764831, + -0.4538338184356689, + 0.7683936953544617 + ], + "closest_ee_minus_button": [ + -0.0012475129719219935, + -0.00019411880740838328, + 0.034981247819084405 + ], + "button_min_z_position": [ + 0.1723981201648712, + -0.45383921265602106, + 0.7680203318595886 + ], + "min_active_finger_to_button": 0.14692643747940198, + "closest_active_finger": [ + 0.03019476681947708, + -0.4400584399700165, + 0.8108501434326172 + ], + "closest_active_finger_button": [ + 0.1724029928445816, + -0.45388609170913685, + 0.7766011357307434 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14220822602510452, + 0.013827651739120372, + 0.03424900770187378 + ], + "min_contact_pad_to_button": 0.02085447016512108, + "closest_contact_pad": [ + 0.1723981201648712, + -0.4550026173964255, + 0.7888423254067476 + ], + "closest_contact_pad_button": [ + 0.1723981201648712, + -0.45383921265602106, + 0.7680203318595886 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001163404740404439, + 0.020821993547158968 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "434b66983136d1173f8df6dedcfe9a57faada80e04ced0a0b91249b93deaf5e1", + "visual_seed": 998722735184217382, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e58115c97bb03f3043e21b8e9029dea7b7b180ef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_66_success.json @@ -0,0 +1,700 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21313056747703463, + -0.13922381318245372, + 1.1641815347930549 + ], + "current_z": 1.1641815347930549, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3030750863829337, + "gripper_z": 1.1575453599138716, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2088690007266522, + -0.14366050730426555, + 1.1575453599138716 + ], + "object_minus_gripper": [ + 0.004261566750382417, + 0.004436694121811829, + 0.006636174879183221 + ], + "object_to_gripper_xy": 0.0061518457310375235, + "object_to_gripper_z": 0.006636174879183221, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21313056747703463, + -0.16273110994977524, + 1.1641815347930549 + ], + "finger_b": [ + 0.20277746889390852, + -0.13922381318245372, + 1.1641815347930549 + ], + "finger_midpoint": [ + 0.20795401818547157, + -0.15097746156611447, + 1.1641815347930549 + ], + "object_minus_finger_midpoint": [ + 0.005176549291563054, + 0.011753648383660747, + 0.0 + ], + "finger_gap": 0.02568617627399712, + "fingertip_max_gap": 0.0923978266402877, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012843088136998549, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641815347930549, + "object_top_z": 1.2142614065862192, + "finger_top_clearance": 0.05007987179316431, + "fingertip_min_top_clearance": 0.015023961537949292, + "object_projection_between_fingers": 0.837541745921642, + "object_to_finger_line_xy": 0.009474877002275174, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869891332014385, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.915129544456465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 332, + "max_stable_success_frames": 332, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3304028122467625, + -0.39529929021279164, + 0.8515395854789886 + ], + "target_position": [ + 0.3237354085924046, + -0.396712229921573, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006815472845723601, + "xy_threshold": 0.08, + "gripper_dist": 0.18413962629710878, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395854789886, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516924304083986, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08572818933781017, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15320915078507719, + "release_required_pad_clearance": 0.052864094668905084, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7702435944648867, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009009242057800293, + "max_z_decrease": 0.009009242057800293, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034992950781796615, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009009242057800293, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.020882300859595766, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009009242057800293, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00900951495570458, + "max_button_displacement": 0.12, + "button_start": [ + 0.17943532764911652, + -0.45297369360923767, + 0.7768088579177856 + ], + "button_final": [ + 0.17943532764911652, + -0.45297369360923767, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17978545679505342, + -0.4526405704234789, + 0.8027900387917387 + ], + "closest_button": [ + 0.179461270570755, + -0.4529085457324981, + 0.7677996158599854 + ], + "closest_ee_minus_button": [ + 0.00032418622429841726, + 0.0002679753090192305, + 0.03499042293175336 + ], + "button_min_z_position": [ + 0.179461270570755, + -0.4529085457324981, + 0.7677996158599854 + ], + "min_active_finger_to_button": 0.14537909094355927, + "closest_active_finger": [ + 0.05366504192352295, + -0.5173354744911194, + 0.8105274438858032 + ], + "closest_active_finger_button": [ + 0.17943786084651947, + -0.45297607779502863, + 0.7762616276741028 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12577281892299652, + -0.06435939669609075, + 0.03426581621170044 + ], + "min_contact_pad_to_button": 0.020882300859595766, + "closest_contact_pad": [ + 0.179461270570755, + -0.45364641511643033, + 0.7886688764593197 + ], + "closest_contact_pad_button": [ + 0.179461270570755, + -0.4529085457324981, + 0.7677996158599854 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007378693839322215, + 0.02086926059933436 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ded43e8df91e4156db5de7311f2b8744a85e9a776a0bed8d55b9960e2f22c720", + "visual_seed": 8040707930856198890, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5531751dd905787858dc711f08d0a0a78734fcd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_67_success.json @@ -0,0 +1,700 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21233495064315, + -0.13958283682257144, + 1.1647849614118853 + ], + "current_z": 1.1647849614118853, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3036785130017642, + "gripper_z": 1.1581950287753533, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20804433333579772, + -0.14400801509875155, + 1.1581950287753533 + ], + "object_minus_gripper": [ + 0.004290617307352279, + 0.004425178276180108, + 0.006589932636531959 + ], + "object_to_gripper_xy": 0.006163732607286536, + "object_to_gripper_z": 0.006589932636531959, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21233495064315, + -0.16320450148638085, + 1.1647849614118853 + ], + "finger_b": [ + 0.202126389000759, + -0.13958283682257144, + 1.1647849614118853 + ], + "finger_midpoint": [ + 0.20723066982195448, + -0.15139366915447616, + 1.1647849614118853 + ], + "object_minus_finger_midpoint": [ + 0.005104280821195517, + 0.01181083233190472, + 0.0 + ], + "finger_gap": 0.025733203692816002, + "fingertip_max_gap": 0.0925202560019546, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01286660184640802, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647849614118853, + "object_top_z": 1.2149212563814384, + "finger_top_clearance": 0.050136294969553186, + "fingertip_min_top_clearance": 0.015040888490865954, + "object_projection_between_fingers": 0.8426229516822963, + "object_to_finger_line_xy": 0.009370897720119793, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487601280009773, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9717592904009447, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 333, + "max_stable_success_frames": 333, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32297106762785976, + -0.39870304457873174, + 0.8515396043077883 + ], + "target_position": [ + 0.3157351137340502, + -0.4003694623399849, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007425360389123039, + "xy_threshold": 0.08, + "gripper_dist": 0.18286249216594752, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396043077883, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522157319331034, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08593553150545795, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15185497525764133, + "release_required_pad_clearance": 0.052967765752728976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9707496019648578, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008840858936309814, + "max_z_decrease": 0.008840858936309814, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03497169657470915, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008840858936309814, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020825420264392065, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008840858936309814, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008841022615561238, + "max_button_displacement": 0.12, + "button_start": [ + 0.1714350432157517, + -0.45663091540336603, + 0.7768088579177856 + ], + "button_final": [ + 0.1714350432157517, + -0.45663091540336603, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1698201373015194, + -0.45599268782577435, + 0.8035292167474369 + ], + "closest_button": [ + 0.17149312794208527, + -0.4566140472888946, + 0.7686030864715576 + ], + "closest_ee_minus_button": [ + -0.0016729906405658634, + 0.0006213594631202524, + 0.03492613027587932 + ], + "button_min_z_position": [ + 0.17144176363945007, + -0.4565775394439696, + 0.7679679989814758 + ], + "min_active_finger_to_button": 0.14703249191959875, + "closest_active_finger": [ + 0.042383454740047455, + -0.5181996822357178, + 0.8106501698493958 + ], + "closest_active_finger_button": [ + 0.1714364588260651, + -0.45663332939147944, + 0.7763943672180176 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12905300408601764, + -0.06156635284423834, + 0.034255802631378174 + ], + "min_contact_pad_to_button": 0.020825420264392065, + "closest_contact_pad": [ + 0.17144176363945007, + -0.457033882630089, + 0.7887884187679507 + ], + "closest_contact_pad_button": [ + 0.17144176363945007, + -0.4565775394439696, + 0.7679679989814758 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00045634318611936786, + 0.020820419786474864 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0951a328612f7aa79378f68dd16f05dea49f46e5ce89484c2a77422ee036d5d4", + "visual_seed": 13604869645496764, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5707fc57aec2a59c011966339d265f0a3294e92d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_68_success.json @@ -0,0 +1,700 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21224213845618337, + -0.13521726335686132, + 1.1621370693568513 + ], + "current_z": 1.1621370693568513, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30103062094673017, + "gripper_z": 1.155714874983395, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20788471220762655, + -0.13964174864474682, + 1.155714874983395 + ], + "object_minus_gripper": [ + 0.004357426248556812, + 0.004424485287885499, + 0.006422194373456369 + ], + "object_to_gripper_xy": 0.006209930239086999, + "object_to_gripper_z": 0.006422194373456369, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21224213845618337, + -0.15899959112885215, + 1.1621370693568513 + ], + "finger_b": [ + 0.20225604124575502, + -0.13521726335686132, + 1.1621370693568513 + ], + "finger_midpoint": [ + 0.20724908985096918, + -0.14710842724285672, + 1.1621370693568513 + ], + "object_minus_finger_midpoint": [ + 0.004993048605214184, + 0.011891163885995398, + 0.0 + ], + "finger_gap": 0.025793821968652316, + "fingertip_max_gap": 0.09255366395300232, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01289691098432615, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621370693568513, + "object_top_z": 1.2122990039731465, + "finger_top_clearance": 0.050161934616295145, + "fingertip_min_top_clearance": 0.015048580384888544, + "object_projection_between_fingers": 0.8501143060833466, + "object_to_finger_line_xy": 0.009207345747753053, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048776831976501164, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.868936494726912, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 322, + "max_stable_success_frames": 322, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3235950747946037, + -0.3964612095983072, + 0.8515394984576821 + ], + "target_position": [ + 0.3168725857379211, + -0.39766881781316754, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0068300934633294345, + "xy_threshold": 0.08, + "gripper_dist": 0.18381255959722936, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394984576821, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523060828067984, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671223825523931, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15254128047282772, + "release_required_pad_clearance": 0.05335611912761966, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7286806079396886, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008800983428955078, + "max_z_decrease": 0.008800983428955078, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498634245090305, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008800983428955078, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020885582475386508, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008800983428955078, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00880122272162509, + "max_button_displacement": 0.12, + "button_start": [ + 0.17257250845432281, + -0.45393028855323786, + 0.7768088579177856 + ], + "button_final": [ + 0.17257250845432281, + -0.45393028855323786, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1723832555375854, + -0.4538762697154749, + 0.8029934729098437 + ], + "closest_button": [ + 0.17261141538619995, + -0.4538783431053161, + 0.7680078744888306 + ], + "closest_ee_minus_button": [ + -0.0002281598486145453, + 2.073389841206197e-06, + 0.03498559842101312 + ], + "button_min_z_position": [ + 0.17261141538619995, + -0.4538783431053161, + 0.7680078744888306 + ], + "min_active_finger_to_button": 0.14593977874768072, + "closest_active_finger": [ + 0.03155992925167084, + -0.43854495882987976, + 0.8108741641044617 + ], + "closest_active_finger_button": [ + 0.17257386445999146, + -0.45393103361129755, + 0.7765702605247498 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14101393520832062, + 0.015386074781417791, + 0.034303903579711914 + ], + "min_contact_pad_to_button": 0.020885582475386508, + "closest_contact_pad": [ + 0.17261141538619995, + -0.4549824349859542, + 0.7888642532841843 + ], + "closest_contact_pad_button": [ + 0.17261141538619995, + -0.4538783431053161, + 0.7680078744888306 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011040918806380917, + 0.020856378795353736 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0ca462a84725c43bd73ddbb341a2a5c1346e85502ab8198c035c2c42bb37a7e", + "visual_seed": 5496333428175912038, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7fcafa6da8a43a1761f9e0cd6ce2ad1497e45c63 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_69_success.json @@ -0,0 +1,700 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21498844350942845, + -0.13672934794921104, + 1.1653477205775267 + ], + "current_z": 1.1653477205775267, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.3042412721674057, + "gripper_z": 1.1587914424639618, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21059424624770098, + -0.14108420163020327, + 1.1587914424639618 + ], + "object_minus_gripper": [ + 0.004394197261727462, + 0.004354853680992227, + 0.006556278113564851 + ], + "object_to_gripper_xy": 0.006186575802317844, + "object_to_gripper_z": 0.006556278113564851, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21498844350942845, + -0.16061083881285904, + 1.1653477205775267 + ], + "finger_b": [ + 0.20523780381563675, + -0.13672934794921104, + 1.1653477205775267 + ], + "finger_midpoint": [ + 0.2101131236625326, + -0.14867009338103504, + 1.1653477205775267 + ], + "object_minus_finger_midpoint": [ + 0.004875319846895848, + 0.011940745431823996, + 0.0 + ], + "finger_gap": 0.0257953596662006, + "fingertip_max_gap": 0.09267584705731052, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0128976798331003, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1653477205775267, + "object_top_z": 1.2156222692984702, + "finger_top_clearance": 0.0502745487209435, + "fingertip_min_top_clearance": 0.01508236461628305, + "object_projection_between_fingers": 0.8571161834664387, + "object_to_finger_line_xy": 0.009027197750885552, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048837923528655264, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8653609030464227, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 327, + "max_stable_success_frames": 327, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3268028017805483, + -0.39572390739298785, + 0.8515395856748199 + ], + "target_position": [ + 0.3208851658253508, + -0.3966609522398549, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005991366149993378, + "xy_threshold": 0.08, + "gripper_dist": 0.18383162741139036, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395856748199, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541221908442712, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08754914016548197, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15209167069635882, + "release_required_pad_clearance": 0.05377457008274099, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5583312817606725, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00885927677154541, + "max_z_decrease": 0.00885927677154541, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499819892782599, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00885927677154541, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020938376315495607, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00885927677154541, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008859496249277048, + "max_button_displacement": 0.12, + "button_start": [ + 0.1765850931406021, + -0.45292240381240834, + 0.7768088579177856 + ], + "button_final": [ + 0.1765850931406021, + -0.45292240381240834, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17626589396800343, + -0.45187231531650207, + 0.8029317713467558 + ], + "closest_button": [ + 0.1766190528869629, + -0.45287010073661793, + 0.7679495811462402 + ], + "closest_ee_minus_button": [ + -0.0003531589189594564, + 0.0009977854201158598, + 0.03498219020051552 + ], + "button_min_z_position": [ + 0.1766190528869629, + -0.45287010073661793, + 0.7679495811462402 + ], + "min_active_finger_to_button": 0.14573160211329242, + "closest_active_finger": [ + 0.048675939440727234, + -0.5136712789535522, + 0.810888409614563 + ], + "closest_active_finger_button": [ + 0.1765892654657364, + -0.4529238939285277, + 0.7764553427696228 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12791332602500916, + -0.060747385025024525, + 0.034433066844940186 + ], + "min_contact_pad_to_button": 0.020938376315495607, + "closest_contact_pad": [ + 0.1766190528869629, + -0.4531674490311683, + 0.7888858460165803 + ], + "closest_contact_pad_button": [ + 0.1766190528869629, + -0.45287010073661793, + 0.7679495811462402 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00029734829455035916, + 0.02093626487034006 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "951ba6d8feffcde586de13f7f5a645da1b104b52b973254c0e8d7c2779231cea", + "visual_seed": 8328592975407366233, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60c99f8e2492b065cb09b40cfb331bf08620a476 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_6_success.json @@ -0,0 +1,700 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2152411604672335, + -0.13898544492809486, + 1.1625053230975357 + ], + "current_z": 1.1625053230975357, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30139887468741433, + "gripper_z": 1.1557862049958159, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2109607124496491, + -0.14336364957464529, + 1.1557862049958159 + ], + "object_minus_gripper": [ + 0.004280448017584398, + 0.004378204646550421, + 0.006719118101719879 + ], + "object_to_gripper_xy": 0.0061229822111711135, + "object_to_gripper_z": 0.006719118101719879, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2152411604672335, + -0.16258312118983514, + 1.1625053230975357 + ], + "finger_b": [ + 0.20513211770634776, + -0.13898544492809486, + 1.1625053230975357 + ], + "finger_midpoint": [ + 0.21018663908679064, + -0.15078428305896502, + 1.1625053230975357 + ], + "object_minus_finger_midpoint": [ + 0.00505452138044285, + 0.011798838130870154, + 0.0 + ], + "finger_gap": 0.02567183418642534, + "fingertip_max_gap": 0.09253875923699703, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012835917093212678, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1625053230975357, + "object_top_z": 1.212612078463748, + "finger_top_clearance": 0.05010675536621223, + "fingertip_min_top_clearance": 0.015032026609863702, + "object_projection_between_fingers": 0.8449376829580939, + "object_to_finger_line_xy": 0.009292281831331324, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876937961849852, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9059293369245434, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 326, + "max_stable_success_frames": 326, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32539019110743816, + -0.4010844758836284, + 0.8515395885222037 + ], + "target_position": [ + 0.3186024275830959, + -0.4024338963560768, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006920597465093157, + "xy_threshold": 0.08, + "gripper_dist": 0.1828880944443554, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395885222037, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518880698839943, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557007066055493, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15185170019770342, + "release_required_pad_clearance": 0.052785035330277466, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6180208339961576, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008877933025360107, + "max_z_decrease": 0.008877933025360107, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035039813188971244, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008877933025360107, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021121763686683854, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008877933025360107, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008878159268390839, + "max_button_displacement": 0.12, + "button_start": [ + 0.17430235445499426, + -0.45869535207748413, + 0.7768088579177856 + ], + "button_final": [ + 0.17430235445499426, + -0.45869535207748413, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17532916211780167, + -0.46013420956889467, + 0.802923508560145 + ], + "closest_button": [ + 0.17430400848388677, + -0.4586319923400879, + 0.7679309248924255 + ], + "closest_ee_minus_button": [ + 0.0010251536339148937, + -0.0015022172288067792, + 0.03499258366771951 + ], + "button_min_z_position": [ + 0.17430400848388677, + -0.4586319923400879, + 0.7679309248924255 + ], + "min_active_finger_to_button": 0.14465820549485797, + "closest_active_finger": [ + 0.03474041819572449, + -0.44264110922813416, + 0.8093489408493042 + ], + "closest_active_finger_button": [ + 0.17430868744850161, + -0.45869845151901245, + 0.7748691439628601 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13956826925277713, + 0.016057342290878296, + 0.03447979688644409 + ], + "min_contact_pad_to_button": 0.021121763686683854, + "closest_contact_pad": [ + 0.17430400848388677, + -0.4614314294900146, + 0.7888663506793477 + ], + "closest_contact_pad_button": [ + 0.17430400848388677, + -0.4586319923400879, + 0.7679309248924255 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002799437149926698, + 0.0209354257869222 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a5ab48843f275b3d0bbe5a832724fabc6c2c90eccf914b653f122823d4ba5e53", + "visual_seed": 4728041128537407089, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1c9dbd92705408919401490402e16ead35086589 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_70_success.json @@ -0,0 +1,700 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21757962865993302, + -0.13488920243735195, + 1.1626598255146172 + ], + "current_z": 1.1626598255146172, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30155337710449603, + "gripper_z": 1.1560594228364716, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21324160401408418, + -0.13942203042831497, + 1.1560594228364716 + ], + "object_minus_gripper": [ + 0.0043380246458488425, + 0.004532827990963023, + 0.006600402678145656 + ], + "object_to_gripper_xy": 0.006274152327099642, + "object_to_gripper_z": 0.006600402678145656, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21757962865993302, + -0.1583768937320966, + 1.1626598255146172 + ], + "finger_b": [ + 0.20702597164321462, + -0.13488920243735195, + 1.1626598255146172 + ], + "finger_midpoint": [ + 0.21230280015157382, + -0.14663304808472427, + 1.1626598255146172 + ], + "object_minus_finger_midpoint": [ + 0.005276828508359199, + 0.011743845647372325, + 0.0 + ], + "finger_gap": 0.02574978288808962, + "fingertip_max_gap": 0.09255034176537985, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01287489144404481, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626598255146172, + "object_top_z": 1.2127734344736032, + "finger_top_clearance": 0.05011360895898598, + "fingertip_min_top_clearance": 0.015034082687695826, + "object_projection_between_fingers": 0.8320195235704603, + "object_to_finger_line_xy": 0.009626529245570954, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04877517088268993, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0096667368138963, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 329, + "max_stable_success_frames": 329, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3245953676336708, + -0.40142492890314685, + 0.8515395062702402 + ], + "target_position": [ + 0.31693842248459236, + -0.40350440673944327, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007934294996257949, + "xy_threshold": 0.08, + "gripper_dist": 0.18359884650970631, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395062702402, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585300863413678, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08651523046528857, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1511043270292691, + "release_required_pad_clearance": 0.05325761523264429, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5354066335773073, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00901716947555542, + "max_z_decrease": 0.00901716947555542, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500962107322064, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00901716947555542, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.020950463838709677, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00901716947555542, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009017607423173174, + "max_button_displacement": 0.12, + "button_start": [ + 0.1726383417844772, + -0.45976585149765004, + 0.7768088579177856 + ], + "button_final": [ + 0.1726383417844772, + -0.45976585149765004, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17196835490870332, + -0.4607996223038976, + 0.8036191285640756 + ], + "closest_button": [ + 0.17260853946208948, + -0.4596920311450957, + 0.7686328887939453 + ], + "closest_ee_minus_button": [ + -0.0006401845533861583, + -0.0011075911588018794, + 0.03498623977013027 + ], + "button_min_z_position": [ + 0.17260447144508362, + -0.45968368649482716, + 0.7677916884422302 + ], + "min_active_finger_to_button": 0.146251102440048, + "closest_active_finger": [ + 0.03122558444738388, + -0.4450754225254059, + 0.810540497303009 + ], + "closest_active_finger_button": [ + 0.17263850569725034, + -0.45976659655570973, + 0.7762485146522522 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14141292124986646, + 0.014691174030303844, + 0.034291982650756836 + ], + "min_contact_pad_to_button": 0.020950463838709677, + "closest_contact_pad": [ + 0.17260447144508362, + -0.46188830264149444, + 0.7886258335579516 + ], + "closest_contact_pad_button": [ + 0.17260447144508362, + -0.45968368649482716, + 0.7677916884422302 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002204616146667282, + 0.020834145115721348 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2566c289ca6e38b7e1aebf1e71f4c6c4e39b4f2bcec4464756ed623da14c1cd1", + "visual_seed": 2519868622576664280, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc1242c11e3c07ff568e4cfb1c1d0779ad8aa738 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2153556505347084, + -0.13958581363314213, + 1.1646814946452428 + ], + "current_z": 1.1646814946452428, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3035749866304768, + "gripper_z": 1.1580462407856424, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21098386583993126, + -0.14420428093015733, + 1.1580462407856424 + ], + "object_minus_gripper": [ + 0.004371784694777142, + 0.004618467297015205, + 0.0066352538596003985 + ], + "object_to_gripper_xy": 0.006359460794052166, + "object_to_gripper_z": 0.0066352538596003985, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2153556505347084, + -0.16301893028215209, + 1.1646814946452428 + ], + "finger_b": [ + 0.20451564159134578, + -0.13958581363314213, + 1.1646814946452428 + ], + "finger_midpoint": [ + 0.2099356460630271, + -0.15130237195764712, + 1.1646814946452428 + ], + "object_minus_finger_midpoint": [ + 0.005420004471681311, + 0.011716558324504994, + 0.0 + ], + "finger_gap": 0.025818922320234233, + "fingertip_max_gap": 0.09243396624347888, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012909461160117128, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646814946452428, + "object_top_z": 1.2146994601618202, + "finger_top_clearance": 0.050017965516577334, + "fingertip_min_top_clearance": 0.015005389654973167, + "object_projection_between_fingers": 0.8237281107453975, + "object_to_finger_line_xy": 0.009838334493421384, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871698312173944, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.060802501812316, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32817943092751833, + -0.39458302470124496, + 0.8515396037224996 + ], + "target_position": [ + 0.320310811221585, + -0.39648170309185443, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008094452156110984, + "xy_threshold": 0.08, + "gripper_dist": 0.18715387879751505, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396037224996, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531200015229221, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08536055476132069, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1557943708901625, + "release_required_pad_clearance": 0.05268027738066035, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.41684001310865537, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008946657180786133, + "max_z_decrease": 0.008946657180786133, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035017710818265164, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008946657180786133, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020856784896575276, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008946657180786133, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008946936324768326, + "max_button_displacement": 0.12, + "button_start": [ + 0.1760107427835464, + -0.4527431726455688, + 0.7768088579177856 + ], + "button_final": [ + 0.1760107427835464, + -0.4527431726455688, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17656745065128246, + -0.45161799392001745, + 0.8032699309123705 + ], + "closest_button": [ + 0.17598660290241236, + -0.45267498493194575, + 0.7682729959487915 + ], + "closest_ee_minus_button": [ + 0.0005808477488701003, + 0.0010569910119282988, + 0.03499693496357903 + ], + "button_min_z_position": [ + 0.17598210275173182, + -0.4526785612106323, + 0.7678622007369995 + ], + "min_active_finger_to_button": 0.14486676190313202, + "closest_active_finger": [ + 0.05051368474960327, + -0.5165116786956787, + 0.8105456233024597 + ], + "closest_active_finger_button": [ + 0.17601260542869562, + -0.45274558663368225, + 0.7763361930847168 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12549892067909235, + -0.06376609206199646, + 0.03420943021774292 + ], + "min_contact_pad_to_button": 0.020856784896575276, + "closest_contact_pad": [ + 0.17598210275173182, + -0.4526785612106323, + 0.7887189856335748 + ], + "closest_contact_pad_button": [ + 0.17598210275173182, + -0.4526785612106323, + 0.7678622007369995 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020856784896575276 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f951c3e107482f4a1e59542b8afcc18fab2fa42319739200cedabcbc8f1150fd", + "visual_seed": 4583829044373200111, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce8bc63d48f5fcaa2469637df946fbd9077300f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21655714936983916, + -0.13037137625508216, + 1.165819099961003 + ], + "current_z": 1.165819099961003, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3047125919462369, + "gripper_z": 1.1591345404430609, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21239374872088065, + -0.13486361359062682, + 1.1591345404430609 + ], + "object_minus_gripper": [ + 0.00416340064895851, + 0.004492237335544658, + 0.0066845595179421124 + ], + "object_to_gripper_xy": 0.006124875610378508, + "object_to_gripper_z": 0.0066845595179421124, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21655714936983916, + -0.1537263745939845, + 1.165819099961003 + ], + "finger_b": [ + 0.20603575414665795, + -0.13037137625508216, + 1.165819099961003 + ], + "finger_midpoint": [ + 0.21129645175824857, + -0.14204887542453332, + 1.165819099961003 + ], + "object_minus_finger_midpoint": [ + 0.005260697611590592, + 0.011677499169451155, + 0.0 + ], + "finger_gap": 0.025615536395955315, + "fingertip_max_gap": 0.09243716347779107, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012807768197977638, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165819099961003, + "object_top_z": 1.2159531876331062, + "finger_top_clearance": 0.050134087672103256, + "fingertip_min_top_clearance": 0.015040226301631009, + "object_projection_between_fingers": 0.8312904138092295, + "object_to_finger_line_xy": 0.009592895661522534, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871858173889554, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9019835853974736, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3232498343401301, + -0.40341999380279725, + 0.8515395538152847 + ], + "target_position": [ + 0.315790797237717, + -0.40529027836181136, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00768994140594462, + "xy_threshold": 0.08, + "gripper_dist": 0.18492578110043295, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395538152847, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534475036019406, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566325973060639, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1534331859556538, + "release_required_pad_clearance": 0.052831629865303195, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7077556688982656, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009014785289764404, + "max_z_decrease": 0.009014785289764404, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350212554088134, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009014785289764404, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02089532112642522, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009014785289764404, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009015075998364217, + "max_button_displacement": 0.12, + "button_start": [ + 0.17149072885513306, + -0.4615517258644104, + 0.7768088579177856 + ], + "button_final": [ + 0.17149072885513306, + -0.4615517258644104, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17223201924025827, + -0.46018202891523174, + 0.8027838266948029 + ], + "closest_button": [ + 0.17152303457260132, + -0.46148693561553955, + 0.7677940726280212 + ], + "closest_ee_minus_button": [ + 0.0007089846676569533, + 0.0013049067003078063, + 0.03498975406678162 + ], + "button_min_z_position": [ + 0.17152303457260132, + -0.46148693561553955, + 0.7677940726280212 + ], + "min_active_finger_to_button": 0.14462979162850717, + "closest_active_finger": [ + 0.04455260932445526, + -0.5217574238777161, + 0.8105706572532654 + ], + "closest_active_finger_button": [ + 0.17149466276168823, + -0.4615533649921417, + 0.7762346267700195 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12694205343723297, + -0.06020405888557434, + 0.03433603048324585 + ], + "min_contact_pad_to_button": 0.02089532112642522, + "closest_contact_pad": [ + 0.17152303457260132, + -0.4614985215156756, + 0.7886893905424094 + ], + "closest_contact_pad_button": [ + 0.17152303457260132, + -0.46148693561553955, + 0.7677940726280212 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -1.1585900136057425e-05, + 0.020895317914388145 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e499a68d0798a2bd92db68f3face2e288e221f4cf1e39f7dcf704d53760e8887", + "visual_seed": 6403796043845069348, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e92a18fb6b4d9aa3084dd415437d381a99cf278c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21402757571453523, + -0.13219375838513878, + 1.1658428266251568 + ], + "current_z": 1.1658428266251568, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30473637821503563, + "gripper_z": 1.1596017804951404, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20940430499763, + -0.13668650784682462, + 1.1596017804951404 + ], + "object_minus_gripper": [ + 0.004623270716905242, + 0.0044927494616858465, + 0.006241046130016414 + ], + "object_to_gripper_xy": 0.006446660363883922, + "object_to_gripper_z": 0.006241046130016414, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21402757571453523, + -0.15608336763059988, + 1.1658428266251568 + ], + "finger_b": [ + 0.20387246165769773, + -0.13219375838513878, + 1.1658428266251568 + ], + "finger_midpoint": [ + 0.20895001868611648, + -0.1441385630078693, + 1.1658428266251568 + ], + "object_minus_finger_midpoint": [ + 0.00507755702841875, + 0.011944804622730537, + 0.0 + ], + "finger_gap": 0.025958423900695495, + "fingertip_max_gap": 0.09289885622120864, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012979211950347735, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1658428266251568, + "object_top_z": 1.2161840138626512, + "finger_top_clearance": 0.05034118723749437, + "fingertip_min_top_clearance": 0.015102356171248343, + "object_projection_between_fingers": 0.846957176048152, + "object_to_finger_line_xy": 0.009345779527640622, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04894942811060432, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8018836868870265, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 327, + "max_stable_success_frames": 327, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32560537064636336, + -0.3975719203385675, + 0.8515395946909086 + ], + "target_position": [ + 0.31850641509574473, + -0.3992095594418812, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007285398530098483, + "xy_threshold": 0.08, + "gripper_dist": 0.18294093255197183, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395946909086, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539654048619758, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08718918767576654, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15147364213872686, + "release_required_pad_clearance": 0.05359459383788327, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1997019920133862, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008931398391723633, + "max_z_decrease": 0.008931398391723633, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034987456380443774, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008931398391723633, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020945047021665927, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008931398391723633, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008931653972854375, + "max_button_displacement": 0.12, + "button_start": [ + 0.17420634627342224, + -0.45547100901603693, + 0.7768088579177856 + ], + "button_final": [ + 0.17420634627342224, + -0.45547100901603693, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17414953748512196, + -0.45504064889588414, + 0.8028628856632671 + ], + "closest_button": [ + 0.1742318868637085, + -0.4554084539413452, + 0.767877459526062 + ], + "closest_ee_minus_button": [ + -8.234937858653257e-05, + 0.00036780504546107817, + 0.03498542613720512 + ], + "button_min_z_position": [ + 0.1742318868637085, + -0.4554084539413452, + 0.767877459526062 + ], + "min_active_finger_to_button": 0.14574281649729265, + "closest_active_finger": [ + 0.046380408108234406, + -0.5164377093315125, + 0.810805082321167 + ], + "closest_active_finger_button": [ + 0.17421022057533264, + -0.45547315478324885, + 0.776398241519928 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12782981246709824, + -0.060964554548263605, + 0.034406840801239014 + ], + "min_contact_pad_to_button": 0.020945047021665927, + "closest_contact_pad": [ + 0.1742318868637085, + -0.4563728833700465, + 0.7888002908501647 + ], + "closest_contact_pad_button": [ + 0.1742318868637085, + -0.4554084539413452, + 0.767877459526062 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009644294287012856, + 0.020922831324102664 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c1f2381863f7e66dff2249c7c4bfb8215bab21dfc68bd8d7350219404fd55d93", + "visual_seed": 7822688068020739445, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..752c8958f8752e1103a70ad0f8d92f9ae434514d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21438070893666128, + -0.1351252401950196, + 1.1631889541418357 + ], + "current_z": 1.1631889541418357, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30208250573171425, + "gripper_z": 1.1568084587589051, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20985677502466663, + -0.13949769549221264, + 1.1568084587589051 + ], + "object_minus_gripper": [ + 0.004523933911994654, + 0.004372455297193045, + 0.006380495382930507 + ], + "object_to_gripper_xy": 0.006291608964807554, + "object_to_gripper_z": 0.006380495382930507, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21438070893666128, + -0.15904039949069063, + 1.1631889541418357 + ], + "finger_b": [ + 0.2045476822172467, + -0.1351252401950196, + 1.1631889541418357 + ], + "finger_midpoint": [ + 0.209464195576954, + -0.1470828198428551, + 1.1631889541418357 + ], + "object_minus_finger_midpoint": [ + 0.004916513359707275, + 0.011957579647835503, + 0.0 + ], + "finger_gap": 0.025857750455173818, + "fingertip_max_gap": 0.092906507885817, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01292887522758689, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1631889541418357, + "object_top_z": 1.2134757998434174, + "finger_top_clearance": 0.050286845701581706, + "fingertip_min_top_clearance": 0.015086053710474511, + "object_projection_between_fingers": 0.8553917871973564, + "object_to_finger_line_xy": 0.009094310070052382, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0489532539429085, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8789618787644617, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 323, + "max_stable_success_frames": 323, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3254896757843589, + -0.3963163122646314, + 0.8515395838119912 + ], + "target_position": [ + 0.3193103685455572, + -0.39739215158084296, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0062722618078180775, + "xy_threshold": 0.08, + "gripper_dist": 0.18398920284350093, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395838119912, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560001752907304, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08844333293060368, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15175469291638677, + "release_required_pad_clearance": 0.05422166646530184, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.460627853250873, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00881582498550415, + "max_z_decrease": 0.00881582498550415, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501547161308157, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00881582498550415, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020857846408101732, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00881582498550415, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008815988233754544, + "max_button_displacement": 0.12, + "button_start": [ + 0.17501029372215265, + -0.45365360379219044, + 0.7768088579177856 + ], + "button_final": [ + 0.17501029372215265, + -0.45365360379219044, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17454705778834645, + -0.4522338593165656, + 0.8029788823347668 + ], + "closest_button": [ + 0.174998477101326, + -0.4536012709140777, + 0.7679930329322815 + ], + "closest_ee_minus_button": [ + -0.00045141931297953963, + 0.0013674115975120804, + 0.03498584940248528 + ], + "button_min_z_position": [ + 0.174998477101326, + -0.4536012709140777, + 0.7679930329322815 + ], + "min_active_finger_to_button": 0.1456498461340325, + "closest_active_finger": [ + 0.04794634133577347, + -0.5160772800445557, + 0.8107549548149109 + ], + "closest_active_finger_button": [ + 0.1750114411115646, + -0.4536545872688293, + 0.7765241861343384 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12706509977579114, + -0.062422692775726374, + 0.03423076868057251 + ], + "min_contact_pad_to_button": 0.020857846408101732, + "closest_contact_pad": [ + 0.174998477101326, + -0.4536012709140777, + 0.7888508793403832 + ], + "closest_contact_pad_button": [ + 0.174998477101326, + -0.4536012709140777, + 0.7679930329322815 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020857846408101732 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "693bbf792c898afda7d497b74d728960ea659e41adc3ab4388e618c091c456f5", + "visual_seed": 6418933917741184483, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d27a9dd8f7388eb034ccc09d33cdbfc1ce52ddd4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2124210831681459, + -0.13819220997544499, + 1.1663246604955344 + ], + "current_z": 1.1663246604955344, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30521815248076833, + "gripper_z": 1.1594799037199488, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20836892445359748, + -0.1426101903021308, + 1.1594799037199488 + ], + "object_minus_gripper": [ + 0.004052158714548421, + 0.004417980326685805, + 0.006844756775585603 + ], + "object_to_gripper_xy": 0.00599487618011194, + "object_to_gripper_z": 0.006844756775585603, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2124210831681459, + -0.16146903487179584, + 1.1663246604955344 + ], + "finger_b": [ + 0.20194463152863254, + -0.13819220997544499, + 1.1663246604955344 + ], + "finger_midpoint": [ + 0.2071828573483892, + -0.1498306224236204, + 1.1663246604955344 + ], + "object_minus_finger_midpoint": [ + 0.005238225819756692, + 0.011638412448175428, + 0.0 + ], + "finger_gap": 0.025525802949377344, + "fingertip_max_gap": 0.09237956872171255, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012762901474688677, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1663246604955344, + "object_top_z": 1.2163366161773417, + "finger_top_clearance": 0.050011955681807274, + "fingertip_min_top_clearance": 0.01500358670454218, + "object_projection_between_fingers": 0.8315505487475536, + "object_to_finger_line_xy": 0.009553412710724893, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048689784360856275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0091478027810017, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.328088304136102, + -0.401712590101438, + 0.8515396096905485 + ], + "target_position": [ + 0.32112289458002374, + -0.40358145723679445, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007211767789767078, + "xy_threshold": 0.08, + "gripper_dist": 0.18544840324184056, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396096905485, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565155086128644, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08639612454299238, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15335091293266376, + "release_required_pad_clearance": 0.05319806227149619, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4188318732231215, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009096503257751465, + "max_z_decrease": 0.009096503257751465, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504191313221865, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009096503257751465, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.021001714455500437, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009096503257751465, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009096863584331606, + "max_button_displacement": 0.12, + "button_start": [ + 0.17682282626628865, + -0.45984292030334467, + 0.7768088579177856 + ], + "button_final": [ + 0.17682282626628865, + -0.45984292030334467, + 0.7768088579177856 + ], + "closest_ee": [ + 0.175504227364975, + -0.46160982278232143, + 0.8036169144139059 + ], + "closest_button": [ + 0.17685186862945546, + -0.459814965724945, + 0.7686469554901123 + ], + "closest_ee_minus_button": [ + -0.001347641264480448, + -0.00179485705737642, + 0.03496995892379362 + ], + "button_min_z_position": [ + 0.17685240507125843, + -0.4597675502300262, + 0.7677123546600342 + ], + "min_active_finger_to_button": 0.14699300107503147, + "closest_active_finger": [ + 0.034460246562957764, + -0.4469524621963501, + 0.810393214225769 + ], + "closest_active_finger_button": [ + 0.17682032287120808, + -0.4598454535007477, + 0.7761248350143433 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14236007630825032, + 0.012892991304397583, + 0.03426837921142578 + ], + "min_contact_pad_to_button": 0.021001714455500437, + "closest_contact_pad": [ + 0.17685240507125843, + -0.462606359432522, + 0.7885213232164572 + ], + "closest_contact_pad_button": [ + 0.17685240507125843, + -0.4597675502300262, + 0.7677123546600342 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028388092024957956, + 0.020808968556423002 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "192af9f017ba3d68ae58748751afb6990b6e63aeb95375064031f98a991b37eb", + "visual_seed": 1959522747525422843, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..37e3eeb7abdd985e1f03b164cf9177e1f892ad1e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21128967331009293, + -0.14162786483772538, + 1.1651984896868548 + ], + "current_z": 1.1651984896868548, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30409198167208873, + "gripper_z": 1.1585482716831361, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20700382985708501, + -0.146070468501523, + 1.1585482716831361 + ], + "object_minus_gripper": [ + 0.00428584345300792, + 0.004442603663797617, + 0.0066502180037186776 + ], + "object_to_gripper_xy": 0.0061729394470769645, + "object_to_gripper_z": 0.0066502180037186776, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21128967331009293, + -0.1651757208339102, + 1.1651984896868548 + ], + "finger_b": [ + 0.200937579895359, + -0.14162786483772538, + 1.1651984896868548 + ], + "finger_midpoint": [ + 0.20611362660272597, + -0.15340179283581779, + 1.1651984896868548 + ], + "object_minus_finger_midpoint": [ + 0.00517604670736696, + 0.011773927998092404, + 0.0 + ], + "finger_gap": 0.025722895639574382, + "fingertip_max_gap": 0.0921911296702981, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012861447819787186, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651984896868548, + "object_top_z": 1.215224449702304, + "finger_top_clearance": 0.05002596001544912, + "fingertip_min_top_clearance": 0.01500778800463477, + "object_projection_between_fingers": 0.838036686510118, + "object_to_finger_line_xy": 0.009476755976654939, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048595564835149055, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8049500820078892, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32543962584851194, + -0.3960437461861697, + 0.8515396013529752 + ], + "target_position": [ + 0.3191465131257085, + -0.39740519693226695, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006438696752911954, + "xy_threshold": 0.08, + "gripper_dist": 0.1829234934272467, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396013529752, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574155177354244, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08706393357565094, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15070171873809785, + "release_required_pad_clearance": 0.05353196678782547, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0755721233507725, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00896763801574707, + "max_z_decrease": 0.00896763801574707, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504007106847962, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00896763801574707, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020978153436107993, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00896763801574707, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008967950417155788, + "max_button_displacement": 0.12, + "button_start": [ + 0.17484644055366522, + -0.4536666572093963, + 0.7768088579177856 + ], + "button_final": [ + 0.17484644055366522, + -0.4536666572093963, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17378845289739223, + -0.4553381880560108, + 0.8032387158849771 + ], + "closest_button": [ + 0.17481921613216406, + -0.45360007882118225, + 0.7682569622993469 + ], + "closest_ee_minus_button": [ + -0.001030763234771831, + -0.0017381092348285332, + 0.03498175358563016 + ], + "button_min_z_position": [ + 0.17481629550457006, + -0.453598141670227, + 0.7678412199020386 + ], + "min_active_finger_to_button": 0.14658016043436614, + "closest_active_finger": [ + 0.032810792326927185, + -0.4418424963951111, + 0.8105877041816711 + ], + "closest_active_finger_button": [ + 0.1748459935188294, + -0.45366790890693665, + 0.7763546109199524 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14203520119190222, + 0.011825412511825562, + 0.03423309326171875 + ], + "min_contact_pad_to_button": 0.020978153436107993, + "closest_contact_pad": [ + 0.17481629550457006, + -0.4562639959958094, + 0.7886492986769679 + ], + "closest_contact_pad_button": [ + 0.17481629550457006, + -0.453598141670227, + 0.7678412199020386 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026658543255824174, + 0.020808078774929295 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "23f81845063994a6af0b7ef4c4ab7056651bf3a398cd26dc7a1f3a1dcfffa2c3", + "visual_seed": 5689821019909924829, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..223befe5aad4b5de536b13b117c1e1e12dace127 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.215917861020429, + -0.13017095320101518, + 1.1635067503691363 + ], + "current_z": 1.1635067503691363, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30240024235437024, + "gripper_z": 1.1570721054381323, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21148446408103455, + -0.1347384743139607, + 1.1570721054381323 + ], + "object_minus_gripper": [ + 0.004433396939394457, + 0.004567521112945505, + 0.0064346449310039855 + ], + "object_to_gripper_xy": 0.00636531676662168, + "object_to_gripper_z": 0.0064346449310039855, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.215917861020429, + -0.1537635994756691, + 1.1635067503691363 + ], + "finger_b": [ + 0.20540432837531067, + -0.13017095320101518, + 1.1635067503691363 + ], + "finger_midpoint": [ + 0.21066109469786984, + -0.14196727633834214, + 1.1635067503691363 + ], + "object_minus_finger_midpoint": [ + 0.00525676632255917, + 0.011796323137326953, + 0.0 + ], + "finger_gap": 0.025829195243385145, + "fingertip_max_gap": 0.09251784189975162, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012914597621692572, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635067503691363, + "object_top_z": 1.2136708910669525, + "finger_top_clearance": 0.05016414069781616, + "fingertip_min_top_clearance": 0.015049242209344848, + "object_projection_between_fingers": 0.8343179021789399, + "object_to_finger_line_xy": 0.009603166279709285, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048758920949875814, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.795108420102494, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 323, + "max_stable_success_frames": 323, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32596882801144544, + -0.3982276387080862, + 0.8515395546800688 + ], + "target_position": [ + 0.31838521575238876, + -0.40003934108061645, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007797014837894471, + "xy_threshold": 0.08, + "gripper_dist": 0.18489151043382165, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395546800688, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576674756729149, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08669419581143804, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15237469369876405, + "release_required_pad_clearance": 0.053347097905719024, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7109310780009126, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009004771709442139, + "max_z_decrease": 0.009004771709442139, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502585940619776, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009004771709442139, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020915718150732676, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009004771709442139, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009005060398476358, + "max_button_displacement": 0.12, + "button_start": [ + 0.17408514022827148, + -0.4563007950782775, + 0.7768088579177856 + ], + "button_final": [ + 0.17408514022827148, + -0.4563007950782775, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17518336827510295, + -0.45515115627950165, + 0.8027968156619264 + ], + "closest_button": [ + 0.17411231994628906, + -0.4562340080738067, + 0.7678040862083435 + ], + "closest_ee_minus_button": [ + 0.001071048328813884, + 0.001082851794305062, + 0.034992729453582894 + ], + "button_min_z_position": [ + 0.17411231994628906, + -0.4562340080738067, + 0.7678040862083435 + ], + "min_active_finger_to_button": 0.1444300926442475, + "closest_active_finger": [ + 0.047664575278759, + -0.5170871019363403, + 0.81056809425354 + ], + "closest_active_finger_button": [ + 0.17408950626850128, + -0.45630258321762074, + 0.7761874198913574 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12642493098974228, + -0.06078451871871959, + 0.03438067436218262 + ], + "min_contact_pad_to_button": 0.020915718150732676, + "closest_contact_pad": [ + 0.17411231994628906, + -0.4564303639283141, + 0.788718882648646 + ], + "closest_contact_pad_button": [ + 0.17411231994628906, + -0.4562340080738067, + 0.7678040862083435 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00019635585450739068, + 0.020914796440302474 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "845b7d35b17ecd45cb70a5ebc2e0029f560083c9d115b0fdff3a8cd037af03e0", + "visual_seed": 3780655459908859166, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..929e58789a13d96a90821b4ab561421e0b67c0a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.218920259043552, + -0.13695823953247416, + 1.1626177144558238 + ], + "current_z": 1.1626177144558238, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.301511206441058, + "gripper_z": 1.156113152941502, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2144397973952961, + -0.14137330937557663, + 1.156113152941502 + ], + "object_minus_gripper": [ + 0.004480461648255912, + 0.00441506984310247, + 0.006504561514321772 + ], + "object_to_gripper_xy": 0.006290260590863065, + "object_to_gripper_z": 0.006504561514321772, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.218920259043552, + -0.16081032222795588, + 1.1626177144558238 + ], + "finger_b": [ + 0.20898300822400184, + -0.13695823953247416, + 1.1626177144558238 + ], + "finger_midpoint": [ + 0.21395163363377692, + -0.14888428088021502, + 1.1626177144558238 + ], + "object_minus_finger_midpoint": [ + 0.004968625409775079, + 0.011926041347740862, + 0.0 + ], + "finger_gap": 0.025839326670073062, + "fingertip_max_gap": 0.09270623763351338, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012919663335036531, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626177144558238, + "object_top_z": 1.212919371080616, + "finger_top_clearance": 0.050301656624792246, + "fingertip_min_top_clearance": 0.015090496987437673, + "object_projection_between_fingers": 0.8520993378143272, + "object_to_finger_line_xy": 0.009172999410552508, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885311881675669, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.72478131919811, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 323, + "max_stable_success_frames": 323, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32828740777141296, + -0.40225640172666677, + 0.8515395070353775 + ], + "target_position": [ + 0.3225725682231451, + -0.40345434838231503, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005839046775992218, + "xy_threshold": 0.08, + "gripper_dist": 0.1835423080701652, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395070353775, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585034315151508, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0880403034082216, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1508627773013511, + "release_required_pad_clearance": 0.0540201517041108, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0519611205057005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008973121643066406, + "max_z_decrease": 0.008973121643066406, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500368845010467, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008973121643066406, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020946717802912306, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008973121643066406, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00897346173817505, + "max_button_displacement": 0.12, + "button_start": [ + 0.1782725006341934, + -0.4597158133983612, + 0.7768088579177856 + ], + "button_final": [ + 0.1782725006341934, + -0.4597158133983612, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17767727679993595, + -0.4607884347586335, + 0.802854835722299 + ], + "closest_button": [ + 0.17831292748451233, + -0.45965021848678583, + 0.7678754329681396 + ], + "closest_ee_minus_button": [ + -0.0006356506845763832, + -0.0011382162718476807, + 0.03497940275415934 + ], + "button_min_z_position": [ + 0.17831213772296903, + -0.45964848995208735, + 0.7678357362747192 + ], + "min_active_finger_to_button": 0.14622519380216073, + "closest_active_finger": [ + 0.036801986396312714, + -0.44597330689430237, + 0.8109212517738342 + ], + "closest_active_finger_button": [ + 0.17827393114566803, + -0.45971655845642084, + 0.7765902280807495 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14147194474935532, + 0.013743251562118475, + 0.03433102369308472 + ], + "min_contact_pad_to_button": 0.020946717802912306, + "closest_contact_pad": [ + 0.17831213772296903, + -0.461835674346753, + 0.7886679519787334 + ], + "closest_contact_pad_button": [ + 0.17831213772296903, + -0.45964848995208735, + 0.7678357362747192 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002187184394665642, + 0.020832215704014168 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ecf2022748808e1a299f5eb55b1825255225d569f2a265b2262f3b50c871916", + "visual_seed": 3843415848096538086, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c20cf43478040fa9462667c42263039970a67d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21719322884817283, + -0.13202205563206987, + 1.1625824522439445 + ], + "current_z": 1.1625824522439445, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.3014758846245337, + "gripper_z": 1.156253480803612, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21266358266727545, + -0.13652545850722594, + 1.156253480803612 + ], + "object_minus_gripper": [ + 0.004529646180897379, + 0.004503402875156076, + 0.006328971440332509 + ], + "object_to_gripper_xy": 0.006387357198410171, + "object_to_gripper_z": 0.006328971440332509, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21719322884817283, + -0.15585296189479095, + 1.1625824522439445 + ], + "finger_b": [ + 0.20702516039625263, + -0.13202205563206987, + 1.1625824522439445 + ], + "finger_midpoint": [ + 0.21210919462221273, + -0.14393750876343042, + 1.1625824522439445 + ], + "object_minus_finger_midpoint": [ + 0.005084034225960099, + 0.011915453131360554, + 0.0 + ], + "finger_gap": 0.02590949071953236, + "fingertip_max_gap": 0.09257769771799756, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012954745359766194, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1625824522439445, + "object_top_z": 1.2128823247168343, + "finger_top_clearance": 0.050299872472889806, + "fingertip_min_top_clearance": 0.015089961741866975, + "object_projection_between_fingers": 0.8459863655885346, + "object_to_finger_line_xy": 0.009352336901318117, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048788848858998785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.738333351621009, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 326, + "max_stable_success_frames": 326, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33155877280943097, + -0.3981001492807137, + 0.851539563111437 + ], + "target_position": [ + 0.324700247061294, + -0.399766688844021, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007058096737359581, + "xy_threshold": 0.08, + "gripper_dist": 0.1837494079729809, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539563111437, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548142652346386, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08691677816081421, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15213900105093237, + "release_required_pad_clearance": 0.05345838908040711, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9301954637593206, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009046196937561035, + "max_z_decrease": 0.009046196937561035, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034998284069551557, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009046196937561035, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.020796424208685643, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009046196937561035, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009046691185129373, + "max_button_displacement": 0.12, + "button_start": [ + 0.18040017783641815, + -0.45602813363075245, + 0.7768088579177856 + ], + "button_final": [ + 0.18040017783641815, + -0.45602813363075245, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17887864712750876, + -0.4556438916434309, + 0.8031378185064341 + ], + "closest_button": [ + 0.18042154610157013, + -0.45596832036972035, + 0.7681750655174255 + ], + "closest_ee_minus_button": [ + -0.001542898974061374, + 0.00032442872628946073, + 0.03496275298900853 + ], + "button_min_z_position": [ + 0.1804661899805069, + -0.4559604227542876, + 0.7677626609802246 + ], + "min_active_finger_to_button": 0.14695444293515264, + "closest_active_finger": [ + 0.053060382604599, + -0.5209187269210815, + 0.8104121088981628 + ], + "closest_active_finger_button": [ + 0.1804008185863495, + -0.45602920651435846, + 0.7762160301208496 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1273404359817505, + -0.06488952040672308, + 0.03419607877731323 + ], + "min_contact_pad_to_button": 0.020796424208685643, + "closest_contact_pad": [ + 0.1804661899805069, + -0.4565819102363555, + 0.7885497967419701 + ], + "closest_contact_pad_button": [ + 0.1804661899805069, + -0.4559604227542876, + 0.7677626609802246 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006214874820679173, + 0.020787135761745512 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "713fd313d18d3ab1e049cffd1e72a5d6b68718bd36c3fcfb1fed4aaa3ace995d", + "visual_seed": 8021812750369824773, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c31b12f3875052a71e46feb03472523b00c7d2fd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21028874425554375, + -0.13806636851417203, + 1.1634635516280718 + ], + "current_z": 1.1634635516280718, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.3023568647993714, + "gripper_z": 1.156926579907607, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20594889984873094, + -0.14259628089997645, + 1.156926579907607 + ], + "object_minus_gripper": [ + 0.004339844406812815, + 0.004529912385804413, + 0.006536971720464857 + ], + "object_to_gripper_xy": 0.006273305006008293, + "object_to_gripper_z": 0.006536971720464857, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21028874425554375, + -0.16157132236976904, + 1.1634635516280718 + ], + "finger_b": [ + 0.19968728494387866, + -0.13806636851417203, + 1.1634635516280718 + ], + "finger_midpoint": [ + 0.20498801459971122, + -0.14981884544197055, + 1.1634635516280718 + ], + "object_minus_finger_midpoint": [ + 0.005300729655832531, + 0.011752476927798516, + 0.0 + ], + "finger_gap": 0.025785146795987705, + "fingertip_max_gap": 0.09205672294927869, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01289257339799386, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634635516280718, + "object_top_z": 1.2134660049617558, + "finger_top_clearance": 0.05000245333368403, + "fingertip_min_top_clearance": 0.015000736000105173, + "object_projection_between_fingers": 0.8309589875056496, + "object_to_finger_line_xy": 0.009663967162733083, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852836147463935, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.753789218098922, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32571672460359313, + -0.3950298975852563, + 0.8515395715375036 + ], + "target_position": [ + 0.31775112265326594, + -0.39694104124419305, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008191659448252871, + "xy_threshold": 0.08, + "gripper_dist": 0.18330974719602858, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395715375036, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752897625946625, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08571312764977444, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15211666682686395, + "release_required_pad_clearance": 0.05285656382488722, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7558835557858333, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008758246898651123, + "max_z_decrease": 0.008758246898651123, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505148855690099, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008758246898651123, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020792278915349183, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008758246898651123, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008758377081734296, + "max_button_displacement": 0.12, + "button_start": [ + 0.17345105111598969, + -0.45320248603820795, + 0.7768088579177856 + ], + "button_final": [ + 0.17345105111598969, + -0.45320248603820795, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1721043796947886, + -0.4511906189094415, + 0.8030199501613636 + ], + "closest_button": [ + 0.17347306013107297, + -0.45316010713577265, + 0.7680506110191345 + ], + "closest_ee_minus_button": [ + -0.0013686804362843807, + 0.0019694882263311397, + 0.034969339142229106 + ], + "button_min_z_position": [ + 0.17347306013107297, + -0.45316010713577265, + 0.7680506110191345 + ], + "min_active_finger_to_button": 0.14612662809683982, + "closest_active_finger": [ + 0.046206630766391754, + -0.516406238079071, + 0.8108420968055725 + ], + "closest_active_finger_button": [ + 0.1734535843133926, + -0.453202337026596, + 0.7766884565353394 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12724695354700086, + -0.06320390105247503, + 0.034153640270233154 + ], + "min_contact_pad_to_button": 0.020792278915349183, + "closest_contact_pad": [ + 0.17347306013107297, + -0.45316010713577265, + 0.7888428899344837 + ], + "closest_contact_pad_button": [ + 0.17347306013107297, + -0.45316010713577265, + 0.7680506110191345 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020792278915349183 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6036b0c3e7dc95ba79d58067651a9505746f9687d95d6cabb56e9916270d7e04", + "visual_seed": 316026639662789723, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e8cf6b0e67d5cc0f3bbc66d5cac03e08b3cb9b61 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2128456397153696, + -0.1332995508807479, + 1.165991298855248 + ], + "current_z": 1.165991298855248, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.30488473123583726, + "gripper_z": 1.159421100877472, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2085636197712139, + -0.13773368011009182, + 1.159421100877472 + ], + "object_minus_gripper": [ + 0.004282019944155696, + 0.004434129229343914, + 0.006570197977776138 + ], + "object_to_gripper_xy": 0.0061641866312328025, + "object_to_gripper_z": 0.006570197977776138, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2128456397153696, + -0.15688911980845646, + 1.165991298855248 + ], + "finger_b": [ + 0.20261611597109136, + -0.1332995508807479, + 1.165991298855248 + ], + "finger_midpoint": [ + 0.20773087784323047, + -0.1450943353446022, + 1.165991298855248 + ], + "object_minus_finger_midpoint": [ + 0.005114761872139134, + 0.011794784463854291, + 0.0 + ], + "finger_gap": 0.025712077283445326, + "fingertip_max_gap": 0.09256115141786456, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01285603864172268, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165991298855248, + "object_top_z": 1.2161939263523274, + "finger_top_clearance": 0.050202627497079266, + "fingertip_min_top_clearance": 0.015060788249123812, + "object_projection_between_fingers": 0.8417161883894823, + "object_to_finger_line_xy": 0.009385085957977046, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04878057570893228, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9029980276283924, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33147734435598253, + -0.4017560340465277, + 0.8515395950803181 + ], + "target_position": [ + 0.3241474402001118, + -0.40372088483469, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007588684573362667, + "xy_threshold": 0.08, + "gripper_dist": 0.1850301039769346, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395950803181, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538596764383004, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08608198091626283, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.153458402984716, + "release_required_pad_clearance": 0.05304099045813142, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.112750055260346, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008984625339508057, + "max_z_decrease": 0.008984625339508057, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035016229104433534, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008984625339508057, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020932684083986405, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008984625339508057, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008984959922360283, + "max_button_displacement": 0.12, + "button_start": [ + 0.1798473596572876, + -0.4599823355674743, + 0.7768088579177856 + ], + "button_final": [ + 0.1798473596572876, + -0.4599823355674743, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1783899483656623, + -0.46075368290878044, + 0.8032168141433791 + ], + "closest_button": [ + 0.17981325089931482, + -0.4599108397960662, + 0.7682396769523621 + ], + "closest_ee_minus_button": [ + -0.0014233025336525262, + -0.0008428431127142644, + 0.03497713719101703 + ], + "button_min_z_position": [ + 0.17981156706809995, + -0.45991355180740345, + 0.7678242325782776 + ], + "min_active_finger_to_button": 0.14708441700412433, + "closest_active_finger": [ + 0.03752411901950836, + -0.4459192156791687, + 0.8109130859375 + ], + "closest_active_finger_button": [ + 0.17984811961650848, + -0.45998480916023243, + 0.7765639424324036 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14232400059700012, + 0.014065593481063732, + 0.034349143505096436 + ], + "min_contact_pad_to_button": 0.020932684083986405, + "closest_contact_pad": [ + 0.17981156706809995, + -0.46179624535529334, + 0.7886720796605236 + ], + "closest_contact_pad_button": [ + 0.17981156706809995, + -0.45991355180740345, + 0.7678242325782776 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001882693547889891, + 0.020847847082245963 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6f7127e3cdf3c7a6c42e12666675073bb3cfe3bc32ed2fe0a6c4bf1899d9479f", + "visual_seed": 5370388505143170771, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..770fa389fce000799e1c0fffd23579ca8c452d12 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.20981192009295602, + -0.14025070965854441, + 1.1648293784193458 + ], + "current_z": 1.1648293784193458, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3037229300092247, + "gripper_z": 1.1583323612464587, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20547950459766193, + -0.1446993913175595, + 1.1583323612464587 + ], + "object_minus_gripper": [ + 0.00433241549529409, + 0.004448681659015075, + 0.006497017172887087 + ], + "object_to_gripper_xy": 0.006209717588354678, + "object_to_gripper_z": 0.006497017172887087, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20981192009295602, + -0.16385121537347178, + 1.1648293784193458 + ], + "finger_b": [ + 0.1994885282367353, + -0.14025070965854441, + 1.1648293784193458 + ], + "finger_midpoint": [ + 0.20465022416484566, + -0.15205096251600808, + 1.1648293784193458 + ], + "object_minus_finger_midpoint": [ + 0.00516169592811036, + 0.011800252857463667, + 0.0 + ], + "finger_gap": 0.025759586359594428, + "fingertip_max_gap": 0.09227634168504695, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0128797931797972, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1648293784193458, + "object_top_z": 1.2147949957671347, + "finger_top_clearance": 0.049965617347788926, + "fingertip_min_top_clearance": 0.014989685204336677, + "object_projection_between_fingers": 0.8393920438752017, + "object_to_finger_line_xy": 0.009458120371153655, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048638170842523476, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9579030693261186, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 331, + "max_stable_success_frames": 331, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3278203917643884, + -0.39627157518658973, + 0.8515395970809744 + ], + "target_position": [ + 0.3206080804196125, + -0.39793191774043746, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007400957527921692, + "xy_threshold": 0.08, + "gripper_dist": 0.1818845047612931, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395970809744, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543676459375383, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08644611081046154, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15032494270927665, + "release_required_pad_clearance": 0.05322305540523077, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.467641090336532, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008949697017669678, + "max_z_decrease": 0.008949697017669678, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499541693806495, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008949697017669678, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020848864480951936, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008949697017669678, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008949969964888322, + "max_button_displacement": 0.12, + "button_start": [ + 0.17630800604820251, + -0.45419338345527643, + 0.7768088579177856 + ], + "button_final": [ + 0.17630800604820251, + -0.45419338345527643, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17537837759475536, + -0.4543938635314071, + 0.8036776889545737 + ], + "closest_button": [ + 0.17628657817840576, + -0.45412188768386835, + 0.7686951160430908 + ], + "closest_ee_minus_button": [ + -0.0009082005836504037, + -0.00027197584753874127, + 0.03498257291148288 + ], + "button_min_z_position": [ + 0.1762925088405609, + -0.4541252255439757, + 0.767859160900116 + ], + "min_active_finger_to_button": 0.14658264703507126, + "closest_active_finger": [ + 0.03442821651697159, + -0.4406992495059967, + 0.8106633424758911 + ], + "closest_active_finger_button": [ + 0.17630791664123535, + -0.45419418811798085, + 0.7763922214508057 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14187970012426376, + 0.013494938611984142, + 0.03427112102508545 + ], + "min_contact_pad_to_button": 0.020848864480951936, + "closest_contact_pad": [ + 0.1762925088405609, + -0.4553000758907645, + 0.7886748971784163 + ], + "closest_contact_pad_button": [ + 0.1762925088405609, + -0.4541252255439757, + 0.767859160900116 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011748503467887694, + 0.020815736278300356 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "17299547d36ea4e0e827e585afbaaf0a42b79912c0fc60f94aea48fcdc8bf950", + "visual_seed": 3225964030187868584, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..57dd0d0af6f499ab7a161bdf1f2f0c5d92fe9978 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2121519291337749, + -0.1353502994767919, + 1.1638320807079998 + ], + "current_z": 1.1638320807079998, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30272557269323375, + "gripper_z": 1.157393602604907, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20774477772110408, + -0.13990950083730125, + 1.157393602604907 + ], + "object_minus_gripper": [ + 0.004407151412670812, + 0.004559201360509357, + 0.006438478103092837 + ], + "object_to_gripper_xy": 0.006341080398471282, + "object_to_gripper_z": 0.006438478103092837, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2121519291337749, + -0.15888647689096602, + 1.1638320807079998 + ], + "finger_b": [ + 0.2015135705666312, + -0.1353502994767919, + 1.1638320807079998 + ], + "finger_midpoint": [ + 0.20683274985020306, + -0.14711838818387896, + 1.1638320807079998 + ], + "object_minus_finger_midpoint": [ + 0.00531917928357184, + 0.011768088707087065, + 0.0 + ], + "finger_gap": 0.02582878859479477, + "fingertip_max_gap": 0.09221752842864722, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012914394297397378, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638320807079998, + "object_top_z": 1.2138786034575502, + "finger_top_clearance": 0.05004652274955035, + "fingertip_min_top_clearance": 0.015013956824865103, + "object_projection_between_fingers": 0.8303549574291487, + "object_to_finger_line_xy": 0.009694078129639945, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04860876421432361, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7974658460604862, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 333, + "max_stable_success_frames": 333, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3319047189618958, + -0.40183048774494456, + 0.8515395608050156 + ], + "target_position": [ + 0.32441193254406003, + -0.4038907070003448, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007770865568495289, + "xy_threshold": 0.08, + "gripper_dist": 0.18418828502016046, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395608050156, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531112805675208, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858753529727405, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1529999572075012, + "release_required_pad_clearance": 0.05293767648637025, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9125667513572353, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0089951753616333, + "max_z_decrease": 0.0089951753616333, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502224989243872, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0089951753616333, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020956197497483717, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0089951753616333, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008995515883869399, + "max_button_displacement": 0.12, + "button_start": [ + 0.18011185526847837, + -0.46015217900276173, + 0.7768088579177856 + ], + "button_final": [ + 0.18011185526847837, + -0.46015217900276173, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17902781168186283, + -0.46144498072609674, + 0.8036325980322022 + ], + "closest_button": [ + 0.18008586764335627, + -0.46008870005607594, + 0.768652617931366 + ], + "closest_ee_minus_button": [ + -0.0010580559614934426, + -0.001356280670020804, + 0.03497998010083625 + ], + "button_min_z_position": [ + 0.18008033931255335, + -0.4600805342197417, + 0.7678136825561523 + ], + "min_active_finger_to_button": 0.14667517946670203, + "closest_active_finger": [ + 0.03803890198469162, + -0.44780322909355164, + 0.8109115958213806 + ], + "closest_active_finger_button": [ + 0.18011187016963953, + -0.4601539075374602, + 0.7766137719154358 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1420729681849479, + 0.01235067844390858, + 0.034297823905944824 + ], + "min_contact_pad_to_button": 0.020956197497483717, + "closest_contact_pad": [ + 0.18008033931255335, + -0.46235478998799284, + 0.788646108585161 + ], + "closest_contact_pad_button": [ + 0.18008033931255335, + -0.4600805342197417, + 0.7678136825561523 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002274255768251132, + 0.0208324260290087 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c39e1c14e9912e207baf9be2089707ab672f5b03f621742e7ade0fb929bad77", + "visual_seed": 6295609000108948298, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..91c97e62ef924abecdf986eea79dffd434eaba78 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21636577208147947, + -0.12963786696769125, + 1.166413511559111 + ], + "current_z": 1.166413511559111, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.30530706314899003, + "gripper_z": 1.1597786133737447, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21209301495634433, + -0.13406794799726973, + 1.1597786133737447 + ], + "object_minus_gripper": [ + 0.00427275712513514, + 0.004430081029578481, + 0.006634898185366334 + ], + "object_to_gripper_xy": 0.006154841296006278, + "object_to_gripper_z": 0.006634898185366334, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21636577208147947, + -0.15320217003158831, + 1.166413511559111 + ], + "finger_b": [ + 0.2061625223232352, + -0.12963786696769125, + 1.166413511559111 + ], + "finger_midpoint": [ + 0.21126414720235734, + -0.14142001849963978, + 1.166413511559111 + ], + "object_minus_finger_midpoint": [ + 0.005101624879122135, + 0.011782151531948531, + 0.0 + ], + "finger_gap": 0.025678447860341954, + "fingertip_max_gap": 0.09266424358768496, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012839223930170977, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166413511559111, + "object_top_z": 1.2167174169002322, + "finger_top_clearance": 0.05030390534112117, + "fingertip_min_top_clearance": 0.01509117160233635, + "object_projection_between_fingers": 0.8421154997336935, + "object_to_finger_line_xy": 0.009363201033315918, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048832121793842484, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8120396396328773, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 333, + "max_stable_success_frames": 333, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3231347111385098, + -0.3963879019923847, + 0.8515395758384752 + ], + "target_position": [ + 0.31572642862333716, + -0.3981670144096843, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007618916643329402, + "xy_threshold": 0.08, + "gripper_dist": 0.18376068018468356, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395758384752, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546178367589372, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08621321015110105, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15212539474016798, + "release_required_pad_clearance": 0.053106605075550525, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2404708331756222, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008802533149719238, + "max_z_decrease": 0.008802533149719238, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034995273107540824, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008802533149719238, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020861659314562714, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008802533149719238, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008802830989575601, + "max_button_displacement": 0.12, + "button_start": [ + 0.17142635583877558, + -0.4544284641742706, + 0.7768088579177856 + ], + "button_final": [ + 0.17142635583877558, + -0.4544284641742706, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17035055274127425, + -0.45472247221153206, + 0.8036275638333279 + ], + "closest_button": [ + 0.1714624017477035, + -0.45440199971199036, + 0.7686514258384705 + ], + "closest_ee_minus_button": [ + -0.0011118490064292441, + -0.00032047249954170187, + 0.03497613799485744 + ], + "button_min_z_position": [ + 0.17147858440876002, + -0.4543783068656921, + 0.7680063247680664 + ], + "min_active_finger_to_button": 0.14682682032693886, + "closest_active_finger": [ + 0.02941611409187317, + -0.43967732787132263, + 0.8109028935432434 + ], + "closest_active_finger_button": [ + 0.17142735421657557, + -0.45442920923233027, + 0.7766493558883667 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1420112401247024, + 0.014751881361007635, + 0.03425353765487671 + ], + "min_contact_pad_to_button": 0.020861659314562714, + "closest_contact_pad": [ + 0.17147858440876002, + -0.45577523563231026, + 0.7888211612886321 + ], + "closest_contact_pad_button": [ + 0.17147858440876002, + -0.4543783068656921, + 0.7680063247680664 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013969287666181773, + 0.020814836520565705 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "29a4c35be668151723f3e01bed6ece2d7128539f6e5d3db2dc96970171c460af", + "visual_seed": 1882255208160190289, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b4f3de5c2b53d8a889185f3e463402c0da8e602e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21206868668247975, + -0.131558938347392, + 1.1647552899186848 + ], + "current_z": 1.1647552899186848, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30364878190391886, + "gripper_z": 1.1583536593848165, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20767614453641636, + -0.13604265032048046, + 1.1583536593848165 + ], + "object_minus_gripper": [ + 0.004392542146063383, + 0.004483711973088472, + 0.00640163053386833 + ], + "object_to_gripper_xy": 0.0062767905463349686, + "object_to_gripper_z": 0.00640163053386833, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21206868668247975, + -0.1552392440464872, + 1.1647552899186848 + ], + "finger_b": [ + 0.2017940262814201, + -0.131558938347392, + 1.1647552899186848 + ], + "finger_midpoint": [ + 0.20693135648194994, + -0.1433990911969396, + 1.1647552899186848 + ], + "object_minus_finger_midpoint": [ + 0.0051373302005298105, + 0.01184015284954762, + 0.0 + ], + "finger_gap": 0.025813281937012666, + "fingertip_max_gap": 0.09241061611059567, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01290664096850634, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647552899186848, + "object_top_z": 1.2148879753938644, + "finger_top_clearance": 0.05013268547517957, + "fingertip_min_top_clearance": 0.015039805642553871, + "object_projection_between_fingers": 0.841565957632273, + "object_to_finger_line_xy": 0.00942565536010405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870530805529784, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8225946950724843, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 330, + "max_stable_success_frames": 330, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3268066914640285, + -0.4040711062959109, + 0.8515395924080825 + ], + "target_position": [ + 0.3196454207457292, + -0.4058086235284624, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007369040943988878, + "xy_threshold": 0.08, + "gripper_dist": 0.18356046174071886, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395924080825, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530443023706161, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08603388990045001, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15230347848308234, + "release_required_pad_clearance": 0.053016944950225006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0660499459162602, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008996248245239258, + "max_z_decrease": 0.008996248245239258, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506905124165986, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008996248245239258, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020855046919591058, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008996248245239258, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00899656469723721, + "max_button_displacement": 0.12, + "button_start": [ + 0.17534534633159635, + -0.46207007765769953, + 0.7768088579177856 + ], + "button_final": [ + 0.17534534633159635, + -0.46207007765769953, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1772642757534678, + -0.46102957190883864, + 0.8028175203138783 + ], + "closest_button": [ + 0.1753813028335571, + -0.4620037376880646, + 0.7678126096725464 + ], + "closest_ee_minus_button": [ + 0.001882972919910686, + 0.0009741657792259328, + 0.03500491064133193 + ], + "button_min_z_position": [ + 0.1753813028335571, + -0.4620037376880646, + 0.7678126096725464 + ], + "min_active_finger_to_button": 0.14368388199590135, + "closest_active_finger": [ + 0.051495261490345, + -0.5263917446136475, + 0.8107588887214661 + ], + "closest_active_finger_button": [ + 0.17534613609313962, + -0.46207031607627863, + 0.7765715718269348 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12385087460279462, + -0.06432142853736883, + 0.03418731689453125 + ], + "min_contact_pad_to_button": 0.020855046919591058, + "closest_contact_pad": [ + 0.1753813028335571, + -0.4620037376880646, + 0.7886676565921374 + ], + "closest_contact_pad_button": [ + 0.1753813028335571, + -0.4620037376880646, + 0.7678126096725464 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020855046919591058 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0cfb3e8e2ddb7243427393f5cea646528b5ead36d6ba2cf3fa64a1b034fdcb65", + "visual_seed": 4868241600804805826, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e983541db222e22b658f4f133b556ed358966e67 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21336689240454995, + -0.1364565607453933, + 1.1642152333613478 + ], + "current_z": 1.1642152333613478, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30310872534658184, + "gripper_z": 1.1575353125129508, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20907769214200944, + -0.14093874917219731, + 1.1575353125129508 + ], + "object_minus_gripper": [ + 0.00428920026254051, + 0.004482188426804007, + 0.00667992084839697 + ], + "object_to_gripper_xy": 0.006203809473666431, + "object_to_gripper_z": 0.00667992084839697, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21336689240454995, + -0.16001985585304943, + 1.1642152333613478 + ], + "finger_b": [ + 0.2029996333105839, + -0.1364565607453933, + 1.1642152333613478 + ], + "finger_midpoint": [ + 0.20818326285756694, + -0.14823820829922135, + 1.1642152333613478 + ], + "object_minus_finger_midpoint": [ + 0.00518362954698301, + 0.011781647553828045, + 0.0 + ], + "finger_gap": 0.025743133792370976, + "fingertip_max_gap": 0.09219097838246534, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01287156689618547, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642152333613478, + "object_top_z": 1.214281185567322, + "finger_top_clearance": 0.050065952205974096, + "fingertip_min_top_clearance": 0.015019785661792228, + "object_projection_between_fingers": 0.837817094281725, + "object_to_finger_line_xy": 0.009489395792250001, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048595489191232674, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7477126923597057, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 332, + "max_stable_success_frames": 332, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32458298809130415, + -0.396067914093824, + 0.8515395783400863 + ], + "target_position": [ + 0.31681228230128733, + -0.39802565089676806, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00801352618168821, + "xy_threshold": 0.08, + "gripper_dist": 0.18475651234609108, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395783400863, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549773090299614, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08574677597308598, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15310940236910228, + "release_required_pad_clearance": 0.052873387986542994, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7883222554781659, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008865773677825928, + "max_z_decrease": 0.008865773677825928, + "final_z_decrease": -5.960464477539063e-08, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511447918594846, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008865773677825928, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020867812108899764, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008865773677825928, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 5.960464477539063e-08, + "button_max_displacement": 0.008866043696676465, + "max_button_displacement": 0.12, + "button_start": [ + 0.1725122034549713, + -0.45428711175918574, + 0.7768088579177856 + ], + "button_final": [ + 0.1725122034549713, + -0.45428711175918574, + 0.7768089175224304 + ], + "closest_ee": [ + 0.1743078240473427, + -0.45210685718261295, + 0.8029492833471559 + ], + "closest_button": [ + 0.17255990207195282, + -0.45423698425292963, + 0.7679430842399597 + ], + "closest_ee_minus_button": [ + 0.0017479219753898934, + 0.0021301270703166786, + 0.035006199107196156 + ], + "button_min_z_position": [ + 0.17255990207195282, + -0.45423698425292963, + 0.7679430842399597 + ], + "min_active_finger_to_button": 0.14328503736122045, + "closest_active_finger": [ + 0.0480634942650795, + -0.5165307521820068, + 0.8106243014335632 + ], + "closest_active_finger_button": [ + 0.17251254618167877, + -0.4542884528636932, + 0.7764346599578857 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12444905191659927, + -0.062242299318313654, + 0.03418964147567749 + ], + "min_contact_pad_to_button": 0.020867812108899764, + "closest_contact_pad": [ + 0.17255990207195282, + -0.45423698425292963, + 0.7888108963488595 + ], + "closest_contact_pad_button": [ + 0.17255990207195282, + -0.45423698425292963, + 0.7679430842399597 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020867812108899764 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "44a3383c37b5e60a48a5478b6ca44056387d1eb937825f5ef66d745c653eda0a", + "visual_seed": 7791775095685237850, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0a6c8e68145b3e57f6f88df0b0a18ed14097136b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.20962695826295, + -0.13165402971443416, + 1.162913061375961 + ], + "current_z": 1.162913061375961, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3018066129658399, + "gripper_z": 1.156380800490436, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20538746586859494, + -0.1360972309986477, + 1.156380800490436 + ], + "object_minus_gripper": [ + 0.00423949239435506, + 0.004443201284213549, + 0.006532260885525165 + ], + "object_to_gripper_xy": 0.006141281088977392, + "object_to_gripper_z": 0.006532260885525165, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20962695826295, + -0.15510791289079345, + 1.162913061375961 + ], + "finger_b": [ + 0.199197857914934, + -0.13165402971443416, + 1.162913061375961 + ], + "finger_midpoint": [ + 0.204412408088942, + -0.1433809713026138, + 1.162913061375961 + ], + "object_minus_finger_midpoint": [ + 0.005214550174007987, + 0.011726941588179635, + 0.0 + ], + "finger_gap": 0.025668088556012447, + "fingertip_max_gap": 0.09234136797470247, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012834044278006206, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162913061375961, + "object_top_z": 1.2129620989108916, + "finger_top_clearance": 0.05004903753493051, + "fingertip_min_top_clearance": 0.015014711260479152, + "object_projection_between_fingers": 0.8349153723394854, + "object_to_finger_line_xy": 0.00952945524802625, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048670683987351235, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8988790419202641, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 332, + "max_stable_success_frames": 332, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32587967901609727, + -0.39725779291511787, + 0.85153958618485 + ], + "target_position": [ + 0.31902607219818657, + -0.3987456982624497, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007013258068624786, + "xy_threshold": 0.08, + "gripper_dist": 0.18263218445777463, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.85153958618485, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533734908986026, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08664843103340246, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1512500217450085, + "release_required_pad_clearance": 0.05332421551670123, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6659649890808554, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00895923376083374, + "max_z_decrease": 0.00895923376083374, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499736427315367, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00895923376083374, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02091156861724368, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00895923376083374, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008959593994920727, + "max_button_displacement": 0.12, + "button_start": [ + 0.17472599446773524, + -0.45500716567039484, + 0.7768088579177856 + ], + "button_final": [ + 0.17472599446773524, + -0.45500716567039484, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17422120790486778, + -0.45593421205095164, + 0.8035864891901453 + ], + "closest_button": [ + 0.17476445436477656, + -0.4549839794635772, + 0.7686062455177307 + ], + "closest_ee_minus_button": [ + -0.000543246459908775, + -0.0009502325873744222, + 0.03498024367241459 + ], + "button_min_z_position": [ + 0.17477078735828394, + -0.4549404680728911, + 0.7678496241569519 + ], + "min_active_finger_to_button": 0.14624139542740985, + "closest_active_finger": [ + 0.0332246869802475, + -0.4412952661514282, + 0.8106529116630554 + ], + "closest_active_finger_button": [ + 0.17472662031650538, + -0.4550082385540008, + 0.7763643860816956 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14150193333625788, + 0.013712972402572576, + 0.03428852558135986 + ], + "min_contact_pad_to_button": 0.02091156861724368, + "closest_contact_pad": [ + 0.17477078735828394, + -0.45689942416830537, + 0.7886692349374139 + ], + "closest_contact_pad_button": [ + 0.17477078735828394, + -0.4549404680728911, + 0.7678496241569519 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019589560954142438, + 0.020819610780462017 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "da2a84d00e1fb83bd70c9dd2c4065f1a519501529c9d337ff589de2c34cfe332", + "visual_seed": 7830734687493827146, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..58ee5ac8c748bd82263f68c2065988e832c38ec6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2091853250743498, + -0.13860158137804934, + 1.1645265269887408 + ], + "current_z": 1.1645265269887408, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3034200785786195, + "gripper_z": 1.1579560486373348, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20489661631476822, + -0.14307215832954642, + 1.1579560486373348 + ], + "object_minus_gripper": [ + 0.004288708759581594, + 0.0044705769514970795, + 0.006570478351406006 + ], + "object_to_gripper_xy": 0.006195085237813021, + "object_to_gripper_z": 0.006570478351406006, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2091853250743498, + -0.16210817213484563, + 1.1645265269887408 + ], + "finger_b": [ + 0.19873091854692918, + -0.13860158137804934, + 1.1645265269887408 + ], + "finger_midpoint": [ + 0.2039581218106395, + -0.1503548767564475, + 1.1645265269887408 + ], + "object_minus_finger_midpoint": [ + 0.005227203263710317, + 0.011753295378398143, + 0.0 + ], + "finger_gap": 0.02572653153551943, + "fingertip_max_gap": 0.09221848486055237, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012863265767759716, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1645265269887408, + "object_top_z": 1.2144716281672203, + "finger_top_clearance": 0.0499451011784795, + "fingertip_min_top_clearance": 0.014983530353543849, + "object_projection_between_fingers": 0.8348660797037611, + "object_to_finger_line_xy": 0.009552296449521942, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04860924243027619, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9371791492843824, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 331, + "max_stable_success_frames": 331, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3328672600676269, + -0.39759631257136385, + 0.851539515492821 + ], + "target_position": [ + 0.3254613854150005, + -0.3996850923394334, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007694802160543862, + "xy_threshold": 0.08, + "gripper_dist": 0.18468941151830168, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539515492821, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585381374452374, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08697901810368212, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15214630128562054, + "release_required_pad_clearance": 0.053489509051841064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9916657251399674, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008843421936035156, + "max_z_decrease": 0.008843421936035156, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035027016931456344, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008843421936035156, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02098172429208277, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008843421936035156, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008843712608314902, + "max_button_displacement": 0.12, + "button_start": [ + 0.18116131424903867, + -0.45594656467437744, + 0.7768088579177856 + ], + "button_final": [ + 0.18116131424903867, + -0.45594656467437744, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17918045937126068, + -0.45563242715193186, + 0.803313810283068 + ], + "closest_button": [ + 0.1811260879039764, + -0.45587605237960815, + 0.7683417201042175 + ], + "closest_ee_minus_button": [ + -0.0019456285327157374, + 0.0002436252276762918, + 0.0349720901788505 + ], + "button_min_z_position": [ + 0.18112595379352567, + -0.45588418841362, + 0.7679654359817505 + ], + "min_active_finger_to_button": 0.1475626526852067, + "closest_active_finger": [ + 0.051422119140625, + -0.517187237739563, + 0.8113206624984741 + ], + "closest_active_finger_button": [ + 0.18116383254528043, + -0.45594802498817444, + 0.776801347732544 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12974171340465543, + -0.06123921275138855, + 0.034519314765930176 + ], + "min_contact_pad_to_button": 0.02098172429208277, + "closest_contact_pad": [ + 0.18112595379352567, + -0.4569290965577835, + 0.7889211254535679 + ], + "closest_contact_pad_button": [ + 0.18112595379352567, + -0.45588418841362, + 0.7679654359817505 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010449081441635255, + 0.020955689471817363 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1bcdde8f6d36daddab0ddb2e65011eb0a8d5eaa900389d6aae8c8f2fd42149b", + "visual_seed": 8915283908927535849, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aefacb86c748197830d9d0fa5e37563b0d07570a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21582139413208945, + -0.13199498127247136, + 1.1630519501508045 + ], + "current_z": 1.1630519501508045, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.3019454421360387, + "gripper_z": 1.15667609852843, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21126891709517215, + -0.13641560564659827, + 1.15667609852843 + ], + "object_minus_gripper": [ + 0.004552477036917302, + 0.004420624374126908, + 0.00637585162237464 + ], + "object_to_gripper_xy": 0.00634562581852919, + "object_to_gripper_z": 0.00637585162237464, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21582139413208945, + -0.1559366086481046, + 1.1630519501508045 + ], + "finger_b": [ + 0.20593695458838862, + -0.13199498127247136, + 1.1630519501508045 + ], + "finger_midpoint": [ + 0.21087917436023904, + -0.143965794960288, + 1.1630519501508045 + ], + "object_minus_finger_midpoint": [ + 0.004942219771850415, + 0.011970813687816634, + 0.0 + ], + "finger_gap": 0.025901808170217533, + "fingertip_max_gap": 0.09270815767962545, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012950904085108779, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1630519501508045, + "object_top_z": 1.2133874731873804, + "finger_top_clearance": 0.05033552303657585, + "fingertip_min_top_clearance": 0.015100656910972787, + "object_projection_between_fingers": 0.8543723190473775, + "object_to_finger_line_xy": 0.009136411126863515, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885407883981273, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7605782710909528, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 323, + "max_stable_success_frames": 323, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3303233343057052, + -0.4012644508870985, + 0.8515395892334936 + ], + "target_position": [ + 0.32406811631107485, + -0.40250660939087174, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0063773591641716094, + "xy_threshold": 0.08, + "gripper_dist": 0.18195601136815015, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395892334936, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551408306115753, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08794797179295476, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15011795720770385, + "release_required_pad_clearance": 0.05397398589647738, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9587162898712522, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00892108678817749, + "max_z_decrease": 0.00892108678817749, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500695006149778, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00892108678817749, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020946824181969026, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00892108678817749, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008921508047730863, + "max_button_displacement": 0.12, + "button_start": [ + 0.17976804077625272, + -0.45876806974411005, + 0.7768088579177856 + ], + "button_final": [ + 0.17976804077625272, + -0.45876806974411005, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1796728521747739, + -0.4573464060904976, + 0.8028687136524648 + ], + "closest_button": [ + 0.17972190678119657, + -0.4586946666240692, + 0.7678877711296082 + ], + "closest_ee_minus_button": [ + -4.905460642265491e-05, + 0.0013482605335716213, + 0.03498094252285666 + ], + "button_min_z_position": [ + 0.17972190678119657, + -0.4586946666240692, + 0.7678877711296082 + ], + "min_active_finger_to_button": 0.14545752727601327, + "closest_active_finger": [ + 0.052128277719020844, + -0.5193876624107361, + 0.810463547706604 + ], + "closest_active_finger_button": [ + 0.17977352440357205, + -0.4587700963020324, + 0.7759658098220825 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1276452466845512, + -0.06061756610870367, + 0.034497737884521484 + ], + "min_contact_pad_to_button": 0.020946824181969026, + "closest_contact_pad": [ + 0.17972190678119657, + -0.4586946666240692, + 0.7888345953115772 + ], + "closest_contact_pad_button": [ + 0.17972190678119657, + -0.4586946666240692, + 0.7678877711296082 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020946824181969026 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1d1b27be8ecbdd069d62eef1fd85953a8931b8786652193c627a44e5823c629f", + "visual_seed": 5401532528845305220, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a78593778e743a58ee4cb60a82493cb2f3d29809 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21691946570046616, + -0.14053921312509873, + 1.1630942976090206 + ], + "current_z": 1.1630942976090206, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3019878491988994, + "gripper_z": 1.1563847924447619, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21264916961056954, + -0.1450407182670269, + 1.1563847924447619 + ], + "object_minus_gripper": [ + 0.004270296089896625, + 0.00450150514192818, + 0.006709505164258722 + ], + "object_to_gripper_xy": 0.006204754405952926, + "object_to_gripper_z": 0.006709505164258722, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21691946570046616, + -0.16400470653036783, + 1.1630942976090206 + ], + "finger_b": [ + 0.20641891243754285, + -0.14053921312509873, + 1.1630942976090206 + ], + "finger_midpoint": [ + 0.2116691890690045, + -0.15227195982773328, + 1.1630942976090206 + ], + "object_minus_finger_midpoint": [ + 0.005250276631461659, + 0.01173274670263455, + 0.0 + ], + "finger_gap": 0.02570780036448504, + "fingertip_max_gap": 0.09232140580845302, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01285390018224252, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1630942976090206, + "object_top_z": 1.2131801075455755, + "finger_top_clearance": 0.05008580993655487, + "fingertip_min_top_clearance": 0.015025742980966494, + "object_projection_between_fingers": 0.8331621721319776, + "object_to_finger_line_xy": 0.009584665348623268, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866070290422651, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.867519092349331, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 330, + "max_stable_success_frames": 330, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32793501782870693, + -0.39648631648199584, + 0.8515395868000606 + ], + "target_position": [ + 0.3201970233301064, + -0.39853269658768375, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008004013393125177, + "xy_threshold": 0.08, + "gripper_dist": 0.18522269551446238, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395868000606, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584502686121944, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867764501168428, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1525277604789186, + "release_required_pad_clearance": 0.053388225058421404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.791822279948471, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009024500846862793, + "max_z_decrease": 0.009024500846862793, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501194109857515, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009024500846862793, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.020951206121789745, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009024500846862793, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009024815191907377, + "max_button_displacement": 0.12, + "button_start": [ + 0.17589694261550898, + -0.45479416847229004, + 0.7768088579177856 + ], + "button_final": [ + 0.17589694261550898, + -0.45479416847229004, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1766094228376829, + -0.45568038227376556, + 0.8027760440307314 + ], + "closest_button": [ + 0.17590627074241633, + -0.4547194242477417, + 0.7677843570709229 + ], + "closest_ee_minus_button": [ + 0.0007031520952665848, + -0.0009609580260238615, + 0.03499168695980859 + ], + "button_min_z_position": [ + 0.17590627074241633, + -0.4547194242477417, + 0.7677843570709229 + ], + "min_active_finger_to_button": 0.14496684199288465, + "closest_active_finger": [ + 0.03566969931125641, + -0.4415603578090668, + 0.8105201125144958 + ], + "closest_active_finger_button": [ + 0.17589825391769404, + -0.45479518175125117, + 0.776224672794342 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14022855460643763, + 0.013234823942184393, + 0.03429543972015381 + ], + "min_contact_pad_to_button": 0.020951206121789745, + "closest_contact_pad": [ + 0.17590627074241633, + -0.4566789966439911, + 0.7886437222094302 + ], + "closest_contact_pad_button": [ + 0.17590627074241633, + -0.4547194242477417, + 0.7677843570709229 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001959572396249387, + 0.02085936513850739 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4fbfbbddab335d461a18d28ba9ec934a99bc9c837ae312971a5e1821cd9b7224", + "visual_seed": 201481355222670021, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b9382f85b725347aab0aa191256159b1e7f60f34 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21304831453685782, + -0.13709008087159108, + 1.1627487564340668 + ], + "current_z": 1.1627487564340668, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.301642188814656, + "gripper_z": 1.1561992321752332, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20864811873822042, + -0.14144944712253596, + 1.1561992321752332 + ], + "object_minus_gripper": [ + 0.004400195798637402, + 0.004359366250944879, + 0.0065495242588335945 + ], + "object_to_gripper_xy": 0.006194013010659846, + "object_to_gripper_z": 0.0065495242588335945, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21304831453685782, + -0.1609120353610065, + 1.1627487564340668 + ], + "finger_b": [ + 0.20317639859812042, + -0.13709008087159108, + 1.1627487564340668 + ], + "finger_midpoint": [ + 0.2081123565674891, + -0.1490010581162988, + 1.1627487564340668 + ], + "object_minus_finger_midpoint": [ + 0.004935957969368715, + 0.011910977244707716, + 0.0 + ], + "finger_gap": 0.025786435193668737, + "fingertip_max_gap": 0.09259564052592001, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012893217596834374, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627487564340668, + "object_top_z": 1.213018993713488, + "finger_top_clearance": 0.05027023727942126, + "fingertip_min_top_clearance": 0.015081071183826377, + "object_projection_between_fingers": 0.8534383716920235, + "object_to_finger_line_xy": 0.009119846556909011, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879782026296001, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.780247829830103, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 326, + "max_stable_success_frames": 326, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.323371408406969, + -0.39990450353495444, + 0.8515395965531397 + ], + "target_position": [ + 0.3169923217901524, + -0.4009845430267873, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006469871047305888, + "xy_threshold": 0.08, + "gripper_dist": 0.18261068291185656, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395965531397, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525722848152354, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08699692645133315, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15137402027521074, + "release_required_pad_clearance": 0.05349846322566658, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0092728324586746, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008957147598266602, + "max_z_decrease": 0.008957147598266602, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499298122006881, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008957147598266602, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02085475751222282, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008957147598266602, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008957476958930347, + "max_button_displacement": 0.12, + "button_start": [ + 0.17269225418567655, + -0.4572460055351257, + 0.7768088579177856 + ], + "button_final": [ + 0.17269225418567655, + -0.4572460055351257, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17165988974854485, + -0.4571222536791946, + 0.8036660611727534 + ], + "closest_button": [ + 0.1726609021425247, + -0.4571654200553894, + 0.7686874270439148 + ], + "closest_ee_minus_button": [ + -0.0010010123939798443, + 4.316637619478092e-05, + 0.034978634128838615 + ], + "button_min_z_position": [ + 0.17267332971096033, + -0.45717155933380127, + 0.767851710319519 + ], + "min_active_finger_to_button": 0.14670717482829776, + "closest_active_finger": [ + 0.0446925088763237, + -0.5202348232269287, + 0.8105167150497437 + ], + "closest_active_finger_button": [ + 0.17269317805767057, + -0.45724761486053467, + 0.7762904763221741 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12800066918134687, + -0.06298720836639404, + 0.03422623872756958 + ], + "min_contact_pad_to_button": 0.02085475751222282, + "closest_contact_pad": [ + 0.17267332971096033, + -0.4582244516736169, + 0.7886798722310842 + ], + "closest_contact_pad_button": [ + 0.17267332971096033, + -0.45717155933380127, + 0.767851710319519 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010528923398156476, + 0.020828161911565113 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "88669b6ba81c95889a5a30d34ba1da4e9103fd9bfaf69f8021c8f14751b21b96", + "visual_seed": 402466413327655534, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d7e487993ce9aa647208551aec899c40ef43db8b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21490010902164303, + -0.141591563624293, + 1.165142971782231 + ], + "current_z": 1.165142971782231, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.30403652337211007, + "gripper_z": 1.1584980277515138, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21058941497303799, + -0.14599919153566787, + 1.1584980277515138 + ], + "object_minus_gripper": [ + 0.0043106940486050405, + 0.004407627911374862, + 0.006644944030717248 + ], + "object_to_gripper_xy": 0.006165165608952418, + "object_to_gripper_z": 0.006644944030717248, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21490010902164303, + -0.16524698137099345, + 1.165142971782231 + ], + "finger_b": [ + 0.2047794785149283, + -0.141591563624293, + 1.165142971782231 + ], + "finger_midpoint": [ + 0.20983979376828565, + -0.15341927249764323, + 1.165142971782231 + ], + "object_minus_finger_midpoint": [ + 0.0050603152533573725, + 0.011827708873350218, + 0.0 + ], + "finger_gap": 0.02572947629906902, + "fingertip_max_gap": 0.09241206452932776, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012864738149534516, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165142971782231, + "object_top_z": 1.2152704728238373, + "finger_top_clearance": 0.05012750104160624, + "fingertip_min_top_clearance": 0.01503825031248187, + "object_projection_between_fingers": 0.8452775813316437, + "object_to_finger_line_xy": 0.009304804330782256, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048706032264663884, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8532131293900447, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 330, + "max_stable_success_frames": 330, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.323515807636245, + -0.3992767808611837, + 0.8515395576247157 + ], + "target_position": [ + 0.3169901839450664, + -0.4006227422198364, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006662985557380238, + "xy_threshold": 0.08, + "gripper_dist": 0.18166011938785526, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395576247157, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551912404348583, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08650167052950834, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14984825771329552, + "release_required_pad_clearance": 0.05325083526475417, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5220948908800378, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008978486061096191, + "max_z_decrease": 0.008978486061096191, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505174402362486, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008978486061096191, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02093339020642695, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008978486061096191, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008978955373395811, + "max_button_displacement": 0.12, + "button_start": [ + 0.17269010841846466, + -0.45688420534133906, + 0.7768088579177856 + ], + "button_final": [ + 0.17269010841846466, + -0.45688420534133906, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1743991518417274, + -0.4564776573745656, + 0.8032495907059314 + ], + "closest_button": [ + 0.1726410686969757, + -0.45681098103523254, + 0.7682435512542725 + ], + "closest_ee_minus_button": [ + 0.0017580831447517042, + 0.00033332366066696206, + 0.03500603945165892 + ], + "button_min_z_position": [ + 0.17263278365135193, + -0.4568125009536743, + 0.7678303718566895 + ], + "min_active_finger_to_button": 0.14416131240527824, + "closest_active_finger": [ + 0.03375419229269028, + -0.4397334158420563, + 0.8100635409355164 + ], + "closest_active_finger_button": [ + 0.17269346117973328, + -0.4568865299224853, + 0.775652289390564 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.138939268887043, + 0.01715311408042902, + 0.03441125154495239 + ], + "min_contact_pad_to_button": 0.02093339020642695, + "closest_contact_pad": [ + 0.17263278365135193, + -0.457692737955906, + 0.7887452471456897 + ], + "closest_contact_pad_button": [ + 0.17263278365135193, + -0.4568125009536743, + 0.7678303718566895 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008802370022316652, + 0.020914875289000268 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a2feb293719e640e3b157ff6f959124f4a12dbc691a7e7b8044f5be1a1077535", + "visual_seed": 360869676502363073, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5cc671f430d2474fe55f7b98c6d68cf672b74935 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21939003077881375, + -0.13771871719804496, + 1.1649325886386435 + ], + "current_z": 1.1649325886386435, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3038261402285224, + "gripper_z": 1.1583124368289608, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21497709034308787, + -0.1421004520193756, + 1.1583124368289608 + ], + "object_minus_gripper": [ + 0.004412940435725876, + 0.004381734821330641, + 0.006620151809682673 + ], + "object_to_gripper_xy": 0.006218813659672233, + "object_to_gripper_z": 0.006620151809682673, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21939003077881375, + -0.16150927745071672, + 1.1649325886386435 + ], + "finger_b": [ + 0.20947260042153487, + -0.13771871719804496, + 1.1649325886386435 + ], + "finger_midpoint": [ + 0.2144313156001743, + -0.14961399732438085, + 1.1649325886386435 + ], + "object_minus_finger_midpoint": [ + 0.004958715178639439, + 0.011895280126335894, + 0.0 + ], + "finger_gap": 0.025774913812222185, + "fingertip_max_gap": 0.09274712153678827, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012887456906111107, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1649325886386435, + "object_top_z": 1.2153228063817902, + "finger_top_clearance": 0.05039021774314678, + "fingertip_min_top_clearance": 0.015117065322944, + "object_projection_between_fingers": 0.8519515464192011, + "object_to_finger_line_xy": 0.009153909347104723, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048873560768394136, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7338429928434518, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3252061922736502, + -0.401596500419765, + 0.8515395867971779 + ], + "target_position": [ + 0.31894046465207415, + -0.403015293632114, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0064243534154955146, + "xy_threshold": 0.08, + "gripper_dist": 0.18489357468465192, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395867971779, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576168543810696, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08764498711624151, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15232863541385405, + "release_required_pad_clearance": 0.05382249355812076, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6541388689073973, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009045600891113281, + "max_z_decrease": 0.009045600891113281, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035042127337283395, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009045600891113281, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.020885530164151622, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009045600891113281, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009045898853903826, + "max_button_displacement": 0.12, + "button_start": [ + 0.17464038729667664, + -0.45927676558494557, + 0.7768088579177856 + ], + "button_final": [ + 0.17464038729667664, + -0.45927676558494557, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1757641411280685, + -0.4577479962157465, + 0.8027578375302977 + ], + "closest_button": [ + 0.17467430233955383, + -0.45921164751052845, + 0.7677632570266724 + ], + "closest_ee_minus_button": [ + 0.0010898387885146799, + 0.0014636512947819313, + 0.03499458050362536 + ], + "button_min_z_position": [ + 0.17467430233955383, + -0.45921164751052845, + 0.7677632570266724 + ], + "min_active_finger_to_button": 0.14420999539821266, + "closest_active_finger": [ + 0.048676975071430206, + -0.5205305814743042, + 0.810478150844574 + ], + "closest_active_finger_button": [ + 0.17464374005794525, + -0.45927834510803217, + 0.7761698365211487 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12596676498651505, + -0.06125223636627203, + 0.03430831432342529 + ], + "min_contact_pad_to_button": 0.020885530164151622, + "closest_contact_pad": [ + 0.17467430233955383, + -0.45921164751052845, + 0.788648787190824 + ], + "closest_contact_pad_button": [ + 0.17467430233955383, + -0.45921164751052845, + 0.7677632570266724 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020885530164151622 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d066e594419a2ef646f75bbae1de2e6cf978e7286180853932945584673978c7", + "visual_seed": 6622503336206637211, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb06796469ede76b5df8d047e07b27379194ac1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21486833855234805, + -0.13628626618349174, + 1.165888667357307 + ], + "current_z": 1.165888667357307, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30478215934254116, + "gripper_z": 1.1594153484667078, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21042762302571688, + -0.14072085316245386, + 1.1594153484667078 + ], + "object_minus_gripper": [ + 0.004440715526631167, + 0.004434586978962124, + 0.006473318890599211 + ], + "object_to_gripper_xy": 0.006275788082977591, + "object_to_gripper_z": 0.006473318890599211, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21486833855234805, + -0.1600482269355116, + 1.165888667357307 + ], + "finger_b": [ + 0.20475970051920017, + -0.13628626618349174, + 1.165888667357307 + ], + "finger_midpoint": [ + 0.2098140195357741, + -0.14816724655950167, + 1.165888667357307 + ], + "object_minus_finger_midpoint": [ + 0.005054319016573938, + 0.01188098037600993, + 0.0 + ], + "finger_gap": 0.025822767893193325, + "fingertip_max_gap": 0.0926270792237503, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012911383946596662, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165888667357307, + "object_top_z": 1.2161547384361648, + "finger_top_clearance": 0.05026607107885783, + "fingertip_min_top_clearance": 0.01507982132365735, + "object_projection_between_fingers": 0.8467573307027673, + "object_to_finger_line_xy": 0.009301909895699062, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881353961187515, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8379833943995523, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 331, + "max_stable_success_frames": 331, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3272899284547963, + -0.4041087719082731, + 0.8515395613476618 + ], + "target_position": [ + 0.32031781724403313, + -0.4056413831385345, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007138573521255702, + "xy_threshold": 0.08, + "gripper_dist": 0.18425302379206815, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395613476618, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751349338431239, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08588505215943497, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15337662482984363, + "release_required_pad_clearance": 0.052942526079717486, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9219529620404991, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008965134620666504, + "max_z_decrease": 0.008965134620666504, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035056249097338475, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008965134620666504, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020894851907459766, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008965134620666504, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00896539409708965, + "max_button_displacement": 0.12, + "button_start": [ + 0.17601774632930756, + -0.4619028270244598, + 0.7768088579177856 + ], + "button_final": [ + 0.17601774632930756, + -0.4619028270244598, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1769458948253819, + -0.4598660210453644, + 0.8028326278457626 + ], + "closest_button": [ + 0.17605926096439364, + -0.4618487060070038, + 0.7678437232971191 + ], + "closest_ee_minus_button": [ + 0.0008866338609882507, + 0.0019826849616393916, + 0.03498890454864345 + ], + "button_min_z_position": [ + 0.17605926096439364, + -0.4618487060070038, + 0.7678437232971191 + ], + "min_active_finger_to_button": 0.14419238847459892, + "closest_active_finger": [ + 0.04968501627445221, + -0.5223133563995361, + 0.8103930950164795 + ], + "closest_active_finger_button": [ + 0.17602266371250155, + -0.4619049131870269, + 0.7760264873504639 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12633764743804934, + -0.06040844321250921, + 0.034366607666015625 + ], + "min_contact_pad_to_button": 0.020894851907459766, + "closest_contact_pad": [ + 0.17605926096439364, + -0.4618487060070038, + 0.7887385752045789 + ], + "closest_contact_pad_button": [ + 0.17605926096439364, + -0.4618487060070038, + 0.7678437232971191 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020894851907459766 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "658144d067f29f53d3f10cf550267bbf5552271a420620da3b2f73d0e2290866", + "visual_seed": 7537054069025032709, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9a9fb0724e726ac7ec864e99d6066284c68aa2a7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2199197596557615, + -0.1308726588997483, + 1.1635186490121745 + ], + "current_z": 1.1635186490121745, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3024121409974083, + "gripper_z": 1.1570077527707265, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2154978444965102, + -0.1353659015384825, + 1.1570077527707265 + ], + "object_minus_gripper": [ + 0.004421915159251305, + 0.004493242638734185, + 0.006510896241447961 + ], + "object_to_gripper_xy": 0.0063041702932388685, + "object_to_gripper_z": 0.006510896241447961, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2199197596557615, + -0.15454140236075284, + 1.1635186490121745 + ], + "finger_b": [ + 0.20965439151110393, + -0.1308726588997483, + 1.1635186490121745 + ], + "finger_midpoint": [ + 0.2147870755834327, + -0.1427070306302506, + 1.1635186490121745 + ], + "object_minus_finger_midpoint": [ + 0.00513268407232878, + 0.01183437173050228, + 0.0 + ], + "finger_gap": 0.02579897672715325, + "fingertip_max_gap": 0.09261846246980604, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012899488363576638, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635186490121745, + "object_top_z": 1.2138486489049174, + "finger_top_clearance": 0.050329999892742894, + "fingertip_min_top_clearance": 0.015098999967822867, + "object_projection_between_fingers": 0.8416769686695883, + "object_to_finger_line_xy": 0.009417752018549835, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04880923123490302, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7103164294400846, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32814605009049164, + -0.3971273476950107, + 0.8515396103702854 + ], + "target_position": [ + 0.3215631334213284, + -0.39872629174615737, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00677432018374127, + "xy_threshold": 0.08, + "gripper_dist": 0.18246580640165816, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396103702854, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587450242640102, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08803070520550914, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1499221185769361, + "release_required_pad_clearance": 0.05401535260275457, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.042199177264892, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009021222591400146, + "max_z_decrease": 0.009021222591400146, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034990291714341856, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009021222591400146, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.02090430662031993, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009021222591400146, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009021547387825483, + "max_button_displacement": 0.12, + "button_start": [ + 0.1772630661725998, + -0.4549877643585205, + 0.7768088579177856 + ], + "button_final": [ + 0.1772630661725998, + -0.4549877643585205, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1774289282357327, + -0.455273819858334, + 0.8028106268862534 + ], + "closest_button": [ + 0.1772863268852234, + -0.45491707324981684, + 0.7678224444389343 + ], + "closest_ee_minus_button": [ + 0.00014260135050930822, + -0.00035674660851714446, + 0.03498818244731905 + ], + "button_min_z_position": [ + 0.1772843897342682, + -0.45491424202919, + 0.7677876353263855 + ], + "min_active_finger_to_button": 0.1455525852966994, + "closest_active_finger": [ + 0.03653322160243988, + -0.44074440002441406, + 0.8105447292327881 + ], + "closest_active_finger_button": [ + 0.1772635281085968, + -0.45498850941658014, + 0.7762279510498047 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14073030650615692, + 0.014244109392166082, + 0.0343167781829834 + ], + "min_contact_pad_to_button": 0.02090430662031993, + "closest_contact_pad": [ + 0.1772843897342682, + -0.45630263500465357, + 0.7886457848181797 + ], + "closest_contact_pad_button": [ + 0.1772843897342682, + -0.45491424202919, + 0.7677876353263855 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013883929754635593, + 0.02085814949179421 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "996ce6785cab62affdbbca6824da193f565c20c7c64aea30a613382974dea21d", + "visual_seed": 3683863958908511071, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec12451ccd2ef05736ec04a122b57fd5a86e24e7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21511948028846084, + -0.13356523717361166, + 1.1664777249952745 + ], + "current_z": 1.1664777249952745, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3053712169805083, + "gripper_z": 1.15980604170449, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2108424180975326, + -0.13809668802881053, + 1.15980604170449 + ], + "object_minus_gripper": [ + 0.004277062190928244, + 0.004531450855198876, + 0.006671683290784491 + ], + "object_to_gripper_xy": 0.006231156220008493, + "object_to_gripper_z": 0.006671683290784491, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21511948028846084, + -0.15701090317496655, + 1.1664777249952745 + ], + "finger_b": [ + 0.20453363280579254, + -0.13356523717361166, + 1.1664777249952745 + ], + "finger_midpoint": [ + 0.20982655654712667, + -0.1452880701742891, + 1.1664777249952745 + ], + "object_minus_finger_midpoint": [ + 0.005292923741334166, + 0.011722833000677446, + 0.0 + ], + "finger_gap": 0.025724685054892383, + "fingertip_max_gap": 0.09224442283824891, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012862342527446197, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1664777249952745, + "object_top_z": 1.216581441229636, + "finger_top_clearance": 0.050103716234361606, + "fingertip_min_top_clearance": 0.015031114870308449, + "object_projection_between_fingers": 0.8306632843585142, + "object_to_finger_line_xy": 0.009648018776141345, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048622211419124456, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7693820375303948, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32736451628428764, + -0.4007653006671147, + 0.8515395573201089 + ], + "target_position": [ + 0.3194250789108773, + -0.40278776613133543, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0081929867789635, + "xy_threshold": 0.08, + "gripper_dist": 0.18480834422499995, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395573201089, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530589577705095, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531934758228936, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15368513787761867, + "release_required_pad_clearance": 0.05265967379114468, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.37742317936124076, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008977234363555908, + "max_z_decrease": 0.008977234363555908, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504817342793386, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008977234363555908, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020853697424344286, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008977234363555908, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008977543156176064, + "max_button_displacement": 0.12, + "button_start": [ + 0.17512500286102292, + -0.45904922485351557, + 0.7768088579177856 + ], + "button_final": [ + 0.17512500286102292, + -0.45904922485351557, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17426802012483647, + -0.45679468993079686, + 0.8027984261764511 + ], + "closest_button": [ + 0.17518094182014465, + -0.45900008082389826, + 0.7678316235542297 + ], + "closest_ee_minus_button": [ + -0.0009129216953081831, + 0.0022053908931014, + 0.034966802622221405 + ], + "button_min_z_position": [ + 0.17518094182014465, + -0.45900008082389826, + 0.7678316235542297 + ], + "min_active_finger_to_button": 0.14566983399959105, + "closest_active_finger": [ + 0.04685955494642258, + -0.5189552903175354, + 0.8106379508972168 + ], + "closest_active_finger_button": [ + 0.17512737214565274, + -0.45905146002769465, + 0.776307225227356 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12826781719923017, + -0.059903830289840754, + 0.03433072566986084 + ], + "min_contact_pad_to_button": 0.020853697424344286, + "closest_contact_pad": [ + 0.17518094182014465, + -0.45900008082389826, + 0.788685320978574 + ], + "closest_contact_pad_button": [ + 0.17518094182014465, + -0.45900008082389826, + 0.7678316235542297 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020853697424344286 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "33a39ba4ed93abdff633ea283b9bb07767cf15d796606b17722921bacde7938b", + "visual_seed": 6232824620329630560, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..04ff4fbecf283c1e57a0dd47d5f523043145ef94 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2154527631356081, + -0.13382726244064705, + 1.1650728341628582 + ], + "current_z": 1.1650728341628582, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30396638575273704, + "gripper_z": 1.1584182040843842, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2111798203433593, + -0.13818929158135732, + 1.1584182040843842 + ], + "object_minus_gripper": [ + 0.004272942792248796, + 0.004362029140710266, + 0.006654630078474 + ], + "object_to_gripper_xy": 0.0061061721503931155, + "object_to_gripper_z": 0.006654630078474, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2154527631356081, + -0.15749888125770434, + 1.1650728341628582 + ], + "finger_b": [ + 0.2054959452709148, + -0.13382726244064705, + 1.1650728341628582 + ], + "finger_midpoint": [ + 0.21047435420326144, + -0.1456630718491757, + 1.1650728341628582 + ], + "object_minus_finger_midpoint": [ + 0.004978408932346662, + 0.011835809408528658, + 0.0 + ], + "finger_gap": 0.02568041587300985, + "fingertip_max_gap": 0.0927551508412579, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012840207936504944, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650728341628582, + "object_top_z": 1.2153860875930604, + "finger_top_clearance": 0.05031325343020221, + "fingertip_min_top_clearance": 0.01509397602906063, + "object_projection_between_fingers": 0.8496729895528318, + "object_to_finger_line_xy": 0.009177966520845975, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048877575420628955, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.886319796181116, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 331, + "max_stable_success_frames": 331, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32642800313412557, + -0.3962776132567174, + 0.8515396682378205 + ], + "target_position": [ + 0.31960376122930456, + -0.39772158892193005, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00697533822099268, + "xy_threshold": 0.08, + "gripper_dist": 0.18447525912131743, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396682378205, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752404178745332, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862408251736224, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15325453485517176, + "release_required_pad_clearance": 0.0531204125868112, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2673120701071205, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008944928646087646, + "max_z_decrease": 0.008944928646087646, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501517330388407, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008944928646087646, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021073915430937302, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008944928646087646, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00894549157265982, + "max_button_displacement": 0.12, + "button_start": [ + 0.17530368268489832, + -0.45398303866386414, + 0.7768088579177856 + ], + "button_final": [ + 0.17530368268489832, + -0.45398303866386414, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17543917096994585, + -0.4551554869570046, + 0.8036956143912635 + ], + "closest_button": [ + 0.17526262998580927, + -0.4539150595664978, + 0.7687028646469116 + ], + "closest_ee_minus_button": [ + 0.0001765409841365806, + -0.001240427390506782, + 0.03499274974435185 + ], + "button_min_z_position": [ + 0.17524833977222437, + -0.4538993239402771, + 0.767863929271698 + ], + "min_active_finger_to_button": 0.14551670869293334, + "closest_active_finger": [ + 0.034849993884563446, + -0.4379400610923767, + 0.8095880746841431 + ], + "closest_active_finger_button": [ + 0.17530900239944452, + -0.4539860486984253, + 0.7751075625419617 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14045900851488108, + 0.016045987606048584, + 0.034480512142181396 + ], + "min_contact_pad_to_button": 0.021073915430937302, + "closest_contact_pad": [ + 0.17524833977222437, + -0.4563732608257199, + 0.7887921290957904 + ], + "closest_contact_pad_button": [ + 0.17524833977222437, + -0.4538993239402771, + 0.767863929271698 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024739368854427846, + 0.02092819982409244 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7eeb5f470dd18f65b2363a673ca40108b31025d83f14e019e674ea229eb29f63", + "visual_seed": 6773660888652467352, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..73d1d8ad42759c2485d1189744be2b09408bfc20 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21173495550671662, + -0.1314793545225101, + 1.1633714511261957 + ], + "current_z": 1.1633714511261957, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30226506232071926, + "gripper_z": 1.1568184912385968, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20745634290096607, + -0.13593977142535357, + 1.1568184912385968 + ], + "object_minus_gripper": [ + 0.004278612605750548, + 0.0044604169028434615, + 0.006552959887598853 + ], + "object_to_gripper_xy": 0.006180764093318815, + "object_to_gripper_z": 0.006552959887598853, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21173495550671662, + -0.15500501269668499, + 1.1633714511261957 + ], + "finger_b": [ + 0.20137576935853838, + -0.1314793545225101, + 1.1633714511261957 + ], + "finger_midpoint": [ + 0.2065553624326275, + -0.14324218360959756, + 1.1633714511261957 + ], + "object_minus_finger_midpoint": [ + 0.005179593074089106, + 0.01176282908708745, + 0.0 + ], + "finger_gap": 0.02570543386486073, + "fingertip_max_gap": 0.09237154583790178, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012852716932430374, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633714511261957, + "object_top_z": 1.2134509060992094, + "finger_top_clearance": 0.05007945497301369, + "fingertip_min_top_clearance": 0.015023836491904141, + "object_projection_between_fingers": 0.8375942515018722, + "object_to_finger_line_xy": 0.00948074533835567, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868577291895089, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.880881794498846, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 329, + "max_stable_success_frames": 329, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3251401087468566, + -0.4030086312610633, + 0.8515395705754596 + ], + "target_position": [ + 0.31762147515341527, + -0.4050147825240236, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007781676811735507, + "xy_threshold": 0.08, + "gripper_dist": 0.18224079957653136, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395705754596, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583035239332403, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0866730586820623, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14976326370399184, + "release_required_pad_clearance": 0.053336529341031155, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6902192719274283, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00901120901107788, + "max_z_decrease": 0.00901120901107788, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035015068178031496, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00901120901107788, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02095095767600516, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00901120901107788, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009011721219341108, + "max_button_displacement": 0.12, + "button_start": [ + 0.17332139611244196, + -0.4612762331962585, + 0.7768088579177856 + ], + "button_final": [ + 0.17332139611244196, + -0.4612762331962585, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17167301219317105, + -0.46162151857116085, + 0.8036138281822927 + ], + "closest_button": [ + 0.17327789962291712, + -0.4611873626708984, + 0.7686382532119751 + ], + "closest_ee_minus_button": [ + -0.0016048874297460713, + -0.0004341559002624673, + 0.03497557497031756 + ], + "button_min_z_position": [ + 0.17328423261642448, + -0.4611876308917999, + 0.7677976489067078 + ], + "min_active_finger_to_button": 0.14730411015369257, + "closest_active_finger": [ + 0.03121691197156906, + -0.44343653321266174, + 0.8106538653373718 + ], + "closest_active_finger_button": [ + 0.1733237206935882, + -0.46127790212631226, + 0.7762178182601929 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14210680872201914, + 0.017841368913650513, + 0.034436047077178955 + ], + "min_contact_pad_to_button": 0.02095095767600516, + "closest_contact_pad": [ + 0.17328423261642448, + -0.46291564311380307, + 0.7886772226883338 + ], + "closest_contact_pad_button": [ + 0.17328423261642448, + -0.4611876308917999, + 0.7677976489067078 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001728012222003139, + 0.020879573781626082 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1e60c0d5c6f965ab183d18995d661bd473adc3b1884d77ad665eccdbee76ccd3", + "visual_seed": 1323588516687076937, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f61d83b731e31118a4089de71d9158cf5bdafd38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.20942466418616332, + -0.13572693596588162, + 1.1647869006837759 + ], + "current_z": 1.1647869006837759, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3036804522736547, + "gripper_z": 1.1584436294419085, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20498331965136624, + -0.14016967391759702, + 1.1584436294419085 + ], + "object_minus_gripper": [ + 0.0044413445347970815, + 0.004442737951715403, + 0.006343271241867399 + ], + "object_to_gripper_xy": 0.006281995048102495, + "object_to_gripper_z": 0.006343271241867399, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20942466418616332, + -0.15949978273537466, + 1.1647869006837759 + ], + "finger_b": [ + 0.19927983035471686, + -0.13572693596588162, + 1.1647869006837759 + ], + "finger_midpoint": [ + 0.2043522472704401, + -0.14761335935062814, + 1.1647869006837759 + ], + "object_minus_finger_midpoint": [ + 0.005072416915723216, + 0.01188642338474652, + 0.0 + ], + "finger_gap": 0.025846970750814425, + "fingertip_max_gap": 0.0926668381310099, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012923485375407206, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647869006837759, + "object_top_z": 1.2149070326361127, + "finger_top_clearance": 0.05012013195233678, + "fingertip_min_top_clearance": 0.015036039585701032, + "object_projection_between_fingers": 0.8459468535501838, + "object_to_finger_line_xy": 0.009330748369007484, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883341906550495, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9863257424360599, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 328, + "max_stable_success_frames": 328, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32898687278089744, + -0.40298157086865727, + 0.8515395588498117 + ], + "target_position": [ + 0.3226640329666303, + -0.4044265908147261, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006485860464226644, + "xy_threshold": 0.08, + "gripper_dist": 0.18492307256873486, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395588498117, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561250865189756, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08724848341640677, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15276586790797025, + "release_required_pad_clearance": 0.05362424170820339, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2586913495448395, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008902788162231445, + "max_z_decrease": 0.008902788162231445, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505235452493595, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008902788162231445, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020837404901537515, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008902788162231445, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008903084795850528, + "max_button_displacement": 0.12, + "button_start": [ + 0.17836396396160126, + -0.46068805456161493, + 0.7768088579177856 + ], + "button_final": [ + 0.17836396396160126, + -0.46068805456161493, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17768442606988114, + -0.4584151789849074, + 0.8028798514674984 + ], + "closest_button": [ + 0.17842048406600952, + -0.4606423676013946, + 0.7679060697555542 + ], + "closest_ee_minus_button": [ + -0.0007360579961283864, + 0.0022271886164871857, + 0.03497378171194421 + ], + "button_min_z_position": [ + 0.17842048406600952, + -0.4606423676013946, + 0.7679060697555542 + ], + "min_active_finger_to_button": 0.14545360105923633, + "closest_active_finger": [ + 0.05118218809366226, + -0.5223973393440247, + 0.810317873954773 + ], + "closest_active_finger_button": [ + 0.1783655434846878, + -0.4606889188289641, + 0.7760656476020813 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12718335539102554, + -0.061708420515060536, + 0.03425222635269165 + ], + "min_contact_pad_to_button": 0.020837404901537515, + "closest_contact_pad": [ + 0.17842048406600952, + -0.4606423676013946, + 0.7887434746570917 + ], + "closest_contact_pad_button": [ + 0.17842048406600952, + -0.4606423676013946, + 0.7679060697555542 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020837404901537515 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "512b0c7b5d927445b2f2d8429977bee67ffa98380d7df33a3a7f4b4ec557dbe0", + "visual_seed": 6739596581549439662, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..34349fff3b8bcbc5627427815108aad35475a0b6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21121450082365156, + -0.1335431755992598, + 1.1651320766097006 + ], + "current_z": 1.1651320766097006, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.3040255089902897, + "gripper_z": 1.1588892387485072, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20665469282168916, + -0.13802596058961913, + 1.1588892387485072 + ], + "object_minus_gripper": [ + 0.004559808001962401, + 0.00448278499035934, + 0.0062428378611933955 + ], + "object_to_gripper_xy": 0.006394310774786547, + "object_to_gripper_z": 0.0062428378611933955, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21121450082365156, + -0.15735495099660474, + 1.1651320766097006 + ], + "finger_b": [ + 0.20099664629348196, + -0.1335431755992598, + 1.1651320766097006 + ], + "finger_midpoint": [ + 0.20610557355856676, + -0.14544906329793228, + 1.1651320766097006 + ], + "object_minus_finger_midpoint": [ + 0.0051089272650848006, + 0.011905887698672485, + 0.0 + ], + "finger_gap": 0.025911487776144954, + "fingertip_max_gap": 0.09264055506612723, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01295574388807249, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651320766097006, + "object_top_z": 1.2152848272956893, + "finger_top_clearance": 0.05015275068598868, + "fingertip_min_top_clearance": 0.015045825205796635, + "object_projection_between_fingers": 0.8444984468537631, + "object_to_finger_line_xy": 0.009389860559806906, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048820277533063616, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8493043095699082, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 325, + "max_stable_success_frames": 325, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32559310862254054, + -0.39637397528088036, + 0.851539549399417 + ], + "target_position": [ + 0.31902348502451183, + -0.39760996766479645, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0066848808061830255, + "xy_threshold": 0.08, + "gripper_dist": 0.18376396389061098, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539549399417, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549046540934973, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08733369567616654, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15192577248848188, + "release_required_pad_clearance": 0.05366684783808327, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3433925116267424, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00897282361984253, + "max_z_decrease": 0.00897282361984253, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505913033749665, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00897282361984253, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021086001707971813, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00897282361984253, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008973452037301906, + "max_button_displacement": 0.12, + "button_start": [ + 0.17472341656684875, + -0.4538714289665221, + 0.7768088579177856 + ], + "button_final": [ + 0.17472341656684875, + -0.4538714289665221, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17628206642957955, + -0.45494157357087134, + 0.8032530376253295 + ], + "closest_button": [ + 0.17466066777706146, + -0.4537976384162901, + 0.7682501077651978 + ], + "closest_ee_minus_button": [ + 0.0016213986525180912, + -0.0011439351545812215, + 0.03500292986013176 + ], + "button_min_z_position": [ + 0.1746492385864258, + -0.4537954330444335, + 0.7678360342979431 + ], + "min_active_finger_to_button": 0.14416988397607655, + "closest_active_finger": [ + 0.03566865622997284, + -0.43781018257141113, + 0.8089337944984436 + ], + "closest_active_finger_button": [ + 0.17472906410694122, + -0.4538747966289519, + 0.7744506597518921 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13906040787696838, + 0.016064614057540783, + 0.034483134746551514 + ], + "min_contact_pad_to_button": 0.021086001707971813, + "closest_contact_pad": [ + 0.1746492385864258, + -0.45619169172823537, + 0.7887854355387637 + ], + "closest_contact_pad_button": [ + 0.1746492385864258, + -0.4537954330444335, + 0.7678360342979431 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023962586838018884, + 0.020949401240820564 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ace09a07b8f5b3259e0faf127f05ba6e9fe1f92fd1a006dd654e3ad5b2a973c", + "visual_seed": 22674243030205299, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c3dd7a431ad3e41866c3342fd544f9eaf862c82 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2146949038285115, + -0.1370748121955867, + 1.1632272190339057 + ], + "current_z": 1.1632272190339057, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3021208302284293, + "gripper_z": 1.1567339984986564, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21028964478614565, + -0.14144741753728812, + 1.1567339984986564 + ], + "object_minus_gripper": [ + 0.0044052590423658555, + 0.004372605341701419, + 0.006493220535249256 + ], + "object_to_gripper_xy": 0.006206930376975556, + "object_to_gripper_z": 0.006493220535249256, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2146949038285115, + -0.1609206666243858, + 1.1632272190339057 + ], + "finger_b": [ + 0.20485128569771788, + -0.1370748121955867, + 1.1632272190339057 + ], + "finger_midpoint": [ + 0.20977309476311468, + -0.14899773940998626, + 1.1632272190339057 + ], + "object_minus_finger_midpoint": [ + 0.004921809065396826, + 0.011922927214399553, + 0.0 + ], + "finger_gap": 0.02579770515655156, + "fingertip_max_gap": 0.09258589318225671, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012898852578275785, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1632272190339057, + "object_top_z": 1.2134780386053419, + "finger_top_clearance": 0.05025081957143618, + "fingertip_min_top_clearance": 0.01507524587143082, + "object_projection_between_fingers": 0.8544046967594914, + "object_to_finger_line_xy": 0.009098851373606807, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879294659112836, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7753784138197577, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 326, + "max_stable_success_frames": 326, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3308080657540098, + -0.4017396496738408, + 0.8515396641794761 + ], + "target_position": [ + 0.32505724170111977, + -0.402865243305148, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005859943541548644, + "xy_threshold": 0.08, + "gripper_dist": 0.18201896890110714, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396641794761, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580670375906635, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08817070048507518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14943002413514406, + "release_required_pad_clearance": 0.05408535024253759, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1837688760915666, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.009018540382385254, + "max_z_decrease": 0.009018540382385254, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499606337652205, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.009018540382385254, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 81, + "contact_point_distance": 0.02090059028331408, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.009018540382385254, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 81, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.009018999293563347, + "max_button_displacement": 0.12, + "button_start": [ + 0.18075716495513916, + -0.4591267108917236, + 0.7768088579177856 + ], + "button_final": [ + 0.18075716495513916, + -0.4591267108917236, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1810710634047776, + -0.45898072990537186, + 0.8031983355242116 + ], + "closest_button": [ + 0.18070901930332187, + -0.4590493440628051, + 0.7682042121887207 + ], + "closest_ee_minus_button": [ + 0.0003620441014557385, + 6.86141574332555e-05, + 0.0349941233354909 + ], + "button_min_z_position": [ + 0.18070365488529208, + -0.4590531289577483, + 0.7677903175354004 + ], + "min_active_finger_to_button": 0.1454617769220818, + "closest_active_finger": [ + 0.04018052667379379, + -0.4444883465766907, + 0.8108301758766174 + ], + "closest_active_finger_button": [ + 0.18075948953628546, + -0.459128051996231, + 0.776444673538208 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14057896286249166, + 0.01463970541954035, + 0.034385502338409424 + ], + "min_contact_pad_to_button": 0.02090059028331408, + "closest_contact_pad": [ + 0.18070365488529208, + -0.4599934317231522, + 0.7886697453268974 + ], + "closest_contact_pad_button": [ + 0.18070365488529208, + -0.4590531289577483, + 0.7677903175354004 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009403027654039109, + 0.020879427791496985 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "938b5617d67c5752fa076747fa6e5e966957d7f05cb2917005292a83c2569137", + "visual_seed": 8419936895730135683, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec7aa6e538e4cf04a1839265083fdd6aad178fbc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21199884830823337, + -0.13907939427432678, + 1.1631084055928698 + ], + "current_z": 1.1631084055928698, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3020018975781037, + "gripper_z": 1.156590716096272, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20769135768945204, + -0.14352295513725433, + 1.156590716096272 + ], + "object_minus_gripper": [ + 0.004307490618781329, + 0.004443560862927548, + 0.006517689496597701 + ], + "object_to_gripper_xy": 0.00618867583360371, + "object_to_gripper_z": 0.006517689496597701, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21199884830823337, + -0.1626003638092948, + 1.1631084055928698 + ], + "finger_b": [ + 0.2016113613510405, + -0.13907939427432678, + 1.1631084055928698 + ], + "finger_midpoint": [ + 0.20680510482963693, + -0.1508398790418108, + 1.1631084055928698 + ], + "object_minus_finger_midpoint": [ + 0.005193743478596441, + 0.011760484767484009, + 0.0 + ], + "finger_gap": 0.0257125629440308, + "fingertip_max_gap": 0.09242140558144665, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0128562814720154, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1631084055928698, + "object_top_z": 1.2131155851275786, + "finger_top_clearance": 0.05000717953470879, + "fingertip_min_top_clearance": 0.015002153860412603, + "object_projection_between_fingers": 0.8367962072492561, + "object_to_finger_line_xy": 0.009502116331103887, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871070279072333, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.01044259276599, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 330, + "max_stable_success_frames": 330, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33293837297668327, + -0.3959300774429737, + 0.8515396063092379 + ], + "target_position": [ + 0.32497480801985223, + -0.39787191114817433, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00819689483648049, + "xy_threshold": 0.08, + "gripper_dist": 0.1856743640159535, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396063092379, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513995924765354, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537600877513517, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15491929332115817, + "release_required_pad_clearance": 0.052688004387567586, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4315999672092401, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008939027786254883, + "max_z_decrease": 0.008939027786254883, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502192405960217, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008939027786254883, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021070340958162577, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008939027786254883, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008939299680631427, + "max_button_displacement": 0.12, + "button_start": [ + 0.1806747317314147, + -0.4541333615779875, + 0.7768088579177856 + ], + "button_final": [ + 0.1806747317314147, + -0.4541333615779875, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18116519054835006, + -0.4554515663034012, + 0.8028611619984574 + ], + "closest_button": [ + 0.1806934028863906, + -0.4540661871433257, + 0.7678698301315308 + ], + "closest_ee_minus_button": [ + 0.00047178766195946076, + -0.0013853791600755283, + 0.0349913318669266 + ], + "button_min_z_position": [ + 0.1806934028863906, + -0.4540661871433257, + 0.7678698301315308 + ], + "min_active_finger_to_button": 0.14518464235978906, + "closest_active_finger": [ + 0.04040510207414627, + -0.43959417939186096, + 0.809946596622467 + ], + "closest_active_finger_button": [ + 0.18068012595176688, + -0.4541360437870024, + 0.7754497528076172 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1402750238776206, + 0.014541864395141435, + 0.034496843814849854 + ], + "min_contact_pad_to_button": 0.021070340958162577, + "closest_contact_pad": [ + 0.1806934028863906, + -0.4565984401021048, + 0.78878745339628 + ], + "closest_contact_pad_button": [ + 0.1806934028863906, + -0.4540661871433257, + 0.7678698301315308 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025322529587791243, + 0.02091762326474922 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 7341943718102437219, + "physical_seed": 8315530491657256763, + "layout_id": "layout_00000", + "step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "workflow_spec_digest": "0780fabb991dadd174f3ba7d5fd1b37acbba816b1223febc3515acb252531ae8", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d33cdf054736be7a05391f46867d1de4e47012b25b287687d6909cf9ef9340b", + "visual_seed": 4260731198413450684, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 2500273653211418822, + 70012352371227459, + 3039154489468777781 + ], + "runtime_workflow_digest": "100029451c415496600342a490504d64996e7dbf0ba7cae145ead91a1f763146" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..062106fe0b13a6d8e1a90aac0edfa66d4af971a3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00000/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_hta_00000", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..88b88c508667db45c4fb8d6610a47aaa72b0837e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5c06cc64135e56c9f2fc8babf0a62ee97a61b3b23c04d02ac22d274be6e55a1 +size 4355987 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..77a8c2136d39211efa3fb64728523a8e5f58d1be --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a187f059411f26854aee151257dd4266acb3150822ad1ef2e9d6da4850792b26 +size 5139851 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a3cd88391c3b242b62312214ddc7021149debee2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f42c967e1a30d7ee34d85e0653d751677e9c9ed7813e93bb100cfbae958fdcb +size 5027880 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6dbf86ec406e71b38327dfb5a882ad39d75d9aef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:789e3bd2707654d6c2fe1c8cfc69aa3e6f48455635dfaef738565c7a946187c3 +size 5512322 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2e746893bf54e66ebbc8db25daaf81bdb2830313 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4773b6ff7063f5bd4556ab40ce6b9c443fad240de62f873b509954ee65135a27 +size 4825964 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e9810538c6dd23ad32e97c26353daed29be4791c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ad5163c553e85c8532c30851ee591e0f9dafbd95cd5b3cd3f1cce6dad750123 +size 4400918 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..74d12b5a17f83f0f2b0569e62e8c8e3e44b5a855 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a9d8de8320e0cb0412104c8d64438605a71d174ae45365b5d511dfc0a51c008 +size 5182318 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0994dedfbc59954753df76cce76e539d2b0a6c8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce508541bd8d2ae0a83d10292808fd88d2ace15640d23d56f88457286bd72cda +size 4758877 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..305f5b24a907ee83e2247d3d071916dc5a0933cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d1c834447817f57898afc42e761d715c900ff591c6c0154c210ee9888da006c +size 5228246 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..18b267af3b8fb49cabda55f109e4735d7a520153 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9eeda48460b2be155130f6d45405221a1e2d1523f1f3035f29cad9d37247c676 +size 4521741 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f45df74f78a2311e60a3c3ff04f153c2bd8d373 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f788bd8e1bb2e0ce3276e1d2709f8a2b8515904c19ad3228e24209446d3715d6 +size 5367911 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d2de8b8b5d68bc24e92215ee7f74b5515b12cec4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41792d30ac2c59e98a41a2d9e3ec3617127674dc3b6be0a3402238d863b87779 +size 3912369 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f6bd3982c7c320641596cdfbe1f1ecc18a0242d8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d63d8466e1604714b73df68ddeca21ac2a4d9318126a89dc11a2135feac063c +size 6389707 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..00561d57bde44fae86b176f56aa73e5c8d48e194 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4a41feb48d322b8cd4bdfd8c28dc699057cfa3dca58bcbf4cc3835fc385ff71 +size 5260376 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..93e5c4920cd415375e176187e047fafba47f1a56 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ef5ab0978f25e68fb51df521ca93c847fcf22c672ae840b4a3f143cbd8916ba +size 6422883 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..67ae19cb407fa0883694963e6d116345f5a4b106 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d217c432e063ecf60d18a2388e156f2cc8297aa019739ae33342c31864c5c93c +size 3948445 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bbcb7d4e9ad6998889fd080807529e30953a57cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7627fc57f6bec4e33b2e3f9e2cd52ec3414e2b6343f9193ecd08a60e22047751 +size 4645881 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4e18acdb8736c0a0279f4a03ecdc6050fc8b83a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:121d7448eebe56521715825807f30c93aea8150a315918a85afb97bb1acd6552 +size 3662779 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..55aacfae8ffd68ef71026773f8fa177e3cf33aa9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11d6f91880ac41c7f9fe84f43cabdf0438ddcf71d7a91f7e7f1468929fe2a487 +size 5028095 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c4d167338326d53e40f034dd402b236582333ef2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0da89a84ff65eb66900fea8fbe19168810ff8f3bbceff4dc2cb06db4ddf2c28c +size 4780173 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a44cf223529c5ef07d40dea0dcdc75378fda6492 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89be43dddd82333aae1a13f788c2d6cc02920487fff3bcdd6b0a955eb3082cf8 +size 4422623 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c6de52489b9f7814c4f56240774be179e8266bbb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:721e46edd32713f3f38ea6684b46c4bfe260ed22871c7ba605fb4673df60f9e5 +size 4024256 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cc23e4a13969552656f0b5280fea54fe95261924 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d79f825c0b8f4752fbd31d01d747145adecb610373160c729dbc8aeae49a83bb +size 5038112 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16c675b40fec122346463dd3568c41f5e9074d24 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65f67b19f60f49c8df2b33bbdd670f102d2abcf6b1e35858d20dd48551088d57 +size 4097429 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c32a2810c8fea929fd238a56535b5817e691a161 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6cd09997fe31842c3dd4d5c1edf6f09b8ec2c921356ac416894574ed8d787af +size 4665618 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b72569721f62e6e3bdc13ad27a2ad2a22182c498 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b8317aebcb35eaf5ee82a5227c569248ad5eac9021572971086183a54fa0f16 +size 4938112 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0560478ea000ff84738b9fc85d9960c5b4141469 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83dab4ee770bd24ae842c3fd5d3b75de9c757da3413e5d157c631ac342772233 +size 6258173 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..63738f5e2b35d86b90f2620101a1ebca37ce6b60 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c2a07f725d9914969467c34ca679138ddd16f3adcb5fd3ff3822b899edcb04b +size 4293111 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e318589e77157804668d2ad7276d3c6dbc528023 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:276b2d5a46a52803ef17bd83f279e8ede98834229248975d8ab0920a70e7ce90 +size 5619661 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d776bfda2a19910ca7be9c8df5e8b1e30fdc2bb4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fa122016918a9872825bdf55e74a675a62430d2f19874a526f9c2cfcf2840bb +size 5450413 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1dcea8f149f4f14439e4fafbb04e899aac69bc06 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0f86a069e055c9ac1d597e8281d105559d912a9e47a77f2d488c14a5f338162 +size 6057096 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e352d88b20ee53da5e36ebc52846c59fa3cc36f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c419cc5a2406bde79f5d0adbaf1b4a110874d5b67b40ae27cc3ad37a358e522 +size 4559102 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3f4c5c3bf2c5219dce4af0e8686b6ab95a40ce4c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72705399634789a48b65677ee1bba0317c9f211d55f6fff08741727205176d13 +size 6173382 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bc0c9f722336e71ed326eba3a6f10ac2a82deaee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:facc1478ec0691fa1fa9d10a0da427272e120367593f464420135828eafa62cb +size 5684269 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b01923b103483b73bb3e9cb8a597338aaf7c4751 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02393fcda5e711e5a2824f704bf528aadc479ba27280066e89bebcbada43fc5f +size 4099389 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c1c54c09c98377fb5b3d0da2249bb2f61245645c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:348fbb453101d3a7fee2cffab59e396b17e490e1e027f56c178de9840471b689 +size 4924949 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b1bbfc65bb04cc88b5d9abf43378e6ac989a75c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d608cd775baaba33bf06a48a8b90fec4db4426c9bc70fb931c466fd924d80215 +size 4116369 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aa1e31b9996342e0e3f2a2d6ddad0fdc9401b06d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c3fdecc715945bacdfdf5c7257c8d079fd826b5a32ff4c5c5f2b68dc85083a5 +size 4865483 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4f532e46370b4ad17ac34a59bf948a897cd5cf3a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3787c6f3dd28af497eed16aa242d1f40d193046100643c18b5072977d986944c +size 5166768 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a1fd80a7a208bf2266facc89348c7a9c8afed24f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee985d350c97e4d6455a39f3fd01b619271b564881a4ee23ec7a5b87eff01980 +size 4424151 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..41efe3f959745edfd90ba5a0a823655f6acbce83 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adf84337abe182f9a0b62411f71d221b514aa9768440d49150785e06b47b33fa +size 4075434 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..34591574df1070ee9b17bb1e63255f4c71cc17c6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6aa128cb8a19abab1b2c810a23f24950bf0e53a046d22b044163d5d8d3e357cb +size 5318761 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..35b35522f896e7ac7243171e2296daf377774448 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6932c5c6219fe29648edd258c4c24d09c7f42b34a8c757ce31cacea53126a511 +size 4679109 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..69f8d92f9566497db3209a1fd8529d5feb01501b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb823fba2de8b2814f53082be744f4da9974e068688ce95481dd093c9a0c5396 +size 5891543 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7e2baf8a1313247d95c449ceb4f872330a370709 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52357955ac7f50b27edeb54db5cf7a003f9b0167826d1e09e21b68ad831aa3d4 +size 4655138 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0b3c384dfe6f10b44ae756501a00cd7ced03d62a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12f63c3fdd61239d7b7e8933867d001b73c4f68acd9a75b99eecdc8970e5e1bd +size 5066392 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e9238423d0b85c81ea5709aa1885000267a40362 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ca75d0b2fc4888b7810b9dccf74a14038ff189a6dfe5bf155b9f95c2d5c4505 +size 5585194 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cbe7f8c79cdca665efbaa181bb8397d494c86b35 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1161c8f61927cae5501fbe04372f957fa3d4bfc4388011d010e409b1d16fa768 +size 4772201 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3346aaf3cea19b5814e89d2d26dc525732a38d99 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7eecd59b321d1e510b2661ab12edebab73a1c79cdb0d020d9366772095ca486 +size 4413166 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a6bf4d46fda6b06e8cbec235f7eabf3166b871bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0588c5cc96ee6028b869e9f255db8c3c0c376f03b9a4907978c89ddf63aeb0b +size 4118060 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..27696ecc969337c0c7e15d95d0ce8992f198996b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbc9ab8f0ef6e46f4c7f830378df94a5a3490f6d8a2c2196b2bc704753413fcd +size 4595299 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0bf45b0709e63d69ddba48c607f08610ed6fcd8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6de4866e455aa4afb3dd53d4cd3e866f69e3595ac6b71baab98d99d6b11763a7 +size 5764278 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c3740490f1e7f2765de76885ebeccc3fa43f4762 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35bbcd0dc77d5c35e395256567eea68cf43447edbba64ebedf02df4af12734e6 +size 4493911 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..55ceea2c298b81c0dfc04d7856caa0f8e30dcec2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eae35c6166556a5cdca3d6e4ca980bcb06caa0293b158200e862a5a4ec2a708a +size 5704916 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..caa683496fe85d1a9f3891170bab46d3ad716865 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd01ae56be1851abddaf70cfd2ee4740f1953aeeba69df57de42ae56b385bc99 +size 5167225 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..add6aaf214d1d6ebd7f20a8e09ae597a875a877a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:397430ec30b0d506cc4054710e9c593d4d9790cfb2ef35f7332842eafb0a625d +size 4187860 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..226a5b1a3460a882776ddf4fa5860630429e39ed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b1e5fc4c20340b3cb81959a08a4e35fb4fa7954caaa696094f6f2697b826a45 +size 4409217 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b4e3b66b0943125e8bf00628eb5cf16f9bb43826 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:571364533eb7936a25f835361693a563010dfbac5470bc995e6ecfca03b9a309 +size 5314538 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a44693f0281d7dcdb13e68829095affb24c2c2f9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fae006896b15b8954f31b2344a7494487c2911a52472e20fafa11ddb3179d9d +size 5398255 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e0639a2cb1984a9178b614313e7407115d34dc15 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c50852aa47b775262ee368fa8c545c89e711381c428c52a4c915594f5eb14b09 +size 4153747 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d0d878f84d4dd58e541c5b60ffbcf7a84715a26 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db2f3a5d319927cfdd41faea4aa150c84fa252893cc1b49b38f7c3e6e8d78adc +size 4162221 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..31d95f678bce5b2316082f17b7f684492ac4878b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6d3be720290161de6323932454bba6b15012c9baffa7e8f21f259b5a1a1ed90 +size 5044222 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15c2644af299bf9167ce2a14a0776358045bcb79 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c471f54acbe042e5ad2ad46aed705288e030fdeb490385368ac735d626f3290 +size 4862167 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4fd6cf7a79d2ca0927e6da7a8f98db27062f91ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4a4e113201f9a5f754d8e582a48b8ee21d768ffc4076c57aa983c95388fef1b +size 4327078 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..744c201c2e2f828032ec1fae9c18281d3bea54b1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:507d120f4846bb7eb5a15a794dc0ccab461a26a416ae02970c7f8db007abe98d +size 4334286 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c46ffbb8eb37c7bed494195722c524a5987ed141 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:059e4c2ded617ffd5385f3106a715b1bbee35887de9ed38ef80efb9d5eaa94e2 +size 3907667 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e5114a25eee682f15144f555fbb1341deb844ad7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45b63ead8cea41dc976f3b5a47fc9a3edbf83f25aaf57a484fb3711bb5bb59a9 +size 3845269 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..704b1946c1246d9bdda57d2eab16858f2d189a06 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c141ce5b2cc7acbe0ae3c049896d37235df6c9f467d0fa57d372bb4c1f3b96c9 +size 3932874 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a812cb773fcffdf1a6e9ccc1ac7814faa6bf50de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3c8a8d019bbab8b00124fbef4ee9c8ed829b58ba2eaaa37a9acce0ee6c54fc9 +size 6045429 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c64ea24b3c89201687d1792cbdb0ede20fb0cc22 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e217123cb8a65ac0255078560b56ac3bf0291816b5c69fb59d9742ccdcfbb0e2 +size 4526919 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0a5a5353f1964ef0a7ef9e90d70db864f0e79a16 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e7bd8a2b3e142762447385dfc129da6746ecdb5fcf50e66ba1b9141a43914ae +size 4992207 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e95d8dc2f8ba98b556cd669ef55d6bc86940bfc5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41c5a80588366dc58f28d24f1018bafd63d194f6d9ffc5929cc416fc287ec238 +size 4918269 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9cc86cb6303071a5e2712075c8fd51907dbf7044 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:765be2d1ed7eef2f6f9871d9288a75bcbdb9124bd2c498481ef42ba910a648a4 +size 4581955 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5ba5ebb1e6470a0a156dc35b465cd7ad865fa708 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:248dcf91d998eb0c84b89127146dcb83ef2de51e9728605714e994e301f2eda1 +size 3952989 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..24bcf4e3feca1ee58be535d0f99af482aa3c3263 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38752a632f1ed904efb4c44afc4d6cc2d31fa4da39d8c695f6b428a4113040d1 +size 4700982 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..821ef0e88b121750f6f1f02772c9dae36aa7472e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f31534e6f90c506dd06b397af0a8d40683a53d032e23723e0c6c8764f2183dca +size 5850893 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6896d820078b0a1230ff33ce799c466a763d311e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ced2d31bfeaa6411e1745dae68ddb8b8fb03d8397cab879a9fa8eeb266b3ba2 +size 5769313 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a6ddea52d1cba3ddeb83ac53cc56ff1940302c2a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56d473a3f2338d16422eb2fb360f7ebbb8f36f322739da3e5da15f472b33f560 +size 6340110 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9aa4811fa4f132f54b8f805db2883474859c579b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b208017ea6d83e30d1d227dee0da55c8bb3e54552e6cfe5661117f7fd7eb1160 +size 4555763 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6fc44231dec719008be4443acf79be18582820ac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d6c39d7d2e106241e0e67fce9fead229e7ce783051e2677c39f54c82f45ec2a +size 4244648 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..afb5d1956395ac73ab3e957f93fbad413694a50c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccf8c4cf1af11dabb363fb182b76cd2bf634405d9b435e8619751260ac3e7177 +size 5147261 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d1a8939af2c9a3cef3e4b37efda71cf068ef273e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fcc90f29dfd933a21677c8e700267105925ec497de2c283097e0005cdc810c7 +size 6333021 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a120c265a0fa562952dec5dd7d22e019956242c8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7d44ae76e436fb4006518094423192ff637c4280cad22c4295c949cfd4c3454 +size 4705495 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fc022118930f853109ea1983016063c9f37bd4d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04a238dcf0e624780b04e7d417a11b0c84e504f8415506a159ab1358f7ac3b2f +size 4692514 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3981ad2eee8ca81b4d08ad52d5a743cb06308cab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9832df94467054949951768cad2216d69c6194fec97e3e4ec8cb0b89fd242cf4 +size 4234778 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3cbb842a06eaf63f7d908015518a405fdda231d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:720f643e58e2f5963c6c0dd0cc12cede540955cc5ef7369dc57d198ebb0e687d +size 5275102 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6fa74b402f1b6b1593af3cc920e9c412e12e0f00 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:368672a71015199124b6386891273c10c38a4e5be1a4c297b5dce64b40f7fe04 +size 4965020 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0aefb991be06de026bbf4e04901eb3368309941a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8b11247c0b69af44dcbbd0cddb183581e22279a6fa4a5ae1d5b9ce383ab084e +size 5003153 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d65fb056d1900198d4624e858691630e69454cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02522609665cd16dcece0ee6851929be57ef253d413ccc011ba1f56b13b1bcb5 +size 4876830 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..45d9110ddab7c6496d55c092d001290bef06042a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1a1d252e748c1d238804320ff30f9fe4908fb6ba0a63ca82cf89b808335c207 +size 4754249 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf5aba004ee18d1a673b0e620ff56a482a4e5d72 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:def93145fdf842e90dc50020fd8a8a67dc55d07b09fb5ce77e399606523dbf8a +size 4921771 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e8dc09f98dbac302fed260c3d819d2623a9db9c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d8ec1bb5082574aee7061bdac59341b321beff04fdfdc43b123b01cb839b462 +size 4849910 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e8ae593b4bc6715cea26ef46558a68f2234ca18 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e8f5cb607eba8fa9d5f25c854593e39209dad3f9b42f230528ffb3a8c5b98aa +size 4199181 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2033723495399c94811d496a09c49cfa0e4af60f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12e8063f30048ddeb2063cfe12bd4e515e8e8d6b20ecb3534ce2912eab0674f6 +size 4003094 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca18def32f0599f653e6a525a9a2f80f76e180d8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a063b73b02dec22ec0e72e3a40f1a66822db5b5bf0687432ec3e0181ed2f3476 +size 4615132 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8a17b27786be74ac8a53f8d9fedaf74a724477d8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a32bb8887fd56dca4ea20d0915987bc44cf0a4e868fc837d349bbe9f775b69aa +size 5078122 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a1b905870107cf27e41e7b8332e874dbf65e06bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98c9eac58d9d94e64aa9715bb5b82ddcdc620bcd481d0d6d8c6fa04222b04f88 +size 5852727 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d571dc9b55049b1eea746b6e02391755e839de2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:943419f56f26aaca960af492158236a5f933149452eada4a66fd08ffbffc9b72 +size 4796668 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b7005277da46d834e5e48d94ce44b3a6f85af5a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffadbf5e54432c4e12b572ac0b3f11df6695c6c33ee22b8eb724828adf6a4abc +size 5267897 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6bb3cca45b0e6d4a3e49ad582564a4655b1a1df9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca63d69c60d0cd3f4b248fcb8e68be689b5f3a22668a0be1ec6d89bd2d4c8357 +size 4216225 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..adff1d0a4f2e0921e7cc2a002382b7c839fde582 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4369134b0d5c63078c2e127ee6ea5766842032e6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T18:31:58","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.29820206562644413,0.46981861975082495,0.71338606911949],"aabb_xy":[[0.28844607611727024,0.46005608569159046],[0.307958055135618,0.47958115381005934]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[0.2743305652663046,1.6182082078020152,0.71338606911949],"aabb_xy":[[0.2662942305650197,1.6101700884975982],[0.2823668999675894,1.6262463271064318]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.20711060926841585,0.5780729424713722,0.71338606911949],"aabb_xy":[[-0.24461061045320864,0.5736547197753115],[-0.16961060808362305,0.5824911651674325]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[0.43320432284260457,0.7528856870656009,0.71338606911949],"aabb_xy":[[0.34351724653448906,0.6628856868111502],[0.52289139915072,0.8428856873200513]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.11333135351274481,-1.6230958545276675,0.71338606911949],"aabb_xy":[[0.03333135025490186,-1.7030923623196514],[0.19333135677058777,-1.5430993467356835]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[0.28445930855447044,1.1460371344399474,0.71338606911949],"aabb_xy":[[0.25945930862195254,1.139154466219024],[0.3094593084869883,1.1529198026608707]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.5247567950614616,-1.6476720212362161,0.71338606911949],"aabb_xy":[[-0.5469293220381124,-1.669847688392339],[-0.5025842680848107,-1.6254963540800924]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.6057082377941092,-1.6437387184390564,0.71338606911949],"aabb_xy":[[-0.6161197964745929,-1.6490844517749546],[-0.5952966791136255,-1.6383929851031578]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.44997018573053227,-1.2711864156078883,0.71338606911949],"aabb_xy":[[-0.4749701852822707,-1.2813288994730228],[-0.42497018617879373,-1.2610439317427533]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.35455186951657014,-1.8119178360558248,0.71338606911949],"aabb_xy":[[0.33787473352347464,-1.8286177600297553],[0.37122900550966564,-1.7952179120818947]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[0.4997447850002874,-1.0849563442894312,0.71338606911949],"aabb_xy":[[0.4097447882646771,-1.1381398076067257],[0.5897447817358975,-1.0317728809721367]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[0.5428098989334651,1.3014985967735284,0.71338606911949],"aabb_xy":[[0.5203098984214245,1.2790067384081298],[0.5653098994455057,1.3239904551389265]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.3422002135710491,-1.324790977205357,0.71338606911949],"aabb_xy":[[0.29220021228720905,-1.3747698315959789],[0.392200214854889,-1.2748121228147347]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[-0.1969976558944207,0.4442592451872365,0.71338606911949],"aabb_xy":[[-0.2669976574967002,0.4308264519855789],[-0.12699765429214122,0.45769203838889405]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.5332558061243468,0.0564279846281055,0.71338606911949],"aabb_xy":[[-0.5784271239725158,-0.007572012516432922],[-0.4880844882761779,0.12042798177264394]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.35772044394628033,1.4155060611121262,0.71338606911949],"aabb_xy":[[-0.41535091283355113,1.3555060621854154],[-0.3000899750590095,1.4755060600388366]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.3900365273195872,-1.0408778608014242,0.71338606911949],"aabb_xy":[[-0.43128533834950195,-1.0958778603136414],[-0.3487877162896725,-0.9858778612892066]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.35210472488093403,-0.06841536380061042,0.71338606911949],"aabb_xy":[[-0.3586063613889387,-0.0781831858269202],[-0.34560308837292947,-0.05864754177430066]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[0.5558285677222945,-0.10753774053078713,0.71338606911949],"aabb_xy":[[0.4908285650845009,-0.1590173392302341],[0.6208285703600879,-0.05605814183134018]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[-0.33219331091920457,0.8159456734940074,0.71338606911949],"aabb_xy":[[-0.3480778041845297,0.8015927331951834],[-0.3163088176538794,0.8302986137928315]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[-0.06945765356945643,1.446330449160755,0.71338606911949],"aabb_xy":[[-0.10678893009469907,1.4116773943659027],[-0.032126377044213825,1.4809835039556072]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[0.1748169638639131,-2.427484144362896,0.71338606911949],"aabb_xy":[[0.0948231402853549,-2.5074841469557376],[0.2548107874424713,-2.3474841417700545]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.5191055470324397,-0.2214451608092225,0.71338606911949],"aabb_xy":[[-0.5296730266905386,-0.23199019092223103],[-0.5085380673743406,-0.2109001306962139]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[-0.44015586031762316,1.1961430282947654,0.71338606911949],"aabb_xy":[[-0.49013466882793905,1.1461430282890466],[-0.3901770518073073,1.2461430283004842]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.42361778332601885,-2.3565200358321015,0.71338606911949],"aabb_xy":[[0.3736177846800976,-2.406439579491564],[0.47361778197194,-2.306600492172639]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_25","position":[-0.034513516522500676,-0.8103840778595561,0.71338606911949],"aabb_xy":[[-0.052013516781837306,-0.8244756200483289],[-0.01701351626316405,-0.7962925356707836]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_26","position":[-0.16885541756813427,-2.0339402528365778,0.71338606911949],"aabb_xy":[[-0.17328604692297445,-2.0393886245712607],[-0.1644247882132941,-2.0284918811018957]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[0.3949733946026941,1.7630072471435239,0.71338606911949],"aabb_xy":[[0.34784401560085837,1.6990072460991217],[0.4421027736045297,1.8270072481879256]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_28","position":[0.6604398359521635,-0.6060558992424405,0.71338606911949],"aabb_xy":[[0.6428070003586358,-0.6236788452580634],[0.678072671545691,-0.5884329532268174]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[0.5490534159910421,0.5052179686308707,0.71338606911949],"aabb_xy":[[0.49503781970914207,0.4412179657386134],[0.6030690122729421,0.5692179715231277]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_30","position":[0.5517917328434212,1.6475338444802854,0.71338606911949],"aabb_xy":[[0.4917917323355682,1.590687110794364],[0.611791733351274,1.7043805781662067]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.648857827468816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7926.png","name":"7926"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7926.png","name":"7926"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/212.png","name":"212"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1025.png","name":"1025"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9779.png","name":"9779"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/413.png","name":"413"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":589.1151850056067,"rotation_z_degrees":309.9859753463387,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01957083018958802,-0.003725479242201714,0.007669826981236638]},{"name":"camera_2","offset_m":[0.004769126138697035,-0.014428714592397793,0.0136600071645273]},{"name":"camera_3","offset_m":[-0.015795894127810482,0.01052759926632791,-0.017482463526351636]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006664247229975189,-0.0005243596892683558,0.0017932715861576545],"end_effector_yaw_offset_degrees":-0.22927773653133166},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015181177672125249,0.0018129190340141158,-0.0009475016489370379],"end_effector_yaw_offset_degrees":0.5331041010937247},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.8839550804972145e-05,-0.00014041053445106705,0.0005097692978185838],"end_effector_yaw_offset_degrees":0.05785594693427587}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0001881963421393731,-0.00035373953041017113],"position_m":[0.23918819634213936,-0.05655373953041017,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004125601206855907,-0.0034033314825389375],"position_m":[0.1961743987931441,-0.38910333148253895,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00391877292619595,0.0041117726194471],"position_m":[0.20531877292619594,0.3236117726194471,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013060011124808,-0.00019957080725518939],"position_m":[0.3424060011124808,0.16780042919274482,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f5ea1636e9dc9c02917c083673eb4f57f28bd014934d5e549b56fa7b90b7a971","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7926/tex_ceiling_textures_413/tex_floor_textures_9779/tex_table_textures_212/tex_wall_textures_1025","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":15604980687639140,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":15604980687639140,"visual_seed":15604980687639140,"scene_id":"lab_003","finished_at":"2026-09-03T18:34:45"} +{"episode_id":"ep_000001","started_at":"2026-09-03T18:34:50","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.21365570411358387,-1.4396649139763087,0.71338606911949],"aabb_xy":[[-0.21898821876819688,-1.4449892422215445],[-0.2083231894589709,-1.4343405857310734]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.28517654693275774,-1.3196861000219609,0.71338606911949],"aabb_xy":[[0.26268012549889364,-1.3421860998287083],[0.30767296836662184,-1.2971861002152134]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.12810578151795637,-1.6109894055188836,0.71338606911949],"aabb_xy":[[0.04810578104774042,-1.6193001131332323],[0.20810578198817234,-1.6026786979045353]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.15148190746829415,-0.6920267548924413,0.71338606911949],"aabb_xy":[[-0.22148190907057363,-0.7054595480940989],[-0.08148190586601467,-0.6785939616907838]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.3172997131523545,-1.960276396233136,0.71338606911949],"aabb_xy":[[-0.35229971228231016,-1.9660216173087999],[-0.28229971402239884,-1.9545311751574717]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[-0.3151769008670158,0.8913866234953125,0.71338606911949],"aabb_xy":[[-0.3651769021508557,0.8414077691046902],[-0.26517689958317575,0.9413654778859344]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.2974291220055797,-0.868977413108267,0.71338606911949],"aabb_xy":[[-0.314929122250629,-0.8864772009478338],[-0.27992912176053025,-0.8514776252687001]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[-0.4545912115501297,-0.6379728711315504,0.71338606911949],"aabb_xy":[[-0.5185912138929312,-0.6829137223756828],[-0.39059120920732815,-0.5930320198874178]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[-0.43150347202228523,-2.416770733675309,0.71338606911949],"aabb_xy":[[-0.48148770773046246,-2.466770732488804],[-0.381519236314108,-2.366770734861813]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.5659827655094904,-0.8330622117755797,0.71338606911949],"aabb_xy":[[0.5579394055835352,-0.9180622128709461],[0.5740261254354455,-0.7480622106802133]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.24189722426199267,-0.42401122200952024,0.71338606911949],"aabb_xy":[[-0.2793972243675856,-0.43083338386250136],[-0.2043972241563997,-0.4171890601565391]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[-0.6040060920165127,-1.4807054002634912,0.71338606911949],"aabb_xy":[[-0.6390060919930084,-1.4901700163111076],[-0.5690060920400167,-1.4712407842158743]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[0.41724957727561174,0.5525044549689748,0.71338606911949],"aabb_xy":[[0.3827870992625239,0.5458407777860519],[0.45171205528869945,0.5591681321518975]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[-0.5841717436696428,1.4528873934789996,0.71338606911949],"aabb_xy":[[-0.6184880208442607,1.402887393505822],[-0.5498554664950248,1.5028873934521774]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.029057264706264574,0.8126285889086198,0.71338606911949],"aabb_xy":[[-0.04655726398435145,0.7952904888422738],[-0.011557265428177695,0.8299666889749657]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.36530981368283144,0.7536824649233287,0.71338606911949],"aabb_xy":[[0.3464254299143213,0.7347965401429759],[0.3841941974513417,0.7725683897036815]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.2810342679254677,-2.0559896548271817,0.71338606911949],"aabb_xy":[[0.25063615682632406,-2.0863965568288507],[0.31143237902461124,-2.0255827528255117]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[-0.06705814267210264,1.098159801178396,0.71338606911949],"aabb_xy":[[-0.11703695118241852,1.0481598011726772],[-0.017079334161786752,1.1481598011841148]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.43643287029462896,-0.5145446243263057,0.71338606911949],"aabb_xy":[[0.42872967962055186,-0.5222539950250437],[0.44413606096870595,-0.5068352536275677]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.4351875536293371,0.001134858213824419,0.71338606911949],"aabb_xy":[[-0.4823169326311727,-0.06286514283057754],[-0.38805817462750136,0.06513485925822637]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6524740209978289,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/746.png","name":"746"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/746.png","name":"746"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5202.png","name":"5202"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7005.png","name":"7005"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/811.png","name":"811"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4774.png","name":"4774"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":509.2795993680427,"rotation_z_degrees":142.75677018765103,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009204781242472562,0.01926255808324207,-0.009353579180756558]},{"name":"camera_2","offset_m":[-0.00718984194355639,0.012899871115440876,-0.008346672128697797]},{"name":"camera_3","offset_m":[0.002515575830559884,0.008179129532088086,-0.012819318969167028]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010417336879113073,0.00018778457099682434,-0.00027998351592285644],"end_effector_yaw_offset_degrees":0.5293574266590715},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019593967609355337,0.0015606631828791392,0.0013876528708272238],"end_effector_yaw_offset_degrees":0.9307711974661401},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006806820069889231,-0.001508631152066845,0.0010080870175594387],"end_effector_yaw_offset_degrees":-0.4003820254509811}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008053800290317636,0.0035406023606416115],"position_m":[0.23980538002903176,-0.05265939763935839,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004475675139693784,0.00216233364336311],"position_m":[0.2047756751396938,-0.3835376663566369,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012600111830297,8.39779733204692e-05],"position_m":[0.2001399888169703,0.3195839779733205,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002020028244616835,-0.003214422230645475],"position_m":[0.3390799717553832,0.16478557776935454,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eddda1213ab4123e0634fdc98c21c8a0863bee71702d5314a033d9cf4edf7b4c","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_746/tex_ceiling_textures_4774/tex_floor_textures_811/tex_table_textures_5202/tex_wall_textures_7005","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3885434235415191642,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3885434235415191642,"visual_seed":3885434235415191642,"scene_id":"lab_003","finished_at":"2026-09-03T18:37:53"} +{"episode_id":"ep_000002","started_at":"2026-09-03T18:37:56","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[0.5810868525463564,0.034353251442876154,0.71338606911949],"aabb_xy":[[0.5260868533697668,-0.020636423332081495],[0.6360868517229458,0.0893429262178338]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[-0.6049186185327031,1.4939126564124483,0.71338606911949],"aabb_xy":[[-0.6102561941987077,1.4689126554833083],[-0.5995810428666986,1.5189126573415879]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.24922615610642979,1.0935495535552349,0.71338606911949],"aabb_xy":[[-0.26709526386088533,1.0797166455780238],[-0.23135704835197432,1.107382461532446]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.06288290072309488,1.6813765609764162,0.71338606911949],"aabb_xy":[[-0.09336715085012504,1.6313765611949202],[-0.032398650596064726,1.7313765607579121]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.1387143045955488,1.6569843198176133,0.71338606911949],"aabb_xy":[[0.11680562245619772,1.6350836529975226],[0.1606229867348998,1.678884986637704]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.5755590967314405,0.9410373464387689,0.71338606911949],"aabb_xy":[[-0.5796949530641407,0.9035373469944119],[-0.5714232403987403,0.9785373458831259]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.06392813694892474,-0.7617836857683467,0.71338606911949],"aabb_xy":[[-0.12792813916933177,-0.8061567698936348],[7.186527148229926e-05,-0.7174106016430583]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[0.3283573812316314,-1.7414565708808256,0.71338606911949],"aabb_xy":[[0.29335737988014965,-1.7618163068376465],[0.3633573825831131,-1.7210968349240048]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[-0.3646202186196569,-1.609905964750541,0.71338606911949],"aabb_xy":[[-0.38962021778529,-1.6168582104558975],[-0.33962021945402376,-1.6029537190451844]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[-0.4933095499673511,-0.9240126937336159,0.71338606911949],"aabb_xy":[[-0.5283095498633699,-0.9323869292455558],[-0.4583095500713322,-0.9156384582216759]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.5208803604706189,-2.124557979646894,0.71338606911949],"aabb_xy":[[0.43715813497053646,-2.2145579831815896],[0.6046025859707014,-2.0345579761121977]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[0.5961076105193062,-2.3481081069402503,0.71338606911949],"aabb_xy":[[0.5859545949651567,-2.38417764851299],[0.6062606260734554,-2.3120385653675095]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[0.17485137709383902,-2.470869801187818,0.71338606911949],"aabb_xy":[[0.16756906071717528,-2.5608698047973264],[0.1821336934705026,-2.3808697975783084]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.5260960257143913,-2.387326194249205,0.71338606911949],"aabb_xy":[[-0.5595751929754322,-2.4208053076203124],[-0.49261685845335035,-2.3538470808780985]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[-0.35898258271325245,1.4054766683317594,0.71338606911949],"aabb_xy":[[-0.4489825794488626,1.3522932050144647],[-0.2689825859776422,1.4586601316490537]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[-0.6485220829421241,-0.7738551042941841,0.71338606911949],"aabb_xy":[[-0.6636849559190612,-0.7890205615893029],[-0.633359209965187,-0.7586896469990654]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.45414226756270665,0.08090847186262673,0.71338606911949],"aabb_xy":[[-0.47664226737660903,0.07643385549214604],[-0.43164226774880426,0.08538308823310742]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.1186935304889205,0.9576818394202564,0.71338606911949],"aabb_xy":[[-0.14119353001262788,0.9351858919696355],[-0.09619353096521309,0.9801777868708771]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[-0.2530287481686682,0.363867818703536,0.71338606911949],"aabb_xy":[[-0.2705287474467551,0.34652971863719007],[-0.23552874889058134,0.38120591876988197]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[-0.3452113300143529,-0.9361607501639793,0.71338606911949],"aabb_xy":[[-0.3640957137828631,-0.955046674944332],[-0.3263269462458427,-0.9172748253836265]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.1605032555505861,-2.516918157443234,0.71338606911949],"aabb_xy":[[-0.21549646688772287,-2.5719181577820276],[-0.10551004421344934,-2.4619181571044404]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[0.07282184300327332,0.8776658983563479,0.71338606911949],"aabb_xy":[[0.06021914386619687,0.8650705021314824],[0.08542454214034978,0.8902612945812134]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[-0.1879950480589041,-0.6573791515559584,0.71338606911949],"aabb_xy":[[-0.20710735541688297,-0.6765139304332004],[-0.16888274070092524,-0.6382443726787164]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[-0.21305586633035273,-0.55759591385493,0.71338606911949],"aabb_xy":[[-0.2204683218717412,-0.563447124276558],[-0.20564341078896425,-0.5517447034333021]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.020969446482957288,1.1346823864279867,0.71338606911949],"aabb_xy":[[-0.03221450205357512,1.1234405887038914],[-0.009724390912339453,1.145924184152082]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[-0.23205078214126978,-1.8770214305089463,0.71338606911949],"aabb_xy":[[-0.312044605719828,-1.957021433101788],[-0.15205695856271156,-1.797021427916105]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[0.4123228327224495,-1.584353804644583,0.71338606911949],"aabb_xy":[[0.36623774146771804,-1.6483538018971382],[0.458407923977181,-1.520353807392028]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[0.10867258156365656,0.6718586177285277,0.71338606911949],"aabb_xy":[[0.05367710374299717,0.6168586162946207],[0.16366805938431594,0.7268586191624345]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_28","position":[0.2552154487680046,1.6501348646377392,0.71338606911949],"aabb_xy":[[0.24258866148080827,1.6405887909361658],[0.26784223605520097,1.6596809383393116]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_29","position":[0.23698161884320235,-2.2223332771513173,0.71338606911949],"aabb_xy":[[0.22885393064988913,-2.2312468855620247],[0.24510930703651557,-2.213419668740609]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_30","position":[0.6328239024561992,1.216261624910246,0.71338606911949],"aabb_xy":[[0.6103274810223351,1.1937616251034986],[0.6553203238900633,1.2387616247169935]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_31","position":[-0.09088635293333058,0.8113042764689982,0.71338606911949],"aabb_xy":[[-0.10846465512227743,0.7937297868948932],[-0.07330805074438373,0.828878766043103]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_32","position":[-0.497634788849978,-1.2886775826643584,0.71338606911949],"aabb_xy":[[-0.5626347867316258,-1.3398012463708993],[-0.43263479096833024,-1.2375539189578175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6516897450041164,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2050.png","name":"2050"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2050.png","name":"2050"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/794.png","name":"794"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9947.png","name":"9947"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7680.png","name":"7680"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9004.png","name":"9004"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":521.8613634673446,"rotation_z_degrees":195.3953388199165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01534550369628433,-0.014507391218930934,-0.01444656264002608]},{"name":"camera_2","offset_m":[-0.019898559529704932,0.0011537418538445192,-0.005164884985121026]},{"name":"camera_3","offset_m":[-0.01216009359026843,0.00467479883952731,-0.006502321631349476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013868839045171363,-0.0017352291819234908,-0.0001375490678549153],"end_effector_yaw_offset_degrees":0.32708448716197625},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017094802670016395,0.00028881673302904795,-0.0010055459809953967],"end_effector_yaw_offset_degrees":-0.9726408993216835},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001232019581235015,0.001738941412013258,0.0004849119377038245],"end_effector_yaw_offset_degrees":0.10970654311144146}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0045676778752227224,0.0028200604698909925],"position_m":[0.23443232212477727,-0.05337993953010901,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028158300559260963,0.0012161732565319104],"position_m":[0.2031158300559261,-0.3844838267434681,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004479933388846479,-0.0011457916712207862],"position_m":[0.19692006661115352,0.3183542083287792,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014295194896644095,0.0006203840994918634],"position_m":[0.3425295194896644,0.16862038409949187,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fec3eb27004c8953cd42edcc18c8899cbea109dffbbc9bb18b05cf2cfb6c826b","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2050/tex_ceiling_textures_9004/tex_floor_textures_7680/tex_table_textures_794/tex_wall_textures_9947","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":438559777447447575,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":438559777447447575,"visual_seed":438559777447447575,"scene_id":"lab_003","finished_at":"2026-09-03T18:41:05"} +{"episode_id":"ep_000003","started_at":"2026-09-03T18:41:11","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.48467623508957747,1.1468100089729827,0.71338606911949],"aabb_xy":[[-0.5002320044998428,1.1312595757285757],[-0.4691204656793123,1.16236044221739]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[0.27091816355442466,0.6026167194614644,0.71338606911949],"aabb_xy":[[0.2629241749767212,0.594616639366374],[0.278912152132128,0.6106167995565547]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[-0.13438749571786934,-1.4560931604379082,0.71338606911949],"aabb_xy":[[-0.15139759300792,-1.472227648936182],[-0.11737739842781869,-1.4399586719396342]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.5290926877270099,-1.6769903338003023,0.71338606911949],"aabb_xy":[[-0.6190926871453807,-1.7103658306444918],[-0.4390926883086389,-1.6436148369561123]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.2141937379590283,-1.9477147153499732,0.71338606911949],"aabb_xy":[[-0.2941937382326352,-2.02066426317569],[-0.13419373768542128,-1.8747651675242565]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.3568146847462542,-1.6972824220407778,0.71338606911949],"aabb_xy":[[-0.3918146830163741,-1.7043565497357658],[-0.3218146864761343,-1.6902082943457895]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[0.5195562128289082,-0.5458475703670982,0.71338606911949],"aabb_xy":[[0.4395562148481231,-0.5534491113289501],[0.5995562108096931,-0.5382460294052462]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[-0.5111443134945493,0.9738295705290723,0.71338606911949],"aabb_xy":[[-0.5219847917210642,0.9566432892384235],[-0.5003038352680343,0.9910158518197211]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.680914860678707,-2.322270955280066,0.71338606911949],"aabb_xy":[[0.6770009874832845,-2.3310199706866226],[0.6848287338741295,-2.313521939873509]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.384931091644695,0.26714732066419655,0.71338606911949],"aabb_xy":[[-0.41993109162119086,0.25768270461657994],[-0.3499310916681992,0.27661193671181317]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[-0.2776668088986531,-0.8170784029354159,0.71338606911949],"aabb_xy":[[-0.3001668094106937,-0.8395702613008141],[-0.2551668083866125,-0.7945865445700174]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.4940162088265716,0.42374485127964645,0.71338606911949],"aabb_xy":[[-0.5580162090870424,0.3787360519267185],[-0.43001620856610084,0.4687536506325745]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[0.5337843499577921,-2.277876625160474,0.71338606911949],"aabb_xy":[[0.5125063418143198,-2.3428766274865467],[0.5550623581012643,-2.2128766228344006]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[0.03539098411812813,-1.4375543098421424,0.71338606911949],"aabb_xy":[[-0.002109015825638272,-1.445847399876979],[0.07289098406189454,-1.4292612198073058]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.6013206693486908,-0.9337813273673994,0.71338606911949],"aabb_xy":[[0.5638206695316572,-0.9384195386785411],[0.6388206691657243,-0.9291431160562574]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.6194814912023623,0.6114723807116191,0.71338606911949],"aabb_xy":[[-0.6229221674424195,0.6076109477372547],[-0.6160408149623051,0.6153338136859836]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[0.6571086135097619,-1.4473230450822976,0.71338606911949],"aabb_xy":[[0.621479457609802,-1.4829557118391503],[0.6927377694097215,-1.4116903783254444]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.482580772170901,0.40625620166397525,0.71338606911949],"aabb_xy":[[0.41858077049290354,0.35773881018466097],[0.5465807738488982,0.4547735931432894]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[-0.06649014505449691,0.7831012975505822,0.71338606911949],"aabb_xy":[[-0.07258477294261523,0.7745319029989135],[-0.06039551716637859,0.7916706921022509]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[0.19376779892569973,-2.18840082031497,0.71338606911949],"aabb_xy":[[0.12976779563599158,-2.2317357393188875],[0.2577678022154078,-2.1450659013110522]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.16684699960171678,0.16712530116907454,0.71338606911949],"aabb_xy":[[-0.17931435771145246,0.154659976535751],[-0.15437964149198116,0.179590625802398]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[0.1668524000023558,1.255686920219674,0.71338606911949],"aabb_xy":[[0.14326727653846094,1.1906869179742425],[0.19043752346625065,1.320686922465106]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[-0.35597665661935946,-0.07388851438809274,0.71338606911949],"aabb_xy":[[-0.39699460000573034,-0.12388851501905009],[-0.3149587132329886,-0.023888513757135424]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[-0.28097177511417926,0.8606860037816708,0.71338606911949],"aabb_xy":[[-0.30346819654804336,0.8381860039749234],[-0.25847535368031516,0.8831860035884183]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.655959353107775,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6205.png","name":"6205"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6205.png","name":"6205"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9703.png","name":"9703"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/689.png","name":"689"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1298.png","name":"1298"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8190.png","name":"8190"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":528.3509746918302,"rotation_z_degrees":61.48308653608876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013694677580070227,-0.003283418530518792,0.010589133860568471]},{"name":"camera_2","offset_m":[0.017814818955234627,-0.007689657753044336,-0.016567734609751708]},{"name":"camera_3","offset_m":[-0.01949602078629725,0.009911215030483218,0.013359360390925338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017557202890469412,0.0016197610922948813,0.0013799617660394522],"end_effector_yaw_offset_degrees":0.4951087527583242},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001070042502806485,-0.0011163402410485537,0.001724307752524521],"end_effector_yaw_offset_degrees":-0.8272669842166649},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003294710035658525,0.001974094522470109,0.0006412313376096402],"end_effector_yaw_offset_degrees":0.7182173886979792}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021783733611615078,-0.003622043549189836],"position_m":[0.2411783733611615,-0.05982204354918984,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004069887875654917,-0.00428664403603312],"position_m":[0.2043698878756549,-0.3899866440360331,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004730344910946272,0.0013391539850126592],"position_m":[0.20613034491094626,0.32083915398501267,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003077563742453315,-0.002290667192933804],"position_m":[0.3380224362575467,0.1657093328070662,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dd89098ff49cfeae8e2b0ec8a2c18d405117bfff43ea33e92ad1ed74f1a86a0a","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6205/tex_ceiling_textures_8190/tex_floor_textures_1298/tex_table_textures_9703/tex_wall_textures_689","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":277204346651540160,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":277204346651540160,"visual_seed":277204346651540160,"scene_id":"lab_003","finished_at":"2026-09-03T18:44:14"} +{"episode_id":"ep_000004","started_at":"2026-09-03T18:44:18","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.1719726425919076,-0.8214711585874603,0.71338606911949],"aabb_xy":[[0.1436429326433674,-0.8259319007811774],[0.20030235254044784,-0.8170104163937433]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[0.301029403626234,-1.6531719771521647,0.71338606911949],"aabb_xy":[[0.27580856676639426,-1.678395728005051],[0.3262502404860736,-1.6279482262992775]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.16758572761121493,1.413245957661179,0.71338606911949],"aabb_xy":[[0.11758572725064888,1.363265970451576],[0.217585727971781,1.4632259448707818]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.5845996802836642,-2.1694833428945492,0.71338606911949],"aabb_xy":[[0.5775582293329166,-2.1765100946323437],[0.5916411312344118,-2.162456591156755]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.18326203470648506,0.6552359668062495,0.71338606911949],"aabb_xy":[[0.17934816151106253,0.6464869513996928],[0.18717590790190758,0.6639849822128064]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[0.13437291030964726,-2.5516799963005177,0.71338606911949],"aabb_xy":[[0.09687291001747245,-2.555721471701122],[0.17187291060182208,-2.5476385208999144]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.5657023355725734,1.3322612657181634,0.71338606911949],"aabb_xy":[[-0.62969803296767,1.2682612674174545],[-0.5017066381774768,1.3962612640188719]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.33642504542975193,-1.9028138919361142,0.71338606911949],"aabb_xy":[[0.29892504685413107,-1.915550187599672],[0.3739250440053727,-1.8900775962725562]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[0.5128014154570053,-1.2760506793666526,0.71338606911949],"aabb_xy":[[0.47936124026098553,-1.3094943051975823],[0.5462415906530247,-1.242607053535722]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.19361668504152374,0.3705211404943878,0.71338606911949],"aabb_xy":[[-0.23046723297851135,0.33302113967135405],[-0.15676613710453613,0.4080211413174215]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.3539452828948348,1.790016947830583,0.71338606911949],"aabb_xy":[[-0.43394528615884786,1.7764569155216694],[-0.2739452796308216,1.803576980139496]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.593920280074901,-0.9597246488607742,0.71338606911949],"aabb_xy":[[0.5289202821932534,-1.010848312567315],[0.658920277956549,-0.9086009851542334]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.3138714954573609,1.1980604615537103,0.71338606911949],"aabb_xy":[[0.27262268442744614,1.1430604620414926],[0.3551203064872756,1.2530604610659275]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[0.4099352393625415,0.684751391255753,0.71338606911949],"aabb_xy":[[0.37645607210150056,0.651272277884646],[0.44341440662358245,0.71823050462686]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[-0.2921378156668528,-2.2693806116983986,0.71338606911949],"aabb_xy":[[-0.3721378143237388,-2.283885470622662],[-0.2121378170099668,-2.254875752774136]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[0.049234473597437156,-1.9769121750833951,0.71338606911949],"aabb_xy":[[0.04282065995425221,-1.983321995331063],[0.05564828724062209,-1.9705023548357263]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[-0.07840061338782622,1.1343196093479473,0.71338606911949],"aabb_xy":[[-0.1484006167793882,1.099003835644516],[-0.008400609996264253,1.1696353830513777]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[0.6336487429293804,-1.1289638941746405,0.71338606911949],"aabb_xy":[[0.6283111672633759,-1.1539638951037803],[0.638986318595385,-1.1039638932455007]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.2881774925393982,0.5637317946563294,0.71338606911949],"aabb_xy":[[0.284736816299341,0.5598703616819649],[0.29161816877945534,0.5675932276306939]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.39073716691338295,0.8296976082834688,0.71338606911949],"aabb_xy":[[-0.44021758812734174,0.765697610370617],[-0.34125674569942416,0.8936976061963207]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[-0.08587845431333796,1.779873824697662,0.71338606911949],"aabb_xy":[[-0.12087845428983379,1.7704092086500451],[-0.05087845433684213,1.7893384407452784]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.10166087081714925,1.7717384114803836,0.71338606911949],"aabb_xy":[[0.09363460018652324,1.7629869165030312],[0.10968714144777524,1.7804899064577364]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[-0.19843201894198625,1.718205288474214,0.71338606911949],"aabb_xy":[[-0.22839957585181192,1.6882052881763283],[-0.1684644620321606,1.7482052887720998]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.3877338331376751,-0.9461047782721841,0.71338606911949],"aabb_xy":[[-0.47773383547169423,-1.0235871328572967],[-0.2977338308036561,-0.8686224236870715]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[0.40022897276002944,1.623612192608174,0.71338606911949],"aabb_xy":[[0.3530995937581937,1.5596121915637715],[0.44735835176186506,1.6876121936525754]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[0.5526424914511279,-0.23812483868220857,0.71338606911949],"aabb_xy":[[0.5365805639926102,-0.3231248404948004],[0.5687044189096455,-0.15312483686961675]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[0.011655322679739788,-2.0813274237308894,0.71338606911949],"aabb_xy":[[-0.03834467860410017,-2.131306278121511],[0.06165532396357975,-2.031348569340267]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[0.41947472789498286,-0.20697361796731695,0.71338606911949],"aabb_xy":[[0.385158450720365,-0.25697361794049467],[0.45379100506960085,-0.15697361799413923]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_28","position":[-0.4625167697089513,0.4176401200709039,0.71338606911949],"aabb_xy":[[-0.5425167682962706,0.338324518132743],[-0.3825167711216318,0.4969557220090648]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6539002534723299,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3446.png","name":"3446"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3446.png","name":"3446"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5455.png","name":"5455"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4570.png","name":"4570"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3028.png","name":"3028"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/208.png","name":"208"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":515.0084651286388,"rotation_z_degrees":169.76984746354682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008263939768494502,-0.0013665170980718955,0.011288097908873595]},{"name":"camera_2","offset_m":[0.010667459303162447,0.004695305349241202,-0.0009564906547518681]},{"name":"camera_3","offset_m":[0.012945714201266553,0.015930693606435304,0.018746738293192452]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001458929836646476,-0.001473373123111482,0.0018178949685734355],"end_effector_yaw_offset_degrees":0.25087074400294207},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00023686243517629822,-0.0018275031695572119,-0.0014790815124174198],"end_effector_yaw_offset_degrees":0.9432469814179825},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010917015664420465,0.0008658758439601079,-0.0014129591174474828],"end_effector_yaw_offset_degrees":-0.4398578661376493}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007747478469058511,-0.0031632517546096284],"position_m":[0.23977474784690583,-0.05936325175460963,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035692112441793834,-0.0014955476772958742],"position_m":[0.2038692112441794,-0.38719554767729586,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006421888565336323,0.0019461599515625946],"position_m":[0.20075781114346636,0.3214461599515626,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016397582307738135,0.00044861909592128907],"position_m":[0.3394602417692262,0.1684486190959213,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bc508b9aece63137017f2e31ac1d021eea45f5884407fa426252234bfae17a3b","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3446/tex_ceiling_textures_208/tex_floor_textures_3028/tex_table_textures_5455/tex_wall_textures_4570","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3835836563873674730,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3835836563873674730,"visual_seed":3835836563873674730,"scene_id":"lab_003","finished_at":"2026-09-03T18:46:59"} +{"episode_id":"ep_000005","started_at":"2026-09-03T18:47:02","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[-0.44844273524269646,-0.11644914247513904,0.71338606911949],"aabb_xy":[[-0.4548565488858813,-0.12285896272280737],[-0.4420289215995114,-0.11003932222747069]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.1542212422554553,1.8042020049252838,0.71338606911949],"aabb_xy":[[-0.18799680144614825,1.7901635097121187],[-0.1204456830647623,1.8182405001384485]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.36732819623530044,1.0956430090071154,0.71338606911949],"aabb_xy":[[-0.417301261767816,1.0456430091945828],[-0.31735513070278504,1.1456430088196485]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.09701101477602225,-0.8136694024955682,0.71338606911949],"aabb_xy":[[0.032011016894374474,-0.8647930662021092],[0.16201101265767007,-0.7625457387890274]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.10079994043081497,-1.3623319514283918,0.71338606911949],"aabb_xy":[[-0.11164041865732988,-1.3795182327190405],[-0.08995946220430007,-1.345145670137743]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.30936169436699207,0.8284299017066772,0.71338606911949],"aabb_xy":[[-0.3174753490403691,0.8203240852526481],[-0.3012480396936149,0.8365357181607063]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.516940053700607,-0.9326091997000576,0.71338606911949],"aabb_xy":[[-0.5809400510029534,-0.9769756266679143],[-0.4529400563982606,-0.8882427727322008]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[0.3764434449077507,1.2203883283482742,0.71338606911949],"aabb_xy":[[0.3528583214438558,1.1553883261028426],[0.4000285683716455,1.2853883305937062]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[0.5774932506444268,1.3135432347202283,0.71338606911949],"aabb_xy":[[0.541579746219437,1.2776297265034733],[0.6134067550694163,1.3494567429369824]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[0.17086217647753565,-1.0044340684203477,0.71338606911949],"aabb_xy":[[0.1068621747995383,-1.0529514598996617],[0.234862178155533,-0.9559166769410332]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.4770000238496601,1.054894256153014,0.71338606911949],"aabb_xy":[[0.3970000251927741,1.040389397228751],[0.5570000225065461,1.0693991150772768]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.5469087201185199,1.4300952030620073,0.71338606911949],"aabb_xy":[[0.5387810319252065,1.4211815946512996],[0.555036408311833,1.439008811472715]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[0.559964130648624,-2.1894044447529146,0.71338606911949],"aabb_xy":[[0.5299965737387985,-2.2194044450508006],[0.5899316875584498,-2.1594044444550287]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.5786071519584726,0.5571635982963494,0.71338606911949],"aabb_xy":[[-0.6161071522506474,0.5531221228957458],[-0.5411071516662977,0.561205073696953]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[-0.36549243687708305,-1.9024013813522984,0.71338606911949],"aabb_xy":[[-0.4454862604556412,-1.9824013839451398],[-0.2854986132985248,-1.8224013787594566]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[-0.286230044247368,-0.43630846658067624,0.71338606911949],"aabb_xy":[[-0.29232467213548635,-0.444877861132345],[-0.2801354163592497,-0.42773907202900757]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.40258294735614086,-1.963519275271917,0.71338606911949],"aabb_xy":[[0.31289587104802546,-2.0535192755263676],[0.4922700236642564,-1.8735192750174667]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.5947926533833992,0.4423938100222071,0.71338606911949],"aabb_xy":[[0.5448138448730833,0.3923938100164883],[0.644771461893715,0.4923938100279259]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.2947223950631079,0.6675841764183961,0.71338606911949],"aabb_xy":[[-0.30271638364081127,0.6595840963233056],[-0.2867284064854045,0.6755842565134863]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[-0.28628151377969835,-1.455804597676892,0.71338606911949],"aabb_xy":[[-0.30415062153415384,-1.469637505654103],[-0.26841240602524286,-1.4419716896996808]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[-0.2102886254173254,-0.8751220771112391,0.71338606911949],"aabb_xy":[[-0.21660072495366386,-0.880889016364458],[-0.203976525880987,-0.8693551378580204]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[-0.07338328459123877,-1.0484901932865422,0.71338606911949],"aabb_xy":[[-0.15338328486484576,-1.1214397411122587],[0.006616715682368198,-0.9755406454608254]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_22","position":[-0.22970232514539696,1.4009087499772228,0.71338606911949],"aabb_xy":[[-0.29970232727682644,1.3781467843515272],[-0.1597023230139674,1.4236707156029185]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[0.032572541838623126,-1.5196377136779229,0.71338606911949],"aabb_xy":[[0.02100356109168655,-1.5446377137948546],[0.0441415225855597,-1.4946377135609912]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_24","position":[-0.38075610697618223,0.07572334140733261,0.71338606911949],"aabb_xy":[[-0.4307561073367483,0.025743354197729645],[-0.33075610661561616,0.1257033286169355]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[-0.2564812006066267,-2.3686905883711287,0.71338606911949],"aabb_xy":[[-0.3204812025189691,-2.4246017376291396],[-0.19248119869428443,-2.3127794391131187]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[-0.06216706817065465,-0.8795976099392904,0.71338606911949],"aabb_xy":[[-0.11216634333909081,-0.9295976112152375],[-0.012167793002218492,-0.8295976086633432]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[-0.2379981574474403,-0.30022083819067014,0.71338606911949],"aabb_xy":[[-0.25316103042437743,-0.3153862954857889],[-0.22283528447050324,-0.2850553808955514]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_28","position":[-0.330436555516031,1.6521353961023233,0.71338606911949],"aabb_xy":[[-0.38041950570351024,1.6021353964597629],[-0.28045360532855157,1.7021353957448837]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_29","position":[-0.35659709487160596,-0.09635861614339936,0.71338606911949],"aabb_xy":[[-0.3674487011204815,-0.10721790687105037],[-0.3457454886227303,-0.08549932541574834]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_30","position":[0.20150605939711919,0.8800966750341819,0.71338606911949],"aabb_xy":[[0.1959243877629904,0.8675966752164065],[0.20708773103124792,0.8925966748519575]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_31","position":[-0.3509518448197929,-0.6474440685241194,0.71338606911949],"aabb_xy":[[-0.4149518480384308,-0.6941671804231277],[-0.2869518416011551,-0.600720956625111]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[0.5714865733857162,0.607475771277362,0.71338606911949],"aabb_xy":[[0.5164865742091266,0.5524860965024042],[0.6264865725623056,0.6624654460523195]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_33","position":[0.6972030407468941,-2.5258195820973453,0.71338606911949],"aabb_xy":[[0.6837565141128508,-2.5392894337504366],[0.7106495673809374,-2.512349730444254]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6496788239080052,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1765.png","name":"1765"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1765.png","name":"1765"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9972.png","name":"9972"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9360.png","name":"9360"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/538.png","name":"538"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9325.png","name":"9325"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":723.6627946024464,"rotation_z_degrees":98.37242191672705,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012915985827698349,0.01180974450684252,0.01903705020153169]},{"name":"camera_2","offset_m":[-0.005828359976190037,-0.0006845085378144912,-0.0017402121085905858]},{"name":"camera_3","offset_m":[-0.016680872495065273,-0.018864172626651503,0.0023729359353343513]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011245550792203188,0.0012961700203921482,0.0008016038341770301],"end_effector_yaw_offset_degrees":-0.5143161193147858},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00023748226033613352,-0.0018869533598936195,9.862770564722338e-05],"end_effector_yaw_offset_degrees":-0.9712657538315275},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011013758167472826,0.0009432401961946635,-0.00185194051349129],"end_effector_yaw_offset_degrees":0.8215284114087038}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014746326795032462,-0.002166646083531095],"position_m":[0.23752536732049676,-0.05836664608353109,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001090508923380292,0.002263482288814951],"position_m":[0.20139050892338028,-0.38343651771118503,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009701208866436028,0.0019187354847304758],"position_m":[0.20042987911335639,0.3214187354847305,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004703239371896991,0.0014261213618557249],"position_m":[0.33639676062810303,0.16942612136185572,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3aede1ef716f088d205d420436494001a9e3748cb42a0e12d1f7758c11ebf143","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1765/tex_ceiling_textures_9325/tex_floor_textures_538/tex_table_textures_9972/tex_wall_textures_9360","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":70729110474913726,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":70729110474913726,"visual_seed":70729110474913726,"scene_id":"lab_003","finished_at":"2026-09-03T18:49:42"} +{"episode_id":"ep_000006","started_at":"2026-09-03T18:49:46","dimensions":{"distractor":{"count":28,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.1939177230425012,-0.322232366409275,0.71338606911949],"aabb_xy":[[-0.20263169209243567,-0.3447323670684631],[-0.1852037539925667,-0.29973236575008666]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[-0.387184613355333,-2.0196154741938397,0.71338606911949],"aabb_xy":[[-0.40228691481635104,-2.0347169958249007],[-0.37208231189431484,-2.004513952562777]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.5747532420886303,-1.27688338135637,0.71338606911949],"aabb_xy":[[0.4847532426702593,-1.3102588782005595],[0.6647532415070011,-1.24350788451218]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[0.07778109357108032,1.161095711832107,0.71338606911949],"aabb_xy":[[0.04738298247193674,1.1306888098304373],[0.1081792046702239,1.1915026138337763]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.6358979201084254,-1.1315859380499196,0.71338606911949],"aabb_xy":[[0.571897918196083,-1.18749708730793],[0.6998979220207677,-1.0756747887919091]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[0.6467821376038589,0.74216933351958,0.71338606911949],"aabb_xy":[[0.6308976443385338,0.727816393220756],[0.6626666308691841,0.7565222738184041]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.12911003409924948,1.156044758548863,0.71338606911949],"aabb_xy":[[-0.19311003140159586,1.111678331581006],[-0.06511003679690305,1.2004111855167194]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[-0.28374794419451616,-1.4136128525173328,0.71338606911949],"aabb_xy":[[-0.3477479474842242,-1.45694777152125],[-0.219747940904808,-1.3702779335134148]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[-0.24132455312199114,-0.5221383955565995,0.71338606911949],"aabb_xy":[[-0.29080497433594993,-0.5861383934694513],[-0.19184413190803234,-0.45813839764374764]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.14653920166830037,1.496591621792891,0.71338606911949],"aabb_xy":[[-0.16903920148220275,1.4921170054224102],[-0.12403920185439798,1.5010662381633717]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.40206449999512517,0.2200337114505877,0.71338606911949],"aabb_xy":[[-0.4820644970093731,0.1998991597771764],[-0.32206450298087713,0.24016826312399894]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.2585226317702757,0.7908989708622562,0.71338606911949],"aabb_xy":[[-0.264617259658394,0.7823295763105876],[-0.25242800388215736,0.7994683654139251]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.15936362739057308,0.9999778847672283,0.71338606911949],"aabb_xy":[[0.14879614773247404,0.9894328546542197],[0.16993110704867206,1.0105229148802368]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[0.37792752547087827,-2.204985409061142,0.71338606911949],"aabb_xy":[[0.35338130984812754,-2.2352343056101787],[0.402473741093629,-2.1747365125121045]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[0.09888784282818008,-1.736649057754379,0.71338606911949],"aabb_xy":[[0.061387842479952326,-1.7484404533354623],[0.13638784317640784,-1.7248576621732952]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.08205950159469366,-1.555270690763542,0.71338606911949],"aabb_xy":[[0.027059503392948835,-1.5957926573899794],[0.1370594997964385,-1.5147487241371043]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[0.3379870771150497,-1.8130240198240815,0.71338606911949],"aabb_xy":[[0.2952203702356295,-1.877024023245884],[0.3807537839944699,-1.749024016402279]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.07458473060130422,-2.3653584668396737,0.71338606911949],"aabb_xy":[[-0.1158892736650402,-2.4293584664077903],[-0.03328018753756823,-2.301358467271556]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[0.11563939891212771,-1.9805293054940225,0.71338606911949],"aabb_xy":[[0.10835708253546404,-2.0705293091035313],[0.12292171528879135,-1.8905293018845133]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.29880710118532516,-2.2240926086034083,0.71338606911949],"aabb_xy":[[-0.30684343588660995,-2.2321307279078253],[-0.29077076648404027,-2.2160544892989913]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[-0.407374646883874,-1.0699267393273673,0.71338606911949],"aabb_xy":[[-0.48737464486465903,-1.077528280289219],[-0.3273746489030889,-1.062325198365515]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.47852185005271525,1.451030470689132,0.71338606911949],"aabb_xy":[[-0.5160218503448901,1.4469889952885284],[-0.44102184976054043,1.4550719460897354]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[0.6724454521432845,-1.4455112198912337,0.71338606911949],"aabb_xy":[[0.6521611494198857,-1.4657938450339423],[0.6927297548666832,-1.4252285947485246]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[-0.349235896160182,-1.6772555882166866,0.71338606911949],"aabb_xy":[[-0.4132358965377157,-1.7270008550674987],[-0.28523589578264846,-1.6275103213658741]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_24","position":[0.6585187314847101,1.6663500067281318,0.71338606911949],"aabb_xy":[[0.5945187350891369,1.6023867183093983],[0.722518727880283,1.7303132951468654]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_25","position":[-0.3793932580916984,-2.3725011467779167,0.71338606911949],"aabb_xy":[[-0.41689325875627703,-2.3881882047781384],[-0.3418932574271196,-2.356814088777694]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.129196355503436,0.742783467545618,0.71338606911949],"aabb_xy":[[0.12178389996204753,0.73693225712399],[0.13660881104482447,0.7486346779672459]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[0.10122653542671411,-1.3050776176628924,0.71338606911949],"aabb_xy":[[0.011226533092695043,-1.382559972248005],[0.19122653776073317,-1.2275952630777798]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6481029472031603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2817.png","name":"2817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2817.png","name":"2817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4758.png","name":"4758"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3304.png","name":"3304"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/687.png","name":"687"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7189.png","name":"7189"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":849.5301181097855,"rotation_z_degrees":51.32855567901533,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009389308906260722,0.00773445864182528,-0.016048068492902835]},{"name":"camera_2","offset_m":[0.014755497970348513,0.002101112091254652,-0.0186710350039907]},{"name":"camera_3","offset_m":[0.015762047162621046,0.0142993134315544,-0.0014307886322696903]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019967414209474173,-0.00018593463033540606,0.001375639750080226],"end_effector_yaw_offset_degrees":0.577431474155196},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012380283449919646,-0.0001582368949425094,-0.0011802565527950963],"end_effector_yaw_offset_degrees":0.4478224785853777},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.4023664402577846e-05,-0.00017723779260750611,-0.0004031594195195644],"end_effector_yaw_offset_degrees":-0.3710416075402818}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00018961674160324331,0.00022004515511526383],"position_m":[0.23918961674160324,-0.05597995484488474,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014975221375589632,0.0014002222531364558],"position_m":[0.19880247786244104,-0.3842997777468635,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003793453176526738,-5.575038588469944e-06],"position_m":[0.2010206546823473,0.31949442496141156,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004636346526745041,-0.0012231774919646177],"position_m":[0.33646365347325496,0.16677682250803538,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cdfaa82c493343ed0e0bb054430fc148f2859a77056db969ff5d3ea835ccf19c","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0006.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2817/tex_ceiling_textures_7189/tex_floor_textures_687/tex_table_textures_4758/tex_wall_textures_3304","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6319511643804652280,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6319511643804652280,"visual_seed":6319511643804652280,"scene_id":"lab_003","finished_at":"2026-09-03T18:52:42"} +{"episode_id":"ep_000007","started_at":"2026-09-03T18:52:48","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.19556797502639622,-2.433513688742822,0.71338606911949],"aabb_xy":[[-0.24556797631023614,-2.4834925431334436],[-0.1455679737425562,-2.3835348343521994]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.19545582960017238,-0.6558370113450473,0.71338606911949],"aabb_xy":[[-0.22991817699831416,-0.6903308937428699],[-0.16099348220203055,-0.6213431289472245]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.33185405203598456,1.1560681559096007,0.71338606911949],"aabb_xy":[[-0.34935398546996793,1.138568155989366],[-0.3143541186020012,1.173568155829835]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.638841870876651,0.70481528947685,0.71338606911949],"aabb_xy":[[-0.6810262850374817,0.6408152891996388],[-0.5966574567158203,0.7688152897540612]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[0.575425406850959,-1.1660922223591708,0.71338606911949],"aabb_xy":[[0.5628227077138827,-1.178687618584036],[0.5880281059880356,-1.153496826134305]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[-0.35087670276989275,0.1138225243471731,0.71338606911949],"aabb_xy":[[-0.3667611960352179,0.09946958404834905],[-0.3349922095045676,0.12817546464599716]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[0.5550194402401398,-1.253990402510066,0.71338606911949],"aabb_xy":[[0.5225577393582121,-1.2841232346249685],[0.5874811411220671,-1.2238575703951633]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[0.1251027822252836,0.7040370426817608,0.71338606911949],"aabb_xy":[[0.08806867279722386,0.6696598353480513],[0.16213689165334327,0.7384142500154701]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[0.4257800518833781,0.5679124052825859,0.71338606911949],"aabb_xy":[[0.3757800524431824,0.5179444807982696],[0.47578005132357365,0.6178803297669022]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[-0.3127859528559859,-2.501750264355058,0.71338606911949],"aabb_xy":[[-0.33469463499533697,-2.5236509311751485],[-0.2908772707166349,-2.479849597534967]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[0.29015290256680626,1.2554466538359197,0.71338606911949],"aabb_xy":[[0.24017983703429086,1.205446654023387],[0.3401259680993218,1.3054466536484528]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[-0.5972820430890688,-1.707137532776684,0.71338606911949],"aabb_xy":[[-0.6028637147231976,-1.7196375325944593],[-0.5917003714549399,-1.6946375329589083]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.5666855710124732,1.6082595542989568,0.71338606911949],"aabb_xy":[[0.5016855731308254,1.5571358905924162],[0.631685568894121,1.659383218005498]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[0.2884659186065204,0.9322260462373517,0.71338606911949],"aabb_xy":[[0.2788342823860907,0.9225887334576427],[0.29809755482694994,0.9418633590170605]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.2657554644432952,0.5463176883357184,0.71338606911949],"aabb_xy":[[-0.28325546470263185,0.5322261461469457],[-0.2482554641839586,0.560409230524491]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[0.3266042463016585,-0.780676372774302,0.71338606911949],"aabb_xy":[[0.3224882961895858,-0.7847919278071475],[0.3307201964137311,-0.7765608177414564]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.5033241014085059,-1.8999722017775973,0.71338606911949],"aabb_xy":[[0.4483318507729951,-1.9549722035209103],[0.558316352044017,-1.8449722000342847]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[0.01922967480107929,-1.6573613487703212,0.71338606911949],"aabb_xy":[[0.009076659246929906,-1.6934308903430608],[0.029382690355228662,-1.6212918071975801]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.3871130235149427,-0.9645855148846079,0.71338606911949],"aabb_xy":[[0.3701029262248921,-0.9807200033828817],[0.4041231208049934,-0.9484510263863338]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[-0.44052270628185314,0.9381791930600185,0.71338606911949],"aabb_xy":[[-0.44465856261455333,0.9006791936156615],[-0.43638684994915294,0.9756791925043755]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.4340182988618177,-0.7353988608170259,0.71338606911949],"aabb_xy":[[-0.4564830688332228,-0.7578988616958863],[-0.4115535288904126,-0.7128988599381653]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[0.5432352538581655,1.0802508215796376,0.71338606911949],"aabb_xy":[[0.49326195985490506,1.0302508210250902],[0.593208547861426,1.130250822134185]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.42296027674453773,0.2292142567716855,0.71338606911949],"aabb_xy":[[0.40046027693063535,0.2247396404012048],[0.4454602765584401,0.2336888731421662]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6509674097191674,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9024.png","name":"9024"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9024.png","name":"9024"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9867.png","name":"9867"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/744.png","name":"744"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5751.png","name":"5751"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5931.png","name":"5931"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":554.1872825493346,"rotation_z_degrees":192.49743234902056,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010712682006084537,-0.00785697588966697,0.001456549643004127]},{"name":"camera_2","offset_m":[0.011322461227793432,-0.0009502749442109777,-0.0032805886624717624]},{"name":"camera_3","offset_m":[-0.0002497287635022209,-0.013242874334682644,-0.00024089930820716393]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021449506765078676,-0.0015190020239726771,0.0009354951594793414],"end_effector_yaw_offset_degrees":-0.8126205219628819},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005916960589648292,-0.0004564441786042712,-0.0007939030650316319],"end_effector_yaw_offset_degrees":0.5093708355582434},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00048221027910867417,-0.0017762260417645756,-0.0003890490004919208],"end_effector_yaw_offset_degrees":-0.7536721233669637}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004503804725470889,-0.0018845979803835265],"position_m":[0.2344961952745291,-0.058084597980383526,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037820745147317545,0.0037718306714146907],"position_m":[0.20408207451473176,-0.3819281693285853,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002808844895698326,0.004253384669204697],"position_m":[0.19859115510430167,0.3237533846692047,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00271499777472354,-0.0016786369704082436],"position_m":[0.33838500222527645,0.16632136302959177,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f83cd85f5d1c473ba64217d0975f4a53ab45893ef82d1f5e36508f071cfa9a1d","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9024/tex_ceiling_textures_5931/tex_floor_textures_5751/tex_table_textures_9867/tex_wall_textures_744","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":5074350307395467226,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":5074350307395467226,"visual_seed":5074350307395467226,"scene_id":"lab_003","finished_at":"2026-09-03T18:55:30"} +{"episode_id":"ep_000008","started_at":"2026-09-03T18:55:33","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[-0.25604671630749065,0.990183359870576,0.71338606911949],"aabb_xy":[[-0.2634591718488791,0.9843321494489481],[-0.24863426076610218,0.996034570292204]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.12797547496473072,-2.4995260115610742,0.71338606911949],"aabb_xy":[[-0.1654754735403515,-2.512262307224632],[-0.0904754763891099,-2.4867897158975163]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[0.7040664633214162,-1.2680545635456524,0.71338606911949],"aabb_xy":[[0.6865664630763668,-1.285554351385219],[0.7215664635664656,-1.2505547757060853]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.49950215205277826,-2.1758052284668072,0.71338606911949],"aabb_xy":[[0.4875694176909502,-2.1881873812746666],[0.5114348864146063,-2.163423075658948]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.42846507431781855,-0.02545066057721357,0.71338606911949],"aabb_xy":[[-0.49246077171291514,-0.08945065887792225],[-0.36446937692272197,0.038549337723495114]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[0.6739774348630398,-0.5830804701558487,0.71338606911949],"aabb_xy":[[0.6453281025026235,-0.6117260294329245],[0.702626767223456,-0.554434910878773]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.6132504985531201,-2.112494684797463,0.71338606911949],"aabb_xy":[[-0.6932504955673681,-2.132629236470874],[-0.5332505015388721,-2.092360133124051]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[-0.22538189779043727,-0.5650854269021863,0.71338606911949],"aabb_xy":[[-0.30538189495001256,-0.5766330278600034],[-0.14538190063086195,-0.5535378259443693]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.11457705514506866,1.179186066198036,0.71338606911949],"aabb_xy":[[-0.1274489586460088,1.0991860657841996],[-0.10170515164412852,1.259186066611872]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.4361020574608211,-0.6080805643973048,0.71338606911949],"aabb_xy":[[-0.506102060852383,-0.6433963381007356],[-0.366102054069259,-0.5727647906938739]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[0.6209985765922166,-1.4246583237903363,0.71338606911949],"aabb_xy":[[0.6054428071819513,-1.4402087570347437],[0.6365543460024818,-1.4091078905459293]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[-0.362759897085173,1.0408140051537775,0.71338606911949],"aabb_xy":[[-0.38527358890863017,0.97081400455277],[-0.3402462052617158,1.110814005754785]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.05479175249195101,1.4718004947865357,0.71338606911949],"aabb_xy":[[-0.10978400312746198,1.416800493043223],[0.00020049814355993517,1.5268004965298487]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.40934229228802527,0.5730803099911146,0.71338606911949],"aabb_xy":[[-0.4343422914536583,0.566128064285758],[-0.3843422931223921,0.5800325556964712]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[0.3303982083791366,1.1441873216226113,0.71338606911949],"aabb_xy":[[0.28030074439806296,1.0801873211127995],[0.3804956723602102,1.208187322132423]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[-0.1398139958724861,-0.043239003374497376,0.71338606911949],"aabb_xy":[[-0.18111853893622207,-0.10723900294261446],[-0.09850945280875009,0.020760996193619707]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.13002539714396621,0.900315485741686,0.71338606911949],"aabb_xy":[[-0.18002539672030093,0.8503349067895801],[-0.0800253975676315,0.950296064693792]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[-0.4468934787001958,-0.32180229158995566,0.71338606911949],"aabb_xy":[[-0.49687228721051174,-0.37180229159567446],[-0.39691467018987997,-0.27180229158423685]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.5308888166869719,0.1097629173411323,0.71338606911949],"aabb_xy":[[0.4758956053498351,0.05476291700233871],[0.5858820280241086,0.1647629176799259]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.12911133852020928,-1.3286998086872248,0.71338606911949],"aabb_xy":[[-0.18911133836677604,-1.3855184308802635],[-0.06911133867364247,-1.2718811864941861]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.6563094676743042,0.09584289343822094,0.71338606911949],"aabb_xy":[[-0.6938094681716623,0.09187420989010253],[-0.6188094671769458,0.09981157698633936]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[-0.09394612628612209,-0.7897451240077573,0.71338606911949],"aabb_xy":[[-0.14392354315137565,-0.8397451254970058],[-0.043968709420868494,-0.7397451225185087]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[-0.2949520820950821,-1.3032184158086304,0.71338606911949],"aabb_xy":[[-0.3589520824726157,-1.3529636826594427],[-0.23095208171754844,-1.2534731489578181]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[-0.5490922756599469,-1.6057169257954498,0.71338606911949],"aabb_xy":[[-0.5578943309689195,-1.6135282519503789],[-0.5402902203509741,-1.5979055996405207]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[-0.24112079854280916,-2.2940644210732914,0.71338606911949],"aabb_xy":[[-0.276120796812929,-2.301138548768279],[-0.2061208002726892,-2.286990293378303]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[-0.6363427475639472,1.0992678298515277,0.71338606911949],"aabb_xy":[[-0.6738427487487398,1.094849607155467],[-0.5988427463791542,1.103686052547588]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[0.3376249438609358,-0.7326939460809323,0.71338606911949],"aabb_xy":[[0.3126249443091973,-0.742836429946067],[0.36262494341267426,-0.7225514622157976]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6486618383125772,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1400.png","name":"1400"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1400.png","name":"1400"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4823.png","name":"4823"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/587.png","name":"587"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3228.png","name":"3228"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2072.png","name":"2072"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":633.5950915055842,"rotation_z_degrees":179.54518688494457,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018712340737676213,-0.0018663337790411905,-0.018463233479757948]},{"name":"camera_2","offset_m":[0.008543000831821582,-0.017101732701137906,0.0025994907511304177]},{"name":"camera_3","offset_m":[-0.005584899778072715,-0.0020359010804853923,0.010680263656719268]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011070742994262312,-0.0015893907082198866,0.0006956508781304389],"end_effector_yaw_offset_degrees":-0.5590202713549215},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00176844075273403,-0.0015765715247164041,-0.0015225589237749077],"end_effector_yaw_offset_degrees":0.1358266342677763},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004491190818088869,0.0011621279453653674,-0.00045480126557886935],"end_effector_yaw_offset_degrees":-0.8489209774873248}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013311204260809083,0.004120382843238205],"position_m":[0.23766887957391908,-0.05207961715676179,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004664106062014339,-0.0037945853039729237],"position_m":[0.19563589393798567,-0.3894945853039729,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00473120283436853,0.0035851428793878598],"position_m":[0.20613120283436853,0.3230851428793879,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00015784131324594105,0.0035171435689572714],"position_m":[0.34125784131324594,0.17151714356895728,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a91d0dc41df77ea324df458d21b8218023ab882eea8d14ff197ec875cc724a9d","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1400/tex_ceiling_textures_2072/tex_floor_textures_3228/tex_table_textures_4823/tex_wall_textures_587","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":759291125449170911,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":759291125449170911,"visual_seed":759291125449170911,"scene_id":"lab_003","finished_at":"2026-09-03T18:58:50"} +{"episode_id":"ep_000009","started_at":"2026-09-03T18:58:54","dimensions":{"distractor":{"count":23,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.2615241855459827,-2.447063562029907,0.71338606911949],"aabb_xy":[[-0.34652418423805736,-2.4790494254247855],[-0.17652418685390808,-2.4150776986350277]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[-0.554502093245743,-2.3923503292838975,0.71338606911949],"aabb_xy":[[-0.6044850434332222,-2.4423503289264574],[-0.5045191430582635,-2.3423503296413366]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[-0.07565571416088623,-2.104876741356173,0.71338606911949],"aabb_xy":[[-0.08888665969556751,-2.118104160378172],[-0.06242476862620493,-2.091649322334173]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.43377226141706854,-2.0158462132495587,0.71338606911949],"aabb_xy":[[-0.4498341888755861,-2.10084621506215],[-0.41771033395855084,-1.9308462114369667]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[0.027116990090679916,-1.6939820537760237,0.71338606911949],"aabb_xy":[[-0.018968101164051558,-1.7579820510285786],[0.07320208134541138,-1.6299820565234684]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.2614958625304875,-0.8692096970008343,0.71338606911949],"aabb_xy":[[0.2385801496454376,-0.8921139941372579],[0.2844115754155374,-0.8463053998644109]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[0.4667213365035583,-2.478482674164135,0.71338606911949],"aabb_xy":[[0.4329457773128653,-2.4925211693772997],[0.5004968956942513,-2.46444417895097]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.21256590049865298,1.162930001008208,0.71338606911949],"aabb_xy":[[-0.23019873609218056,1.1453070549925848],[-0.1949330649051254,1.1805529470238307]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.3817086259430646,-2.171530691202855,0.71338606911949],"aabb_xy":[[-0.4042077616692916,-2.1940306919811183],[-0.3592094902168377,-2.149030690424592]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[0.28937781551736697,1.0911960459790015,0.71338606911949],"aabb_xy":[[0.2786048415959992,1.0561960477599626],[0.30015078943873474,1.1261960441980405]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[-0.33518298154809717,0.6404522802218469,0.71338606911949],"aabb_xy":[[-0.39518298139466396,0.5836336580288083],[-0.2751829817015304,0.6972709024148857]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.13372725159607501,-1.6162198091177418,0.71338606911949],"aabb_xy":[[-0.178898569444244,-1.6802198062622804],[-0.08855593374790606,-1.5522198119732036]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[0.0729762417117017,0.952422454292218,0.71338606911949],"aabb_xy":[[0.017980763891042292,0.8974224528583108],[0.12797171953236108,1.0074224557261247]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.3089132718958268,-0.16225659841577356,0.71338606911949],"aabb_xy":[[-0.37050403111981967,-0.22625659652482047],[-0.24732251267183403,-0.0982566003067267]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[-0.6240251929749293,0.27593788330316293,0.71338606911949],"aabb_xy":[[-0.6465251929850776,0.26184166366355965],[-0.601525192964781,0.2900341029427662]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[-0.4515793449887261,1.2823353929351553,0.71338606911949],"aabb_xy":[[-0.4619909036692097,1.2769896595992567],[-0.44116778630824227,1.2876811262710535]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.15677612173882138,1.6763585588667698,0.71338606911949],"aabb_xy":[[-0.1938102311668811,1.6419813515330601],[-0.11974201231076168,1.710735766200479]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[-0.10446394864083253,-2.52433008993559,0.71338606911949],"aabb_xy":[[-0.10979646329544553,-2.529654418180826],[-0.09913143398621956,-2.5190057616903543]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[0.18848194161819665,1.2543875884308289,0.71338606911949],"aabb_xy":[[0.1519861209909179,1.217903646004071],[0.2249777622454754,1.2908715308575862]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.6580377595160928,1.125259797675613,0.71338606911949],"aabb_xy":[[-0.6699098425275939,1.0402597979819628],[-0.6461656765045917,1.2102597973692635]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.574744279020672,0.44697448016479147,0.71338606911949],"aabb_xy":[[0.5404473680029314,0.4126775939548501],[0.6090411900384125,0.48127136637473283]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[-0.2011683952694941,0.9510421740910466,0.71338606911949],"aabb_xy":[[-0.2511676704379303,0.9010421728150995],[-0.15116912010105796,1.0010421753669938]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[-0.5332255299116709,1.197479770306713,0.71338606911949],"aabb_xy":[[-0.5433785454658202,1.1614102287339723],[-0.5230725143575214,1.233549311879453]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.651184113437002,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3611.png","name":"3611"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3611.png","name":"3611"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3803.png","name":"3803"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8804.png","name":"8804"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9557.png","name":"9557"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1935.png","name":"1935"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":623.1571439679659,"rotation_z_degrees":0.7476674860872201,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01666937796794779,0.0006998304843954146,-0.0077707467667574685]},{"name":"camera_2","offset_m":[-0.0010738518613616285,-0.015766925406397722,-0.00422085563698546]},{"name":"camera_3","offset_m":[-0.015550275052272845,0.016125211888888945,0.0069384649644679795]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018203833966182878,-0.00041857421537928874,-0.0013386903820375973],"end_effector_yaw_offset_degrees":-0.5633079633660083},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.2681356580716295e-05,0.0005070147588797968,-0.0008681998840502736],"end_effector_yaw_offset_degrees":0.11011365241327775},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00192934776148405,0.000882657766413142,-3.4862488669551526e-05],"end_effector_yaw_offset_degrees":0.6060152738108802}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001936067153053449,-0.003052278830141584],"position_m":[0.23706393284694655,-0.059252278830141586,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000429068581654677,-0.002337701009578663],"position_m":[0.19987093141834533,-0.38803770100957863,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003179766283796779,-0.0024194551845269276],"position_m":[0.2045797662837968,0.3170805448154731,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019179249242572104,-0.0026356934764025174],"position_m":[0.33918207507574283,0.1653643065235975,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"870e02c8b6ebfa41781f27ae630f1e519487802d62260745741b86f147d3a958","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0009.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3611/tex_ceiling_textures_1935/tex_floor_textures_9557/tex_table_textures_3803/tex_wall_textures_8804","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3173523879944753969,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3173523879944753969,"visual_seed":3173523879944753969,"scene_id":"lab_003","finished_at":"2026-09-03T19:01:32"} +{"episode_id":"ep_000010","started_at":"2026-09-03T19:01:35","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.6148379227216947,-0.890053434959253,0.71338606911949],"aabb_xy":[[0.610759764814645,-0.8941344152075164],[0.6189160806287444,-0.8859724547109897]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[0.4105182053348688,-2.4974934150311197,0.71338606911949],"aabb_xy":[[0.3979155061977924,-2.510088811255985],[0.42312090447194534,-2.484898018806254]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.6602555157884809,1.7970665021415875,0.71338606911949],"aabb_xy":[[0.6324104790078737,1.766282003403276],[0.688100552569088,1.8278510008798994]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[0.05982583663264962,-2.0342532541316687,0.71338606911949],"aabb_xy":[[-0.020174163640957355,-2.107202801957385],[0.13982583690625658,-1.9613037063059517]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[0.4953870376130991,-0.5281863172418082,0.71338606911949],"aabb_xy":[[0.4718019141492043,-0.5931863194872399],[0.518972161076994,-0.4631863149963763]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.10151002940801379,-1.0780981715621396,0.71338606911949],"aabb_xy":[[0.08440795144964565,-1.0952049770934094],[0.11861210736638196,-1.0609913660308699]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[0.24811528771506197,0.8485462130094303,0.71338606911949],"aabb_xy":[[0.23110519042501135,0.8324117245111565],[0.2651253850051126,0.8646807015077044]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.1373382743518733,1.158470404848162,0.71338606911949],"aabb_xy":[[-0.21733827233265832,1.15086886388631],[-0.05733827637108823,1.166071945810014]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.24952306981924577,-0.660048541124445,0.71338606911949],"aabb_xy":[[0.19952306945867965,-0.7100285283340478],[0.2995230701798117,-0.6100685539148419]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[-0.6777817941694124,-0.7550672969961243,0.71338606911949],"aabb_xy":[[-0.6858080648000384,-0.7638187919734769],[-0.6697555235387864,-0.7463158020187717]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[-0.441721076375217,-0.002039146502509581,0.71338606911949],"aabb_xy":[[-0.4917210773257498,-0.033588293506030986],[-0.3917210754246842,0.029510000501011824]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.5593585309180509,1.4127654598711978,0.71338606911949],"aabb_xy":[[0.5539005852810308,1.3327654565635385],[0.564816476555071,1.4927654631788567]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[0.09365193230966518,0.7891213287168655,0.71338606911949],"aabb_xy":[[0.04865193084343633,0.7441214718553848],[0.13865193377589402,0.8341211855783462]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.34274615430117406,-0.7425071482844237,0.71338606911949],"aabb_xy":[[-0.42274615131542204,-0.7626416999578348],[-0.2627461572869261,-0.7223725966110123]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.15650810582246777,-1.4944603117304884,0.71338606911949],"aabb_xy":[[0.13196189019971707,-1.5247092082795255],[0.18105432144521852,-1.4642114151814514]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[-0.5876579698946153,1.6766944621203685,0.71338606911949],"aabb_xy":[[-0.5916184536643496,1.669026597534848],[-0.5836974861248809,1.6843623267058891]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[0.31832025003060127,-1.8331428323409953,0.71338606911949],"aabb_xy":[[0.29332025047886273,-1.8432853162061302],[0.3433202495823397,-1.8230003484758608]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[0.5030452825100105,0.467533114097364,0.71338606911949],"aabb_xy":[[0.4193230570099279,0.3775331105626681],[0.5867675080100928,0.5575331176320599]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[0.00586661531727406,1.5393796286217811,0.71338606911949],"aabb_xy":[[-0.009296257659663024,1.5242141713266628],[0.021029488294211144,1.5545450859169003]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[0.07641514464959243,1.2707801719115634,0.71338606911949],"aabb_xy":[[0.040785988749632685,1.2351475051547105],[0.11204430054955217,1.3064128386684164]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[-0.23655253439367224,-2.4560809492576547,0.71338606911949],"aabb_xy":[[-0.3265525311292824,-2.5092644125749493],[-0.146552537658062,-2.4028974859403602]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[0.040835049670461476,-0.9584040749135889,0.71338606911949],"aabb_xy":[[0.003335051094840668,-0.9711403705771469],[0.07833504824608227,-0.945667779250031]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[-0.6296773662331547,0.07169050414398237,0.71338606911949],"aabb_xy":[[-0.6455618594984799,0.05733756384515831],[-0.6137928729678296,0.08604344444280643]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[-0.434479222506023,0.5111735525007104,0.71338606911949],"aabb_xy":[[-0.4994792203876709,0.4600498887941695],[-0.36947922462437527,0.5622972162072513]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[0.3295196838361796,-2.258190786481965,0.71338606911949],"aabb_xy":[[0.3096286439558394,-2.270846597766662],[0.3494107237165199,-2.2455349751972684]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[0.4766004079771142,-1.8380736533473,0.71338606911949],"aabb_xy":[[0.45137957111727456,-1.8632974042001866],[0.5018212448369539,-1.8128499024944131]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_26","position":[-0.16696364020213483,-0.8471028134643774,0.71338606911949],"aabb_xy":[[-0.17711665575628416,-0.8831723550371176],[-0.1568106246479854,-0.8110332718916369]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_27","position":[0.5536123983904602,-2.3480288596453067,0.71338606911949],"aabb_xy":[[0.5084410805422912,-2.4120288567898456],[0.5987837162386291,-2.2840288625007688]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_28","position":[0.3172707888420978,1.3485534173556175,0.71338606911949],"aabb_xy":[[0.29947728190718137,1.3307536717598196],[0.33506429577701424,1.366353162951415]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_29","position":[-0.5395904557721456,-0.7753530448998389,0.71338606911949],"aabb_xy":[[-0.5475137360108939,-0.7978530451378423],[-0.5316671755333973,-0.7528530446618356]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_30","position":[0.3025819004861927,-2.032617743069061,0.71338606911949],"aabb_xy":[[0.23858190131642273,-2.0793844301880235],[0.3665818996559626,-1.9858510559500988]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6545301687593992,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3374.png","name":"3374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3374.png","name":"3374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2892.png","name":"2892"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3492.png","name":"3492"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6309.png","name":"6309"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3302.png","name":"3302"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":655.0893357418117,"rotation_z_degrees":101.86649467998066,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01633531775131453,0.01370474486772354,-0.006713177558273635]},{"name":"camera_2","offset_m":[0.005218663233517145,0.0047700333857391,0.014335238306563202]},{"name":"camera_3","offset_m":[-0.009271625878927586,0.005520493732779089,0.0031650958455272486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015908434219451403,0.0010596579827190822,0.0012606234705380987],"end_effector_yaw_offset_degrees":0.22855633937299968},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010177378921629888,-7.031737650899615e-05,0.001337677374584502],"end_effector_yaw_offset_degrees":-0.6093147193222526},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005146988885143789,-0.00040860259330812235,-0.0016627623263264773],"end_effector_yaw_offset_degrees":0.47694349182822404}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00030346485610984256,0.0016979191087671732],"position_m":[0.23869653514389014,-0.054502080891232825,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004901098669345713,-0.0007443007879415139],"position_m":[0.20520109866934572,-0.3864443007879415,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00402797353681299,0.003212629835594483],"position_m":[0.197372026463187,0.3227126298355945,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00019564380059159964,0.004502409642807165],"position_m":[0.34129564380059163,0.17250240964280716,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e23e0a81e82a8897739661a7bf724a8a0f89db31e883f3beb3fb359cdd3dc2cb","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3374/tex_ceiling_textures_3302/tex_floor_textures_6309/tex_table_textures_2892/tex_wall_textures_3492","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":559104125456772217,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":559104125456772217,"visual_seed":559104125456772217,"scene_id":"lab_003","finished_at":"2026-09-03T19:04:23"} +{"episode_id":"ep_000011","started_at":"2026-09-03T19:04:26","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.531795767885141,1.2675801613164213,0.71338606911949],"aabb_xy":[[0.5031464355247248,1.238934602039345],[0.5604451002455573,1.2962257205934966]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[-0.6430900628060402,-1.568673221323243,0.71338606911949],"aabb_xy":[[-0.6522499417499168,-1.5752044393667801],[-0.6339301838621636,-1.562142003279706]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[-0.22074763513680107,-1.4592415230355722,0.71338606911949],"aabb_xy":[[-0.22517826449164124,-1.464689894770255],[-0.2163170057819609,-1.45379315130089]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[0.2610501778276194,-1.0579171082001795,0.71338606911949],"aabb_xy":[[0.2540098678940824,-1.1379171075998509],[0.2680904877611564,-0.9779171088005081]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.5625748713804922,1.7288277116984205,0.71338606911949],"aabb_xy":[[-0.5975748696911876,1.7211126967748749],[-0.5275748730697967,1.7365427266219662]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.6006352883733683,0.29283060672221994,0.71338606911949],"aabb_xy":[[0.5702371772742246,0.2624237047205504],[0.6310333994725118,0.3232375087238894]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[-0.3991625008139803,1.5358277489096754,0.71338606911949],"aabb_xy":[[-0.40450007647998487,1.5108277479805357],[-0.39382492514797574,1.5608277498388152]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.48083748975954443,-1.4566455499728883,0.71338606911949],"aabb_xy":[[0.47599389499831446,-1.4614972024518724],[0.4856810845207744,-1.4517938974939042]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.27897536879024876,-2.1454424588488075,0.71338606911949],"aabb_xy":[[0.1889753664562297,-2.22292481343392],[0.3689753711242678,-2.067960104263695]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.20506314424341154,-1.5639699345834261,0.71338606911949],"aabb_xy":[[-0.2690631445173898,-1.614036034780714],[-0.1410631439694333,-1.513903834386138]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[-0.29162758566268515,-2.0622029218034026,0.71338606911949],"aabb_xy":[[-0.351627587305607,-2.1142030710953468],[-0.2316275840197633,-2.0102027725114584]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.5879477555958135,-0.6965234302592886,0.71338606911949],"aabb_xy":[[0.5791665284485773,-0.7053031775478189],[0.5967289827430499,-0.6877436829707586]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[0.3422793430039881,-1.4516836171524616,0.71338606911949],"aabb_xy":[[0.31599051868354744,-1.4779550508071126],[0.36856816732442876,-1.4254121834978102]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.5108873290749217,-0.7963980770130561,0.71338606911949],"aabb_xy":[[-0.5580167080767573,-0.8603980780574578],[-0.46375795007308596,-0.7323980759686539]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[0.3582596523871546,-0.7106671208150643,0.71338606911949],"aabb_xy":[[0.3082863583838941,-0.7606671213696116],[0.408232946390415,-0.6606671202605169]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.21992967379844336,0.8614171777451158,0.71338606911949],"aabb_xy":[[-0.2849296716800912,0.810293514038575],[-0.15492967591679557,0.9125408414516567]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.4056970635287915,0.09328952995284201,0.71338606911949],"aabb_xy":[[-0.42480937088677034,0.07415475107559999],[-0.3865847561708126,0.11242430883008403]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.053267873590946424,0.4684542528412896,0.71338606911949],"aabb_xy":[[-0.06451292916156426,0.4572124551171943],[-0.04202281802032859,0.4796960505653849]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.3490617149399652,-2.2464368206251573,0.71338606911949],"aabb_xy":[[-0.3835241929530529,-2.2531004978080795],[-0.31459923692687736,-2.239773143442234]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[-0.05375920402752066,1.2646183779138398,0.71338606911949],"aabb_xy":[[-0.06305282226467124,1.227118379425706],[-0.04446558579037008,1.3021183764019737]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[-0.5249507608470578,-1.1044521137511596,0.71338606911949],"aabb_xy":[[-0.5889507611075285,-1.1494609131040874],[-0.46095076058658696,-1.0594433143982314]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[-0.039991614203547354,-2.1398034540844786,0.71338606911949],"aabb_xy":[[-0.09400721048544736,-2.2038034569767353],[0.014023982078352655,-2.075803451192221]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[-0.4618586100240941,-0.33813050642974574,0.71338606911949],"aabb_xy":[[-0.48435860954780147,-0.36062645388036646],[-0.43935861050038666,-0.3156345589791249]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[0.4266323881798406,0.392050692257353,0.71338606911949],"aabb_xy":[[0.4131858615457973,0.37858084060426167],[0.44007891481388395,0.4055205439104441]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[-0.5545006723596542,0.4588468090517477,0.71338606911949],"aabb_xy":[[-0.5722941792945706,0.44104706345595],[-0.5367071654247377,0.47664655464754535]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_25","position":[0.23737387141775113,0.8013480109913327,0.71338606911949],"aabb_xy":[[0.20237387152173228,0.7929737754793927],[0.27237387131377,0.8097222465032726]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[0.3381299136816578,0.5724655764702482,0.71338606911949],"aabb_xy":[[0.334013963569585,0.5683500214374024],[0.34224586379373034,0.5765811315030935]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_27","position":[0.5831047603999613,-1.143203017809289,0.71338606911949],"aabb_xy":[[0.5131047585912158,-1.1645567865734763],[0.6531047622087067,-1.1218492490451015]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_28","position":[-0.07203636456680251,-1.0368161902710713,0.71338606911949],"aabb_xy":[[-0.15203018814536073,-1.116816192863913],[0.007957459011755708,-0.95681618767823]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556514002567867,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2995.png","name":"2995"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2995.png","name":"2995"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8734.png","name":"8734"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9972.png","name":"9972"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/691.png","name":"691"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7243.png","name":"7243"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":712.2162310565101,"rotation_z_degrees":351.07849214706914,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00325242560814722,-0.015285358539729446,0.007430070271890889]},{"name":"camera_2","offset_m":[-0.008552430356078378,-0.017093414761829868,0.015299979851470951]},{"name":"camera_3","offset_m":[0.008902449204363207,-0.004778045475172377,-0.009417115148115877]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-4.9586622280333066e-05,-0.000425448676707164,0.0016089378692014785],"end_effector_yaw_offset_degrees":0.7131449270563124},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007667935457035049,-0.001739155312845444,4.026853058505895e-05],"end_effector_yaw_offset_degrees":-0.4590963993648878},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008778169296951397,-3.1372121638050324e-07,-0.00021868637312760244],"end_effector_yaw_offset_degrees":0.07256100646924768}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003170491259521688,0.0016210838517554784],"position_m":[0.2358295087404783,-0.05457891614824452,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004253943985007713,-0.003519078855993685],"position_m":[0.20455394398500773,-0.38921907885599366,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004295916324828617,-0.00029336379777656317],"position_m":[0.20569591632482861,0.31920663620222345,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029476906962455753,-0.000374008240608752],"position_m":[0.3440476906962456,0.16762599175939125,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"592a3ab0cc4830cabe562484189634369ebc3ac1f4131f53edc49118f12290e8","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2995/tex_ceiling_textures_7243/tex_floor_textures_691/tex_table_textures_8734/tex_wall_textures_9972","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":9081541803864580595,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":9081541803864580595,"visual_seed":9081541803864580595,"scene_id":"lab_003","finished_at":"2026-09-03T19:07:11"} +{"episode_id":"ep_000012","started_at":"2026-09-03T19:07:14","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.6568691386517966,-0.649865762658586,0.71338606911949],"aabb_xy":[[0.5928734412567,-0.7138657609592947],[0.7208648360468932,-0.5858657643578773]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.3937279549211189,-1.918044183332895,0.71338606911949],"aabb_xy":[[-0.45772795203322464,-1.9670765531273053],[-0.32972795780901326,-1.8690118135384841]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.47312879079097303,-1.4296407503398774,0.71338606911949],"aabb_xy":[[-0.5307592596782438,-1.4896407492665877],[-0.4154983219037021,-1.3696407514131665]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.5530723118846487,-2.1297794339033014,0.71338606911949],"aabb_xy":[[-0.5584098875506532,-2.154779434832441],[-0.5477347362186441,-2.1047794329741616]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[-0.19090489465118232,-0.21017466864069734,0.71338606911949],"aabb_xy":[[-0.2016778685725501,-0.24517466685973632],[-0.18013192072981454,-0.17517467042165835]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.42985645467315137,-1.8397086522939095,0.71338606911949],"aabb_xy":[[0.3461342291730689,-1.9297086558286054],[0.5135786801732338,-1.7497086487592135]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[0.505622413913781,0.28140888953469023,0.71338606911949],"aabb_xy":[[0.41562241717817083,0.22822542621739567],[0.5956224106493913,0.3345923528519847]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.039397121218404774,0.44722807797593056,0.71338606911949],"aabb_xy":[[-0.07283729641442437,0.4137844521450004],[-0.005956946022385167,0.4806717038068606]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.21426002595282678,0.8946211476208856,0.71338606911949],"aabb_xy":[[0.16437732907513058,0.844621148374611],[0.264142722830523,0.9446211468671605]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.31539779443696797,-1.2448514737610736,0.71338606911949],"aabb_xy":[[-0.32264156048321324,-1.3248514719646758],[-0.3081540283907226,-1.164851475557471]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.2353215939935312,0.440155310530848,0.71338606911949],"aabb_xy":[[-0.24847283996482059,0.41515531077416157],[-0.22217034802224186,0.46515531028753465]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.14582688673512723,-1.4522683085652168,0.71338606911949],"aabb_xy":[[0.1325959412004459,-1.4654957275872162],[0.1590578322698085,-1.4390408895432174]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[0.08310266185741566,-2.342016637622478,0.71338606911949],"aabb_xy":[[0.048102663546720215,-2.3497316525460232],[0.1181026601681111,-2.334301622698932]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[0.5067739711934036,1.0253267858287405,0.71338606911949],"aabb_xy":[[0.45679516268308773,0.9753267858230217],[0.5567527797037195,1.0753267858344593]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[-0.5436966988628593,-0.8113463286445957,0.71338606911949],"aabb_xy":[[-0.6086966967445071,-0.8624699923511366],[-0.47869670098121153,-0.7602226649380549]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[-0.5224055932227187,-1.2036239153207964,0.71338606911949],"aabb_xy":[[-0.5283721321634545,-1.2095850599801605],[-0.516439054281983,-1.1976627706614322]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.6571406808390032,-1.203280861642803,0.71338606911949],"aabb_xy":[[-0.6921406800318214,-1.2142479076404655],[-0.6221406816461849,-1.19231381564514]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.3155463033754797,0.7467930148724604,0.71338606911949],"aabb_xy":[[-0.3855463051842251,0.725439246108273],[-0.24554630156673424,0.7681467836366478]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.702104340459063,-2.50944983237382,0.71338606911949],"aabb_xy":[[0.6842352327046075,-2.5232827403510307],[0.7199734482135185,-2.4956169243966086]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[-0.24359988750694356,0.1466589387616506,0.71338606911949],"aabb_xy":[[-0.2887712053551126,0.08265894161711217],[-0.19842856965877465,0.21065893590618903]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[0.2888041071988464,0.6777607241337926,0.71338606911949],"aabb_xy":[[0.24380410573261763,0.632760867272312],[0.3338041086650753,0.7227605809952733]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.5191886599801183,0.8623797459170541,0.71338606911949],"aabb_xy":[[-0.5691817720893103,0.8123797452428585],[-0.46919554787092654,0.9123797465912498]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[-0.2950625164127819,1.305713558392267,0.71338606911949],"aabb_xy":[[-0.35906251668676015,1.2556474581949792],[-0.2310625161388037,1.3557796585895552]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[0.45888099996680043,-1.2043385744660162,0.71338606911949],"aabb_xy":[[0.38888099783537083,-1.2271005400917114],[0.52888100209823,-1.1815766088403201]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[-0.1525567574809792,-1.2547421020633744,0.71338606911949],"aabb_xy":[[-0.1900567560566,-1.2674783977269324],[-0.1150567589053584,-1.2420058063998165]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_25","position":[0.17484822698945302,1.475000442241591,0.71338606911949],"aabb_xy":[[0.1198482273677072,1.4200167494541183],[0.22984822661119889,1.5299841350290637]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6498008275846695,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7495.png","name":"7495"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7495.png","name":"7495"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7601.png","name":"7601"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3147.png","name":"3147"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1654.png","name":"1654"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9042.png","name":"9042"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":796.243389099418,"rotation_z_degrees":11.900269256444442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014142922210571462,-0.01699645885378036,-0.010487591230682432]},{"name":"camera_2","offset_m":[-0.012598294743433987,-0.0029450265682528405,0.00551360339169106]},{"name":"camera_3","offset_m":[-0.01605190779412562,0.015270723358738292,-0.01467615002513687]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016312775351797963,0.00042762598334217814,-0.0011575147771712016],"end_effector_yaw_offset_degrees":-0.9798038812593455},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001663480883698398,-0.0011918174188753645,-0.0014223343489626447],"end_effector_yaw_offset_degrees":-0.9451887951767515},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00011655380103867195,0.00196812558790111,0.0012781781860732228],"end_effector_yaw_offset_degrees":-0.22630822812884088}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024782986374954933,0.0005106646973816464],"position_m":[0.24147829863749548,-0.055689335302618354,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010179557834392363,0.0019576436253361173],"position_m":[0.20131795578343925,-0.38374235637466386,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011090188582281967,0.004199277215075368],"position_m":[0.2002909811417718,0.32369927721507535,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004182828596923453,-0.00016036154567388404],"position_m":[0.3369171714030766,0.16783963845432612,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e4d5f3907383fb7ec69a66d2bb0db0ff83e32d56be2927b0b586368494b1db6f","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7495/tex_ceiling_textures_9042/tex_floor_textures_1654/tex_table_textures_7601/tex_wall_textures_3147","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":2928432060961843630,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":2928432060961843630,"visual_seed":2928432060961843630,"scene_id":"lab_003","finished_at":"2026-09-03T19:10:03"} +{"episode_id":"ep_000013","started_at":"2026-09-03T19:10:06","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.07150369143124957,-2.2358715305754844,0.71338606911949],"aabb_xy":[[-0.13550368782682265,-2.299834818994218],[-0.00750369503567648,-2.171908242156751]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.5456217289462416,-2.040097346413052,0.71338606911949],"aabb_xy":[[-0.55354500918499,-2.0625973466510557],[-0.5376984487074933,-2.017597346175049]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[0.34169666929596354,1.2582608701117208,0.71338606911949],"aabb_xy":[[0.28669666967421775,1.2032771773242483],[0.39669666891770944,1.3132445628991938]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.4195739904276884,-1.166237703718538,0.71338606911949],"aabb_xy":[[-0.4835739906881592,-1.2112465030714659],[-0.3555739901672176,-1.1212289043656098]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[0.2701408962976397,0.7980441161832541,0.71338606911949],"aabb_xy":[[0.2249695784494708,0.7340441190387156],[0.31531221414580873,0.8620441133277925]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.5815309666483233,0.48751427650808754,0.71338606911949],"aabb_xy":[[0.55038404780474,0.4175142778212803],[0.6126778854919063,0.5575142751948947]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[0.21321245548931478,-1.8029233314927775,0.71338606911949],"aabb_xy":[[0.19732796222398963,-1.8172762717916013],[0.22909694875463993,-1.7885703911939532]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[0.5913365100383232,-2.329347993648562,0.71338606911949],"aabb_xy":[[0.5113365086081959,-2.408865148661171],[0.6713365114684503,-2.249830838635952]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[0.051416919828741636,0.9475836522451151,0.71338606911949],"aabb_xy":[[-0.00858308103207117,0.8961572222386285],[0.11141692068955443,0.9990100822516013]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.5225155997211184,1.5354000008181266,0.71338606911949],"aabb_xy":[[-0.527853175387123,1.5103999998889868],[-0.5171780240551138,1.5604000017472663]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[0.09548183482101191,1.4356592083748079,0.71338606911949],"aabb_xy":[[0.04548183353717194,1.3856803539841855],[0.14548183610485185,1.4856380627654298]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[-0.02037421735221079,-1.8289588610566732,0.71338606911949],"aabb_xy":[[-0.08037421899513264,-1.8809590103486173],[0.039625784290711064,-1.776958711764729]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[-0.4278541716112622,-1.7399122323859695,0.71338606911949],"aabb_xy":[[-0.48785417211911514,-1.7967589660718908],[-0.3678541711034093,-1.6830654987000482]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[0.5128200408545638,1.532086819303037,0.71338606911949],"aabb_xy":[[0.4628200394936766,1.4821089147276214],[0.562820042215451,1.5820647238784527]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[0.4299418808366766,0.04513121426167155,0.71338606911949],"aabb_xy":[[0.4074418808265283,0.031034994622068275],[0.4524418808468249,0.059227433901274835]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.03328261400364607,-2.5222941439731543,0.71338606911949],"aabb_xy":[[-0.06828261319646434,-2.533261189970817],[0.0017173851891722006,-2.511327097975492]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.4966765387421556,-1.5256683823284451,0.71338606911949],"aabb_xy":[[-0.5063081749625853,-1.535305695108154],[-0.487044902521726,-1.5160310695487362]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[-0.4914504639816223,-0.4534732829629977,0.71338606911949],"aabb_xy":[[-0.5289504644789805,-0.4574419665111162],[-0.45395046348426404,-0.44950459941487936]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[0.21790483689009998,-0.9601116210144658,0.71338606911949],"aabb_xy":[[0.19339121279309412,-0.9843762143165022],[0.24241846098710584,-0.9358470277124293]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.2614474418873381,0.8715729258122309,0.71338606911949],"aabb_xy":[[-0.2784575391773887,0.855438437313957],[-0.2444373445972874,0.8877074143105048]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[-0.45176560569014584,0.9499613280466046,0.71338606911949],"aabb_xy":[[-0.5317656078529082,0.8700061444204609],[-0.37176560352738325,1.0299165116727482]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[0.573391803438978,0.9316720225793449,0.71338606911949],"aabb_xy":[[0.5033918013075483,0.908910056953649],[0.6433918055704074,0.9544339882050403]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[-0.2913763481583032,-0.6876779435136011,0.71338606911949],"aabb_xy":[[-0.2984177991090508,-0.6947046952513956],[-0.2843348972075556,-0.6806511917758065]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[-0.6297855057737685,-0.09052361053632607,0.71338606911949],"aabb_xy":[[-0.6398672128523418,-0.17052360842844072],[-0.6197037986951949,-0.010523612644211408]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.3722671636391963,-0.8096376114424058,0.71338606911949],"aabb_xy":[[0.3022671602476343,-0.8449533851458365],[0.44226716703075825,-0.7743218377389748]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.19152826413732793,-1.2484611160434318,0.71338606911949],"aabb_xy":[[0.1828142950873934,-1.2709611167026196],[0.2002422331872624,-1.2259611153842431]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[0.3618173936836424,-1.5335009799961397,0.71338606911949],"aabb_xy":[[0.31181739273310954,-1.565050126999661],[0.41181739463417516,-1.5019518329926183]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6514892616517062,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/832.png","name":"832"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/832.png","name":"832"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3278.png","name":"3278"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7013.png","name":"7013"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/343.png","name":"343"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5648.png","name":"5648"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":529.9857948869735,"rotation_z_degrees":348.46542235209455,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011098457036359248,0.0029858596386631887,-0.003988148616173217]},{"name":"camera_2","offset_m":[-0.009726083582816788,-0.01754487924706963,0.019144850841399903]},{"name":"camera_3","offset_m":[-0.010126018661633039,-0.01755149405024853,0.012727427994599149]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009972906257668503,0.0009084153365752799,0.0018526823920779604],"end_effector_yaw_offset_degrees":0.1071405454947798},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016865852211624501,0.0015425526159623362,0.0003028044284519725],"end_effector_yaw_offset_degrees":-0.933911939989315},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004947573028890881,7.171570598017967e-05,0.0005961767604569755],"end_effector_yaw_offset_degrees":0.17259026045162718}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016907272752953893,0.0033223568315498856],"position_m":[0.2406907272752954,-0.05287764316845012,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017994150806505218,-0.004687060068564579],"position_m":[0.1985005849193495,-0.39038706006856455,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003460243768918423,-0.000736506548759298],"position_m":[0.19793975623108157,0.3187634934512407,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034631113729570364,-0.0022666743351787855],"position_m":[0.337636888627043,0.1657333256648212,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"752e20f86006972762e804bb2be9707e61545b8f764dd4d8b582233ad0c535f7","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_832/tex_ceiling_textures_5648/tex_floor_textures_343/tex_table_textures_3278/tex_wall_textures_7013","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7862989516906501657,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7862989516906501657,"visual_seed":7862989516906501657,"scene_id":"lab_003","finished_at":"2026-09-03T19:12:54"} +{"episode_id":"ep_000014","started_at":"2026-09-03T19:12:57","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.41462766931900424,-0.7078926206222631,0.71338606911949],"aabb_xy":[[-0.4195836895038856,-0.7303926208243848],[-0.40967164913412313,-0.6853926204201416]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[-0.4958907486671371,-2.0874530681158348,0.71338606911949],"aabb_xy":[[-0.5598907500751277,-2.139242019639759],[-0.4318907472591464,-2.0356641165919096]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[0.5089244710602892,-0.7308477002407663,0.71338606911949],"aabb_xy":[[0.4449244706827554,-0.7805929670915784],[0.5729244714378227,-0.6811024333899539]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.5684502934319905,-0.5632309302790128,0.71338606911949],"aabb_xy":[[-0.6134502948982193,-0.6082307871404936],[-0.5234502919657616,-0.5182310734175323]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[0.45633607018218125,-2.487102397091226,0.71338606911949],"aabb_xy":[[0.4063518344740041,-2.537102395904721],[0.5063203058903585,-2.43710239827773]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.2666589932387998,1.4877622881003378,0.71338606911949],"aabb_xy":[[-0.31378837224063544,1.4237622870559354],[-0.2195296142369641,1.5517622891447393]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.07069997936090977,-1.6150313668128278,0.71338606911949],"aabb_xy":[[0.060288420680426044,-1.620377100148726],[0.08111153804139347,-1.6096856334769292]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[0.5131920914369585,1.1827633190228126,0.71338606911949],"aabb_xy":[[0.4281920930195353,1.0978890235605276],[0.5981920898543818,1.2676376144850976]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[0.3081009346654864,1.1009003039017689,0.71338606911949],"aabb_xy":[[0.28451581120159153,1.035900301656337],[0.33168605812938123,1.1659003061472006]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[-0.28503723343181797,-0.5441687660326067,0.71338606911949],"aabb_xy":[[-0.3700372321238926,-0.5761546294274855],[-0.20003723473974333,-0.5121829026377278]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[0.5185950418044001,0.8018477031775402,0.71338606911949],"aabb_xy":[[0.45459504450205357,0.7574812762096834],[0.5825950391067464,0.8462141301453969]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.5402678200233157,0.3050321111240115,0.71338606911949],"aabb_xy":[[0.4924616524095471,0.24003210841695255],[0.5880739876370844,0.3700321138310705]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.14131004923280266,1.5486226535062815,0.71338606911949],"aabb_xy":[[-0.17631004912882153,1.5402484179943414],[-0.1063100493367838,1.5569968890182215]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.20337021331167499,0.6268828685851724,0.71338606911949],"aabb_xy":[[-0.22094851550062183,0.6093083790110676],[-0.18579191112272814,0.6444573581592774]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[-0.6468145566587392,-1.22820558892743,0.71338606911949],"aabb_xy":[[-0.6602610832927825,-1.2416754405805213],[-0.6333680300246959,-1.2147357372743386]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[-0.2606894415989536,-1.6325333329890357,0.71338606911949],"aabb_xy":[[-0.35068944101732447,-1.6659088298332254],[-0.17068944218058268,-1.599157836144846]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.3989360786018619,0.603001758732693,0.71338606911949],"aabb_xy":[[-0.43323298961960255,0.5687048725227516],[-0.3646391675841213,0.6372986449426342]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[-0.5939828905093849,-1.8208261170043993,0.71338606911949],"aabb_xy":[[-0.6036145267298146,-1.8304634297841083],[-0.5843512542889554,-1.8111888042246904]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.000566589054137645,-1.7784764489468516,0.71338606911949],"aabb_xy":[[-0.0074273995235657475,-1.7864765290419418],[0.008560577631841038,-1.770476368851761]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.6662698928957371,0.24651518163913355,0.71338606911949],"aabb_xy":[[0.6519354677695736,0.2344549660845947],[0.6806043180219005,0.2585753971936724]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6535234033807859,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/547.png","name":"547"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/547.png","name":"547"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4377.png","name":"4377"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5938.png","name":"5938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3574.png","name":"3574"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1041.png","name":"1041"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":718.2589737411854,"rotation_z_degrees":213.82088313127966,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0030129818283352074,-0.018815179226919665,0.001235795094699569]},{"name":"camera_2","offset_m":[0.0010743436382460066,0.007463650596268939,-0.01678021201682755]},{"name":"camera_3","offset_m":[-0.014476088118765308,-0.015669076269980695,-0.001184658636265802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001125788321940234,0.00024743040381551,0.0016060201321500649],"end_effector_yaw_offset_degrees":-0.07058023354682907},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009709091536301805,-0.00022109166351950418,-0.001299963656354609],"end_effector_yaw_offset_degrees":-0.9666356675903447},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[5.038866976253423e-05,-0.00028569120817252634,0.00183516422920342],"end_effector_yaw_offset_degrees":0.38068451300050565}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036805319482966893,0.003640361923097941],"position_m":[0.24268053194829667,-0.05255963807690206,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004003005305927831,-0.0002667848980762097],"position_m":[0.20430300530592785,-0.3859667848980762,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031409547597150223,0.004688330425507383],"position_m":[0.19825904524028498,0.3241883304255074,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002443056608293688,-0.004314530944220683],"position_m":[0.3386569433917063,0.16368546905577933,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"be6c8324783349bb189139eccb4e23ced5350e73706cb982c02fa9a16731ab92","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0014.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_547/tex_ceiling_textures_1041/tex_floor_textures_3574/tex_table_textures_4377/tex_wall_textures_5938","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7465169495830367901,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7465169495830367901,"visual_seed":7465169495830367901,"scene_id":"lab_003","finished_at":"2026-09-03T19:16:15"} +{"episode_id":"ep_000015","started_at":"2026-09-03T19:16:18","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.4146691383842929,-1.6294653318034285,0.71338606911949],"aabb_xy":[[-0.4281156650183363,-1.6429351834565198],[-0.40122261175024965,-1.6159954801503371]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[-0.27569116935166743,-1.298727703673813,0.71338606911949],"aabb_xy":[[-0.34069116750758643,-1.3250239482237252],[-0.21069117119574832,-1.2724314591239008]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.16550282312910292,1.0459269240745481,0.71338606911949],"aabb_xy":[[0.15900118662109836,1.0361591020482384],[0.1720044596371076,1.055694746100858]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.3176975443548731,-1.7515681284456848,0.71338606911949],"aabb_xy":[[0.2376975438846572,-1.7598788360600333],[0.3976975448250891,-1.7432574208313363]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[-0.05761387717044775,-2.0400848322670777,0.71338606911949],"aabb_xy":[[-0.06918285791738432,-2.0650848323840094],[-0.04604489642351117,-2.015084832150146]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.5800608028115757,0.29303775866518667,0.71338606911949],"aabb_xy":[[0.5390428594252049,0.24303775803422933],[0.6210787461979467,0.343037759296144]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[0.18838532215252757,-0.9458747626127715,0.71338606911949],"aabb_xy":[[0.18375020700029418,-0.94974209768992],[0.19302043730476096,-0.9420074275356227]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.11525345567576495,-2.229383366916905,0.71338606911949],"aabb_xy":[[-0.1752534565365777,-2.2808097969233914],[-0.05525345481495212,-2.177956936910418]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.2818859043146462,-1.963069554664258,0.71338606911949],"aabb_xy":[[-0.3618859075724892,-2.0430660624562424],[-0.20188590105680326,-1.8830730468722743]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[0.2703803572102895,-2.188670098800394,0.71338606911949],"aabb_xy":[[0.2063803569363113,-2.238736198997682],[0.33438035748426775,-2.1386039986031062]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.34677408140796595,0.23354456158425307,0.71338606911949],"aabb_xy":[[-0.3547680699856693,0.22554448148916273],[-0.3387800928302625,0.24154464167934342]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[0.6430459416889918,-2.397873764813486,0.71338606911949],"aabb_xy":[[0.6263688056958964,-2.4145736887874163],[0.6597230776820874,-2.3811738408395557]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.2827483405217007,0.9091518362644315,0.71338606911949],"aabb_xy":[[-0.29365411660926344,0.8291518398656025],[-0.271842564434138,0.9891518326632608]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[0.3886973777815068,-0.554356039113451,0.71338606911949],"aabb_xy":[[0.3346817814996068,-0.6183560420057079],[0.4427129740634068,-0.4903560362211936]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.2514181977660236,-2.516965922895379,0.71338606911949],"aabb_xy":[[-0.27391461919988774,-2.539465922702127],[-0.22892177633215954,-2.494465923088632]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[-0.10246383022138561,-0.0461991847397214,0.71338606911949],"aabb_xy":[[-0.1399638314061784,-0.050617407435781935],[-0.06496382903659281,-0.04178096204366085]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[-0.4684309063831954,0.4546478961928129,0.71338606911949],"aabb_xy":[[-0.532430903668844,0.4131411772399689],[-0.40443090909754675,0.49615461514565684]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[-0.5319805486341046,-1.0690769995087053,0.71338606911949],"aabb_xy":[[-0.578065639888836,-1.1330769967612602],[-0.48589545737937306,-1.00507700225615]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.5672203303936427,-1.5674803781320874,0.71338606911949],"aabb_xy":[[0.507220328750721,-1.6194805274240316],[0.6272203320365647,-1.5154802288401432]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[-0.17428013254394403,-0.9336106072938946,0.71338606911949],"aabb_xy":[[-0.18230640317457003,-0.9423621022712471],[-0.16625386191331804,-0.9248591123165418]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[-0.6037821049914676,-1.5623126580110582,0.71338606911949],"aabb_xy":[[-0.6193378744017329,-1.5778630912554656],[-0.5882263355812024,-1.5467622247666513]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.4306105996313261,-1.9138010381434762,0.71338606911949],"aabb_xy":[[0.3920649068061251,-1.9523468091996647],[0.4691562924565272,-1.8752552670872873]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[-0.3114230954016571,-0.25465957094830305,0.71338606911949],"aabb_xy":[[-0.3614230967625443,-0.30463747552371867],[-0.26142309404076985,-0.20468166637288746]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[0.5792348005126577,-2.080355537425633,0.71338606911949],"aabb_xy":[[0.5446437176586125,-2.145355537710664],[0.613825883366703,-2.015355537140602]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_24","position":[-0.11334582527989123,-1.1389486177306831,0.71338606911949],"aabb_xy":[[-0.19334582555349822,-1.2118981655563996],[-0.03334582500628427,-1.0659990699049662]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6451018931201414,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1518.png","name":"1518"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1518.png","name":"1518"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5252.png","name":"5252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8145.png","name":"8145"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8012.png","name":"8012"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9512.png","name":"9512"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":570.7938751666709,"rotation_z_degrees":13.209393756283422,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013220309111745012,-0.0035403416138986947,-0.016963486810843597]},{"name":"camera_2","offset_m":[-0.019595276383914034,-0.006223863074608441,-0.016394206344477632]},{"name":"camera_3","offset_m":[-0.009260204626824246,-0.001980145749887679,-0.005664683559511868]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014640009630675626,-0.00013159890235992628,-0.0019108706100146088],"end_effector_yaw_offset_degrees":0.8287863921141385},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002895476988211787,0.001745779600400156,-3.5900654535793355e-05],"end_effector_yaw_offset_degrees":-0.03382901146604933},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001378742950589272,0.00022030653898815877,0.0006356217589708552],"end_effector_yaw_offset_degrees":0.9352424648394659}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003985518561952393,-0.004178868750044322],"position_m":[0.23860144814380474,-0.06037886875004432,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034593432889961618,0.0037979844900524204],"position_m":[0.19684065671100384,-0.38190201550994757,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001044208509421731,-0.0023432864576289347],"position_m":[0.20035579149057828,0.31715671354237107,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002935730319825567,0.002867094910399455],"position_m":[0.3440357303198256,0.17086709491039948,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a1f9c6dd4f450271b032117b8db9325b284ba7245906354eba0c8d30b3a27721","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1518/tex_ceiling_textures_9512/tex_floor_textures_8012/tex_table_textures_5252/tex_wall_textures_8145","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3284213217810588970,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3284213217810588970,"visual_seed":3284213217810588970,"scene_id":"lab_003","finished_at":"2026-09-03T19:19:11"} +{"episode_id":"ep_000016","started_at":"2026-09-03T19:19:14","dimensions":{"distractor":{"count":26,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[-0.6637583891118835,-1.4314487607477615,0.71338606911949],"aabb_xy":[[-0.6755265759065411,-1.5164487606529837],[-0.651990202317226,-1.3464487608425404]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.4426971315218142,-0.001960420911178762,0.71338606911949],"aabb_xy":[[-0.49269713288270145,-0.051938325486594376],[-0.392697130160927,0.04801748366423685]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.3423676734821917,1.0267146002913377,0.71338606911949],"aabb_xy":[[-0.40636767277635993,0.9627284599224835],[-0.2783676741880235,1.0907007406601918]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[0.07489941257459354,-1.3252611306078945,0.71338606911949],"aabb_xy":[[0.037568136049350914,-1.3599141854027466],[0.11223068909983616,-1.290608075813042]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[0.27330496123138137,1.4427052587505824,0.71338606911949],"aabb_xy":[[0.26526160130542614,1.3577052576552158],[0.2813483211573365,1.5277052598459486]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.45061632299172927,0.5733217328690334,0.71338606911949],"aabb_xy":[[-0.45504695234656944,0.5678733611343508],[-0.4461856936368891,0.578770104603716]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[0.569145838749463,-2.5145977958209116,0.71338606911949],"aabb_xy":[[0.5051458380459938,-2.5606161782938326],[0.6331458394529325,-2.4685794133479906]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[-0.36130036280180156,-1.8648053608430128,0.71338606911949],"aabb_xy":[[-0.3707178373716643,-1.8742215379807317],[-0.3518828882319388,-1.8553891837052936]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.12572469568020672,0.9761342183645851,0.71338606911949],"aabb_xy":[[0.09113361282616149,0.911134218079554],[0.1603157785342519,1.041134218649616]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[-0.20530007625532548,0.26154485204867495,0.71338606911949],"aabb_xy":[[-0.21571163493580917,0.2561991187127764],[-0.19488851757484174,0.2668905853845734]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[0.05180861865343822,-1.025422644022369,0.71338606911949],"aabb_xy":[[0.04456485260719289,-1.1054226422259712],[0.05905238469968354,-0.9454226458187664]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.3770330356464832,-1.0921636042459262,0.71338606911949],"aabb_xy":[[-0.46203303433855786,-1.124149467640805],[-0.2920330369544086,-1.0601777408510473]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[0.5176912836308172,-0.2782495138281629,0.71338606911949],"aabb_xy":[[0.4839157244401242,-0.2922880090413279],[0.5514668428215102,-0.26421101861499785]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[-0.4956915360748819,-0.4576333268731618,0.71338606911949],"aabb_xy":[[-0.5016580750156175,-0.46359447153252586],[-0.489724997134146,-0.4516721822137978]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.23213371433854607,-0.6318315268389896,0.71338606911949],"aabb_xy":[[-0.2821337139148808,-0.6818121057910955],[-0.18213371476221135,-0.5818509478868836]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[-0.4149051378225887,-0.5658566421475415,0.71338606911949],"aabb_xy":[[-0.434963549435829,-0.585921729056699],[-0.3948467262093484,-0.545791555238384]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.29196622592259425,0.8039862712376742,0.71338606911949],"aabb_xy":[[0.22696622588829146,0.7572855945573469],[0.3569662259568969,0.8506869479180015]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.6502998858612368,-2.014484856601597,0.71338606911949],"aabb_xy":[[0.6448419402242167,-2.0944848599092563],[0.6557578314982568,-1.934484853293938]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[-0.31126614743252695,1.2315396102320557,0.71338606911949],"aabb_xy":[[-0.38126615006911324,1.21143474523619],[-0.24126614479594055,1.251644475227921]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.534019924139723,1.143408393562158,0.71338606911949],"aabb_xy":[[-0.5792985390208724,1.0794083942139743],[-0.48874130925857384,1.2074083929103416]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[-0.3599454694102485,-0.4617971375877157,0.71338606911949],"aabb_xy":[[-0.3700984849643978,-0.49786667916045596],[-0.34979245385609903,-0.4257275960149753]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[-0.292582390126432,-1.4537000114519147,0.71338606911949],"aabb_xy":[[-0.34758238832817684,-1.4942219780783523],[-0.2375823919246872,-1.4131780448254772]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[0.5504483342548414,1.60575005462483,0.71338606911949],"aabb_xy":[[0.536113909128678,1.5936898390702912],[0.5647827593810049,1.6178102701793688]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[0.4085505692294784,1.1968566864683199,0.71338606911949],"aabb_xy":[[0.4032180545748654,1.1915323582230843],[0.4138830838840914,1.2021810147135554]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[0.5534723346167512,-1.8293402293171335,0.71338606911949],"aabb_xy":[[0.5425665585291884,-1.9093402257159626],[0.5643781107043139,-1.7493402329183043]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_25","position":[0.6286942441246981,-1.0293290210808668,0.71338606911949],"aabb_xy":[[0.6199962818339827,-1.0414539953883417],[0.6373922064154133,-1.0172040467733923]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6509761759806132,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/589.png","name":"589"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/589.png","name":"589"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1908.png","name":"1908"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8194.png","name":"8194"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/787.png","name":"787"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4885.png","name":"4885"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":525.9060239417747,"rotation_z_degrees":359.3014145684214,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006831811228761801,-0.014063357350793044,-0.011205400601780281]},{"name":"camera_2","offset_m":[-0.00720209238838708,0.01252614300485706,-0.00042485384567812756]},{"name":"camera_3","offset_m":[-0.018484261855446528,-0.010903090421903272,0.003051849206966363]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00017458936505285747,-0.0014871654475772926,-0.0006072986486427628],"end_effector_yaw_offset_degrees":-0.20588608142494835},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001922804330771361,-0.0006082276193582422,-0.00020900131755663496],"end_effector_yaw_offset_degrees":-0.5797141837077662},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000765761814041023,0.0003483702560875047,2.423451640613068e-05],"end_effector_yaw_offset_degrees":-0.9964825650153846}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0044585758330366815,0.0026322949178266084],"position_m":[0.24345857583303668,-0.05356770508217339,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014776660561302635,0.0005965052559472215],"position_m":[0.20177766605613026,-0.38510349474405275,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015414515537956162,-0.002863680469116421],"position_m":[0.20294145155379562,0.31663631953088356,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004938506239572424,-0.003956486620555287],"position_m":[0.34603850623957244,0.16404351337944473,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6d7f1129caee8ce45469c40847a2181d838ca041d73641a84b557c362add80e2","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0016.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_589/tex_ceiling_textures_4885/tex_floor_textures_787/tex_table_textures_1908/tex_wall_textures_8194","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":1986356314238560788,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":1986356314238560788,"visual_seed":1986356314238560788,"scene_id":"lab_003","finished_at":"2026-09-03T19:21:56"} +{"episode_id":"ep_000017","started_at":"2026-09-03T19:21:59","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[-0.5176221252673644,0.4227981056352874,0.71338606911949],"aabb_xy":[[-0.543910949587805,0.3965266719806362],[-0.4913333009469237,0.44906953928993865]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[0.5967806695550555,-0.8053874900295395,0.71338606911949],"aabb_xy":[[0.5914430938890509,-0.8303874909586793],[0.6021182452210601,-0.7803874891003997]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[0.4865382735629358,-2.0309053704525217,0.71338606911949],"aabb_xy":[[0.46903827330359926,-2.044996912641295],[0.5040382738222725,-2.0168138282637496]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.638678823281305,0.5460737762558168,0.71338606911949],"aabb_xy":[[0.5686788216790255,0.5326409830541592],[0.7086788248835845,0.5595065694574743]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[0.23593514874322152,1.785116730438761,0.71338606911949],"aabb_xy":[[0.2134351489293191,1.7806421140682804],[0.2584351485571239,1.789591346809242]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[0.10806085442449587,-1.1963911009732802,0.71338606911949],"aabb_xy":[[0.08306085487275737,-1.2065335848384149],[0.13306085397623435,-1.1862486171081454]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[0.4797102851674315,0.3878117621880608,0.71338606911949],"aabb_xy":[[0.442859737230444,0.3503117613650271],[0.5165608331044191,0.4253117630110946]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.6265019887402546,1.0770009214534726,0.71338606911949],"aabb_xy":[[-0.6345383234415394,1.0689628021490558],[-0.6184656540389697,1.0850390407578894]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[0.22516589212629712,-1.7413651134164327,0.71338606911949],"aabb_xy":[[0.21970794648927702,-1.8213651167240916],[0.23062383776331716,-1.6613651101087734]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.0982652114118816,0.4146642743201099,0.71338606911949],"aabb_xy":[[-0.14826448658031777,0.3646642730441627],[-0.04826593624344544,0.46466427559605705]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.3239833509719035,0.44260598636978754,0.71338606911949],"aabb_xy":[[-0.33658605010897996,0.43001059014492204],[-0.31138065183482705,0.45520138259465304]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[-0.09001171692943843,-1.9709529143301756,0.71338606911949],"aabb_xy":[[-0.11455793255218914,-2.0012018108792122],[-0.0654655013066877,-1.9407040177811383]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[0.6006663440973989,-0.08091662796348631,0.71338606911949],"aabb_xy":[[0.5366663433939297,-0.12693501043640734],[0.6646663448008684,-0.03489824549056531]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.17846392330081684,-1.7568767191883319,0.71338606911949],"aabb_xy":[[-0.26346392171824007,-1.8417510146506169],[-0.09346392488339361,-1.672002423726047]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[-0.37654603755812965,0.7250333775364446,0.71338606911949],"aabb_xy":[[-0.42654603884196957,0.6750545231458224],[-0.32654603627428963,0.7750122319270666]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[-0.22718178518459392,-1.9453906024523584,0.71338606911949],"aabb_xy":[[-0.2971817878211802,-1.9654954674482235],[-0.1571817825480075,-1.9252857374564925]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.6665734522735024,-1.667377840228585,0.71338606911949],"aabb_xy":[[-0.6728855518098409,-1.673144779481804],[-0.6602613527371639,-1.6616109009753661]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.517906651827517,1.6308760211773818,0.71338606911949],"aabb_xy":[[0.4629066522057712,1.5758923283899093],[0.5729066514492629,1.6858597139648548]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.3317483592254615,0.2361430232893511,0.71338606911949],"aabb_xy":[[-0.39574835562103455,0.17217973487061758],[-0.2677483628298884,0.30010631170808466]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.3613383552809719,-1.4512803790442357,0.71338606911949],"aabb_xy":[[0.3388383552708236,-1.465376598683839],[0.3838383552911202,-1.4371841594046324]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[0.6184794042146351,-1.6107557296359105,0.71338606911949],"aabb_xy":[[0.590634367434028,-1.6415402283742222],[0.6463244409952422,-1.5799712308975988]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[0.10402368871253731,0.9295064045420096,0.71338606911949],"aabb_xy":[[0.09580914359685332,0.920829814244368],[0.11223823382822128,0.9381829948396507]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_22","position":[-0.26623148399884206,-0.4943079163607922,0.71338606911949],"aabb_xy":[[-0.27539136294271865,-0.5008391344043293],[-0.25707160505496546,-0.4877766983172552]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_23","position":[-0.46100878193908423,-1.462444712240894,0.71338606911949],"aabb_xy":[[-0.5250087790511899,-1.5114770820353045],[-0.39700878482697854,-1.4134123424464833]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[0.26706183066134914,1.7183380031460742,0.71338606911949],"aabb_xy":[[0.22956183223794874,1.7051737891782435],[0.30456182908474944,1.731502217113905]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[-0.22850890535825713,0.8509040790194753,0.71338606911949],"aabb_xy":[[-0.27850890637739245,0.8144378632816475],[-0.17850890433912192,0.8873702947573033]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[-0.4453543375110308,1.56937293548282,0.71338606911949],"aabb_xy":[[-0.4525981035572762,1.4893729372792177],[-0.43811057146478555,1.6493729336864225]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[-0.6352301776165606,-0.024350750179789937,0.71338606911949],"aabb_xy":[[-0.6727301779647883,-0.03614214576087349],[-0.5977301772683328,-0.012559354598706385]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6486535788573983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1791.png","name":"1791"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1791.png","name":"1791"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6354.png","name":"6354"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2166.png","name":"2166"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1901.png","name":"1901"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3038.png","name":"3038"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":599.8338532603093,"rotation_z_degrees":118.08276875854693,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0020486229675544983,0.01304089065382422,0.007485242690521195]},{"name":"camera_2","offset_m":[0.008579439845897943,0.0194485982983278,0.017706549214559043]},{"name":"camera_3","offset_m":[-0.01967223291729369,-0.001865803554490307,-0.007959088894882962]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003277207542875843,0.00020512264936032405,-0.0010987809321164376],"end_effector_yaw_offset_degrees":0.969429332749556},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018694552054002419,0.0006759317201925925,-0.0015083875272667146],"end_effector_yaw_offset_degrees":-0.5527577496290315},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00031749712320147325,-0.0010529583863254902,9.931163395181502e-05],"end_effector_yaw_offset_degrees":0.540184584895862}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004374368583957316,0.0032613078493234264],"position_m":[0.23462563141604267,-0.05293869215067657,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000872464555807478,0.001320540809066302],"position_m":[0.19942753544419253,-0.3843794591909337,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005544199781105461,-0.00028186593088737853],"position_m":[0.20195441997811053,0.31921813406911265,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001320003198489036,-0.004749597999969838],"position_m":[0.3412320003198489,0.16325040200003016,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5dd68b06b64edc58b73bade9767b0b320b5cda06569fe9d612d04777887d12d0","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1791/tex_ceiling_textures_3038/tex_floor_textures_1901/tex_table_textures_6354/tex_wall_textures_2166","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3315047485363654281,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3315047485363654281,"visual_seed":3315047485363654281,"scene_id":"lab_003","finished_at":"2026-09-03T19:24:40"} +{"episode_id":"ep_000018","started_at":"2026-09-03T19:24:43","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.5024646337409574,-1.22808769623822,0.71338606911949],"aabb_xy":[[-0.5097083997872027,-1.3080876944418223],[-0.4952208676947121,-1.1480876980346175]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_1","position":[0.5046048433553834,0.27880757451116533,0.71338606911949],"aabb_xy":[[0.4496311213190505,0.22380757494693215],[0.5595785653917162,0.3338075740753985]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.6269682406305503,0.22828998286505575,0.71338606911949],"aabb_xy":[[-0.6819682398071398,0.17330030809009805],[-0.5719682414539609,0.28327965764001334]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.4616191403223068,-1.8853280106989692,0.71338606911949],"aabb_xy":[[-0.49158669723213244,-1.915328010996855],[-0.4316515834124811,-1.8553280104010834]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.519997658100154,-2.2163643318577178,0.71338606911949],"aabb_xy":[[0.45840689887616115,-2.280364329966765],[0.5815884173241468,-2.1523643337486713]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.030294110205885794,0.4721426446058814,0.71338606911949],"aabb_xy":[[-0.04739618816425395,0.45503583907461165],[-0.013192032247517641,0.48924945013715115]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[0.5064062590160592,-0.5327330517484401,0.71338606911949],"aabb_xy":[[0.4908504896057939,-0.5482834849928474],[0.5219620284263244,-0.517182618504033]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.0843353930743933,-1.8613250819041198,0.71338606911949],"aabb_xy":[[0.08042151987897077,-1.8700740973106764],[0.08824926626981582,-1.8525760664975628]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[0.40463978143357227,-1.8233015501245944,0.71338606911949],"aabb_xy":[[0.3972273258921838,-1.8291527605462223],[0.41205223697496074,-1.8174503397029664]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.34461509896140274,0.37095236996451186,0.71338606911949],"aabb_xy":[[0.34065461519166845,0.3632845053789913],[0.34857558273113715,0.3786202345500325]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[0.2536068349942099,-0.8029793889997074,0.71338606911949],"aabb_xy":[[0.19860683679246502,-0.843501355626145],[0.30860683319595467,-0.7624574223732699]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[-0.25477119317234903,1.7579848545025327,0.71338606911949],"aabb_xy":[[-0.27505549589574774,1.7377022293598239],[-0.23448689044895024,1.7782674796452416]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.43331667240631483,1.1376150007894323,0.71338606911949],"aabb_xy":[[-0.45581667291835537,1.1151231424240338],[-0.4108166718942742,1.1601068591548305]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[0.6896409009833906,0.559208191791654,0.71338606911949],"aabb_xy":[[0.6550498181293453,0.4942081915066228],[0.7242319838374357,0.6242081920766849]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[0.23928294937360073,0.5777546845062749,0.71338606911949],"aabb_xy":[[0.20178294908142594,0.5737132091056713],[0.27678294966577555,0.5817961599068785]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.1913917969870258,-2.3172264237010687,0.71338606911949],"aabb_xy":[[0.10139179726385163,-2.340299776236248],[0.2813917967102,-2.2941530711658884]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[-0.31262738834908577,1.337079053916924,0.71338606911949],"aabb_xy":[[-0.3666429846309857,1.2730790510246668],[-0.2586117920671857,1.401079056809181]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[0.5817140199094188,-0.8201899928691001,0.71338606911949],"aabb_xy":[[0.5177140226070723,-0.8645564198369569],[0.6457140172117651,-0.7758235659012434]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.0642096834390743,1.4628004669558918,0.71338606911949],"aabb_xy":[[0.014209682155234325,1.4128216125652695],[0.11420968472291425,1.5127793213465137]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.48815229288456696,0.7229152519512065,0.71338606911949],"aabb_xy":[[-0.529456835948303,0.6589152523830896],[-0.4468477498208309,0.7869152515193237]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.14510330744835442,0.9720144175004695,0.71338606911949],"aabb_xy":[[-0.20910330674252264,0.9080282771316153],[-0.0811033081541862,1.0360005578693237]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[0.4894297773049059,-2.537751589042316,0.71338606911949],"aabb_xy":[[0.47192977704556943,-2.551843131231089],[0.5069297775642427,-2.5236600468535437]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[0.5653486161101469,-0.21487870514694452,0.71338606911949],"aabb_xy":[[0.5590365165738086,-0.22064564440016335],[0.5716607156464854,-0.20911176589372568]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.42096770403513406,0.9081180562630742,0.71338606911949],"aabb_xy":[[0.41683184770243387,0.8706180568187173],[0.42510356036783425,0.9456180557074313]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[-0.6035716564701387,-0.1992946337278152,0.71338606911949],"aabb_xy":[[-0.6835716597341518,-0.2128546660367285],[-0.5235716532061255,-0.18573460141890183]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[0.619741513218468,-1.4319873172287019,0.71338606911949],"aabb_xy":[[0.5702610920045093,-1.4959873151415537],[0.6692219344324268,-1.36798731931585]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_26","position":[-0.5942438295707005,0.5714366907657951,0.71338606911949],"aabb_xy":[[-0.6317438299189283,0.5596452951847115],[-0.5567438292224728,0.5832280863468786]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_27","position":[-0.20077276282671785,-2.028972429232467,0.71338606911949],"aabb_xy":[[-0.29077276224508875,-2.0623479260766566],[-0.11077276340834694,-1.9955969323882772]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_28","position":[0.4774011314850133,0.5375609684379667,0.71338606911949],"aabb_xy":[[0.46452922798407315,0.45756096802413054],[0.4902730349859534,0.6175609688518028]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_29","position":[0.512120383138092,0.05608710483704327,0.71338606911949],"aabb_xy":[[0.43212038455077256,-0.023228497101117632],[0.5921203817254114,0.13540270677520413]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_30","position":[-0.28519378307695903,-1.1332505546356764,0.71338606911949],"aabb_xy":[[-0.34919378333742984,-1.1782593539886042],[-0.22119378281648824,-1.0882417552827481]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_31","position":[0.47598273493163235,1.6774819980493478,0.71338606911949],"aabb_xy":[[0.4059827328002027,1.6547200324236517],[0.5459827370630618,1.700243963675043]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_32","position":[-0.6403202671581879,-1.227891176661087,0.71338606911949],"aabb_xy":[[-0.6554831401351251,-1.2430566339562057],[-0.6251573941812509,-1.2127257193659682]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_33","position":[0.13221929568681468,-1.7566451800492127,0.71338606911949],"aabb_xy":[[0.1103106135474636,-1.7785458468693034],[0.1541279778261657,-1.734744513229122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6451304620711318,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4183.png","name":"4183"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4183.png","name":"4183"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7688.png","name":"7688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/405.png","name":"405"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2993.png","name":"2993"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2543.png","name":"2543"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":608.1299910952536,"rotation_z_degrees":147.09225321125723,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013244768493346205,0.004084411688610515,-0.005417301231557339]},{"name":"camera_2","offset_m":[0.008027347830718234,-0.00012949855539345911,-0.004049322760298235]},{"name":"camera_3","offset_m":[0.010101903850189334,0.0005285077374291812,-0.0047854064754740255]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017954155022147965,0.0006503184299578532,0.0006919840163164908],"end_effector_yaw_offset_degrees":0.4610817786469268},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006011196154345668,1.7926707013712906e-05,0.0005343705485364196],"end_effector_yaw_offset_degrees":0.0461933207534182},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.530863620173095e-05,0.0017802454574726494,-0.0005632569715368963],"end_effector_yaw_offset_degrees":0.7615580721558772}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001368473796329046,-0.0018377630509460543],"position_m":[0.23763152620367095,-0.05803776305094605,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003836988143211756,0.0032362270393858665],"position_m":[0.19646301185678824,-0.3824637729606141,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003060575318619185,0.0010404378598783438],"position_m":[0.2044605753186192,0.32054043785987835,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0047702813733821025,0.0003590778357726414],"position_m":[0.3363297186266179,0.16835907783577264,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9ec5cf779c5d9a7d111104107e163a6191e8b17175e325a7d848f74e2691d0e2","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0018.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4183/tex_ceiling_textures_2543/tex_floor_textures_2993/tex_table_textures_7688/tex_wall_textures_405","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4879113582113605150,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4879113582113605150,"visual_seed":4879113582113605150,"scene_id":"lab_003","finished_at":"2026-09-03T19:27:27"} +{"episode_id":"ep_000019","started_at":"2026-09-03T19:27:30","dimensions":{"distractor":{"count":23,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[0.40553963660640324,1.358532386131972,0.71338606911949],"aabb_xy":[[0.39238839063511394,1.3335323863752855],[0.41869088257769266,1.3835323858886586]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.22707461525875428,1.2863123818213653,0.71338606911949],"aabb_xy":[[-0.2970746178953406,1.2662075168254996],[-0.1570746126221679,1.3064172468172306]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[0.5450963302767542,0.17401057893944838,0.71338606911949],"aabb_xy":[[0.49981771539560493,0.11001057959126467],[0.5903749451579035,0.23801057828763203]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[0.07360562173519469,-1.0477233283249443,0.71338606911949],"aabb_xy":[[0.03142120757436395,-1.1117233286021555],[0.11579003589602543,-0.9837233280477331]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.03546501648896583,-1.2369812478245261,0.71338606911949],"aabb_xy":[[-0.028530680906130756,-1.3009812461252348],[0.09946071388406241,-1.1729812495238174]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.08094581875637918,0.9587514771961567,0.71338606911949],"aabb_xy":[[-0.16094581577062717,0.9386169255227454],[-0.0009458217421311893,0.978886028869568]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[-0.6059753895230013,-1.0823867016315853,0.71338606911949],"aabb_xy":[[-0.622037316981519,-1.167386703444177],[-0.5899134620644837,-0.9973866998189934]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[-0.5768845330572014,-0.3350901555063448,0.71338606911949],"aabb_xy":[[-0.6047295698378086,-0.3658746542446565],[-0.5490394962765943,-0.3043056567680331]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.14195709092138153,-2.3177642673105274,0.71338606911949],"aabb_xy":[[0.10445709025680282,-2.333451325310749],[0.1794570915859602,-2.302077209310305]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[0.2012414719027038,-1.7368222722557545,0.71338606911949],"aabb_xy":[[0.19590389623669924,-1.7618222731848943],[0.20657904756870837,-1.7118222713266147]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.03952103776057447,0.2253747822500647,0.71338606911949],"aabb_xy":[[-0.07637158569756208,0.18787478142703096],[-0.0026704898235868704,0.2628747830730984]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.12323973623366746,-1.97770841530614,0.71338606911949],"aabb_xy":[[0.05823973619936473,-2.024409091986467],[0.1882397362679702,-1.9310077386258124]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[0.5424988626277345,-0.7659011307764048,0.71338606911949],"aabb_xy":[[0.4925200541174186,-0.8159011307821235],[0.5924776711380504,-0.7159011307706858]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[-0.36784891233218114,0.6548802142406482,0.71338606911949],"aabb_xy":[[-0.43784891572374307,0.6195644405372173],[-0.2978489089406191,0.690195987944079]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[-0.2355206609064494,-1.9793256195622906,0.71338606911949],"aabb_xy":[[-0.24688239555973557,-1.9906940859685784],[-0.22415892625316325,-1.9679571531560023]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.25846859724069204,-1.4297816030280734,0.71338606911949],"aabb_xy":[[-0.3200593564646849,-1.4937816011371208],[-0.19687783801669928,-1.365781604919027]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[-0.3388932998676545,-0.7131127021497494,0.71338606911949],"aabb_xy":[[-0.3888932985135756,-0.7630322458092118],[-0.28889330122173323,-0.663193158490287]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[-0.14774352628467813,-1.1703780714705352,0.71338606911949],"aabb_xy":[[-0.15269954646955936,-1.192878071672657],[-0.14278750609979696,-1.1478780712684138]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.5896163461887765,-1.5720233082869979,0.71338606911949],"aabb_xy":[[0.5444450283406075,-1.6360233054315365],[0.6347876640369454,-1.5080233111424597]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.23413166509255356,0.5284082084559518,0.71338606911949],"aabb_xy":[[-0.23897525985378357,0.5235565559769677],[-0.22928807033132362,0.5332598609349359]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[-0.16480096076379458,-1.9779704953760968,0.71338606911949],"aabb_xy":[[-0.1766730437752957,-2.062970495069747],[-0.15292887775229347,-1.8929704956824465]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_21","position":[0.014192840365826354,-2.1698164263669173,0.71338606911949],"aabb_xy":[[-0.06580715761495869,-2.177417967328769],[0.0941928383466114,-2.162214885405065]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.09496654747914879,-2.4346246292371236,0.71338606911949],"aabb_xy":[[-0.09986583978571226,-2.462301548539692],[-0.09006725517258526,-2.4069477099345544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6494312831969321,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/311.png","name":"311"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/311.png","name":"311"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/371.png","name":"371"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8526.png","name":"8526"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2094.png","name":"2094"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3239.png","name":"3239"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":789.1734123293497,"rotation_z_degrees":204.77212736306853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037545004161185745,0.01712796564792809,0.013080884241493406]},{"name":"camera_2","offset_m":[-0.017388559100929395,-0.015842181131318283,0.01308922225505946]},{"name":"camera_3","offset_m":[0.011780146147358856,-0.006853464659914876,0.0026531792615737265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009807054678265508,-0.0011013200478599563,-0.0009824222756575063],"end_effector_yaw_offset_degrees":-0.7244335349473334},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008644142127849342,-0.001097192420782953,0.0008665108624280834],"end_effector_yaw_offset_degrees":-0.584723937603036},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012085522093986988,0.0014767922401184939,-0.0003813094569394572],"end_effector_yaw_offset_degrees":-0.09443810387366147}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023118650629044626,-0.0022897425529972582],"position_m":[0.24131186506290445,-0.058489742552997256,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003134794060282756,-0.0030364232764493616],"position_m":[0.19716520593971726,-0.38873642327644936,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00347770073169853,7.51931685584583e-05],"position_m":[0.19792229926830146,0.3195751931685585,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002002228990741478,-0.00265467178921037],"position_m":[0.33909777100925853,0.16534532821078965,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8eb57ca06527c83b87e90b0920392ded15e10eafded47ffd8d9e2872276f0d89","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_311/tex_ceiling_textures_3239/tex_floor_textures_2094/tex_table_textures_371/tex_wall_textures_8526","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7328589369333359243,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7328589369333359243,"visual_seed":7328589369333359243,"scene_id":"lab_003","finished_at":"2026-09-03T19:30:15"} +{"episode_id":"ep_000020","started_at":"2026-09-03T19:30:18","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.13534670147378003,0.9308286708326619,0.71338606911949],"aabb_xy":[[-0.20034670003085286,0.9010761374187791],[-0.0703467029167072,0.9605812042465444]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.657837736142707,0.7931283232085131,0.71338606911949],"aabb_xy":[[0.6078377367025113,0.7431603987241967],[0.7078377355829025,0.8430962476928293]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[-0.16043862417902666,1.432709509266545,0.71338606911949],"aabb_xy":[[-0.16486925353386683,1.4272611375318625],[-0.15600799482418648,1.4381578810012274]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.2780751880494018,1.1435749841312366,0.71338606911949],"aabb_xy":[[0.2602816811144853,1.1257752385354391],[0.29586869498431817,1.1613747297270345]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.4479583072682092,-0.30962679338878374,0.71338606911949],"aabb_xy":[[0.41045830691998136,-0.3214181889698673],[0.4854583076164369,-0.2978353978077002]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.11612762653235731,1.196692763573811,0.71338606911949],"aabb_xy":[[0.08181134935773936,1.146692763600633],[0.15044390370697525,1.2466927635469884]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[-0.3169410089588086,0.9275058321221161,0.71338606911949],"aabb_xy":[[-0.36691842582406214,0.8775058306328675],[-0.26696359209355497,0.9775058336113646]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.3707856454479077,0.3893817922423133,0.71338606911949],"aabb_xy":[[0.3067856451739295,0.3393156920450253],[0.43478564572188594,0.43944789243960125]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.0049702012660061134,1.6819014424050578,0.71338606911949],"aabb_xy":[[-0.015537680924105124,1.6713564122920492],[0.005597278392092898,1.6924464725180663]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.1716719792089183,1.5010067371764353,0.71338606911949],"aabb_xy":[[0.08198490290080285,1.411006736921985],[0.26135905551703376,1.591006737430886]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.3912953723795949,-0.1662140170532016,0.71338606911949],"aabb_xy":[[-0.4165162092394345,-0.19143776790608832],[-0.36607453551975516,-0.14099026620031482]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.1371939599895975,-1.664269317488865,0.71338606911949],"aabb_xy":[[-0.2011939602500683,-1.709278116841793],[-0.07319395972912669,-1.619260518135937]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.5121385215842487,-0.9261974287867598,0.71338606911949],"aabb_xy":[[-0.5162166794912983,-0.930278409035023],[-0.508060363677199,-0.9221164485384964]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[-0.4533312589821856,1.6579723261613455,0.71338606911949],"aabb_xy":[[-0.5033312593427516,1.6079923389517425],[-0.4033312586216195,1.7079523133709484]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.01225625850616463,-0.769291249533814,0.71338606911949],"aabb_xy":[[-0.07625626179587273,-0.8126261685377315],[0.05174374478354348,-0.7259563305298963]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[0.13494643755810698,-1.276463670795754,0.71338606911949],"aabb_xy":[[0.06494643492152061,-1.2965685357916192],[0.2049464401946933,-1.2563588057998882]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.36546111882130294,1.2525632733733962,0.71338606911949],"aabb_xy":[[-0.4230915877085737,1.1925632744466856],[-0.30783064993403203,1.3125632723001068]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.46250322619490813,-1.5027092297683344,0.71338606911949],"aabb_xy":[[-0.48239426607524843,-1.5153650410530317],[-0.44261218631456795,-1.4900534184836378]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[-0.4053851822894223,0.09189226500953396,0.71338606911949],"aabb_xy":[[-0.416290958376985,0.011892268610704804],[-0.39447940620185956,0.1718922614083631]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.3323173212810848,0.6871684593758096,0.71338606911949],"aabb_xy":[[0.31887079464704154,0.6736986077227184],[0.3457638479151282,0.7006383110289008]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[0.4619332310096922,-1.5817631831451442,0.71338606911949],"aabb_xy":[[0.4119332296488049,-1.6317410877205598],[0.5119332323705793,-1.5317852785697286]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[0.3069763615940475,0.5746289959903077,0.71338606911949],"aabb_xy":[[0.2845115916226424,0.5521289951114471],[0.3294411315654526,0.5971289968691681]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[-0.6035593738609373,-0.5817265956390516,0.71338606911949],"aabb_xy":[[-0.6872815993610197,-0.6717265991737476],[-0.5198371483608548,-0.49172659210435565]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[0.6549249827711892,0.5343436898605827,0.71338606911949],"aabb_xy":[[0.633016300631838,0.5124430230404918],[0.6768336649105401,0.5562443566806733]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[-0.03537851398213132,-2.3566634055368416,0.71338606911949],"aabb_xy":[[-0.04308170465620836,-2.3643727762355793],[-0.02767532330805427,-2.348954034838103]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[0.6328057875260396,-1.3712397963241505,0.71338606911949],"aabb_xy":[[0.5978057892153441,-1.3789548112476961],[0.667805785836735,-1.3635247814006048]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[0.6764071334380022,-1.8630185859424901,0.71338606911949],"aabb_xy":[[0.6389071336209686,-1.8676567972536318],[0.7139071332550357,-1.858380374631348]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_27","position":[-0.06948760806961651,-0.9864803393964945,0.71338606911949],"aabb_xy":[[-0.09332382571022159,-1.0764803402049812],[-0.04565139042901146,-0.8964803385880081]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_28","position":[0.36923099518175206,-0.4029289699157128,0.71338606911949],"aabb_xy":[[0.304230997025833,-0.429225214465625],[0.4342309933376711,-0.3766327253658006]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_29","position":[-0.17234229946578805,-1.4716806935591111,0.71338606911949],"aabb_xy":[[-0.23634229676813442,-1.5160471205269677],[-0.10834230216344162,-1.4273142665912542]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6518787505813587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7349.png","name":"7349"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7349.png","name":"7349"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9209.png","name":"9209"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3199.png","name":"3199"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7129.png","name":"7129"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4143.png","name":"4143"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":620.334397178619,"rotation_z_degrees":315.65388429021107,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015111683210824681,-0.016659359300492997,-0.01692348019491969]},{"name":"camera_2","offset_m":[-0.01594843272341892,0.015867504516556854,-0.0003346499643659684]},{"name":"camera_3","offset_m":[-0.010058263183609913,0.0068633740544689695,0.007398966836958461]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012982086158100643,-2.3711344104398232e-05,-0.0007094787476738765],"end_effector_yaw_offset_degrees":0.22130047628110971},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007248844227046214,0.0012010955659129898,0.001423483739401424],"end_effector_yaw_offset_degrees":0.7184025092961834},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016802521092719065,-0.0011834830725371984,0.001296682154156527],"end_effector_yaw_offset_degrees":-0.4603547814246638}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016318920583709333,0.0031885080895838426],"position_m":[0.24063189205837093,-0.05301149191041616,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007787869718154624,-0.003971689606524204],"position_m":[0.19952121302818454,-0.3896716896065242,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00043234661268430966,0.004889831581227432],"position_m":[0.20183234661268432,0.3243898315812274,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008229764676998871,0.0034397410012304416],"position_m":[0.3419229764676999,0.17143974100123044,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1c834555b1cb9b84bdbc6acc003f92d1d68d3a3f0a84bdbe6b830ac13efe3226","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7349/tex_ceiling_textures_4143/tex_floor_textures_7129/tex_table_textures_9209/tex_wall_textures_3199","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7680466422769864224,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7680466422769864224,"visual_seed":7680466422769864224,"scene_id":"lab_003","finished_at":"2026-09-03T19:33:33"} +{"episode_id":"ep_000021","started_at":"2026-09-03T19:33:36","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[0.5498528945814363,-2.326369447433488,0.71338606911949],"aabb_xy":[[0.49985289363090346,-2.357918594437009],[0.5998528955319691,-2.2948203004299663]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[-0.489262858392422,0.14886473074701279,0.71338606911949],"aabb_xy":[[-0.5692628555519973,0.13731712978919572],[-0.4092628612328467,0.1604123317048298]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[-0.6454924483451792,1.6837324294163625,0.71338606911949],"aabb_xy":[[-0.679808725519797,1.6337324294431848],[-0.6111761711705611,1.7337324293895402]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.17216394889761955,0.8059560830097827,0.71338606911949],"aabb_xy":[[0.16658227726349076,0.7934560831920071],[0.17774562053174828,0.8184560828275581]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[0.01748074264117483,1.7773247409301383,0.71338606911949],"aabb_xy":[[-0.007519257291343059,1.770442072709215],[0.04248074257369272,1.7842074091510616]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[0.41472511157537717,-1.9142127185026991,0.71338606911949],"aabb_xy":[[0.40651056645969313,-1.92288930880034],[0.4229396566910611,-1.9055361282050574]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[-0.16995133152557618,-0.7214653219199054,0.71338606911949],"aabb_xy":[[-0.20339150672159576,-0.7549089477508354],[-0.13651115632955654,-0.6880216960889752]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.1995028058547625,-2.5420597446218776,0.71338606911949],"aabb_xy":[[-0.23700280614693733,-2.5461012200224813],[-0.1620028055625877,-2.538018269221274]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[0.4674537440086812,-2.198316300910223,0.71338606911949],"aabb_xy":[[0.44958463625422573,-2.212149208887434],[0.4853228517631367,-2.184483392933012]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[0.024093779946782856,0.7827015220801989,0.71338606911949],"aabb_xy":[[0.007183047510441075,0.7692293164875842],[0.04100451238312463,0.7961737276728132]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[-0.2712774126708673,0.9732484816463858,0.71338606911949],"aabb_xy":[[-0.32127224559880896,0.9232484827511422],[-0.22128257974292576,1.0232484805416293]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[-0.2406993881005578,0.4047155982642532,0.71338606911949],"aabb_xy":[[-0.2446132612959803,0.39596658285769637],[-0.23678551490513525,0.4134646136708099]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[0.4277974345933866,-0.09582149135037632,0.71338606911949],"aabb_xy":[[0.3783170133794278,-0.15982148926322814],[0.4772778558073454,-0.031821493437524495]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.6695875034640393,-2.4298915568720996,0.71338606911949],"aabb_xy":[[0.6320875027994604,-2.4455786148723218],[0.7070875041286178,-2.4142044988718774]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[0.21042792333441185,-1.340959268634627,0.71338606911949],"aabb_xy":[[0.1985558403229107,-1.4259592683282774],[0.22230000634591293,-1.2559592689409766]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.36993156737201827,-1.5449511044411504,0.71338606911949],"aabb_xy":[[-0.3748308596785817,-1.5726280237437187],[-0.3650322750654547,-1.5172741851385811]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.5478954096658619,-0.8978867717814492,0.71338606911949],"aabb_xy":[[0.5278369980526216,-0.9179518586906067],[0.5679538212791022,-0.8778216848722916]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[-0.5774542401575274,-1.2277653346437758,0.71338606911949],"aabb_xy":[[-0.6275517041386011,-1.2917653351535876],[-0.5273567761764538,-1.163765334133964]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[-0.30597753948540296,-0.8919063818357218,0.71338606911949],"aabb_xy":[[-0.3959775380798729,-0.9081569681491428],[-0.21597754089093302,-0.8756557955223008]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[0.6129523732724385,1.4561197970673354,0.71338606911949],"aabb_xy":[[0.5754523746968175,1.4433835014037775],[0.6504523718480592,1.4688560927308933]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.2597149403474023,-0.26692751516461044,0.71338606911949],"aabb_xy":[[-0.29721494069563,-0.27871891074569394],[-0.22221493999917447,-0.25513611958352683]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[-0.21765054327114824,-1.4204932918901352,0.71338606911949],"aabb_xy":[[-0.26762360880366376,-1.470493291702668],[-0.16767747773863284,-1.3704932920776023]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.14833912352797152,1.5671225036097556,0.71338606911949],"aabb_xy":[[-0.16440105098648913,1.4821225017971638],[-0.13227719606945385,1.6521225054223474]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[0.3439609598811828,-1.0589359378413195,0.71338606911949],"aabb_xy":[[0.25396095754716375,-1.136418292426432],[0.43396096221520186,-0.9814535832562068]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[-0.07929777557723772,-1.3106000091406158,0.71338606911949],"aabb_xy":[[-0.15929777884125085,-1.324160041449529],[0.000702227686775414,-1.2970399768317022]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_25","position":[0.13569179892013228,-0.6354475517657547,0.71338606911949],"aabb_xy":[[0.09052048107196332,-0.6994475489102931],[0.18086311676830127,-0.5714475546212163]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_26","position":[0.653178104734579,-1.991128144475371,0.71338606911949],"aabb_xy":[[0.6482220845496979,-2.013628144677493],[0.6581341249194602,-1.9686281442732496]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[0.5470189401742778,0.8774433683708707,0.71338606911949],"aabb_xy":[[0.4970401316639619,0.8274433683651518],[0.5969977486845937,0.9274433683765894]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_28","position":[-0.3377440825944179,-1.0705910860797658,0.71338606911949],"aabb_xy":[[-0.34544727326849495,-1.0783004567785037],[-0.33004089192034086,-1.0628817153810275]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_29","position":[0.5142761367207265,-1.885819925959573,0.71338606911949],"aabb_xy":[[0.46427613714439186,-1.9358005049116789],[0.5642761362970613,-1.835839347007467]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_30","position":[0.5617897542815735,-0.31808696842617223,0.71338606911949],"aabb_xy":[[0.5466175849999401,-0.33325582535437565],[0.5769619235632067,-0.30291811149796893]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_31","position":[-0.498145448709829,0.8524389769976737,0.71338606911949],"aabb_xy":[[-0.5621454503878265,0.8039215855183595],[-0.4341454470318317,0.9009563684769879]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6483153302823568,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2454.png","name":"2454"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2454.png","name":"2454"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3750.png","name":"3750"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4863.png","name":"4863"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6178.png","name":"6178"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7270.png","name":"7270"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":501.4766524000203,"rotation_z_degrees":81.54856876477754,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005713741401375597,-0.010637806364333367,0.01088215209619586]},{"name":"camera_2","offset_m":[-0.0043700340971554626,-0.014167071860351972,-0.0010165480406562344]},{"name":"camera_3","offset_m":[-0.010347278119982551,0.018809512795897796,-0.0025226234275613976]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006526442060932776,0.00046988598101813973,-0.000497142853969427],"end_effector_yaw_offset_degrees":-0.689367040893121},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016390507690238927,-0.0015647458532093617,0.0004070015117506021],"end_effector_yaw_offset_degrees":0.7405350875919168},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006442842838473781,0.00032011694634848575,0.0007612319024398839],"end_effector_yaw_offset_degrees":-0.09059255526215249}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004272673562798194,-0.0009402797219734563],"position_m":[0.2432726735627982,-0.057140279721973455,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004637394979496944,-0.0031816243374396405],"position_m":[0.19566260502050306,-0.3888816243374396,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009640458868260893,0.003563623369275004],"position_m":[0.20043595411317391,0.323063623369275,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00459775267217329,0.004294396777046755],"position_m":[0.33650224732782674,0.17229439677704678,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dca9664ed108b220ba09988f2894e7eb68fbd7784011b4f0f0ad5a13920944cb","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2454/tex_ceiling_textures_7270/tex_floor_textures_6178/tex_table_textures_3750/tex_wall_textures_4863","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7279905681444939578,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7279905681444939578,"visual_seed":7279905681444939578,"scene_id":"lab_003","finished_at":"2026-09-03T19:36:25"} +{"episode_id":"ep_000022","started_at":"2026-09-03T19:36:28","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[-0.09217705410640031,-0.7049683122059578,0.71338606911949],"aabb_xy":[[-0.12561722930241986,-0.7384119380368878],[-0.05873687891038069,-0.6715246863750276]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[-0.08042087163176703,0.9141880575222663,0.71338606911949],"aabb_xy":[[-0.11792087197999478,0.9023966619411827],[-0.04292087128353926,0.9259794531033498]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[-0.2763470997800223,0.814608618475213,0.71338606911949],"aabb_xy":[[-0.3403471011880129,0.7628196669512882],[-0.2123470983720316,0.8663975699991376]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[-0.5085154629518245,-1.6658918849623712,0.71338606911949],"aabb_xy":[[-0.5173175182607971,-1.6737032111173],[-0.4997134076428517,-1.6580805588074419]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.5770594770078487,-1.1973340565512853,0.71338606911949],"aabb_xy":[[-0.6016056926305993,-1.2275829531003222],[-0.5525132613850978,-1.167085160002248]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[0.5340112529568446,-0.3465639573028301,0.71338606911949],"aabb_xy":[[0.5115112529466964,-0.36066017694243335],[0.556511252966993,-0.3324677376632268]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[-0.3915701333077262,-0.1257872203184882,0.71338606911949],"aabb_xy":[[-0.41485197550585756,-0.21078722161571628],[-0.3682882911095949,-0.04078721902126017]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.3059429261701945,1.7250928444141223,0.71338606911949],"aabb_xy":[[0.2759753692603688,1.6950928441162363],[0.33591048308002014,1.7550928447120078]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.3577136539637032,-0.43365736554211054,0.71338606911949],"aabb_xy":[[-0.3765980377322134,-0.4525432903224634],[-0.338829270195193,-0.4147714407617578]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[0.13045257470253135,-1.7488330481859369,0.71338606911949],"aabb_xy":[[0.09295257441035651,-1.7528745235865402],[0.16795257499470614,-1.7447915727853331]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[-0.5064353330952771,-0.8041603725963464,0.71338606911949],"aabb_xy":[[-0.5127474326316156,-0.8099273118495653],[-0.5001232335589388,-0.7983934333431277]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.06686549476190706,1.8097620801075132,0.71338606911949],"aabb_xy":[[-0.08449833035543462,1.79213913409189],[-0.04923265916837948,1.827385026123136]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.17470838450634962,0.10416989957921441,0.71338606911949],"aabb_xy":[[-0.19720480594021372,0.08166989977246696],[-0.15221196307248552,0.12666989938596185]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[-0.5148575323769636,1.1222911949537768,0.71338606911949],"aabb_xy":[[-0.5748575340198855,1.0702910456618326],[-0.4548575307340418,1.174291344245721]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[0.1411240506725131,-1.1141195982472771,0.71338606911949],"aabb_xy":[[0.1338417342958494,-1.2041196018567857],[0.1484063670491767,-1.0241195946377677]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.36370348339801767,-0.7221602117318078,0.71338606911949],"aabb_xy":[[-0.3987034833745135,-0.7316248277794243],[-0.32870348342152184,-0.712695595684191]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.4986214561918154,-1.3517747005659027,0.71338606911949],"aabb_xy":[[-0.5486214578533102,-1.4017731428216054],[-0.44862145453032065,-1.3017762583102]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[0.356660349032095,0.9555026101484647,0.71338606911949],"aabb_xy":[[0.34509136828515846,0.930502610031533],[0.3682293297790316,0.9805026102653964]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[-0.5855272102219117,-1.9833893462910641,0.71338606911949],"aabb_xy":[[-0.5931514783120899,-1.9910225698276078],[-0.5779029421317334,-1.9757561227545204]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[0.5262380044879362,-1.039275189550539,0.71338606911949],"aabb_xy":[[0.47124252666727673,-1.094275190984446],[0.5812334823085955,-0.9842751881166321]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[-0.5414227294221872,0.09619489111008805,0.71338606911949],"aabb_xy":[[-0.5589694243383061,0.05869488954583678],[-0.5238760345060682,0.13369489267433932]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[0.4019348424278155,-2.2282543438347147,0.71338606911949],"aabb_xy":[[0.33693484427189646,-2.254550588384627],[0.4669348405837346,-2.2019580992848025]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.1180412448002045,-1.338585853579901,0.71338606911949],"aabb_xy":[[0.10679618922958665,-1.3498276513039962],[0.12928630037082234,-1.3273440558558056]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.32094149693170315,-1.5843100195027993,0.71338606911949],"aabb_xy":[[-0.3340927429029925,-1.6093100192594862],[-0.3077902509604138,-1.5593100197461132]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[0.5300764933433912,1.3024817410333602,0.71338606911949],"aabb_xy":[[0.46608079594829466,1.2384817427326515],[0.5940721907384878,1.366481739334069]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[0.03429476656253927,1.389146430083212,0.71338606911949],"aabb_xy":[[-0.029705235657867757,1.3447733459579236],[0.0982947687829463,1.4335195142085002]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_26","position":[-0.10229725948539037,-0.823699794008639,0.71338606911949],"aabb_xy":[[-0.13979725806101118,-0.8364360896721968],[-0.06479726090976956,-0.810963498345081]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6525344460718316,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6782.png","name":"6782"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6782.png","name":"6782"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2009.png","name":"2009"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/297.png","name":"297"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/713.png","name":"713"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4282.png","name":"4282"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":841.606279307844,"rotation_z_degrees":5.463417822474597,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0086574777026849,-0.01017387749006312,0.006423249373436354]},{"name":"camera_2","offset_m":[-0.004149126670416347,0.0032478206013037345,-0.003601905336472061]},{"name":"camera_3","offset_m":[-0.013951969104848652,0.01794730553813607,0.001829377969989228]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00046299594952656426,0.0016033511419566784,0.0009678000052790714],"end_effector_yaw_offset_degrees":0.4660474916387265},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.206355190414712e-05,-0.0018436205475470438,8.119563625986646e-05],"end_effector_yaw_offset_degrees":0.656837704063677},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017816688764233624,-0.0019987249230577213,-0.0017916457758791865],"end_effector_yaw_offset_degrees":-0.8007803508016529}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004667970660033343,0.002504820439597229],"position_m":[0.23433202933996664,-0.05369517956040277,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037855289494474606,0.0011118075793113925],"position_m":[0.20408552894944745,-0.3845881924206886,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-5.864592086409805e-06,0.004789252818420401],"position_m":[0.2013941354079136,0.3242892528184204,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00040699714141712116,0.000884762328687231],"position_m":[0.34150699714141713,0.16888476232868724,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c172985b564188eb88fbd0f45713c57823a10af8345cb45efdd24d5d018adbed","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6782/tex_ceiling_textures_4282/tex_floor_textures_713/tex_table_textures_2009/tex_wall_textures_297","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3082501646321712620,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3082501646321712620,"visual_seed":3082501646321712620,"scene_id":"lab_003","finished_at":"2026-09-03T19:39:37"} +{"episode_id":"ep_000023","started_at":"2026-09-03T19:39:41","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.23440807911538752,-2.086902210752579,0.71338606911949],"aabb_xy":[[-0.2844080777613087,-2.1368217544120416],[-0.18440808046946633,-2.036982667093117]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[-0.06061863654099753,-1.5569164661961634,0.71338606911949],"aabb_xy":[[-0.12561863917879101,-1.6083960648956104],[0.004381366096795951,-1.5054368674967165]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[0.5076794020841919,1.3275915194491867,0.71338606911949],"aabb_xy":[[0.49303599653015884,1.3129327997924025],[0.5223228076382248,1.342250239105971]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.6063574222459819,-1.6082122257248352,0.71338606911949],"aabb_xy":[[-0.613397732179519,-1.6882122251245069],[-0.599317112312445,-1.528212226325164]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.3974574631813015,1.1097663645797176,0.71338606911949],"aabb_xy":[[-0.4106087091525909,1.084766364823031],[-0.3843062172100122,1.134766364336404]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.04503732091552426,-2.360968863549922,0.71338606911949],"aabb_xy":[[-0.1347243972236397,-2.450968863804373],[0.044649755392591195,-2.270968863295472]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[-0.026938372514217934,-2.002036155458303,0.71338606911949],"aabb_xy":[[-0.059400073396145385,-2.032168987573205],[0.005523328367709523,-1.9719033233433998]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[0.4947188982956483,-1.5058128596621028,0.71338606911949],"aabb_xy":[[0.4331281390716555,-1.5698128577711499],[0.5563096575196411,-1.441812861553056]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.33507184305969356,1.738022764201673,0.71338606911949],"aabb_xy":[[-0.3430981136903196,1.7292712692243206],[-0.3270455724290676,1.7467742591790258]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.4153020632619622,1.1198861886262388,0.71338606911949],"aabb_xy":[[0.36530206224282696,1.0834199728884109],[0.46530206428109755,1.1563524043640667]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.6070507519646424,-0.7533969105041989,0.71338606911949],"aabb_xy":[[0.5270507498018798,-0.8333520941303425],[0.6870507541274048,-0.6734417268780553]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.659259730017916,-0.12301007519778118,0.71338606911949],"aabb_xy":[[-0.6817597302614316,-0.13521470985755313],[-0.6367597297744008,-0.11080544053800921]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[-0.09557973764979821,1.6070313187587142,0.71338606911949],"aabb_xy":[[-0.14557973893363815,1.5570524643680919],[-0.04557973636595824,1.657010173149336]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.04453271518550961,-1.1628471984143318,0.71338606911949],"aabb_xy":[[-0.05056972818617435,-1.16887389948328],[-0.03849570218484489,-1.1568204973453837]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.5317632867069181,-1.602167389723796,0.71338606911949],"aabb_xy":[[-0.5352039629469753,-1.6060288226981605],[-0.5283226104668609,-1.5983059567494315]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.20206353450458514,1.6257473613025284,0.71338606911949],"aabb_xy":[[-0.21716583596560315,1.6106458396714658],[-0.18696123304356696,1.6408488829335897]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.19724268037586018,0.5602119359752797,0.71338606911949],"aabb_xy":[[-0.27724267777945355,0.48021936477709687],[-0.11724268297226677,0.6402045071734624]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[0.4565831186709839,-1.2909806123112908,0.71338606911949],"aabb_xy":[[0.4190831187272174,-1.2992737023461274],[0.4940831186147502,-1.2826875222764542]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.5101230779593962,0.21989657632200998,0.71338606911949],"aabb_xy":[[-0.5601060281468754,0.16989657667944952],[-0.46014012777191676,0.2698965759645703]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.17588208139707162,1.1794669387602617,0.71338606911949],"aabb_xy":[[-0.2258608899073875,1.129466938754543],[-0.12590327288675573,1.2294669387659807]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[-0.6384313015050522,-0.3944838027736348,0.71338606911949],"aabb_xy":[[-0.6734313006978703,-0.4054508487712974],[-0.6034313023122337,-0.38351675677597213]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.508803944298466,0.10179799786172339,0.71338606911949],"aabb_xy":[[0.4448039469961196,0.05743157089386661],[0.5728039416008124,0.14616442482958011]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[-0.54221342358919,-0.7391453383190736,0.71338606911949],"aabb_xy":[[-0.5765103346069305,-0.7734422245290149],[-0.5079165125714493,-0.7048484521091323]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[-0.2277330449735694,0.9160198042909604,0.71338606911949],"aabb_xy":[[-0.30773304193660855,0.8389441626471869],[-0.14773304801053022,0.9930954459347338]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[-0.24267107275258182,-1.4719327766061225,0.71338606911949],"aabb_xy":[[-0.2518309516964584,-1.4784639946496596],[-0.23351119380870522,-1.4654015585625855]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[0.48165508450650973,0.6380261430133567,0.71338606911949],"aabb_xy":[[0.4016612609279515,0.5580261404205152],[0.561648908085068,0.7180261456061984]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[0.2984585869553098,-0.4906428796424236,0.71338606911949],"aabb_xy":[[0.2943227306226096,-0.5281428790867807],[0.30259444328801,-0.4531428801980667]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.652474894402278,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2392.png","name":"2392"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2392.png","name":"2392"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3291.png","name":"3291"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9280.png","name":"9280"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5248.png","name":"5248"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/568.png","name":"568"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":835.4353008477754,"rotation_z_degrees":221.0795177222035,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008008955357012026,0.0033302326553505644,0.0033075028150083216]},{"name":"camera_2","offset_m":[-0.019780110208605803,-0.01770820298920304,0.004374836088216632]},{"name":"camera_3","offset_m":[0.006891468099357728,0.019931041983791902,-0.0003376483042381341]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000695835793501708,0.0009539382395357806,0.0005461810558667598],"end_effector_yaw_offset_degrees":-0.7913274942926809},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006914050956792167,-0.0002127880049185174,-5.864520210140654e-05],"end_effector_yaw_offset_degrees":0.7395753289130147},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005861021472219397,0.00035984345147330784,-0.000737541631033714],"end_effector_yaw_offset_degrees":0.5693426519016116}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002193543812439006,0.0023715191549462345],"position_m":[0.241193543812439,-0.05382848084505377,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005102970562451013,-0.004608734254121005],"position_m":[0.1997897029437549,-0.390308734254121,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004215940890334721,-0.002939256257866285],"position_m":[0.20561594089033472,0.3165607437421337,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005719368028625849,-0.0009387790152104204],"position_m":[0.3416719368028626,0.1670612209847896,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"758e2a1f4d657f916b00c25d070d02e99cfe431995e81aeaac720768649301a2","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2392/tex_ceiling_textures_568/tex_floor_textures_5248/tex_table_textures_3291/tex_wall_textures_9280","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":5443118325726595,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":5443118325726595,"visual_seed":5443118325726595,"scene_id":"lab_003","finished_at":"2026-09-03T19:42:34"} +{"episode_id":"ep_000024","started_at":"2026-09-03T19:42:39","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.4340235187326833,-1.3370498919763796,0.71338606911949],"aabb_xy":[[-0.4980235209530904,-1.3814229761016679],[-0.37002351651227633,-1.2926768078510913]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.6596599990011505,-0.14274466889802095,0.71338606911949],"aabb_xy":[[-0.682159999244666,-0.1549493035577929],[-0.6371599987576352,-0.130540034238249]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[-0.264546786421689,-1.8540329591091989,0.71338606911949],"aabb_xy":[[-0.30204678623872255,-1.8586711704203407],[-0.22704678660465544,-1.849394747798057]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.30600706396155775,0.5930324068862065,0.71338606911949],"aabb_xy":[[0.2835070634495171,0.570540548520808],[0.3285070644735983,0.6155242652516048]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[0.41818942990340724,-0.4916573068874319,0.71338606911949],"aabb_xy":[[0.35418943261775854,-0.5331640258402759],[0.48218942718905583,-0.45015058793458795]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[0.5173814897014846,1.557744926886643,0.71338606911949],"aabb_xy":[[0.4573814891054685,1.5029324543414193],[0.5773814902975009,1.6125573994318663]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.5241052258774268,0.010108373370619539,0.71338606911949],"aabb_xy":[[-0.5367079250145033,-0.002487022854245959],[-0.5115025267403503,0.022703769595485035]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.4100461219916641,-2.0060835580854524,0.71338606911949],"aabb_xy":[[-0.47404612057823664,-2.053090521484961],[-0.3460461234050917,-1.9590765946859436]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[-0.5668692809718582,-1.9486582439096882,0.71338606911949],"aabb_xy":[[-0.5717128757330883,-1.9535098963886728],[-0.5620256862106283,-1.9438065914307046]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.19424342026018482,1.2007644333656624,0.71338606911949],"aabb_xy":[[0.1869821726897774,1.187977423102153],[0.20150466783059223,1.2135514436291719]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.4959504934050989,1.6538831275053787,0.71338606911949],"aabb_xy":[[-0.5309504925350546,1.6481379064297146],[-0.4609504942751432,1.6596283485810428]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.246121012380639,-0.37728210804734186,0.71338606911949],"aabb_xy":[[-0.253161322314176,-0.4572821074470133],[-0.23908070244710203,-0.29728210864767046]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.6063382973651044,0.5754539202295432,0.71338606911949],"aabb_xy":[[0.5864472574847641,0.5627981089448464],[0.6262293372454446,0.5881097315142401]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[0.6191158898547062,1.7301472913903946,0.71338606911949],"aabb_xy":[[0.6009100661934585,1.7191218908084032],[0.6373217135159539,1.7411726919723864]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[-0.5495079873246476,-1.7780891326655417,0.71338606911949],"aabb_xy":[[-0.5589254618945104,-1.7875053098032605],[-0.5400905127547849,-1.7686729555278224]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.20352340328014235,-1.1332542650980526,0.71338606911949],"aabb_xy":[[-0.2651141625041352,-1.1972542632071],[-0.14193264405614955,-1.0692542669890062]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[-0.30744226795345947,0.341981187359111,0.71338606911949],"aabb_xy":[[-0.3161562370033939,0.31948118669992265],[-0.2987282989035249,0.3644811880182991]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[0.6738759929311273,0.13450172263644022,0.71338606911949],"aabb_xy":[[0.6434778818319837,0.1040948206347707],[0.7042741040302709,0.1649086246381097]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.1311259673040157,-1.9749241382427771,0.71338606911949],"aabb_xy":[[0.12183234906686513,-2.012424136730911],[0.1404195855411663,-1.9374241397546428]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[-0.18493906719697673,1.1930316604578555,0.71338606911949],"aabb_xy":[[-0.20280817495143222,1.1791987524806444],[-0.16706995944252123,1.2068645684350665]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[-0.3611413392347027,1.1642186015632694,0.71338606911949],"aabb_xy":[[-0.4251413399381721,1.1182002190903484],[-0.29714133853123337,1.2102369840361904]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[-0.39938812880389635,-2.5506212663593035,0.71338606911949],"aabb_xy":[[-0.4893881282222672,-2.583996763203493],[-0.3093881293855254,-2.5172457695151134]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[0.4246642938379832,-2.427307137630408,0.71338606911949],"aabb_xy":[[0.39601496147756693,-2.455952696907483],[0.4533136261983994,-2.3986615783533316]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[-0.08791209453206728,1.4970366660880576,0.71338606911949],"aabb_xy":[[-0.15191209621006463,1.4485192746087432],[-0.023912092854069922,1.5455540575673716]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[0.6894079896446641,-2.07570626345814,0.71338606911949],"aabb_xy":[[0.6813646297187088,-2.1607062645535065],[0.6974513495706192,-1.9907062623627736]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[-0.4555803575106663,-2.187643748245375,0.71338606911949],"aabb_xy":[[-0.490042704908808,-2.222137630643197],[-0.4211180101125244,-2.1531498658475514]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.4272505506654034,0.598048369800384,0.71338606911949],"aabb_xy":[[0.40975055138731653,0.580710269734038],[0.4447505499434903,0.61538646986673]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_27","position":[0.15290906883102307,0.9071237064653817,0.71338606911949],"aabb_xy":[[0.14491508025331967,0.8991236263702911],[0.16090305740872646,0.9151237865604718]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_28","position":[-0.5839243130588592,-2.4203267047418597,0.71338606911949],"aabb_xy":[[-0.5957963960703602,-2.50532670443551],[-0.572052230047358,-2.3353267050482094]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_29","position":[0.35200132626397784,-1.546409748765406,0.71338606911949],"aabb_xy":[[0.328416202800083,-1.6114097510108376],[0.3755864497278727,-1.481409746519974]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_30","position":[0.4876237274281079,0.12276830545524975,0.71338606911949],"aabb_xy":[[0.42762372578518604,0.07076815616330558],[0.5476237290710297,0.17476845474719394]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_31","position":[-0.5787424896962907,0.5689632200526007,0.71338606911949],"aabb_xy":[[-0.6637424881137141,0.4840889245903157],[-0.4937424912788676,0.6538375155148857]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_32","position":[0.6248588995324802,-2.4026796405944055,0.71338606911949],"aabb_xy":[[0.5548588968958937,-2.4227845055902706],[0.6948589021690664,-2.3825747755985396]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_33","position":[-0.24324498435355424,0.6822581440769562,0.71338606911949],"aabb_xy":[[-0.33324498407672837,0.6591847915417762],[-0.15324498463038003,0.7053314966121359]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6521895505174677,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1093.png","name":"1093"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1093.png","name":"1093"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9697.png","name":"9697"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5843.png","name":"5843"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7619.png","name":"7619"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8740.png","name":"8740"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":838.897828230263,"rotation_z_degrees":250.34072074296984,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008319680346930251,0.012502251250610542,0.0180882922018232]},{"name":"camera_2","offset_m":[0.01833484656466373,0.006495399634049045,0.016986483275323806]},{"name":"camera_3","offset_m":[-0.015390951759364078,-0.019024932683725758,0.0013355752442324245]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005021021740335475,0.00034094588596569235,0.0012853591561883706],"end_effector_yaw_offset_degrees":-0.13331174126286216},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001375435320003963,0.0006078272954839438,-0.0002526318935521634],"end_effector_yaw_offset_degrees":0.4794121849393469},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-4.557680417335407e-06,0.00162135796986206,-0.0006830012150917191],"end_effector_yaw_offset_degrees":-0.6856935718898403}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028806450873102908,0.00038057430505799347],"position_m":[0.2361193549126897,-0.055819425694942006,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032608196790166735,0.000978012314445281],"position_m":[0.20356081967901668,-0.3847219876855547,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025250731842445953,-0.0037234806294269775],"position_m":[0.2039250731842446,0.31577651937057305,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031251689763610686,-0.00045401049902480534],"position_m":[0.3442251689763611,0.1675459895009752,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f1bf2c2cb7a9dad5677e896471f07a5ea5a5cbdb55769c5b6f3d6eb36c888651","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1093/tex_ceiling_textures_8740/tex_floor_textures_7619/tex_table_textures_9697/tex_wall_textures_5843","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3103009936270586449,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3103009936270586449,"visual_seed":3103009936270586449,"scene_id":"lab_003","finished_at":"2026-09-03T19:45:21"} +{"episode_id":"ep_000025","started_at":"2026-09-03T19:45:24","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[-0.47718012813222377,-1.055280787245938,0.71338606911949],"aabb_xy":[[-0.5311957244141238,-1.1192807901381951],[-0.42316453185032377,-0.9912807843536808]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[-0.560253874078659,-1.96830306914179,0.71338606911949],"aabb_xy":[[-0.5672953250294066,-1.9753298208795844],[-0.5532124231279114,-1.961276317403995]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.3181886930205897,0.9645408035353458,0.71338606911949],"aabb_xy":[[0.25419299562549313,0.900540805234637],[0.3821843904156863,1.0285408018360545]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.5919437894105222,-0.13827778397456125,0.71338606911949],"aabb_xy":[[0.5544437882257293,-0.14269600667062174],[0.6294437905953149,-0.13385956127850066]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.3041247321818965,1.1343496316615855,0.71338606911949],"aabb_xy":[[0.2927629975286103,1.1229811652552972],[0.3154864668351826,1.1457180980678734]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[0.6087860446700022,0.3338621689063608,0.71338606911949],"aabb_xy":[[0.5287860414059891,0.32030213659744744],[0.6887860479340153,0.3474222012152741]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[-0.24918638847781494,1.49206837813635,0.71338606911949],"aabb_xy":[[-0.2592680955563884,1.412068380244235],[-0.23910468139924146,1.5720683760284644]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[-0.2178649787049316,-1.5116576632785699,0.71338606911949],"aabb_xy":[[-0.2588829220913025,-1.5616576639095272],[-0.17684703531856072,-1.4616576626476125]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.3422967193188542,-0.9902306497014459,0.71338606911949],"aabb_xy":[[0.28229671767593234,-1.04223079899339],[0.40229672096177604,-0.9382305004095018]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[-0.5660499446226801,-1.3785964786459095,0.71338606911949],"aabb_xy":[[-0.6260499452186963,-1.433408951191133],[-0.5060499440266639,-1.323784006100686]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.6466900361504763,0.5481158513810556,0.71338606911949],"aabb_xy":[[-0.6719108730103157,0.5228921005281686],[-0.6214691992906364,0.5733396022339421]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[-0.4466363453077812,1.7079429157505204,0.71338606911949],"aabb_xy":[[-0.506636345154348,1.6511242935574817],[-0.3866363454612144,1.764761537943559]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[-0.5730576825939541,-0.16758640048018458,0.71338606911949],"aabb_xy":[[-0.6330576831018069,-0.22443313416610589],[-0.513057682086101,-0.1107396667942633]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[-0.11937081546576167,-1.90015606437647,0.71338606911949],"aabb_xy":[[-0.15687081557135463,-1.9069782262294512],[-0.08187081536016871,-1.893333902523489]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.42586242917928074,1.1613013845159532,0.71338606911949],"aabb_xy":[[0.4083624957452973,1.1438013845957187],[0.44336236261326406,1.1788013844361878]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.4103790141215675,-2.3154269143761095,0.71338606911949],"aabb_xy":[[0.4027547460313894,-2.3230601379126536],[0.4180032822117459,-2.307793690839566]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.6437466201404302,-0.8172733404527726,0.71338606911949],"aabb_xy":[[-0.6783377029944753,-0.8822733407378034],[-0.6091555372863848,-0.7522733401677413]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[-0.3919152811568972,-1.830035818935023,0.71338606911949],"aabb_xy":[[-0.40107516010077376,-1.83656703697856],[-0.38275540221302057,-1.823504600891486]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[0.18566302303140425,-0.6601168513412548,0.71338606911949],"aabb_xy":[[0.10566302086864177,-0.7400720349673984],[0.26566302519416674,-0.5801616677151111]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[-0.6049010419839159,0.8795677621723783,0.71338606911949],"aabb_xy":[[-0.6699010398655637,0.8284440984658376],[-0.5399010441022681,0.9306914258789193]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.4003489576475734,1.6980313562201013,0.71338606911949],"aabb_xy":[[0.31034895531355433,1.6205490016349884],[0.49034895998159245,1.7755137108052137]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.044411854008300056,0.9469487860581483,0.71338606911949],"aabb_xy":[[-0.09441185495883286,0.9153996390546267],[0.005588146942232759,0.9784979330616695]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[-0.10622720416622222,1.7942046672149128,0.71338606911949],"aabb_xy":[[-0.14214070859121192,1.7582911589981582],[-0.07031369974123254,1.8301181754316673]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.12297323221729761,-0.32858862312838344,0.71338606911949],"aabb_xy":[[-0.1454732320312,-0.3330632394988641],[-0.10047323240339523,-0.32411400675790275]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[0.6208811800820406,1.5955568897288486,0.71338606911949],"aabb_xy":[[0.5558811815249678,1.565804356314966],[0.6858811786391135,1.6253094231427312]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.05014257380744658,0.8119236238240335,0.71338606911949],"aabb_xy":[[-0.07514257297307969,0.804971378118677],[-0.025142574641813464,0.8188758695293902]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[-0.5757309720521632,-0.0356512712159649,0.71338606911949],"aabb_xy":[[-0.6107309734036448,-0.056011007172785725],[-0.5407309707006813,-0.01529153525914406]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6552409198955923,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9515.png","name":"9515"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9515.png","name":"9515"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6655.png","name":"6655"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8195.png","name":"8195"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1871.png","name":"1871"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5872.png","name":"5872"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":546.9845656840058,"rotation_z_degrees":296.99450507390867,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004935914610337483,-0.011897984741143742,0.014936422031524201]},{"name":"camera_2","offset_m":[-0.00509387127924513,-0.005192817537617142,-0.005372616810214623]},{"name":"camera_3","offset_m":[0.016675836299969823,0.0076978058540187085,0.0029636381010233817]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014164312775583289,-0.001455883507228587,-0.0016586754279275327],"end_effector_yaw_offset_degrees":0.5503042366477289},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008971840890120097,-0.0018885238388475973,-0.001843955792131825],"end_effector_yaw_offset_degrees":0.2642985710940169},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00038213369354813103,-7.154496683752952e-05,0.0013884455144644015],"end_effector_yaw_offset_degrees":-0.49990460834760464}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0045320682833541555,0.000454496549186831],"position_m":[0.24353206828335414,-0.055745503450813166,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004034411162975842,-0.0031251700573133147],"position_m":[0.20433441116297585,-0.3888251700573133,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00023148771801379843,0.0017717926262375526],"position_m":[0.2011685122819862,0.32127179262623756,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003946517612331032,0.004679782712260871],"position_m":[0.33715348238766896,0.1726797827122609,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"09774ee5b389cfb4e219678dae2fd5fb41d59915ac807462e6702b067d885ec8","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9515/tex_ceiling_textures_5872/tex_floor_textures_1871/tex_table_textures_6655/tex_wall_textures_8195","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":5826991314514516871,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":5826991314514516871,"visual_seed":5826991314514516871,"scene_id":"lab_003","finished_at":"2026-09-03T19:48:04"} +{"episode_id":"ep_000026","started_at":"2026-09-03T19:48:08","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[-0.6492229029700285,-0.6143650732000436,0.71338606911949],"aabb_xy":[[-0.6599958768913963,-0.6493650714190826],[-0.6384499290486607,-0.5793650749810046]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[-0.3838828308287309,0.4531699285689892,0.71338606911949],"aabb_xy":[[-0.43101220983056654,0.3891699275245872],[-0.3367534518268952,0.5171699296133911]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[0.03072650558709822,1.046505041365847,0.71338606911949],"aabb_xy":[[0.005505668727258549,1.0212812905129598],[0.05594734244693788,1.0717287922187333]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.1711488913509127,0.4857131602915765,0.71338606911949],"aabb_xy":[[-0.20794352447581896,0.4488072851949943],[-0.1343542582260064,0.5226190353881588]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[0.6025820413292347,-0.18606769994163486,0.71338606911949],"aabb_xy":[[0.5475865635085753,-0.24106770137554176],[0.657577519149894,-0.1310676985077279]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[0.1733316370252468,-1.2773128166865222,0.71338606911949],"aabb_xy":[[0.09333163675163984,-1.350262364512239],[0.2533316372988538,-1.2043632688608055]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[-0.396480742576258,-1.1344985418552884,0.71338606911949],"aabb_xy":[[-0.40519471162619247,-1.1569985425144762],[-0.3877667735263235,-1.1119985411960998]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[-0.508664311919892,-1.0952035632766826,0.71338606911949],"aabb_xy":[[-0.5178241908637686,-1.1017347813202196],[-0.49950443297601543,-1.0886723452331455]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.2751210292644023,-2.124012268238869,0.71338606911949],"aabb_xy":[[0.2710050791523296,-2.128127823271714],[0.2792369793764749,-2.119896713206023]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[0.019657591473823843,-0.908128803919297,0.71338606911949],"aabb_xy":[[0.014199645836803772,-0.9881288072269561],[0.025115537110843907,-0.8281288006116378]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[0.22989651691257984,1.356051927183553,0.71338606911949],"aabb_xy":[[0.14489651822050523,1.324066063788674],[0.3148965156046545,1.3880377905784318]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[-0.06563090317379772,0.05803813688641135,0.71338606911949],"aabb_xy":[[-0.08254163561013948,0.04456593129379681],[-0.04872017073745593,0.07151034247902585]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[0.10273953499512978,-2.3597553501178155,0.71338606911949],"aabb_xy":[[0.05276072648481389,-2.409755350123534],[0.15271834350544566,-2.309755350112096]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[-0.416760584065788,-1.2794584498081811,0.71338606911949],"aabb_xy":[[-0.4967605862285504,-1.3594136334343245],[-0.33676058190302544,-1.1995032661820373]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[0.09022075354772918,-1.6733125949414343,0.71338606911949],"aabb_xy":[[0.02622075425356095,-1.7372987353102884],[0.1542207528418974,-1.60932645457258]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[-0.07225472199331917,1.798309184722903,0.71338606911949],"aabb_xy":[[-0.09214576187365943,1.7856533734382065],[-0.05236368211297894,1.8109649960076002]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.578480751467264,0.7936938534112454,0.71338606911949],"aabb_xy":[[-0.6153312994042516,0.7561938525882118],[-0.5416302035302764,0.8311938542342793]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[0.5751580756152053,-0.6064590856863794,0.71338606911949],"aabb_xy":[[0.5635890948682687,-0.6314590858033112],[0.5867270563621418,-0.5814590855694478]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.6310502913920069,0.12967644417817237,0.71338606911949],"aabb_xy":[[0.6024009590315906,0.10103088490109655],[0.6596996237524231,0.15832200345524813]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.47128510648438127,-0.8984297657505258,0.71338606911949],"aabb_xy":[[0.38128510280746297,-0.9598621723276299],[0.5612851101612993,-0.8369973591734212]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[-0.07958692897854991,-0.36431610290468663,0.71338606911949],"aabb_xy":[[-0.10208692922206532,-0.37652073756445864],[-0.05708692873503453,-0.35211146824491474]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.35747080884273097,-0.24273019862593426,0.71338606911949],"aabb_xy":[[-0.4474708055783412,-0.29591366194322877],[-0.26747081210712076,-0.18954673530863975]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.6784828576062663,1.695293686840753,0.71338606911949],"aabb_xy":[[0.655969165782809,1.6252936862397456],[0.7009965494297233,1.7652936874417606]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.2966814575995353,-2.3710010145320606,0.71338606911949],"aabb_xy":[[-0.33168145672949095,-2.3767462356077247],[-0.26168145846957963,-2.3652557934563965]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_24","position":[0.3680872917497595,0.6180521432311417,0.71338606911949],"aabb_xy":[[0.28808729478672035,0.5409765015873682],[0.4480872887127987,0.6951277848749151]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[0.537530488920424,1.4733739243726585,0.71338606911949],"aabb_xy":[[0.46753048628383753,1.4532690593767927],[0.6075304915570102,1.4934787893685237]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[0.4109812774234505,-0.2345794069604623,0.71338606911949],"aabb_xy":[[0.3890915298345096,-0.32457940424971143],[0.4328710250123912,-0.1445794096712132]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_27","position":[-0.031592956639489134,0.659680147835707,0.71338606911949],"aabb_xy":[[-0.04482390217417042,0.6464527288137076],[-0.018362011104807834,0.6729075668577065]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_28","position":[-0.11146539556026092,-1.728293243402697,0.71338606911949],"aabb_xy":[[-0.16146467072869708,-1.7782932446786441],[-0.06146612039182474,-1.6782932421267498]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_29","position":[-0.6268399464841592,1.174815299969266,0.71338606911949],"aabb_xy":[[-0.6506761641247644,1.0848152991607796],[-0.6030037288435542,1.2648153007777525]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_30","position":[0.1510467879178392,0.716457064987948,0.71338606911949],"aabb_xy":[[0.08704678933126675,0.6694501015884392],[0.21504678650441167,0.7634640283874566]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_31","position":[0.7096341589352844,-2.0645015823988877,0.71338606911949],"aabb_xy":[[0.6971668008255488,-2.076966907032211],[0.7221015170450201,-2.052036257765564]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_32","position":[0.300693603121869,1.5576564787956557,0.71338606911949],"aabb_xy":[[0.26319360245729023,1.5419694207954333],[0.33819360378644764,1.5733435367958777]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_33","position":[-0.3147553478485513,1.049812357617585,0.71338606911949],"aabb_xy":[[-0.35225534814072607,1.0457708822169816],[-0.27725534755637643,1.0538538330181886]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_34","position":[-0.5330328704789452,-0.48258319845596986,0.71338606911949],"aabb_xy":[[-0.5383653851335581,-0.4879075267012054],[-0.5277003558243323,-0.4772588702107342]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6551874306780221,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2987.png","name":"2987"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2987.png","name":"2987"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9375.png","name":"9375"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4312.png","name":"4312"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4422.png","name":"4422"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/528.png","name":"528"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":577.3693602922732,"rotation_z_degrees":160.3089601224309,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009271267837267665,0.018830132121670024,0.014922380740826257]},{"name":"camera_2","offset_m":[-0.00858332313485271,-0.012398168502428631,-0.012602539940104119]},{"name":"camera_3","offset_m":[-0.017404133858145696,-0.013757525311177278,-0.012725898838585534]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003492499092083816,-0.001027514019814618,0.0006391561821035949],"end_effector_yaw_offset_degrees":0.4435579293397196},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011616761598226928,0.0005518521928680781,-0.0004764124172119519],"end_effector_yaw_offset_degrees":0.5869376170947251},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008215107137701382,-0.0005635832275471468,0.0007270139778312343],"end_effector_yaw_offset_degrees":0.7404342253773095}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002241675467919059,-0.0018320987121121556],"position_m":[0.24124167546791905,-0.05803209871211216,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004549047232464676,-0.002335861229726547],"position_m":[0.2048490472324647,-0.38803586122972655,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001071679314974371,-0.003946570070585342],"position_m":[0.20032832068502562,0.31555342992941465,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002818739047566808,-0.0022466244917448263],"position_m":[0.3439187390475668,0.1657533755082552,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"907e99804291630aa549c31fa5b54848ee8acfe65e4ccb0dd862796753374421","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2987/tex_ceiling_textures_528/tex_floor_textures_4422/tex_table_textures_9375/tex_wall_textures_4312","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4831805699875740956,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4831805699875740956,"visual_seed":4831805699875740956,"scene_id":"lab_003","finished_at":"2026-09-03T19:51:01"} +{"episode_id":"ep_000027","started_at":"2026-09-03T19:51:04","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[-0.6451576656280495,0.6898836646109925,0.71338606911949],"aabb_xy":[[-0.6801576669795313,0.6695239286541717],[-0.6101576642765678,0.7102434005678133]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.2051249322134966,-0.8305241504399448,0.71338606911949],"aabb_xy":[[-0.26912493138326654,-0.8772908375589072],[-0.14112493304372664,-0.7837574633209823]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.15748252841086507,-1.2083267899590155,0.71338606911949],"aabb_xy":[[0.07748253043008003,-1.2159283309208673],[0.23748252639165013,-1.2007252489971634]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[0.6108103679485466,-2.537299345251117,0.71338606911949],"aabb_xy":[[0.6028163793708432,-2.545299425346207],[0.61880435652625,-2.529299265156027]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[-0.5455977386219842,-1.547788830978136,0.71338606911949],"aabb_xy":[[-0.5543789657692205,-1.5565685782666663],[-0.5368165114747482,-1.5390090836896062]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[-0.5458638385660501,-1.7311592077543791,0.71338606911949],"aabb_xy":[[-0.5908638400322791,-1.77615906461586],[-0.5008638370998214,-1.6861593508928987]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.14072912963572615,-1.9369221763648166,0.71338606911949],"aabb_xy":[[0.07072912750429655,-1.9596841419905124],[0.21072913176715563,-1.9141602107391211]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.05414246213566143,0.1687421736075616,0.71338606911949],"aabb_xy":[[-0.059480037801666,0.14374217267842185],[-0.04880488646965686,0.19374217453670142]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.6346798985748845,-2.0028290256483583,0.71338606911949],"aabb_xy":[[-0.6846749095343366,-2.0528290246839505],[-0.5846848876154326,-1.952829026612767]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.14129374261396233,0.7106863856903969,0.71338606911949],"aabb_xy":[[-0.19129374397484955,0.6607084811149813],[-0.09129374125307511,0.7606642902658125]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.4937839075755164,-2.4332052155366215,0.71338606911949],"aabb_xy":[[0.4437907954663246,-2.483205216210817],[0.5437770196847084,-2.383205214862426]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[-0.1761793991922469,-1.9943100998316283,0.71338606911949],"aabb_xy":[[-0.18552640677454213,-2.0086137220492724],[-0.16683239160995167,-1.9800064776139845]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[0.3351168570854244,-2.527336420971603,0.71338606911949],"aabb_xy":[[0.3126204356515603,-2.5498364207783504],[0.3576132785192885,-2.5048364211648555]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[-0.27590977522563426,1.5702246383761724,0.71338606911949],"aabb_xy":[[-0.28187631416637005,1.5642634937168083],[-0.26994323628489847,1.5761857830355366]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.12365896964945433,-0.3485821352584675,0.71338606911949],"aabb_xy":[[-0.17146513726322296,-0.4135821379655264],[-0.07585280203568566,-0.2835821325514085]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[-0.18029240923195644,-2.258153939337112,0.71338606911949],"aabb_xy":[[-0.2452924077890293,-2.287906472750995],[-0.11529241067488363,-2.2284014059232296]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.3985022091182526,-2.254451082114593,0.71338606911949],"aabb_xy":[[0.3486195122405565,-2.3044510813608676],[0.44838490599594893,-2.204451082868318]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.5583347332108479,1.3041857351154698,0.71338606911949],"aabb_xy":[[0.5510734856404403,1.2913987248519603],[0.5655959807812553,1.3169727453789792]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[0.5673462922955492,0.31573639127482256,0.71338606911949],"aabb_xy":[[0.5444305794104994,0.29283209413839906],[0.5902620051805992,0.33864068841124606]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[0.1513422755507413,-2.20889885954874,0.71338606911949],"aabb_xy":[[0.14588432991372124,-2.2888988628563993],[0.15680022118776138,-2.128898856241081]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_20","position":[0.46668186555960345,0.35928635990572744,0.71338606911949],"aabb_xy":[[0.4296477561315436,0.32490915257201797],[0.5037159749876631,0.3936635672394369]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[-0.5355935924278821,-0.465336632468917,0.71338606911949],"aabb_xy":[[-0.6005935934283826,-0.5161229976235919],[-0.47059359142738155,-0.41455026731424205]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[0.41734886890864686,0.8416749419115077,0.71338606911949],"aabb_xy":[[0.36737557490538636,0.7916749413569601],[0.46732216291190726,0.8916749424660548]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[0.2793915522781242,-1.3354969226667786,0.71338606911949],"aabb_xy":[[0.2093915506758447,-1.3489297158684361],[0.34939155388040366,-1.322064129465121]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[-0.054722687352227406,-1.9508891018859509,0.71338606911949],"aabb_xy":[[-0.06513424603271112,-1.9562348352218488],[-0.04431112867174369,-1.945543368550052]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[0.06986328588101487,-1.6260947943325754,0.71338606911949],"aabb_xy":[[0.005863283968672528,-1.6820059435905859],[0.1338632877933572,-1.570183645074565]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[0.22335905891181007,-1.7210205108328358,0.71338606911949],"aabb_xy":[[0.20585905866676063,-1.7385202986724024],[0.2408590591568594,-1.7035207229932687]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[-0.4288269301489504,-2.354126005101337,0.71338606911949],"aabb_xy":[[-0.5088269271119896,-2.4312016467451105],[-0.3488269331859112,-2.2770503634575636]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[0.6194455686121132,-0.25903321031292137,0.71338606911949],"aabb_xy":[[0.5394455681418974,-0.2673439179272698],[0.6994455690823292,-0.25072250269857305]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_29","position":[-0.39244364918909136,1.2589812373907758,0.71338606911949],"aabb_xy":[[-0.47244365244693437,1.1789847295987916],[-0.31244364593124846,1.3389777451827596]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_30","position":[0.4797210412585893,-1.2815424702566647,0.71338606911949],"aabb_xy":[[0.42472879062307833,-1.3365424719999774],[0.5347132918941002,-1.226542468513352]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.651687280049343,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8983.png","name":"8983"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8983.png","name":"8983"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3211.png","name":"3211"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5635.png","name":"5635"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8161.png","name":"8161"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5549.png","name":"5549"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":508.82872481473424,"rotation_z_degrees":5.195800302482305,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007060485144508563,-0.0075168024715608,-0.011631554343111215]},{"name":"camera_2","offset_m":[-0.005285598154897535,0.012425704246338262,-0.014880669812208022]},{"name":"camera_3","offset_m":[-0.01770859077950112,-0.011778533990548295,0.0029869818727673164]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012267634458826729,-0.001497626980831091,-0.0018833151143404297],"end_effector_yaw_offset_degrees":0.7309187331003817},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00124929009367573,0.0002100887574773935,-0.0012903367622115205],"end_effector_yaw_offset_degrees":-0.013397662995115356},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018763090286271346,-0.0006653997458117532,0.0008643262861278552],"end_effector_yaw_offset_degrees":0.6392695516267435}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002473579652129532,-0.0037849568757311013],"position_m":[0.2414735796521295,-0.059984956875731105,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010198120000945278,-0.0012255678252843737],"position_m":[0.20131981200009452,-0.38692556782528437,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00235679478107903,0.004919825475361422],"position_m":[0.20375679478107903,0.3244198254753614,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[3.263211287893048e-05,-0.0036623049882184514],"position_m":[0.3411326321128789,0.16433769501178155,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"98d609d06d54d263ae2aa2ab7f09e16be58e5b3035a4471894e1479cdc908f98","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8983/tex_ceiling_textures_5549/tex_floor_textures_8161/tex_table_textures_3211/tex_wall_textures_5635","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":5541495359031417263,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":5541495359031417263,"visual_seed":5541495359031417263,"scene_id":"lab_003","finished_at":"2026-09-03T19:53:40"} +{"episode_id":"ep_000028","started_at":"2026-09-03T19:53:43","dimensions":{"distractor":{"count":27,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.06318954119239262,0.7521032394283331,0.71338606911949],"aabb_xy":[[-0.0856895417044332,0.7296113810629347],[-0.04068954068035201,0.7745950977937314]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.39816730608719597,0.7624479911464923,0.71338606911949],"aabb_xy":[[0.3341673096916229,0.6984847027277588],[0.46216730248276905,0.8264112795652259]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.5137821053926999,-1.9493955456180458,0.71338606911949],"aabb_xy":[[0.4666527263908641,-2.0133955466624474],[0.5609114843945354,-1.8853955445736434]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.22976366519157065,0.25227775318490187,0.71338606911949],"aabb_xy":[[-0.2640605762093112,0.21798086697496044],[-0.19546675417382997,0.2865746393948432]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.5354549385303805,-1.0085277940595696,0.71338606911949],"aabb_xy":[[-0.5854542136988167,-1.058527795335517],[-0.48545566336194435,-0.9585277927836227]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.10053267497552809,-0.6908091520841202,0.71338606911949],"aabb_xy":[[0.07725083277739675,-0.7758091533813483],[0.12381451717365943,-0.6058091507868921]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.6057685193121755,-0.8467470614393284,0.71338606911949],"aabb_xy":[[-0.6607422413485083,-0.9017470610035617],[-0.5507947972758426,-0.7917470618750954]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[-0.43227244878618254,-1.1874547808732971,0.71338606911949],"aabb_xy":[[-0.5122724461897759,-1.2674473520714797],[-0.352272451382589,-1.107462209675114]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[-0.3347289799138351,-0.4316269183454655,0.71338606911949],"aabb_xy":[[-0.38874457619573505,-0.4956269212377227],[-0.28071338363193504,-0.36762691545320836]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[-0.2684678550539283,-0.7303950687799661,0.71338606911949],"aabb_xy":[[-0.31856531903500185,-0.7943950692897778],[-0.2183703910728546,-0.6663950682701542]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.6554997172735757,0.897392841756878,0.71338606911949],"aabb_xy":[[0.5914997186870032,0.8503858783573691],[0.7194997158601482,0.9443998051563866]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[-0.22941917169032866,-1.175858639635572,0.71338606911949],"aabb_xy":[[-0.23683162723171713,-1.1817098500571996],[-0.2220067161489402,-1.1700074292139437]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.3043885187763191,-0.5307882160359956,0.71338606911949],"aabb_xy":[[0.2995449240150892,-0.5356398685149797],[0.30923211353754915,-0.5259365635570115]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[0.5349588013767519,-2.370218453970684,0.71338606911949],"aabb_xy":[[0.470958801116281,-2.415227253323612],[0.5989588016372226,-2.325209654617756]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.4256734398561963,-2.3125869785738105,0.71338606911949],"aabb_xy":[[-0.4751538610701551,-2.3765869764866623],[-0.37619301864223753,-2.2485869806609586]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.6408159633567181,-1.0506509627600464,0.71338606911949],"aabb_xy":[[0.6233159640786312,-1.0679890628263924],[0.658315962634805,-1.0333128626937005]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[0.5120640913817389,0.5239700283819269,0.71338606911949],"aabb_xy":[[0.49451739646562,0.4864700268176756],[0.5296107862978578,0.5614700299461781]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.07970998156242193,1.6069131895133792,0.71338606911949],"aabb_xy":[[0.04220998298680111,1.594176893849821],[0.11720998013804272,1.619649485176937]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.05098954522030619,-2.4360853307336217,0.71338606911949],"aabb_xy":[[0.0363461396662732,-2.4507440503904054],[0.06563295077433917,-2.421426611076837]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.3191473890771339,-1.7792098276926784,0.71338606911949],"aabb_xy":[[-0.3237825042293672,-1.7830771627698268],[-0.3145122739249005,-1.7753424926155297]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.034915241238036354,-1.324377993682209,0.71338606911949],"aabb_xy":[[-0.048806984262046105,-1.414377997216905],[0.11863746673811881,-1.2343779901475131]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[0.423786659192968,-0.815742851089998,0.71338606911949],"aabb_xy":[[0.3597866577849773,-0.8675318026139226],[0.48778666060095865,-0.7639538995660732]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[-0.4414698400304369,0.6292163787286316,0.71338606911949],"aabb_xy":[[-0.471954090157467,0.5792163789471356],[-0.41098558990340667,0.6792163785101275]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.04791841316270595,-1.6168922140160102,0.71338606911949],"aabb_xy":[[-0.06797682477594624,-1.6369573009251677],[-0.027860001549465663,-1.5968271271068528]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_24","position":[-0.676215793808026,-2.0558258233641746,0.71338606911949],"aabb_xy":[[-0.6827174303160305,-2.0655936453904844],[-0.6697141573000213,-2.046058001337865]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[-0.28958133450480017,-2.2439786611786383,0.71338606911949],"aabb_xy":[[-0.3014534175163013,-2.328978660872288],[-0.27770925149329906,-2.1589786614849875]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_26","position":[0.17869809087068267,-2.2682480248173524,0.71338606911949],"aabb_xy":[[0.16436366574451924,-2.280308240371891],[0.19303251599684615,-2.256187809262814]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6539760361554682,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1213.png","name":"1213"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1213.png","name":"1213"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7739.png","name":"7739"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/164.png","name":"164"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5874.png","name":"5874"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8921.png","name":"8921"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":573.0966298447031,"rotation_z_degrees":99.13109999488016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013782815867798427,-0.018966258259560803,0.0006690697198159408]},{"name":"camera_2","offset_m":[0.016611861597428768,0.007554248257795732,0.003035614543545208]},{"name":"camera_3","offset_m":[-0.012121468119750825,-0.015759429688135623,-0.002554672649165403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001011980316649916,-0.0011488158576090464,-0.0008918585920764839],"end_effector_yaw_offset_degrees":-0.06899754847210615},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006219869359068827,0.0012250337522622832,-0.00012440851480648401],"end_effector_yaw_offset_degrees":0.5220281909419424},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018799493820444543,-8.675947892539549e-05,0.001781983603484518],"end_effector_yaw_offset_degrees":0.013045589984359118}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038591768556329514,-0.0023701126975841026],"position_m":[0.24285917685563294,-0.0585701126975841,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00126979776724936,-0.004732382639882614],"position_m":[0.20156979776724937,-0.3904323826398826,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003992015639230916,-0.0007244482962961794],"position_m":[0.1974079843607691,0.3187755517037038,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004630907750873701,-0.00212153045602155],"position_m":[0.34573090775087373,0.16587846954397847,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b3bda8672f38c5cbd56d27acd6d11cc5181971a8d4e5ae7b274aa7a5bb357217","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1213/tex_ceiling_textures_8921/tex_floor_textures_5874/tex_table_textures_7739/tex_wall_textures_164","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":1324769993306074997,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":1324769993306074997,"visual_seed":1324769993306074997,"scene_id":"lab_003","finished_at":"2026-09-03T19:56:35"} +{"episode_id":"ep_000029","started_at":"2026-09-03T19:56:38","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[0.49769156889853994,-2.5218041732938983,0.71338606911949],"aabb_xy":[[0.45056218989670427,-2.5858041743383],[0.5448209479003756,-2.457804172249496]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.003921269783978221,0.7892821347595693,0.71338606911949],"aabb_xy":[[-0.06607873234745132,0.7665201691338736],[0.07392127191540776,0.8120441003852649]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.5531362517230718,1.0108405439244827,0.71338606911949],"aabb_xy":[[-0.5706362519681211,0.9933407560849158],[-0.5356362514780223,1.0283403317640494]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.17306850386148942,0.5857476670946484,0.71338606911949],"aabb_xy":[[-0.22306850422205543,0.5357676798850454],[-0.12306850350092331,0.6357276543042513]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.49400336497281816,-0.7467772655635543,0.71338606911949],"aabb_xy":[[0.4300033685772451,-0.8107405539822878],[0.5580033613683912,-0.6828139771448207]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.19160491559468384,-2.371931114626529,0.71338606911949],"aabb_xy":[[0.1760491461844186,-2.3874815478709364],[0.20716068500494916,-2.356380681382122]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[-0.11895796528144353,-1.4016775249846618,0.71338606911949],"aabb_xy":[[-0.12429047993605653,-1.4070018532298973],[-0.11362545062683056,-1.3963531967394263]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[-0.6676079934205305,1.6683534350720275,0.71338606911949],"aabb_xy":[[-0.6852836240091287,1.6506732187926245],[-0.649932362831932,1.68603365135143]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.06185329558486208,1.1641425635404463,0.71338606911949],"aabb_xy":[[0.0268532963920438,1.1531755175427836],[0.09685329477768033,1.1751096095381086]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[0.3896022312654259,0.5418773070652292,0.71338606911949],"aabb_xy":[[0.37919067258494216,0.5365315737293306],[0.4000137899459096,0.5472230404011276]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.41005037485772605,-1.531350384835235,0.71338606911949],"aabb_xy":[[-0.4212954304283439,-1.54259218255933],[-0.3988053192871082,-1.5201085871111395]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[-0.2135424364997907,-1.6684700253923992,0.71338606911949],"aabb_xy":[[-0.23545111863914173,-1.6903706922124897],[-0.19163375436043964,-1.6465693585723082]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.22914650509854945,-0.5158470950270599,0.71338606911949],"aabb_xy":[[-0.29414650620449273,-0.5408124680951883],[-0.16414650399260616,-0.49088172195893176]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.11328329062158504,0.3736062498647259,0.71338606911949],"aabb_xy":[[-0.17728328991575326,0.3096201094958717],[-0.04928329132741682,0.4375923902335801]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.27005028213340027,1.6563576051764675,0.71338606911949],"aabb_xy":[[-0.2929659950184502,1.6334533080400444],[-0.24713456924835042,1.6792619023128914]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.2998353565905645,-1.8532086514319612,0.71338606911949],"aabb_xy":[[-0.30787169129184927,-1.861246770736378],[-0.2917990218892796,-1.8451705321275444]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.4708415310265537,-0.7699460521280235,0.71338606911949],"aabb_xy":[[-0.47527216038139397,-0.7753944238627062],[-0.4664109016717136,-0.764497680393341]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[0.6313233754034038,0.04441686223978403,0.71338606911949],"aabb_xy":[[0.5860447605222545,-0.019583137108399658],[0.676601990284553,0.1084168615879677]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[-0.5658307498542786,-1.417345408790678,0.71338606911949],"aabb_xy":[[-0.6458307509273989,-1.4271234551280625],[-0.4858307487811583,-1.4075673624532936]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.47503058072506266,-1.0555437278483573,0.71338606911949],"aabb_xy":[[-0.49253058000314953,-1.0728818279147032],[-0.4575305814469758,-1.0382056277820113]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.1601416290688068,1.2839470934494286,0.71338606911949],"aabb_xy":[[-0.16776589715898504,1.2763138699128849],[-0.15251736097862856,1.2915803169859723]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[-0.22743357846665085,-1.056489706370294,0.71338606911949],"aabb_xy":[[-0.23277115413265542,-1.0814897072994338],[-0.22209600280064629,-1.0314897054411543]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[0.3487386928205678,-1.587347120609765,0.71338606911949],"aabb_xy":[[0.2847386955349191,-1.6288538395626089],[0.4127386901062164,-1.545840401656921]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.09980296882610218,-1.3982395379311106,0.71338606911949],"aabb_xy":[[0.06230296731047047,-1.4094663109472554],[0.1373029703417339,-1.3870127649149653]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_24","position":[0.02102056083489945,1.38188417374813,0.71338606911949],"aabb_xy":[[0.012994290204273447,1.3731326787707774],[0.029046831465525443,1.3906356687254826]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[-0.27741313098630166,0.12974900963024538,0.71338606911949],"aabb_xy":[[-0.2952066379212181,0.11194926403444772],[-0.2596196240513852,0.14754875522604305]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[-0.37373742652644165,-1.2259904313196897,0.71338606911949],"aabb_xy":[[-0.39041456251953716,-1.24269035529362],[-0.35706029053334615,-1.2092905073457594]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[-0.4735081748272115,-0.5573801143803485,0.71338606911949],"aabb_xy":[[-0.5535081780912247,-0.5709401466892619],[-0.3935081715631984,-0.5438200820714352]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_28","position":[-0.15008228866301065,-2.4801735129701092,0.71338606911949],"aabb_xy":[[-0.2140822900710013,-2.531962464494034],[-0.08608228725501997,-2.4283845614461845]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_29","position":[0.5495391105024252,-1.7451638076868274,0.71338606911949],"aabb_xy":[[0.5122078339771826,-1.7798168624816797],[0.5868703870276678,-1.7105107528919752]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6511036521288406,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5449.png","name":"5449"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5449.png","name":"5449"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/804.png","name":"804"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8033.png","name":"8033"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6429.png","name":"6429"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7309.png","name":"7309"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":603.8946313855455,"rotation_z_degrees":114.70814126459669,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012585203336370403,0.004895314979650848,0.01930541536518719]},{"name":"camera_2","offset_m":[-0.0021292903706590545,0.019888567800878425,-0.015466868556580846]},{"name":"camera_3","offset_m":[0.004467531764330155,-0.007720943658491556,0.01712185391099672]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007830528129600701,0.0011589019022665132,0.0005736785735423419],"end_effector_yaw_offset_degrees":0.4142196279454835},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00043226612673018423,-0.0009381595872115938,-0.0010931031693654574],"end_effector_yaw_offset_degrees":0.7200179651492638},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016677530386843393,-0.0012565492767467623,0.0006431331116698259],"end_effector_yaw_offset_degrees":-0.7558224164007459}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003125999146972604,0.001930862305375306],"position_m":[0.24212599914697258,-0.05426913769462469,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010779139863686064,-0.0001628351779214268],"position_m":[0.20137791398636862,-0.3858628351779214,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-4.90097160591842e-05,-0.0013346036313300557],"position_m":[0.20135099028394082,0.31816539636867,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035308211248613304,-0.001247936449599629],"position_m":[0.3446308211248613,0.16675206355040037,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"00c74dae5c8a80b20a4e35f996dccd782bd483256d73f9c7af8f83f4ca9e4882","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0029.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5449/tex_ceiling_textures_7309/tex_floor_textures_6429/tex_table_textures_804/tex_wall_textures_8033","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6468072673748169710,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6468072673748169710,"visual_seed":6468072673748169710,"scene_id":"lab_003","finished_at":"2026-09-03T19:59:25"} +{"episode_id":"ep_000030","started_at":"2026-09-03T19:59:28","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[0.5969327547440784,-1.3263567588662077,0.71338606911949],"aabb_xy":[[0.5469327543835123,-1.3763367460758107],[0.6469327551046444,-1.2763767716566048]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.4609163765572688,0.872890109922734,0.71338606911949],"aabb_xy":[[0.41092136559781683,0.8228901108871426],[0.5109113875167208,0.922890108958326]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[-0.4136273831047865,0.7446662114072149,0.71338606911949],"aabb_xy":[[-0.41754125630020905,0.7359171960006581],[-0.409713509909364,0.7534152268137717]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[0.03549271102343832,-1.842909753341047,0.71338606911949],"aabb_xy":[[0.00716300107489809,-1.8473704955347643],[0.06382242097197854,-1.8384490111473302]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.4042043975408304,1.7632300971096195,0.71338606911949],"aabb_xy":[[-0.41477187719892944,1.7526850669966108],[-0.3936369178827314,1.7737751272226279]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[-0.039914837927145674,1.6000992105023237,0.71338606911949],"aabb_xy":[[-0.08772100554091433,1.5350992077952643],[0.007891329686622975,1.6650992132093823]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[-0.5616160936464571,-0.6188062805684647,0.71338606911949],"aabb_xy":[[-0.5798219173077048,-0.6298316811504563],[-0.5434102699852095,-0.607780879986473]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[-0.5407684706133336,-2.3971662721959817,0.71338606911949],"aabb_xy":[[-0.5484716612874105,-2.40487564289472],[-0.5330652799392566,-2.3894569014972435]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[0.14513361354580345,0.9667715948039919,0.71338606911949],"aabb_xy":[[0.12734010661088702,0.9489718492081941],[0.1629271204807199,0.9845713403997894]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[0.17725686497251703,1.3011175570748352,0.71338606911949],"aabb_xy":[[0.15982614989351052,1.2838454424109842],[0.19468758005152353,1.3183896717386858]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.19956537166578325,-1.9403664005550003,0.71338606911949],"aabb_xy":[[0.17706895023191913,-1.962866400361748],[0.22206179309964733,-1.917866400748253]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[-0.4383009007408492,-1.4102416167893155,0.71338606911949],"aabb_xy":[[-0.4882741947441096,-1.4602416173438626],[-0.3883276067375887,-1.360241616234768]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.3557905994709534,-1.569925478413318,0.71338606911949],"aabb_xy":[[0.3457088923923799,-1.6499254763054327],[0.36587230654952685,-1.4899254805212034]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.1860474549307941,0.6173958181049546,0.71338606911949],"aabb_xy":[[0.18070987926478957,0.5923958171758149],[0.1913850305967987,0.6423958190340945]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.12297217548877715,-0.7456341728711988,0.71338606911949],"aabb_xy":[[-0.17698777177067715,-0.8096341757634558],[-0.06895657920687713,-0.6816341699789414]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[0.6463043435952291,-2.3002171649319254,0.71338606911949],"aabb_xy":[[0.5813043457135815,-2.3513408286384663],[0.711304341476877,-2.2490935012253845]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.4161179170483645,0.5024951344094855,0.71338606911949],"aabb_xy":[[-0.45736672807827916,0.44749513489726805],[-0.3748691060184497,0.5574951339217029]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.07242519709156248,1.3499480122023866,0.71338606911949],"aabb_xy":[[-0.14242519890030791,1.3285942434381992],[-0.0024251952828170387,1.371301780966574]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[0.34269608350437886,-2.3760934500733053,0.71338606911949],"aabb_xy":[[0.29992937662495867,-2.4400934534951073],[0.38546279038379905,-2.3120934466515024]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[0.3585267645747465,1.156177416462059,0.71338606911949],"aabb_xy":[[0.30340155894515564,1.096177415020772],[0.4136519702043372,1.2161774179033462]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[-0.5641104810180094,-2.255474623904086,0.71338606911949],"aabb_xy":[[-0.5792826502996428,-2.2706434808322893],[-0.5489383117363761,-2.240305766975883]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.1491095908363853,1.6545749386266473,0.71338606911949],"aabb_xy":[[0.11056389801118427,1.6160291675704586],[0.18765528366158635,1.693120709682836]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[0.10787194763247132,-1.138186760460285,0.71338606911949],"aabb_xy":[[0.017871951131599572,-1.1840984028787431],[0.19787194413334308,-1.0922751180418266]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.23233593956277204,1.666738637876192,0.71338606911949],"aabb_xy":[[-0.2667982869609138,1.6322447554783688],[-0.19787359216463019,1.7012325202740142]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[0.5822613573025981,1.7035056185758246,0.71338606911949],"aabb_xy":[[0.5452272478745382,1.669128411242115],[0.6192954667306577,1.7378828259095338]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.3585406223949372,1.4758800385640192,0.71338606911949],"aabb_xy":[[0.3035406232183477,1.420890363789061],[0.41354062157152666,1.5308697133389764]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[-0.32243011410285,1.346650583989125,0.71338606911949],"aabb_xy":[[-0.33114408315278443,1.3241505833299365],[-0.31371614505291545,1.369150584648313]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_27","position":[-0.26050412024901853,0.838900761539521,0.71338606911949],"aabb_xy":[[-0.2651392354012519,0.8350334264623721],[-0.25586900509678506,0.8427680966166694]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[0.37806582992254745,-1.7973859193761275,0.71338606911949],"aabb_xy":[[0.314065831335975,-1.8443928827756362],[0.4420658285091199,-1.7503789559766187]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_29","position":[-0.2926606344217674,-2.231714329766576,0.71338606911949],"aabb_xy":[[-0.32130996678218354,-2.2603598890436514],[-0.2640113020613511,-2.2030687704895]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[0.41075952787115066,1.7115063602997975,0.71338606911949],"aabb_xy":[[0.37575952651966893,1.691146624342977],[0.4457595292226324,1.7318660962566186]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_31","position":[-0.41801826754725835,0.07265342996199387,0.71338606911949],"aabb_xy":[[-0.4480099302811287,0.042653430625193334],[-0.388026604813388,0.1026534292987944]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_32","position":[-0.32845700537222133,-0.26417024147121415,0.71338606911949],"aabb_xy":[[-0.39245700466638955,-0.32815638184006835],[-0.2644570060780531,-0.20018410110235996]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_33","position":[0.1568779123360392,-1.6245258709506483,0.71338606911949],"aabb_xy":[[0.07687791493244577,-1.7045184421488309],[0.2368779097396326,-1.5445332997524652]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_34","position":[-0.2064393553126615,0.36136756846577045,0.71338606911949],"aabb_xy":[[-0.24862376947349227,0.2973675681885593],[-0.16425494115183079,0.4253675687429817]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6457105373319946,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4850.png","name":"4850"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4850.png","name":"4850"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3682.png","name":"3682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3791.png","name":"3791"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3220.png","name":"3220"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8315.png","name":"8315"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":723.0047312563373,"rotation_z_degrees":299.71052025667586,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013438878331416031,0.01018274946258508,0.0004283865559106641]},{"name":"camera_2","offset_m":[0.007858051914959769,-0.005880428586421056,-0.007921390629790186]},{"name":"camera_3","offset_m":[0.007478037831348323,-0.011196896270552172,-0.016336544151218914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005182806491340728,-0.0003442156627288689,0.0008572165707262441],"end_effector_yaw_offset_degrees":-0.6177979222811045},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00047205167834130676,0.0006026152950535588,0.0008833873666334617],"end_effector_yaw_offset_degrees":0.44667669671167},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00042828230017093226,0.0018941966462246301,-0.0005720336391295583],"end_effector_yaw_offset_degrees":0.7202525824874528}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002200396916934545,-0.0017406245428429356],"position_m":[0.24120039691693454,-0.05794062454284293,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00300950212922399,0.0033822830861521573],"position_m":[0.19729049787077602,-0.3823177169138478,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029562395589441516,-0.004654654628704587],"position_m":[0.20435623955894414,0.31484534537129544,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017281714014708116,0.0006687582504199506],"position_m":[0.3393718285985292,0.16866875825041996,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4b7788dde089ad2eb1d5a2be3daa21ec82a531c2e3ed49bf81dfb8be5b8a15e6","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0030.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4850/tex_ceiling_textures_8315/tex_floor_textures_3220/tex_table_textures_3682/tex_wall_textures_3791","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7571795544095679249,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7571795544095679249,"visual_seed":7571795544095679249,"scene_id":"lab_003","finished_at":"2026-09-03T20:02:27"} +{"episode_id":"ep_000031","started_at":"2026-09-03T20:02:32","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[0.5249623103862426,1.3394454380936027,0.71338606911949],"aabb_xy":[[0.4449623071283997,1.259448930301619],[0.6049623136440856,1.419441945885587]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.03880681138113573,1.4972210414777636,0.71338606911949],"aabb_xy":[[0.035366135141078565,1.493359608503399],[0.04224748762119291,1.5010824744521283]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.1920935486971168,-2.121777113989793,0.71338606911949],"aabb_xy":[[-0.2145899701309809,-2.144277113796541],[-0.1695971272632527,-2.099277114183046]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[-0.09097207080341474,0.7576131595237703,0.71338606911949],"aabb_xy":[[-0.10026568904056532,0.7201131610356364],[-0.08167845256626416,0.7951131580119042]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.17240693111278804,1.3015085670976063,0.71338606911949],"aabb_xy":[[0.14857071347218298,1.21150856628912],[0.19624314875339313,1.391508567906093]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.020011701170128293,-1.50294509649782,0.71338606911949],"aabb_xy":[[-0.02822624628581227,-1.5116216867954613],[-0.011797156054444312,-1.4942685062001786]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.01713017404409789,-2.3643591608988035,0.71338606911949],"aabb_xy":[[-0.011519158316318338,-2.393004720175879],[0.045779506404514114,-2.3357136016217273]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.37247385525649035,-1.5694882118311593,0.71338606911949],"aabb_xy":[[-0.3766097115891906,-1.6069882112755165],[-0.3683379989237902,-1.5319882123868025]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[-0.11348856359909165,1.7877182923243482,0.71338606911949],"aabb_xy":[[-0.11833215836032161,1.782866639845364],[-0.10864496883786166,1.7925699448033323]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[-0.33211365823003447,0.23785036122100145,0.71338606911949],"aabb_xy":[[-0.3871136564317793,0.19732839459456383],[-0.27711366002828963,0.278372327847439]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[-0.6172634757653063,-2.32742877044834,0.71338606911949],"aabb_xy":[[-0.6251867560040546,-2.349928770686343],[-0.6093401955265579,-2.3049287702103363]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[0.6654970067197694,-1.8103155822487607,0.71338606911949],"aabb_xy":[[0.647703499784853,-1.8281153278445583],[0.6832905136546858,-1.792515836652963]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[-0.2655162322210961,-1.0502487370733118,0.71338606911949],"aabb_xy":[[-0.27493370679095885,-1.0596649142110306],[-0.25609875765123336,-1.0408325599355925]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.5067409295444412,-1.3662237165359574,0.71338606911949],"aabb_xy":[[0.44274092749470917,-1.4063181996252654],[0.5707409315941732,-1.3261292334466495]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[-0.6680105524626285,1.2339139153330714,0.71338606911949],"aabb_xy":[[-0.6838950457279536,1.2195609750342473],[-0.6521260591973033,1.2482668556318954]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.40269114138601053,-2.2136850571601303,0.71338606911949],"aabb_xy":[[-0.44982052038784615,-2.277685058204532],[-0.3555617623841748,-2.149685056115728]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.6883654405810165,-2.5501752457509927,0.71338606911949],"aabb_xy":[[0.6583978836711908,-2.580175246048879],[0.7183329974908421,-2.5201752454531072]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[-0.333154449938028,-0.7323345116550555,0.71338606911949],"aabb_xy":[[-0.3831318668032816,-0.782334513144304],[-0.2831770330727744,-0.6823345101658069]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.1001844322963763,-0.005060091080874685,0.71338606911949],"aabb_xy":[[-0.13668025292365504,-0.04154403350763225],[-0.06368861166909756,0.03142385134588288]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[0.6630642095732606,-1.5121432053342967,0.71338606911949],"aabb_xy":[[0.6567521100369224,-1.5179101445875156],[0.6693763091095991,-1.5063762660810778]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.30398685605263254,1.3723523150374612,0.71338606911949],"aabb_xy":[[-0.3127008251025669,1.3498523143782728],[-0.29527288700269794,1.3948523156966492]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[-0.3897185338297647,1.7740526358998934,0.71338606911949],"aabb_xy":[[-0.4397135447892168,1.7240526368643019],[-0.3397235228703127,1.8240526349354853]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.42846986999249204,-0.28100008526911413,0.71338606911949],"aabb_xy":[[-0.4984698664024538,-0.3014380209207957],[-0.3584698735825302,-0.26056214961743224]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.15349595525177473,-1.6987441504114695,0.71338606911949],"aabb_xy":[[0.14546968462114873,-1.7074956453888224],[0.16152222588240073,-1.6899926554341171]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[0.2631227342746679,1.4743596470964024,0.71338606911949],"aabb_xy":[[0.22964356701362704,1.4408805337252957],[0.2966019015357089,1.5078387604675096]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[0.23677004605966634,-1.8707423718830818,0.71338606911949],"aabb_xy":[[0.17277434866456973,-1.9347423701837905],[0.3007657434547629,-1.806742373582373]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6477035386537929,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2490.png","name":"2490"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2490.png","name":"2490"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/728.png","name":"728"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6254.png","name":"6254"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8496.png","name":"8496"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/849.png","name":"849"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":592.8807711739703,"rotation_z_degrees":37.278195470535366,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014934027413288711,-0.019335086890809018,-0.013186374043999468]},{"name":"camera_2","offset_m":[0.0078078610211870375,0.007944550130157099,-0.0059993022174997055]},{"name":"camera_3","offset_m":[0.016491769739361718,-0.01272149320118161,0.01094392685736981]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001918488572353785,3.187370105601703e-05,0.001710017645478254],"end_effector_yaw_offset_degrees":-0.3508473421273961},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016736795498008532,0.0004842880669739527,-0.0002376490519634569],"end_effector_yaw_offset_degrees":0.9571293976237163},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00012417971314106777,0.00022849902668119074,0.00013623445480279248],"end_effector_yaw_offset_degrees":0.46235991148494926}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004209804558813566,0.002801104750622678],"position_m":[0.23942098045588134,-0.05339889524937732,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00031856344155134497,0.004556976841620341],"position_m":[0.20061856344155135,-0.38114302315837967,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002445390366914625,0.004019534395648631],"position_m":[0.20384539036691462,0.3235195343956486,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0039623500822970606,0.004986270095546677],"position_m":[0.3450623500822971,0.17298627009554668,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bf64a0e2d9141fd2d53a835031d25b7c99db46216ed07fb680e29872b7b58c8b","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2490/tex_ceiling_textures_849/tex_floor_textures_8496/tex_table_textures_728/tex_wall_textures_6254","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4792428935008969880,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4792428935008969880,"visual_seed":4792428935008969880,"scene_id":"lab_003","finished_at":"2026-09-03T20:05:12"} +{"episode_id":"ep_000032","started_at":"2026-09-03T20:05:15","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.06947858659096051,0.4033356594791786,0.71338606911949],"aabb_xy":[[-0.10447858578377876,0.39236861348151597],[-0.03447858739814223,0.4143027054768412]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[0.13605832630319015,-0.7380887093909634,0.71338606911949],"aabb_xy":[[0.13235506497405125,-0.7417907276996811],[0.139761587632329,-0.7343866910822454]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[0.5969500780269741,-1.5845887763159159,0.71338606911949],"aabb_xy":[[0.5717292411671343,-1.6098125271688024],[0.6221709148868136,-1.559365025463029]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.35309581523536293,-1.1453733566667719,0.71338606911949],"aabb_xy":[[0.3413276284407054,-1.2303733565719934],[0.36486400203002045,-1.0603733567615503]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.06100922352635174,1.2329653222546981,0.71338606911949],"aabb_xy":[[-0.08555543914910245,1.202716425705661],[-0.03646300790360101,1.2632142188037352]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[0.4929780773646848,0.5459165720246113,0.71338606911949],"aabb_xy":[[0.47047807685264414,0.523424713659213],[0.5154780778767254,0.5684084303900097]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[0.5271792497500305,-2.201284363244891,0.71338606911949],"aabb_xy":[[0.49721169284020483,-2.231284363542777],[0.5571468066598562,-2.171284362947005]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.5561828763034922,-0.40000214497541053,0.71338606911949],"aabb_xy":[[0.5522223925337579,-0.40767000956093113],[0.5601433600732266,-0.39233428038988993]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[-0.17717435093088862,-2.496486985377066,0.71338606911949],"aabb_xy":[[-0.26717434766649883,-2.54967044869436],[-0.08717435419527839,-2.443303522059771]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[-0.31486349458276464,0.1690551340107862,0.71338606911949],"aabb_xy":[[-0.33265700151768113,0.15125538841498853],[-0.29706998764784825,0.18685487960658387]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.30561868842486367,-2.018207894333129,0.71338606911949],"aabb_xy":[[-0.3856186870121831,-2.0975234962712896],[-0.22561868983754427,-1.938892292394968]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[0.08163057573478805,-1.0247642081886297,0.71338606911949],"aabb_xy":[[0.02400010684751718,-1.0847642071153398],[0.13926104462205888,-0.9647642092619186]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[0.1172345652454746,-1.3199318926487518,0.71338606911949],"aabb_xy":[[0.08375539798443368,-1.353411006019859],[0.15071373250651557,-1.286452779277645]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[0.009004774938446758,0.9503787271569859,0.71338606911949],"aabb_xy":[[-0.00920104872280092,0.9393533265749942],[0.027210598599694436,0.9614041277389774]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.5818524307570344,-0.4528301985037704,0.71338606911949],"aabb_xy":[[-0.6618524281606277,-0.5328227697019531],[-0.5018524333534409,-0.3728376273055875]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.4374777716607677,-0.6931684884059905,0.71338606911949],"aabb_xy":[[-0.5014777749504757,-0.736503407409908],[-0.37347776837105956,-0.6498335694020728]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.06921331438695577,-2.1906959456299786,0.71338606911949],"aabb_xy":[[0.05134420663250028,-2.2045288536071896],[0.08708242214141126,-2.1768630376527676]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.21763974469761566,0.9189366906538639,0.71338606911949],"aabb_xy":[[-0.22644180000658834,0.9111253644989348],[-0.20883768938864292,0.9267480168087929]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.029074037836657407,1.752801119517256,0.71338606911949],"aabb_xy":[[-0.06353651584974518,1.746137442334333],[0.005388440176430368,1.7594647967001784]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.6772357949408887,1.654471273175091,0.71338606911949],"aabb_xy":[[-0.6903870409121781,1.629471273418405],[-0.6640845489695993,1.679471272931778]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.5065518120282091,-0.2563195796514841,0.71338606911949],"aabb_xy":[[0.42655181155799315,-0.2646302872658325],[0.586551812498425,-0.24800887203713573]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[-0.23132445179002453,-1.5084076717028256,0.71338606911949],"aabb_xy":[[-0.2863199296106839,-1.5634076731367323],[-0.17632897396936514,-1.4534076702689185]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[0.04023967289802688,-1.897571788504815,0.71338606911949],"aabb_xy":[[0.035396078136796905,-1.902423440983799],[0.045083267659256854,-1.8927201360258308]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[-0.14657756412549905,-0.043159952559368,0.71338606911949],"aabb_xy":[[-0.18157756547698078,-0.06351968851618882],[-0.11157756277401733,-0.02280021660254716]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_24","position":[-0.19710132021417065,0.5027397135457652,0.71338606911949],"aabb_xy":[[-0.20414277116491825,0.49571296180797064],[-0.19005986926342305,0.5097664652835597]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.32772709776043396,-0.13155830646598377,0.71338606911949],"aabb_xy":[[-0.36202400877817453,-0.1658551926759251],[-0.2934301867426933,-0.09726142025604237]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[0.640934746581824,1.0891510597867176,0.71338606911949],"aabb_xy":[[0.5769347449038266,1.0406336683074033],[0.7049347482598213,1.1376684512660318]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[-0.6354218867171216,-1.2492868264170625,0.71338606911949],"aabb_xy":[[-0.6579355785405787,-1.3192868270180698],[-0.6129081948936643,-1.1792868258160547]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_28","position":[0.4999800299301165,0.7102780632720727,0.71338606911949],"aabb_xy":[[0.41498003151269325,0.6254037678097876],[0.5849800283475397,0.7951523587343575]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_29","position":[-0.6362925727905864,0.6095386801986198,0.71338606911949],"aabb_xy":[[-0.6433328827241234,0.5295386807989484],[-0.6292522628570494,0.6895386795982912]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_30","position":[-0.32176613446931535,1.3157501382933563,0.71338606911949],"aabb_xy":[[-0.3522503845963455,1.2657501385118604],[-0.2912818843422852,1.3657501380748522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6534473560920457,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1446.png","name":"1446"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1446.png","name":"1446"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9006.png","name":"9006"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/238.png","name":"238"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1175.png","name":"1175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8448.png","name":"8448"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":844.0050341723136,"rotation_z_degrees":202.23179500264035,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007381770890694295,-0.006881330835938528,-0.011232064386919833]},{"name":"camera_2","offset_m":[-0.014360223561527895,0.00434686567017736,0.01423287980390411]},{"name":"camera_3","offset_m":[-0.002532060777523836,-0.009123237744809606,0.003434668152668685]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001715253750471676,0.0015881986818211745,0.0014686443880089104],"end_effector_yaw_offset_degrees":0.9452995442066154},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006775966967965559,0.000514224864907333,0.0003179985066216651],"end_effector_yaw_offset_degrees":-0.05054929573215916},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012566944671015155,-0.0010379737776056324,6.408207434521014e-05],"end_effector_yaw_offset_degrees":0.41788803723157897}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00012827298481291396,-0.004752283151933169],"position_m":[0.23887172701518708,-0.06095228315193317,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030581341103001333,-0.0014261360634635965],"position_m":[0.20335813411030013,-0.3871261360634636,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004959455445113497,0.0037055264926103256],"position_m":[0.2063594554451135,0.3232055264926103,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014579320073479307,0.0044236482367133205],"position_m":[0.33964206799265206,0.17242364823671333,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c9278176804c763193966bf631499200f947a499e14e1007103c5d5f1dc213a","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1446/tex_ceiling_textures_8448/tex_floor_textures_1175/tex_table_textures_9006/tex_wall_textures_238","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":8172936452889103940,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":8172936452889103940,"visual_seed":8172936452889103940,"scene_id":"lab_003","finished_at":"2026-09-03T20:07:54"} +{"episode_id":"ep_000033","started_at":"2026-09-03T20:07:57","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[0.23286187336092634,-1.2656262747460034,0.71338606911949],"aabb_xy":[[0.19536187306875152,-1.269667750146607],[0.27036187365310116,-1.2615847993454]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.14525762997030267,-1.0869145829687443,0.71338606911949],"aabb_xy":[[0.09525762901976986,-1.1184637299722657],[0.19525763092083548,-1.055365435965223]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[-0.520973876490729,1.1874934997335829,0.71338606911949],"aabb_xy":[[-0.5760990821203197,1.1274934982922955],[-0.4658486708611382,1.2474935011748698]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.5460370865107083,0.3387322946075213,0.71338606911949],"aabb_xy":[[-0.5888037933901284,0.27473229118571885],[-0.5032703796312881,0.40273229802932375]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[0.5535026407260561,-2.3037001951284943,0.71338606911949],"aabb_xy":[[0.5083313228778873,-2.3677001922730327],[0.5986739585742252,-2.239700197983956]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.29958006748552624,0.6504239427268361,0.71338606911949],"aabb_xy":[[0.28402429807526103,0.6348735094824289],[0.31513583689579155,0.6659743759712433]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[0.4431890553082356,-0.23372386177611704,0.71338606911949],"aabb_xy":[[0.39319594319904383,-0.28372386245031267],[0.4931821674174276,-0.1837238611019214]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.5561947165251883,-0.3676522048475417,0.71338606911949],"aabb_xy":[[-0.6061947159653838,-0.417620129331858],[-0.5061947170849925,-0.3176842803632254]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[-0.26856471998757664,-1.6849298904530685,0.71338606911949],"aabb_xy":[[-0.291846562185708,-1.7699298917502964],[-0.24528287778944532,-1.5999298891558402]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[0.5033868714295358,0.5529578628210574,0.71338606911949],"aabb_xy":[[0.45328940744846213,0.4889578623112456],[0.5534843354106094,0.6169578633308692]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.21194601256639733,1.5085126447121895,0.71338606911949],"aabb_xy":[[0.20563391303005887,1.5027457054589706],[0.21825811210273574,1.5142795839654084]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.006099442192421645,1.6935657202134737,0.71338606911949],"aabb_xy":[[-0.07890055622500158,1.608691424751189],[0.09109944060984487,1.778440015675759]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.2742469274864909,1.7048048548902197,0.71338606911949],"aabb_xy":[[-0.2822409160641942,1.6968047747951294],[-0.26625293890878743,1.71280493498531]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.6026652285957143,-1.3028160081122495,0.71338606911949],"aabb_xy":[[-0.6068010849284144,-1.3403160075566067],[-0.5985293722630141,-1.2653160086678927]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.5515775975487751,-1.8724036942556321,0.71338606911949],"aabb_xy":[[-0.566679899009793,-1.8875052158866936],[-0.5364752960877568,-1.8573021726245702]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.586156977710348,1.5296976825504536,0.71338606911949],"aabb_xy":[[-0.5935694332517365,1.5238464721288256],[-0.5787445221689596,1.5355488929720815]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[0.5414340725211666,0.8854296193453322,0.71338606911949],"aabb_xy":[[0.5225496887526564,0.8665436945649794],[0.5603184562896768,0.9043155441256849]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.5828880211914229,1.758558480046831,0.71338606911949],"aabb_xy":[[0.49788802249934816,1.7265726166519522],[0.6678880198834974,1.7905443434417099]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[-0.4183117439127046,-0.30885570810847396,0.71338606911949],"aabb_xy":[[-0.4343736713712223,-0.3938557099210657],[-0.402249816454187,-0.2238557062958821]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[0.6083508970952141,-2.1095161349213485,0.71338606911949],"aabb_xy":[[0.5443508963917447,-2.15553451739427],[0.6723508977986834,-2.063497752448428]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.03583532523685806,-1.6502562627052788,0.71338606911949],"aabb_xy":[[-0.11583532570707403,-1.6585669703196277],[0.04416467523335789,-1.6419455550909308]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_21","position":[0.43304868350319414,-1.5406694335349962,0.71338606911949],"aabb_xy":[[0.413157643622854,-1.5533252448196935],[0.4529397233835345,-1.5280136222502998]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[-0.13946089911217519,0.3910205967220022,0.71338606911949],"aabb_xy":[[-0.17696089892920874,0.3863823854108604],[-0.10196089929514163,0.39565880803314407]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[0.08097602272654958,0.8019679969195206,0.71338606911949],"aabb_xy":[[0.016976025440900933,0.7604612779666766],[0.14497602001219823,0.8434747158723646]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[-0.17717809124139683,-1.7258658358524328,0.71338606911949],"aabb_xy":[[-0.18539263635708078,-1.7345424261500741],[-0.16896354612571282,-1.7171892455547915]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[0.6100450694210415,0.017158883029635863,0.71338606911949],"aabb_xy":[[0.5795608192940114,-0.03284111675186008],[0.6405293195480717,0.0671588828111318]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[0.1949231712878886,-1.5417538349435802,0.71338606911949],"aabb_xy":[[0.14544275007392984,-1.605753832856432],[0.24440359250184743,-1.4777538370307284]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_27","position":[0.09876320069300915,-0.6193677591051538,0.71338606911949],"aabb_xy":[[0.07626320087910679,-0.6238423754756345],[0.12126320050691156,-0.614893142734673]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[-0.35338174131739225,-1.4292954134058167,0.71338606911949],"aabb_xy":[[-0.3820310736778085,-1.4579409726828922],[-0.324732408956976,-1.4006498541287407]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6500906785962324,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4982.png","name":"4982"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6032.png","name":"6032"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1386.png","name":"1386"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3658.png","name":"3658"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":580.9689334965858,"rotation_z_degrees":125.36477786432293,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010695361288035825,-0.014383973035261573,-0.019571747429378443]},{"name":"camera_2","offset_m":[-0.014919349180480958,0.015748526879796446,0.015455268774936515]},{"name":"camera_3","offset_m":[-0.008519222994974873,-0.009918655439079296,0.01985999589019385]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00015457027735091668,-0.0006355838726707073,4.517319980390467e-05],"end_effector_yaw_offset_degrees":0.10590010087457724},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.792755067142726e-05,0.0002622228100554436,-0.0005428433443413017],"end_effector_yaw_offset_degrees":0.14532792900646618},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003466105341464708,-0.0019148332721430643,-3.9966393837829756e-05],"end_effector_yaw_offset_degrees":-0.9919629083197661}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032902270262071273,-0.0025698592227596964],"position_m":[0.24229022702620712,-0.05876985922275969,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003525535041223639,-0.0003963581945888141],"position_m":[0.19994744649587765,-0.3860963581945888,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004967610873342221,-0.000562192735831417],"position_m":[0.19643238912665778,0.3189378072641686,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009152160108859162,0.003160611119323322],"position_m":[0.3401847839891141,0.17116061111932332,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c175af95f5003b09f6e5c360f7df96f78fcae8ad9db209f70e63a62bac840505","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4756/tex_ceiling_textures_3658/tex_floor_textures_1386/tex_table_textures_4982/tex_wall_textures_6032","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":1088174118181421099,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":1088174118181421099,"visual_seed":1088174118181421099,"scene_id":"lab_003","finished_at":"2026-09-03T20:10:38"} +{"episode_id":"ep_000034","started_at":"2026-09-03T20:10:41","dimensions":{"distractor":{"count":20,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[0.04340668687150351,1.5936344414332217,0.71338606911949],"aabb_xy":[[0.025859991955384576,1.5561344398689707],[0.06095338178762244,1.6311344429974732]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.5521757025040457,-2.3901138369364103,0.71338606911949],"aabb_xy":[[0.46217570390957563,-2.4063644232498316],[0.6421757010985155,-2.373863250622989]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[-0.2686900498197166,0.3960423422115835,0.71338606911949],"aabb_xy":[[-0.29983696866329973,0.3260423435247763],[-0.2375431309761335,0.46604234089839064]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[-0.6381125625101691,-0.1554113272026587,0.71338606911949],"aabb_xy":[[-0.6881125634607019,-0.1869604742061801],[-0.5881125615596363,-0.12386218019913728]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[-0.2256350378019188,-1.3742510031033546,0.71338606911949],"aabb_xy":[[-0.27062762452036915,-1.4192510023778033],[-0.18064245108346835,-1.3292510038289058]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.5062768526944728,0.6248531592351667,0.71338606911949],"aabb_xy":[[0.5016417375422392,0.6209858241580178],[0.5109119678467059,0.6287204943123151]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[-0.57104987625218,-1.7493593372382894,0.71338606911949],"aabb_xy":[[-0.6510498795161931,-1.7629193695472025],[-0.4910498729881668,-1.7357993049293758]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.10646108756239414,0.5158410423823847,0.71338606911949],"aabb_xy":[[-0.11445457735767618,0.5078429104419092],[-0.09846759776711213,0.5238391743228604]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.5243079031160536,0.4284221626116813,0.71338606911949],"aabb_xy":[[-0.539863672526319,0.4128717293672742],[-0.5087521337057884,0.44397259585608856]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.5418017726349784,-1.252643142380333,0.71338606911949],"aabb_xy":[[0.4618079490564202,-1.3326431449731746],[0.6217955962135366,-1.1726431397874915]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.27222739699189735,-0.9964632255358443,0.71338606911949],"aabb_xy":[[0.26342534168292464,-1.0042745516907732],[0.28102945230087006,-0.9886518993809151]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[0.11134008994795319,-1.2432576736216712,0.71338606911949],"aabb_xy":[[0.04634008894745267,-1.294044038776346],[0.1763400909484537,-1.1924713084669962]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[-0.27429013788712364,1.6206398762593328,0.71338606911949],"aabb_xy":[[-0.31929013935335254,1.5756400193978526],[-0.22929013642089485,1.665639733120814]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[0.6499317344623345,1.654369807548815,0.71338606911949],"aabb_xy":[[0.6126004579370921,1.6197167527539627],[0.6872630109875772,1.6890228623436672]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.2835828586618362,0.10205771160249899,0.71338606911949],"aabb_xy":[[-0.33355592419435165,0.05205771178996611],[-0.23360979312932073,0.1520577114150319]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[0.11111434539930565,-1.914630355175254,0.71338606911949],"aabb_xy":[[0.09083004267590687,-1.9349129803179623],[0.13139864812270438,-1.8943477300325446]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[0.06154503615307716,-1.77058202646788,0.71338606911949],"aabb_xy":[[-0.018454961250516263,-1.8505745976660626],[0.14154503355667056,-1.690589455269697]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[-0.19011182221147083,0.9678806901229589,0.71338606911949],"aabb_xy":[[-0.250111822807487,0.9130682175777354],[-0.13011182161545465,1.0226931626681823]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.4045709008669772,-1.0211790564644108,0.71338606911949],"aabb_xy":[[-0.4845709022971044,-1.1006962114770202],[-0.32457089943685,-0.9416619014518013]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.5842322086581873,-0.4829391383882551,0.71338606911949],"aabb_xy":[[-0.6642322089317942,-0.5558886862139717],[-0.5042322083845803,-0.4099895905625383]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.644573124726682,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4183.png","name":"4183"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4183.png","name":"4183"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6078.png","name":"6078"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5692.png","name":"5692"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8117.png","name":"8117"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/453.png","name":"453"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":760.9595947729363,"rotation_z_degrees":142.69309784606224,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011281662879413346,-0.012661280635893961,-0.0037591715287763512]},{"name":"camera_2","offset_m":[0.004653759741231448,0.01967133985536691,-0.01239941097675807]},{"name":"camera_3","offset_m":[0.011783529696315607,0.018263604347286386,0.002005516726496185]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010792587520046335,0.0005226835757306666,0.0013583061927261676],"end_effector_yaw_offset_degrees":0.9504061186373995},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005092868157295491,0.0011561743540118002,-0.00032471342385835414],"end_effector_yaw_offset_degrees":-0.6984963577819405},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009280438728264825,-0.0006857707586274779,-0.0004689630608074062],"end_effector_yaw_offset_degrees":0.6854962181597055}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002650421623154514,0.004527056958018091],"position_m":[0.23634957837684548,-0.05167294304198191,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004183800269032172,0.003705259770096913],"position_m":[0.19611619973096783,-0.3819947402299031,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033711842885934427,-0.0019943990834538727],"position_m":[0.19802881571140654,0.3175056009165461,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00013710423892447903,0.001481394110669625],"position_m":[0.3412371042389245,0.16948139411066965,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3018634ea2d3e6d4885ad72e99c26f6ff5468611f691249a146ec24e2a69866d","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4183/tex_ceiling_textures_453/tex_floor_textures_8117/tex_table_textures_6078/tex_wall_textures_5692","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4017670411540730766,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4017670411540730766,"visual_seed":4017670411540730766,"scene_id":"lab_003","finished_at":"2026-09-03T20:13:18"} +{"episode_id":"ep_000035","started_at":"2026-09-03T20:13:21","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[-0.22421544521710018,-2.488007125543128,0.71338606911949],"aabb_xy":[[-0.2525451551656404,-2.4924678677368455],[-0.19588573526855996,-2.4835463833494114]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.28362020861883874,0.7003550296760217,0.71338606911949],"aabb_xy":[[0.24612021019543834,0.6871908157081912],[0.32112020704223904,0.7135192436438524]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[-0.5208941518785495,-0.3018459540073475,0.71338606911949],"aabb_xy":[[-0.5848941540989566,-0.34621903813263577],[-0.45689414965814257,-0.2574728698820592]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[0.5201004777454745,0.3912490607864729,0.71338606911949],"aabb_xy":[[0.4401004766723542,0.3814710144490885],[0.6001004788185949,0.40102710712385736]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[0.11490410174947419,-0.9962022540451616,0.71338606911949],"aabb_xy":[[0.072137394870054,-1.060202257466964],[0.15767080862889438,-0.932202250623359]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[-0.11989421066017003,1.6536416007424823,0.71338606911949],"aabb_xy":[[-0.1373942097945372,1.6437619737048943],[-0.10239421152580286,1.66352122778007]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.6561111321245034,0.8578615722202274,0.71338606911949],"aabb_xy":[[0.5911111342428558,0.8067379085136867],[0.7211111300061513,0.9089852359267684]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.6033317828849889,0.6338506060197369,0.71338606911949],"aabb_xy":[[0.5457013139977179,0.5738506070930262],[0.6609622517722596,0.6938506049464473]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.17589975376469513,1.258708043448034,0.71338606911949],"aabb_xy":[[0.12601705688699893,1.2087080442017593],[0.22578245064239136,1.3087080426943087]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[0.3508087744270523,-1.2529895076595678,0.71338606911949],"aabb_xy":[[0.27080877395683634,-1.2613002152739166],[0.43080877489726827,-1.2446788000452196]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.5645509454333004,0.5817935774271983,0.71338606911949],"aabb_xy":[[-0.6545509440277705,0.5655429911137773],[-0.4745509468388306,0.5980441637406193]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.6439669645967567,1.465002541753671,0.71338606911949],"aabb_xy":[[0.5639669671931632,1.3850099705554877],[0.72396696200035,1.5449951129518533]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[0.5219624803272964,-0.39871760241329124,0.71338606911949],"aabb_xy":[[0.49837735686340157,-0.463717604658723],[0.5455476037911913,-0.33371760016785945]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.18576948568670837,1.2129113456757805,0.71338606911949],"aabb_xy":[[-0.2076781678260594,1.1910106788556896],[-0.16386080354735733,1.234812012495871]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.3427698884515883,1.7669459198136406,0.71338606911949],"aabb_xy":[[-0.38378783183795917,1.7169459191826832],[-0.3017519450652174,1.816945920444598]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.6026086939435076,-1.5100166926115381,0.71338606911949],"aabb_xy":[[0.5526086952975864,-1.5599362362710005],[0.6526086925894288,-1.4600971489520758]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[0.718242665509909,-0.4416211598360138,0.71338606911949],"aabb_xy":[[0.7122761265691733,-0.4475823044953779],[0.7242092044506447,-0.4356600151766498]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.661464989896471,-1.8327536738588956,0.71338606911949],"aabb_xy":[[-0.6693882701352193,-1.8552536740968992],[-0.6535417096577226,-1.8102536736208925]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[0.07297442490680839,-1.4492769799189016,0.71338606911949],"aabb_xy":[[-0.017025571594063354,-1.4951886223373598],[0.16297442140768015,-1.4033653375004433]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[-0.2378057824564374,0.6440989452707035,0.71338606911949],"aabb_xy":[[-0.30780578584799934,0.6087831715672726],[-0.1678057790648754,0.6794147189741343]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[-0.2816683930968888,0.08650714336047693,0.71338606911949],"aabb_xy":[[-0.3041683933404042,0.07430250870070498],[-0.2591683928533734,0.09871177802024889]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.28786637304267737,-1.553392838782309,0.71338606911949],"aabb_xy":[[0.22786637279127614,-1.6076741638187735],[0.3478663732940785,-1.4991115137458442]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6471250660012098,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9691.png","name":"9691"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9691.png","name":"9691"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8490.png","name":"8490"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6730.png","name":"6730"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5750.png","name":"5750"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1746.png","name":"1746"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":723.4597958842895,"rotation_z_degrees":106.75396167616094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007495296426528908,-0.017430509239044538,0.016022464030833693]},{"name":"camera_2","offset_m":[-0.01833952034679569,0.018787118888471368,0.0009188101684990402]},{"name":"camera_3","offset_m":[0.013472885737672382,0.0065841802624140335,-0.005200559891989406]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004430436586346934,0.0014840270224929552,-0.0018218665679952918],"end_effector_yaw_offset_degrees":0.4256922425296381},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00028634420409123654,-0.00043468752624274297,-6.713674561494498e-05],"end_effector_yaw_offset_degrees":0.4972077903148977},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010659718117726983,-0.0008365373618640253,4.7478166858718786e-05],"end_effector_yaw_offset_degrees":-0.34182123366507433}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018421611977967635,0.00342253435461986],"position_m":[0.24084216119779675,-0.05277746564538014,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005447113796579004,0.004354490651519862],"position_m":[0.19975528862034211,-0.3813455093484801,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00013786159615375524,0.0011966617175955983],"position_m":[0.20153786159615375,0.3206966617175956,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004313463955423335,-0.0011086106921708405],"position_m":[0.3454134639554233,0.16689138930782918,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0242b79d6e4da54b4bd1990026f41e94299ff84bec190e75d4324b4939fb199f","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0035.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9691/tex_ceiling_textures_1746/tex_floor_textures_5750/tex_table_textures_8490/tex_wall_textures_6730","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":997665394705372512,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":997665394705372512,"visual_seed":997665394705372512,"scene_id":"lab_003","finished_at":"2026-09-03T20:16:08"} +{"episode_id":"ep_000036","started_at":"2026-09-03T20:16:11","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.022142643080075408,0.31943829759953424,0.71338606911949],"aabb_xy":[[-0.03350437773336157,0.3080698311932461],[-0.010780908426789245,0.33080676400582226]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[0.3521982277158522,1.4230918255148644,0.71338606911949],"aabb_xy":[[0.302198952547416,1.3730918242389174],[0.40219750288428835,1.4730918267908117]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.3496107156348209,-0.8794649575367885,0.71338606911949],"aabb_xy":[[-0.39958400963808133,-0.9294649580913359],[-0.29963742163156043,-0.8294649569822412]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[0.11313333031537098,-0.8383148467411103,0.71338606911949],"aabb_xy":[[0.09879890518920753,-0.8503750622956491],[0.12746775544153444,-0.8262546311865714]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.23927600879273925,-1.659479241635656,0.71338606911949],"aabb_xy":[[0.21427600952077697,-1.6758246052318186],[0.26427600806470153,-1.643133878039494]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.08909119923290687,0.9479750298899163,0.71338606911949],"aabb_xy":[[0.02750044000891405,0.8839750317808694],[0.1506819584568997,1.0119750279989632]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.09999520400441686,-2.472001794765667,0.71338606911949],"aabb_xy":[[-0.1499794397125941,-2.5220017935791628],[-0.05001096829623962,-2.4220017959521716]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[0.6606622339194985,-1.1500044621682899,0.71338606911949],"aabb_xy":[[0.6381658124856344,-1.172504461975037],[0.6831586553533626,-1.1275044623615422]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[-0.09013933614959979,-1.4087584518335783,0.71338606911949],"aabb_xy":[[-0.1009909423984754,-1.4196177425612293],[-0.0792877299007242,-1.3978991611059273]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.20665695161129982,1.7241230186705043,0.71338606911949],"aabb_xy":[[-0.27165695261180034,1.6733366535158294],[-0.1416569506107993,1.7749093838251793]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[0.5222430036291064,-0.38512554263156584,0.71338606911949],"aabb_xy":[[0.4582430003393983,-0.42846046163548346],[0.5862430069188145,-0.3417906236276482]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[0.28371933941048744,-0.8247411588545426,0.71338606911949],"aabb_xy":[[0.21871934125456838,-0.8510374034044549],[0.3487193375664065,-0.7984449143046305]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[0.4690544047550542,-0.9860654864355793,0.71338606911949],"aabb_xy":[[0.4597607865179036,-1.0235654849237132],[0.47834802299220475,-0.9485654879474454]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[0.49629837820375555,1.4982899819391284,0.71338606911949],"aabb_xy":[[0.44849221058998684,1.4332899792320692],[0.5441045458175242,1.563289984646187]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.26218051562228506,0.379902877245589,0.71338606911949],"aabb_xy":[[-0.3173057212518758,0.3199028758043018],[-0.20705530999269425,0.4399028786868761]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.1888559568099205,-1.1603442586903625,0.71338606911949],"aabb_xy":[[-0.25885596020148244,-1.1956600323937931],[-0.11885595341835851,-1.1250284849869314]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[-0.45768580221618993,0.17390520330982184,0.71338606911949],"aabb_xy":[[-0.5414080277162723,0.0839051997751259],[-0.3739635767161074,0.2639052068445178]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.4795222530848562,-1.9077969612441494,0.71338606911949],"aabb_xy":[[0.448375334241273,-1.9777969599309566],[0.5106691719284393,-1.8377969625573423]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[0.5452538423320643,-1.333199518037453,0.71338606911949],"aabb_xy":[[0.5084032943950767,-1.3706995188604867],[0.5821043902690519,-1.2956995172144192]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.4091069098687554,0.1995673269787952,0.71338606911949],"aabb_xy":[[0.39733872307409795,0.11456732707357364],[0.420875096663413,0.28456732688401676]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[0.2351379337471332,0.8768760698526048,0.71338606911949],"aabb_xy":[[0.21155281028323838,0.811876067607173],[0.25872305721102806,0.9418760720980366]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.005803983567022275,1.2623488569104775,0.71338606911949],"aabb_xy":[[-0.02044738912105526,1.2476901372536933],[0.00883942198701071,1.2770075765672617]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[0.3369224822085053,-1.2573562060396837,0.71338606911949],"aabb_xy":[[0.2819270043878459,-1.3123562074735904],[0.3919179600291647,-1.2023562046057765]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.08318111079810753,-1.7482533541252643,0.71338606911949],"aabb_xy":[[0.07904525446540733,-1.7857533535696215],[0.08731696713080772,-1.7107533546809075]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[-0.4193144416506251,-0.6858570747386725,0.71338606911949],"aabb_xy":[[-0.42939614872919857,-0.7658570726307871],[-0.4092327345720516,-0.6058570768465578]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[0.5996614237592537,-0.5483037100039705,0.71338606911949],"aabb_xy":[[0.5496826152489378,-0.5983037100096893],[0.6496402322695696,-0.4983037099982517]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_26","position":[-0.22796408345256775,0.7191078194629457,0.71338606911949],"aabb_xy":[[-0.29796408608915403,0.69900295446708],[-0.15796408081598134,0.739212684458811]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[0.7011607886418414,-0.5436488770561421,0.71338606911949],"aabb_xy":[[0.6951942497011057,-0.5496100217155061],[0.7071273275825771,-0.537687732396778]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_28","position":[-0.6726490369391189,-0.35301144183691013,0.71338606911949],"aabb_xy":[[-0.685520940440059,-0.4330114422507462],[-0.6597771334381787,-0.27301144142307393]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_29","position":[-0.5476488621855202,1.0308204512935921,0.71338606911949],"aabb_xy":[[-0.5851488626828785,1.0268517677454734],[-0.510148861688162,1.0347891348417104]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[0.40371064019100333,-0.5438884702233837,0.71338606911949],"aabb_xy":[[0.3987546200061222,-0.5663884704255054],[0.40866666037588456,-0.5213884700212622]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6487615962578988,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/979.png","name":"979"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/979.png","name":"979"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3959.png","name":"3959"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5849.png","name":"5849"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6717.png","name":"6717"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1035.png","name":"1035"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":720.8847161878568,"rotation_z_degrees":110.60946816930385,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00020959209936063233,-0.012603111184055799,0.00037361092863866935]},{"name":"camera_2","offset_m":[-0.019588984262608872,-0.018263018158742525,0.002810871839392961]},{"name":"camera_3","offset_m":[-0.003092629788769178,0.015462160655757281,-0.006977393105380663]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015180604758726086,0.0014101452335656154,-0.0015826474849147956],"end_effector_yaw_offset_degrees":0.6019672411655521},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012815217078012229,-0.001801303122784439,0.0005191047189959295],"end_effector_yaw_offset_degrees":0.6431455500262868},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007478264429896285,0.00037445961043815895,-0.0013325863541527778],"end_effector_yaw_offset_degrees":-0.04449845358749638}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001060868081077894,0.004194345882815208],"position_m":[0.24006086808107788,-0.052005654117184795,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009725161899462372,0.001002392213505272],"position_m":[0.19932748381005377,-0.3846976077864947,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002735672366628095,0.001366242954369182],"position_m":[0.1986643276333719,0.32086624295436916,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004344041075551562,-0.001444762023574081],"position_m":[0.33675595892444843,0.16655523797642593,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6da7ee5b58427d8a97e99582762de20c0b150fc8f04f6ca3beae14929a60fed8","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0036.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_979/tex_ceiling_textures_1035/tex_floor_textures_6717/tex_table_textures_3959/tex_wall_textures_5849","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6826844395188562253,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6826844395188562253,"visual_seed":6826844395188562253,"scene_id":"lab_003","finished_at":"2026-09-03T20:18:53"} +{"episode_id":"ep_000037","started_at":"2026-09-03T20:18:56","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.5392205482138817,-2.382673855061548,0.71338606911949],"aabb_xy":[[0.5217205490795144,-2.3925534820991357],[0.5567205473482487,-2.37279422802396]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.4492798632394177,-1.2799413644440538,0.71338606911949],"aabb_xy":[[0.40400124835826845,-1.3439413637922375],[0.49455847812056697,-1.2159413650958701]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[0.013194441293494785,0.7358418016936805,0.71338606911949],"aabb_xy":[[-0.03680056966595725,0.6858418026580889],[0.06318945225294682,0.7858418007292725]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.4988543356220929,0.34748797608600634,0.71338606911949],"aabb_xy":[[-0.5096948138486077,0.33030169479535754],[-0.48801385739557795,0.36467425737665515]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.37395790958477915,-0.6156908490244133,0.71338606911949],"aabb_xy":[[0.3389579112740837,-0.6234058639479589],[0.4089579078954746,-0.6079758341008676]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.13346460996901333,0.13560300768158084,0.71338606911949],"aabb_xy":[[-0.1709646111538061,0.13118478498552028],[-0.09596460878422051,0.14002123037764136]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[-0.15476815109133435,-1.279126416098808,0.71338606911949],"aabb_xy":[[-0.19226815126320626,-1.311827151481715],[-0.11726815091946238,-1.2464256807159007]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.36966530088757055,-1.7123957267681025,0.71338606911949],"aabb_xy":[[-0.40310547608359004,-1.7458393525990323],[-0.33622512569155083,-1.6789521009371722]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.38009063188048287,-1.63662232592997,0.71338606911949],"aabb_xy":[[0.3649184625988495,-1.6517911828581733],[0.3952628011621162,-1.6214534690017666]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.5841112475852868,-0.41131961967628694,0.71338606911949],"aabb_xy":[[-0.648111249263284,-0.4598370111556011],[-0.5201112459072893,-0.36280222819697266]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.5658116899240959,-1.8085544055568157,0.71338606911949],"aabb_xy":[[0.5593100534160914,-1.818322227583126],[0.5723133264321006,-1.7987865835305064]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.3056635080860649,-2.0204066372160057,0.71338606911949],"aabb_xy":[[-0.32172543554458255,-2.105406639028597],[-0.28960158062754726,-1.9354066354034136]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.4300913214807882,-1.543502971262807,0.71338606911949],"aabb_xy":[[-0.48007555718896544,-1.5935029700763024],[-0.380107085772611,-1.4935029724493112]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.028568032987924985,-1.898318013987458,0.71338606911949],"aabb_xy":[[0.006659350848573942,-1.9202186808075485],[0.05047671512727603,-1.876417347167367]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[0.4207867028221448,0.377372294745991,0.71338606911949],"aabb_xy":[[0.38647042564752687,0.32737229477281327],[0.45510297999676275,0.4273722947191687]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[0.6081685257265192,1.6486259771577765,0.71338606911949],"aabb_xy":[[0.5990086467826425,1.6420947591142396],[0.6173284046703957,1.6551571952013138]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[-0.6341870078810501,0.6497575369874293,0.71338606911949],"aabb_xy":[[-0.6378902692101889,0.6460555186787115],[-0.6304837465519111,0.6534595552961472]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[0.5710021513352965,1.0668216635856251,0.71338606911949],"aabb_xy":[[0.5094113921113037,1.0028216654765783],[0.6325929105592893,1.130821661694672]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.20805531006445088,1.4606897521373923,0.71338606911949],"aabb_xy":[[-0.23256893416145674,1.436425158835356],[-0.18354168596744502,1.484954345439429]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.19816553050368058,-1.9804974936509563,0.71338606911949],"aabb_xy":[[0.1901291958023957,-1.9885356129553728],[0.2062018652049654,-1.9724593743465393]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.5416750560116546,1.3503631445088038,0.71338606911949],"aabb_xy":[[0.46167505803086956,1.3427616035469518],[0.6216750539924396,1.3579646854706557]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[-0.055306332564966865,1.0844407764974284,0.71338606911949],"aabb_xy":[[-0.06793311985216322,1.0748947027958555],[-0.04267954527777052,1.0939868501990013]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.611234751717064,-0.838713155618998,0.71338606911949],"aabb_xy":[[-0.6564060695652331,-0.9027131527635365],[-0.5660634338688951,-0.7747131584744597]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_23","position":[0.6650857446156482,0.06182297790906244,0.71338606911949],"aabb_xy":[[0.661645068375591,0.05796154493469797],[0.6685264208557054,0.06568441088342691]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[0.13499784430285577,-0.619536853232765,0.71338606911949],"aabb_xy":[[0.13086198797015558,-0.657036852677122],[0.13913370063555597,-0.582036853788408]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[-0.20293183168196738,1.6151152699955857,0.71338606911949],"aabb_xy":[[-0.2110595198752806,1.6062016615848782],[-0.19480414348865416,1.6240288784062937]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[-0.1676860185321628,1.1031501482974688,0.71338606911949],"aabb_xy":[[-0.21750279799699757,1.0531501498131652],[-0.11786923906732805,1.153150146781772]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_27","position":[-0.33222754378285574,0.9973208700350802,0.71338606911949],"aabb_xy":[[-0.38222065589204773,0.9473208693608848],[-0.2822344316736639,1.047320870709276]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[0.4172033490271665,-0.7757561409551197,0.71338606911949],"aabb_xy":[[0.4001012710687984,-0.7928629464863893],[0.4343054269855347,-0.7586493354238498]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[0.5249008952004452,0.10777643908895174,0.71338606911949],"aabb_xy":[[0.5102574896464122,0.09311771943216744],[0.5395443007544781,0.122435158745736]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_30","position":[0.48791293471967245,0.18138770766941192,0.71338606911949],"aabb_xy":[[0.47531023558259605,0.16879231144454643],[0.5005156338567489,0.19398310389427742]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_31","position":[0.2858482965816741,-1.4010889465935448,0.71338606911949],"aabb_xy":[[0.23575083260060054,-1.4650889471033568],[0.3359457605627478,-1.3370889460837332]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_32","position":[0.5835681769051593,-1.3495220333211992,0.71338606911949],"aabb_xy":[[0.5364387979033235,-1.413522034365601],[0.6306975559069948,-1.285522032276797]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_33","position":[0.5621971462655109,-2.186917331572302,0.71338606911949],"aabb_xy":[[0.52117920287914,-2.236917332203259],[0.6032150896518818,-2.1369173309413445]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6466044256986072,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3877.png","name":"3877"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3877.png","name":"3877"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9898.png","name":"9898"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1085.png","name":"1085"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3004.png","name":"3004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9233.png","name":"9233"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":516.6749855661412,"rotation_z_degrees":311.49907710824215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01414193257529302,-0.012199638859675472,0.007882157566957298]},{"name":"camera_2","offset_m":[0.016479219632680082,0.005867280547859437,0.019176384642908644]},{"name":"camera_3","offset_m":[-0.01956549402514423,-0.007553805452290639,0.0014537831608067396]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017364021942570078,0.0015629931207421298,0.0012139070737099953],"end_effector_yaw_offset_degrees":0.6967439658519923},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009319587995277412,9.106502157557117e-05,0.0001176531001236803],"end_effector_yaw_offset_degrees":0.8333402835380659},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008879765981665132,0.0006971091624375305,0.00041216007084102484],"end_effector_yaw_offset_degrees":0.9063134720975348}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005720642069393482,-0.004602630913709254],"position_m":[0.23957206420693933,-0.06080263091370926,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015468759317973989,0.0038653228770733584],"position_m":[0.1987531240682026,-0.3818346771229266,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001367846060992539,-0.0018090951733101836],"position_m":[0.20276784606099255,0.3176909048266898,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004229936097390424,-0.003857177457991612],"position_m":[0.3368700639026096,0.1641428225420084,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4859fd2bebb846a93e7a5f50f43e4658e3bfba13ad625f09730af7880b795ba0","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3877/tex_ceiling_textures_9233/tex_floor_textures_3004/tex_table_textures_9898/tex_wall_textures_1085","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":1786205422084204163,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":1786205422084204163,"visual_seed":1786205422084204163,"scene_id":"lab_003","finished_at":"2026-09-03T20:21:44"} +{"episode_id":"ep_000038","started_at":"2026-09-03T20:21:49","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[-0.5736490596657989,1.5458369969395567,0.71338606911949],"aabb_xy":[[-0.6536490601360149,1.5375262893252086],[-0.493649059195583,1.5541477045539052]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[0.030468148161660102,-2.245637933804425,0.71338606911949],"aabb_xy":[[-0.0045318518148357335,-2.2551025498520416],[0.06546814813815593,-2.236173317756809]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.49000910006535214,1.4464079389221554,0.71338606911949],"aabb_xy":[[0.4260091036697791,1.3824446505034218],[0.5540090964609252,1.510371227340889]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[0.5043682334131396,-0.055555259290666736,0.71338606911949],"aabb_xy":[[0.49732792347960264,-0.13555525869033813],[0.5114085433466766,0.02444474010900468]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.16853690449934344,0.691055993424146,0.71338606911949],"aabb_xy":[[-0.20353690281003886,0.6833409785006004],[-0.13353690618864797,0.6987710083476917]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.0806191289505499,-1.0287742711111163,0.71338606911949],"aabb_xy":[[0.06971335286298719,-1.1087742675099455],[0.09152490503811261,-0.9487742747122871]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[-0.5561872827433887,-2.2051139076161093,0.71338606911949],"aabb_xy":[[-0.5936872839281813,-2.2095321303121693],[-0.5186872815585957,-2.2006956849200483]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.5942191349125736,0.6512062157650718,0.71338606911949],"aabb_xy":[[0.5902586511428393,0.6435383511795512],[0.598179618682308,0.6588740803505924]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.4362134972817248,0.24996511789520381,0.71338606911949],"aabb_xy":[[-0.4862134967219204,0.19999719341088748],[-0.38621349784152914,0.2999330423795201]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.626445830060588,-1.2370749932508789,0.71338606911949],"aabb_xy":[[0.6220152007057478,-1.2425233649855616],[0.6308764594154281,-1.2316266215161962]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.2651183214336927,1.0103508483869508,0.71338606911949],"aabb_xy":[[-0.28758309140509775,0.98785084750809],[-0.2426535514622875,1.032850849265811]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[0.26918863025684847,1.2405418570918938,0.71338606911949],"aabb_xy":[[0.19918862686528646,1.2052260833884627],[0.3391886336484104,1.2758576307953244]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[0.5312262796602338,-0.32154189388951027,0.71338606911949],"aabb_xy":[[0.46722627637052566,-0.3648768128934278],[0.5952262829499418,-0.2782069748855926]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[-0.3466675978958493,-2.4508419157357793,0.71338606911949],"aabb_xy":[[-0.40666759840370215,-2.5076886494217003],[-0.2866675973879963,-2.393995182049858]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.31954428387087164,0.5190047321486801,0.71338606911949],"aabb_xy":[[-0.3540066312690134,0.4845108497508574],[-0.2850819364727298,0.5534986145465027]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[0.26639788724567315,1.0359424566447273,0.71338606911949],"aabb_xy":[[0.24511987910220084,0.9709424543186542],[0.28767589538914534,1.1009424589708003]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[-0.3515751176715826,-1.9516333919928983,0.71338606911949],"aabb_xy":[[-0.3628201732422004,-1.9628751897169934],[-0.3403300621009647,-1.9403915942688028]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[-0.20078004607696542,-1.4932935384372485,0.71338606911949],"aabb_xy":[[-0.21163165232584102,-1.5041528291648996],[-0.18992843982808982,-1.4824342477095975]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[0.12454804905434125,-2.375665062378613,0.71338606911949],"aabb_xy":[[0.06295728983034844,-2.43966506048766],[0.18613880827833407,-2.311665064269566]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.5023562590276267,-2.4648499141435813,0.71338606911949],"aabb_xy":[[-0.5142283420391278,-2.5498499138372317],[-0.4904841760161256,-2.379849914449931]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.35670247899333996,1.4023227260691766,0.71338606911949],"aabb_xy":[[-0.41169569033047676,1.3473227257303828],[-0.3017092676562032,1.45732272640797]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[0.44484275586324706,-2.377661515283537,0.71338606911949],"aabb_xy":[[0.39484275420175224,-2.4276599575392392],[0.49484275752474177,-2.327663073027834]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[0.6190957631862692,-0.12909376968336383,0.71338606911949],"aabb_xy":[[0.5640957635645234,-0.1840774624708366],[0.6740957628080151,-0.07411007689589114]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[0.4793623418339876,-1.4780074658589388,0.71338606911949],"aabb_xy":[[0.42937939164650823,-1.5280074655014992],[0.5293452920214669,-1.4280074662163784]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[-0.12321159817800598,-2.580536457084498,0.71338606911949],"aabb_xy":[[-0.13237147712188257,-2.587067675128035],[-0.11405171923412939,-2.5740052390409613]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[-0.5069070264504172,0.7662980480721568,0.71338606911949],"aabb_xy":[[-0.5709070235625229,0.7172656782777461],[-0.4429070293383115,0.8153304178665673]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[0.5145889447621246,1.1161204708461243,0.71338606911949],"aabb_xy":[[0.44958894376162406,1.0653341056914494],[0.5795889457626251,1.1669068360007993]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6495782229663273,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1636.png","name":"1636"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1636.png","name":"1636"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6014.png","name":"6014"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9889.png","name":"9889"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5015.png","name":"5015"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4060.png","name":"4060"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":776.3697535705649,"rotation_z_degrees":48.044174566123594,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015329084927925143,-0.017622688626699082,0.011661350706513012]},{"name":"camera_2","offset_m":[-0.00018984954934439524,-0.01906959496607076,-0.018215661040202044]},{"name":"camera_3","offset_m":[0.01832412827783612,0.005041611001371203,-0.00860229964033421]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001028630348948005,3.250235434765908e-05,-0.0001936116460458002],"end_effector_yaw_offset_degrees":-0.9562374953788486},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00023511532634893414,-0.001717202435099814,0.0004147395934836098],"end_effector_yaw_offset_degrees":-0.18082355042168907},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013009717098905085,-0.00017228841558466763,-0.0013771381818640034],"end_effector_yaw_offset_degrees":-0.07410704411442604}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001961270826566504,-0.0008570335729244927],"position_m":[0.2409612708265665,-0.05705703357292449,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022230606739809377,-0.002059520104854442],"position_m":[0.19807693932601908,-0.3877595201048544,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019008147777222883,-0.0004979658017872203],"position_m":[0.20330081477772227,0.31900203419821277,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019012209514517832,0.002737759748507357],"position_m":[0.3430012209514518,0.17073775974850736,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ed2ef6af0446bd6521e760974c8db58df38f94f8f1cc3bd2fc59b61d0d2874ad","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1636/tex_ceiling_textures_4060/tex_floor_textures_5015/tex_table_textures_6014/tex_wall_textures_9889","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4600513546423184379,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4600513546423184379,"visual_seed":4600513546423184379,"scene_id":"lab_003","finished_at":"2026-09-03T20:24:38"} +{"episode_id":"ep_000039","started_at":"2026-09-03T20:24:43","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.27666357032065364,1.3557474550504347,0.71338606911949],"aabb_xy":[[-0.281298685472887,1.351880119973286],[-0.27202845516842017,1.3596147901275835]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[0.20228788786007879,1.0237151617956566,0.71338606911949],"aabb_xy":[[0.16478788634444705,1.0124883887795115],[0.23978788937571047,1.0349419348118016]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[-0.09296646702739852,-1.7795985754041395,0.71338606911949],"aabb_xy":[[-0.0989330059681343,-1.7855597200635036],[-0.08699992808666272,-1.7736374307447753]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[-0.2865804486248276,-0.20853255678960814,0.71338606911949],"aabb_xy":[[-0.2946238085507828,-0.29353255788497457],[-0.27853708869887245,-0.12353255569424171]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[-0.361270521728439,-1.9953447126471726,0.71338606911949],"aabb_xy":[[-0.38510673936904416,-2.0853447134556595],[-0.337434304087834,-1.9053447118386866]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[-0.22369101893130205,1.2504141301787466,0.71338606911949],"aabb_xy":[[-0.24280332628928092,1.2312793513015043],[-0.2045787115733232,1.2695489090559884]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.22311282883169214,-0.7276590444501532,0.71338606911949],"aabb_xy":[[0.1631128283238392,-0.7845057781360745],[0.283112829339545,-0.6708123107642319]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.450147202817774,-0.15820495255846412,0.71338606911949],"aabb_xy":[[-0.45572887445190274,-0.17070495237623962],[-0.4445655311836452,-0.14570495274068862]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.09854442957295784,0.4896184719334542,0.71338606911949],"aabb_xy":[[-0.13198460476897744,0.45617484610252407],[-0.06510425437693823,0.5230620977643842]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[0.41469641441153393,1.7469189526980213,0.71338606911949],"aabb_xy":[[0.35069641712588523,1.7054122337451774],[0.4786964116971825,1.7884256716508653]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[-0.6502331895035409,-0.13482809158473907,0.71338606911949],"aabb_xy":[[-0.6727331893174433,-0.1393027079552198],[-0.6277331896896385,-0.1303534752142584]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[0.04256426638476707,-1.8323778586473956,0.71338606911949],"aabb_xy":[[0.029961567247690613,-1.844973254872261],[0.055166965521843525,-1.81978246242253]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.4994101060485989,-2.1230173578689984,0.71338606911949],"aabb_xy":[[-0.5407146491123349,-2.1870173574371155],[-0.4581055629848629,-2.0590173583008813]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[-0.015021934346801213,-0.6901959964727045,0.71338606911949],"aabb_xy":[[-0.02304820497742721,-0.6989474914500571],[-0.006995663716175214,-0.6814445014953519]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.06922788816500569,-1.1462991852425009,0.71338606911949],"aabb_xy":[[-0.14922788675232512,-1.2256147871806617],[0.010772110422313725,-1.06698358330434]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[-0.40225694548179236,0.9047975444737291,0.71338606911949],"aabb_xy":[[-0.4154081914530818,0.8797975447170426],[-0.38910569951050306,0.9297975442304157]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.036324816520415304,-2.5530482336474214,0.71338606911949],"aabb_xy":[[0.02199039139425185,-2.5651084492019605],[0.050659241646578757,-2.5409880180928823]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[0.4931009347905748,0.02684637632680209,0.71338606911949],"aabb_xy":[[0.4848863896748907,0.018169786029160803],[0.5013154799062587,0.03552296662444337]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.6151651175834597,-1.6209438305959731,0.71338606911949],"aabb_xy":[[-0.6801651154651075,-1.6720674943025142],[-0.5501651197018119,-1.5698201668894325]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.37706188418009645,0.3202049577829147,0.71338606911949],"aabb_xy":[[-0.3872148997342457,0.28413541621017424],[-0.366908868625947,0.3562744993556549]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.3356907118301182,-0.838124686132868,0.71338606911949],"aabb_xy":[[0.3224597662954369,-0.8513521051548673],[0.34892165736479946,-0.8248972671108684]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[0.14776504980568883,1.579386235647298,0.71338606911949],"aabb_xy":[[0.14380456603595443,1.5717183710617775],[0.15172553357542318,1.5870541002328187]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.40218611276359556,-1.7366541627872052,0.71338606911949],"aabb_xy":[[-0.46618610915916864,-1.8006174512059387],[-0.3381861163680225,-1.6726908743684716]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.44848044811727183,0.6649548771972005,0.71338606911949],"aabb_xy":[[-0.4660587503062186,0.6473803876230955],[-0.43090214592832493,0.6825293667713053]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[-0.3674398180408286,-0.44988360041083686,0.71338606911949],"aabb_xy":[[-0.41743293015002053,-0.4998836010850326],[-0.3174467059316367,-0.39988359973664134]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[0.3636983014608135,-0.9698724274306747,0.71338606911949],"aabb_xy":[[0.2936982993293839,-0.9926343930563702],[0.433698303592243,-0.9471104618049789]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_26","position":[0.6600970393757573,0.9129545135706993,0.71338606911949],"aabb_xy":[[0.5960970391152863,0.8679457142177713],[0.724097039636228,0.9579633129236274]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[-0.5773821118370268,-0.6532219226147313,0.71338606911949],"aabb_xy":[[-0.6273821134985215,-0.7032203648704338],[-0.5273821101755319,-0.6032234803590284]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[-0.173492001975861,-0.917493638284109,0.71338606911949],"aabb_xy":[[-0.23749200224983924,-0.9675597384813969],[-0.10949200170188278,-0.8674275380868209]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6527836676449946,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3987.png","name":"3987"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3987.png","name":"3987"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9907.png","name":"9907"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1953.png","name":"1953"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1711.png","name":"1711"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4075.png","name":"4075"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":680.6273001613222,"rotation_z_degrees":70.61607830952106,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005707183546768482,0.005932653794063793,-0.0024269520319219577]},{"name":"camera_2","offset_m":[0.0062907236830367155,-0.01731411439495255,-0.010684937986753629]},{"name":"camera_3","offset_m":[-0.01316807427766082,-0.016639963154067492,-0.011845906232167653]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012901888502571644,-0.0019457128037875947,-0.00035152145487951625],"end_effector_yaw_offset_degrees":-0.5858200960514435},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014940608371982029,-0.0009809552111871294,-0.0009716752658429457],"end_effector_yaw_offset_degrees":-0.5638710039631178},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005411814680972142,-8.161944500278658e-05,0.001060873616948693],"end_effector_yaw_offset_degrees":-0.9171108242129782}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009478514983340281,-0.0032186587868027108],"position_m":[0.23805214850166595,-0.05941865878680271,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004119589297423998,0.001146908326836356],"position_m":[0.20441958929742401,-0.38455309167316365,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007486707652563295,-0.0001981148093066652],"position_m":[0.20214867076525633,0.31930188519069336,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005216482551613187,-0.004442851681412632],"position_m":[0.34162164825516134,0.16355714831858736,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0325b812ce5687e6e37d70d974e3d63eba752d9ec505f0444140c98950c084ab","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3987/tex_ceiling_textures_4075/tex_floor_textures_1711/tex_table_textures_9907/tex_wall_textures_1953","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6563171916343595270,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6563171916343595270,"visual_seed":6563171916343595270,"scene_id":"lab_003","finished_at":"2026-09-03T20:27:25"} +{"episode_id":"ep_000040","started_at":"2026-09-03T20:27:28","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.05827587623605335,-2.408197812764952,0.71338606911949],"aabb_xy":[[-0.07577587649538997,-2.4222893549537248],[-0.04077587597671672,-2.3941062705761795]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[0.5823251062583024,-1.3828346342930071,0.71338606911949],"aabb_xy":[[0.5778944769034622,-1.3882830060276898],[0.5867557356131425,-1.3773862625583244]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.6023296440273841,1.758993897801203,0.71338606911949],"aabb_xy":[[-0.6673296440616869,1.7122932211208755],[-0.5373296439930815,1.80569457448153]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.16419990706637155,0.6350352428750203,0.71338606911949],"aabb_xy":[[-0.17212318730511988,0.612535242637017],[-0.15627662682762322,0.6575352431130237]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[0.03763161292808659,-1.1237455726708152,0.71338606911949],"aabb_xy":[[0.014046489464191743,-1.1887455749162468],[0.06121673639198145,-1.0587455704253832]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.6351857188418253,0.7819976663361174,0.71338606911949],"aabb_xy":[[0.6160734114838465,0.7628628874588754],[0.6542980261998043,0.8011324452133595]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[0.3779198719428032,-0.5952111694492159,0.71338606911949],"aabb_xy":[[0.31391987335623067,-0.6422181328487246],[0.4419198705293756,-0.5482042060497072]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.39561954151358014,0.8136506141730528,0.71338606911949],"aabb_xy":[[0.35882490838867387,0.7767447390764706],[0.4324141746384864,0.8505564892696351]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.5274608461302985,0.4520557003316319,0.71338606911949],"aabb_xy":[[0.4674608444873767,0.40005555103968776],[0.5874608477732204,0.5040558496235761]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_9","position":[-0.26873894509268087,-0.23181772794507172,0.71338606911949],"aabb_xy":[[-0.29123894533619626,-0.2440223626048437],[-0.24623894484916548,-0.2196130932852998]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.36798126773394824,-2.0641248522977613,0.71338606911949],"aabb_xy":[[0.3179881556247564,-2.1141248529719574],[0.41797437984314023,-2.014124851623566]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[-0.17195787746918534,0.966299487829553,0.71338606911949],"aabb_xy":[[-0.1775395491033141,0.9537994880117774],[-0.16637620583505658,0.9787994876473284]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.5660981897882069,1.2998573607073642,0.71338606911949],"aabb_xy":[[-0.6260981903842231,1.2450448881621405],[-0.5060981891921907,1.3546698332525875]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[-0.3288637270640391,0.10823866932908865,0.71338606911949],"aabb_xy":[[-0.3788479627722164,0.05823867051559306],[-0.27887949135586193,0.15823866814258425]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[0.06351269378415669,-0.7833370479316046,0.71338606911949],"aabb_xy":[[0.013512692765021418,-0.8198032636694327],[0.11351269480329197,-0.7468708321937767]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[0.33395636836284326,1.2948385797382946,0.71338606911949],"aabb_xy":[[0.29645636819097126,1.2621378443553872],[0.37145636853471514,1.3275393151212016]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[0.6230142874904967,-1.9367225095905907,0.71338606911949],"aabb_xy":[[0.6156018319491081,-1.9425737200122186],[0.6304267430318851,-1.9308712991689627]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[0.54489033671049,-0.06288522461315216,0.71338606911949],"aabb_xy":[[0.5317390907392008,-0.08788522436983871],[0.5580415826817795,-0.03788522485646562]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.2381804840327036,-2.1233792938134166,0.71338606911949],"aabb_xy":[[-0.293180483209293,-2.178368968588374],[-0.18318048485611407,-2.0683896190384585]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.6161290752837998,-2.540213421884153,0.71338606911949],"aabb_xy":[[0.5361290782695518,-2.5603479735575645],[0.6961290722980478,-2.5200788702107415]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.3052020474573752,-0.43001866635565733,0.71338606911949],"aabb_xy":[[-0.3602020470791211,-0.4850023591431301],[-0.25020204783562944,-0.37503497356818466]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.3148568180575656,0.9401922318469462,0.71338606911949],"aabb_xy":[[-0.3649542820386392,0.8761922313371343],[-0.264759354076492,1.004192232356758]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[0.5861167718734144,-1.8047860189955303,0.71338606911949],"aabb_xy":[[0.5709446025917811,-1.8199548759237338],[0.6012889411550478,-1.7896171620673271]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[0.2717651848293767,1.3831763740589023,0.71338606911949],"aabb_xy":[[0.2342651844811489,1.3713849784778187],[0.30926518517760443,1.3949677696399858]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6530904564152858,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/296.png","name":"296"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/296.png","name":"296"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4651.png","name":"4651"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/421.png","name":"421"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9872.png","name":"9872"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4622.png","name":"4622"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":626.4661830457873,"rotation_z_degrees":194.67532803366288,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008572965491756044,0.005463869831502221,-0.010163141736756311]},{"name":"camera_2","offset_m":[0.01059169797462111,0.006248647543525405,0.019960512505334777]},{"name":"camera_3","offset_m":[-0.0013857747610123046,-0.012735631871018201,0.012616520823627447]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00047751553649186024,-0.0007610645777171587,0.0014956046618193547],"end_effector_yaw_offset_degrees":0.8884092365478211},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001045514233326628,0.0007206984514950103,-0.001636923977109801],"end_effector_yaw_offset_degrees":0.8123565302977283},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014555072035675066,-0.0007980392274861878,-0.0015084084380161005],"end_effector_yaw_offset_degrees":0.29765599006364063}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00027747312401813634,0.0014954869589310048],"position_m":[0.23927747312401812,-0.05470451304106899,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0042666180781383385,0.000827851678222029],"position_m":[0.20456661807813833,-0.38487214832177796,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003945557805962109,-0.0040350372810889126],"position_m":[0.20534555780596211,0.3154649627189111,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015999844306075674,0.002303573319989649],"position_m":[0.34269998443060756,0.17030357331998966,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"957a4311e7abd9f3b68b815e37f998f2bf6aa228a29f01898cf19a10cf9f2cce","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_296/tex_ceiling_textures_4622/tex_floor_textures_9872/tex_table_textures_4651/tex_wall_textures_421","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":997228292926022182,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":997228292926022182,"visual_seed":997228292926022182,"scene_id":"lab_003","finished_at":"2026-09-03T20:30:15"} +{"episode_id":"ep_000041","started_at":"2026-09-03T20:30:18","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.5874646307911506,0.8396298911582898,0.71338606911949],"aabb_xy":[[-0.6174321877009763,0.809629890860404],[-0.557497073881325,0.8696298914561755]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.3148900293580523,-1.5730072129963841,0.71338606911949],"aabb_xy":[[0.2973900959240689,-1.5905072129166185],[0.33238996279203564,-1.5555072130761494]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[0.5836609852760073,-1.3808202051921357,0.71338606911949],"aabb_xy":[[0.5792303559211672,-1.3862685769268182],[0.5880916146308476,-1.3753718334574532]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[-0.5607162025485251,-0.9754221693765488,0.71338606911949],"aabb_xy":[[-0.5766006958138502,-0.989775109675373],[-0.5448317092831999,-0.9610692290777249]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[0.1319571017384792,-1.3100946253743462,0.71338606911949],"aabb_xy":[[0.08195710309255799,-1.3600141690338086],[0.18195710038440038,-1.2601750817148838]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[0.1495085657813766,1.4154672574044116,0.71338606911949],"aabb_xy":[[0.14537270944867642,1.3779672579600546],[0.1536444221140768,1.4529672568487686]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[-0.5113160928929017,-2.0724265386690046,0.71338606911949],"aabb_xy":[[-0.5204759718367784,-2.078957756712541],[-0.5021562139490252,-2.0658953206254673]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[0.6068317311575813,1.1399802348595203,0.71338606911949],"aabb_xy":[[0.5970757416484073,1.1302177008002858],[0.616587720666755,1.1497427689187547]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.127886155377263,0.7384804756126386,0.71338606911949],"aabb_xy":[[0.047886158414223834,0.6614048339688652],[0.20788615234030217,0.8155561172564121]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[-0.13555071481897085,-0.9558906140606578,0.71338606911949],"aabb_xy":[[-0.1730507146360044,-0.9605288253717996],[-0.0980507150019373,-0.951252402749516]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.32500729016411306,-2.0471088422520713,0.71338606911949],"aabb_xy":[[-0.40500728814489806,-2.054710383213923],[-0.24500729218332798,-2.039507301290219]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.4283013956542184,1.2653987578471857,0.71338606911949],"aabb_xy":[[-0.4833013948308078,1.210409083072228],[-0.37330139647762883,1.3203884326221433]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.4997970461704564,-0.6564739151897996,0.71338606911949],"aabb_xy":[[0.41979704509733606,-0.6662519615271839],[0.5797970472435767,-0.646695868852415]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.36688805858188545,-0.6195123184307143,0.71338606911949],"aabb_xy":[[0.3627721084698127,-0.6236278734635597],[0.37100400869395805,-0.6153967633978686]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.17460887908630696,0.014319073431522611,0.71338606911949],"aabb_xy":[[-0.17956489927118816,-0.008180926770599008],[-0.16965285890142576,0.036819073633644235]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.4466812692018125,-2.4996349273729357,0.71338606911949],"aabb_xy":[[0.43864493450052755,-2.5076730466773527],[0.45471760390309723,-2.4915968080685196]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[0.28982388927153,-2.3094683266907534,0.71338606911949],"aabb_xy":[[0.20982389068421056,-2.388783928628914],[0.3698238878588494,-2.230152724752592]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.4042874749285821,0.4169486307646868,0.71338606911949],"aabb_xy":[[0.3970262273581747,0.4041616205011774],[0.41154872249898955,0.42973564102819634]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_18","position":[0.3785134762007538,1.1116803537777002,0.71338606911949],"aabb_xy":[[0.36715174154746766,1.1003118873714122],[0.38987521085404,1.1230488201839883]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.1957426839916685,-2.545588977518898,0.71338606911949],"aabb_xy":[[-0.23324268478366397,-2.551956818477088],[-0.15824268319967308,-2.5392211365607076]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.19619638296596287,0.4405415260563448,0.71338606911949],"aabb_xy":[[-0.22734330180954596,0.3705415273695376],[-0.16504946412237972,0.510541524743152]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_21","position":[0.42267982831352735,-0.3286747904170939,0.71338606911949],"aabb_xy":[[0.38836355113890947,-0.3786747903902716],[0.45699610548814534,-0.27867479044391613]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[-0.3322216148708152,-2.4144197572490027,0.71338606911949],"aabb_xy":[[-0.39622161654881255,-2.462937148728317],[-0.26822161319281784,-2.3659023657696885]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_23","position":[-0.5768168833903549,-1.566669812918612,0.71338606911949],"aabb_xy":[[-0.6178348267767256,-1.6166698135495694],[-0.5357989400039839,-1.5166698122876547]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[0.6843533108510442,-2.456598015215636,0.71338606911949],"aabb_xy":[[0.6473192014229845,-2.490975222549345],[0.721387420279104,-2.422220807881926]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[0.6566374584716166,0.045784220064597925,0.71338606911949],"aabb_xy":[[0.6529341971424776,0.04208220175588006],[0.6603407198007554,0.049486238373315776]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.4189609486233594,-1.2053202089792874,0.71338606911949],"aabb_xy":[[-0.44113347560001015,-1.2274958761354107],[-0.39678842164670847,-1.183144541823164]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[0.6171764086360443,-1.963248742161643,0.71338606911949],"aabb_xy":[[0.6117184629990242,-2.043248745469302],[0.6226343542730643,-1.8832487388539838]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[-0.3499113960298256,0.3678150583717268,0.71338606911949],"aabb_xy":[[-0.4139113983726272,0.3228742071275943],[-0.28591139368702406,0.4127559096158593]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_29","position":[-0.12961133454968654,1.7876016052081698,0.71338606911949],"aabb_xy":[[-0.1472441701432141,1.7699786591925468],[-0.11197849895615895,1.8052245512237928]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_30","position":[0.4640987903665421,0.3013069011543905,0.71338606911949],"aabb_xy":[[0.45647452227636387,0.2936736776178468],[0.47172305845672036,0.30894012469093424]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_31","position":[0.30140441425678643,-1.4606937729411662,0.71338606911949],"aabb_xy":[[0.2863021127957683,-1.4757952945722277],[0.3165067157178045,-1.4455922513101038]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6474871607036476,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6462.png","name":"6462"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6462.png","name":"6462"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/739.png","name":"739"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5286.png","name":"5286"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3655.png","name":"3655"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5983.png","name":"5983"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":607.8507435366016,"rotation_z_degrees":267.77690177818636,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0005753822558325489,-0.015777663047945225,0.01849409888971622]},{"name":"camera_2","offset_m":[0.0028868538811988864,0.002200141781307844,0.006396442666691517]},{"name":"camera_3","offset_m":[-0.014828898430556538,-0.010202195282858102,0.018683643332067814]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019117641398033302,0.0013834336545680264,-0.0009173599726916119],"end_effector_yaw_offset_degrees":-0.6041284430574947},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018836577244688677,-0.00024996667742415205,0.000775785547930554],"end_effector_yaw_offset_degrees":-0.3157186004485677},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006756009294798288,-0.0013623179058161164,-0.00047742206613802206],"end_effector_yaw_offset_degrees":0.35422287571607525}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002819499220144667,0.004599406634356098],"position_m":[0.24181949922014465,-0.051600593365643904,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023938761633514804,0.001222092815791465],"position_m":[0.19790612383664852,-0.38447790718420854,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002763154330639418,0.000822484354115912],"position_m":[0.20416315433063942,0.3203224843541159,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006187421023937014,-0.0046733321431053935],"position_m":[0.3417187421023937,0.16332666785689462,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"04187dd8d7194aef35786646ffc9f36d5dc3a4580699a19913361e0d06d018c1","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6462/tex_ceiling_textures_5983/tex_floor_textures_3655/tex_table_textures_739/tex_wall_textures_5286","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6791207428721465152,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6791207428721465152,"visual_seed":6791207428721465152,"scene_id":"lab_003","finished_at":"2026-09-03T20:32:56"} +{"episode_id":"ep_000042","started_at":"2026-09-03T20:32:59","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.45969780783577363,-1.2908979826378786,0.71338606911949],"aabb_xy":[[0.45166147313448873,-1.2989361019422951],[0.4677341425370584,-1.2828598633334616]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[0.3789061219350691,-2.39244953571075,0.71338606911949],"aabb_xy":[[0.3239061237333242,-2.4329715023371876],[0.4339061201368139,-2.3519275690843124]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[-0.010708096053147487,1.2177896293227577,0.71338606911949],"aabb_xy":[[-0.023175454162883136,1.2053243046894344],[0.0017592620565881605,1.2302549539560814]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.39831596387181123,0.7242227600872577,0.71338606911949],"aabb_xy":[[-0.4288002139988414,0.6742227603057617],[-0.3678317137447811,0.7742227598687536]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.5413846892694381,-0.6734228979777428,0.71338606911949],"aabb_xy":[[0.5238063870804913,-0.6909973875518477],[0.558962991458385,-0.6558484084036379]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.13371354566642335,1.1795606353932295,0.71338606911949],"aabb_xy":[[0.09621354584938979,1.1749224240820875],[0.1712135454834569,1.1841988467043711]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.15034102184197695,-2.102918671548602,0.71338606911949],"aabb_xy":[[-0.16801665243057526,-2.120598887828004],[-0.1326653912533786,-2.0852384552691987]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[-0.24156227674317166,-0.8795499464365719,0.71338606911949],"aabb_xy":[[-0.25906227587753883,-0.8894295734741597],[-0.22406227760880448,-0.8696703193989841]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[-0.3294010246869955,1.485662865234389,0.71338606911949],"aabb_xy":[[-0.3909917839109884,1.4216628671253426],[-0.26781026546300274,1.5496628633434364]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[0.3877887991542457,-0.8379397726309594,0.71338606911949],"aabb_xy":[[0.35278879917774986,-0.8474043886785761],[0.4227887991307415,-0.8284751565833429]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[0.5674249638657511,-2.248404076659993,0.71338606911949],"aabb_xy":[[0.5424249639332333,-2.255286744880916],[0.592424963798269,-2.2415214084390698]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[-0.1076132544642785,0.2808603966942078,0.71338606911949],"aabb_xy":[[-0.18761325305159793,0.20154479475604695],[-0.027613255876959075,0.3601759986323687]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.13960544416872944,-1.5697114034406954,0.71338606911949],"aabb_xy":[[-0.20360544444270767,-1.6197775036379833],[-0.07560544389475121,-1.5196453032434074]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[0.4224547891922521,1.4760005366418087,0.71338606911949],"aabb_xy":[[0.36482432030498113,1.416000537715098],[0.4800852580795228,1.536000535568519]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[0.29086516859857925,-2.243264191114623,0.71338606911949],"aabb_xy":[[0.28324090050840106,-2.250897414651167],[0.29848943668875755,-2.2356309675780794]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[-0.3957996096734987,-1.7867229538815637,0.71338606911949],"aabb_xy":[[-0.45079282101063545,-1.8417229542203577],[-0.3408063983363619,-1.7317229535427705]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.14883733726587456,0.7745886326249494,0.71338606911949],"aabb_xy":[[0.0988373369053085,0.7246086454153463],[0.19883733762644062,0.8245686198345522]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.6430682762893712,-1.5910606861379986,0.71338606911949],"aabb_xy":[[-0.6930682749352923,-1.640980229797461],[-0.5930682776434499,-1.5411411424785362]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[0.07768363810458279,1.5026466886644143,0.71338606911949],"aabb_xy":[[0.012683637104082254,1.4518603235097394],[0.1426836391050833,1.5534330538190892]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.5521169072321517,-0.7272297114280728,0.71338606911949],"aabb_xy":[[-0.6021169085159916,-0.7772085658186949],[-0.5021169059483117,-0.6772508570374507]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[-0.6504193581746909,1.7484862927060667,0.71338606911949],"aabb_xy":[[-0.6872699061116785,1.710986291883033],[-0.6135688102377033,1.7859862935291004]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[-0.0023287764721827697,-0.8061551233488253,0.71338606911949],"aabb_xy":[[-0.025244489357232676,-0.829059420485249],[0.020586936412867133,-0.783250826212402]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_22","position":[-0.5577396857657575,1.0912772973421383,0.71338606911949],"aabb_xy":[[-0.6217396850599257,1.027291156973284],[-0.4937396864715893,1.1552634377109925]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6521054789368116,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9663.png","name":"9663"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9663.png","name":"9663"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5552.png","name":"5552"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1237.png","name":"1237"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6176.png","name":"6176"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/788.png","name":"788"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":802.4914814306411,"rotation_z_degrees":37.11128378177172,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008100212589123568,0.016105209297081435,0.016456858971169133]},{"name":"camera_2","offset_m":[-0.014486594735413028,-0.01297080397309121,-0.010505697412805125]},{"name":"camera_3","offset_m":[0.009642173434206276,0.019972012213324505,-0.005538652092064526]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00015935247392059046,0.0009354047962527538,-0.0011108779253777715],"end_effector_yaw_offset_degrees":-0.5320080917367369},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016853791601669347,-0.0016313944874484095,-0.00031158410232953325],"end_effector_yaw_offset_degrees":-0.506910783350627},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007756228113449948,-0.0016085302783702047,-0.0004249202067918528],"end_effector_yaw_offset_degrees":-0.0733296935234038}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012275469244498738,-0.0002809263973401312],"position_m":[0.24022754692444986,-0.056480926397340134,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005110350358172666,-0.0026168144709954855],"position_m":[0.20081103503581726,-0.3883168144709955,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035073014075544468,0.0019949231212103924],"position_m":[0.20490730140755445,0.3214949231212104,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003349985221712699,0.0008406213983447553],"position_m":[0.3377500147782873,0.16884062139834477,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"73255b6a5169d7f3db8829d49762987b6dbc8fb0072dff558fd93ed53a7a4e4d","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9663/tex_ceiling_textures_788/tex_floor_textures_6176/tex_table_textures_5552/tex_wall_textures_1237","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6640051521358841857,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6640051521358841857,"visual_seed":6640051521358841857,"scene_id":"lab_003","finished_at":"2026-09-03T20:35:38"} +{"episode_id":"ep_000043","started_at":"2026-09-03T20:35:43","dimensions":{"distractor":{"count":33,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.18261488893300037,-0.6453182065759628,0.71338606911949],"aabb_xy":[[-0.2064511065736055,-0.7353182073844494],[-0.15877867129239534,-0.5553182057674765]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.2665210488018336,-2.485865952716654,0.71338606911949],"aabb_xy":[[-0.2742242394759106,-2.493575323415392],[-0.25881785812775654,-2.478156582017916]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[-0.39858194478527725,0.6534364850114587,0.71338606911949],"aabb_xy":[[-0.4035379649701586,0.6309364848093372],[-0.39362592460039614,0.6759364852135804]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[-0.5195207020100234,-0.676531711035758,0.71338606911949],"aabb_xy":[[-0.5365307993000741,-0.692666199534032],[-0.5025106047199728,-0.6603972225374841]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[0.5454716299593914,-0.404823194706073,0.71338606911949],"aabb_xy":[[0.46047163154196813,-0.4896974901683579],[0.6304716283768146,-0.31994889924378794]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.11467154712894223,1.5115537192369612,0.71338606911949],"aabb_xy":[[0.10532453954664701,1.4972500970193172],[0.12401855471123747,1.5258573414546053]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.29796708582986065,-1.1959025512003418,0.71338606911949],"aabb_xy":[[0.2604670853325024,-1.1998712347484601],[0.3354670863272189,-1.1919338676522235]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[-0.09458222987206721,0.8333568368269959,0.71338606911949],"aabb_xy":[[-0.10162368082281481,0.8263300850892012],[-0.08754077892131962,0.8403835885647903]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[-0.41772978748373246,-0.9115532184066717,0.71338606911949],"aabb_xy":[[-0.4249910350541399,-0.9243402286701813],[-0.41046853991332505,-0.8987662081431623]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.0022395331505541405,-2.0582760342026067,0.71338606911949],"aabb_xy":[[-0.03222294486253363,-2.064939711385529],[0.03670201116364191,-2.0516123570196836]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[0.42892360901681514,1.2680438711031141,0.71338606911949],"aabb_xy":[[0.42250979537363015,1.2616340508554456],[0.43533742266000003,1.2744536913507822]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[-0.09735957849590926,-2.2945673232302375,0.71338606911949],"aabb_xy":[[-0.12258041535574891,-2.319791074083123],[-0.07213874163606958,-2.26934357237735]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[-0.5329483969602151,0.06075307320993595,0.71338606911949],"aabb_xy":[[-0.555120923936866,0.03857740605381277],[-0.5107758699835643,0.08292874036605913]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.0890147890790215,-1.1652567782530219,0.71338606911949],"aabb_xy":[[0.025014791776675094,-1.2096232052208784],[0.1530147863813679,-1.120890351285165]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.1290043958552206,0.8811354864887768,0.71338606911949],"aabb_xy":[[0.07400439623347477,0.8261517937013042],[0.18400439547696645,0.9361191792762497]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[0.3502711707753443,1.6303507506543498,0.71338606911949],"aabb_xy":[[0.2852711698182171,1.5784025387206442],[0.4152711717324715,1.6822989625880553]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[0.15240880145327662,-1.840995770415537,0.71338606911949],"aabb_xy":[[0.08740880289620376,-1.8707483038294195],[0.21740880001034943,-1.8112432370016542]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.41827598056309434,0.9694154614577752,0.71338606911949],"aabb_xy":[[-0.4722915768449943,0.905415458565518],[-0.3642603842811943,1.0334154643500324]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.2895990129799029,-0.6217840305092093,0.71338606911949],"aabb_xy":[[-0.3115076951192539,-0.6436846973292999],[-0.2676903308405518,-0.5998833636891184]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.14975161552560767,-2.245881403393817,0.71338606911949],"aabb_xy":[[0.10447300064445841,-2.309881402742001],[0.19503023040675693,-2.1818814040456336]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.5246352928566611,-0.8437977658539548,0.71338606911949],"aabb_xy":[[0.5070024572631335,-0.8614207118695777],[0.5422681284501887,-0.8261748198383317]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[-0.039444296051180605,-1.7667708447188153,0.71338606911949],"aabb_xy":[[-0.043522453958230345,-1.7708518249670788],[-0.035366138144130865,-1.7626898644705522]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[-0.6151669793629801,-1.7058344784559303,0.71338606911949],"aabb_xy":[[-0.6486461466240211,-1.7393135918270375],[-0.5816878121019392,-1.6723553650848235]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[0.2842067069861506,-1.4463705808137963,0.71338606911949],"aabb_xy":[[0.2629286988426783,-1.5113705831398692],[0.3054847151296228,-1.381370578487723]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.42650076995813846,-1.4283268409076098,0.71338606911949],"aabb_xy":[[0.4106162766928133,-1.4426797812064338],[0.4423852632234636,-1.4139739006087857]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_25","position":[-0.20558982603371284,1.7764943692325157,0.71338606911949],"aabb_xy":[[-0.2695898293234209,1.733159450228598],[-0.1415898227440047,1.8198292882364333]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_26","position":[0.47876571282703684,-1.9698986739543636,0.71338606911949],"aabb_xy":[[0.39876571542344336,-2.049891245152546],[0.5587657102306302,-1.8899061027561805]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[-0.1761209495694288,1.296063148463674,0.71338606911949],"aabb_xy":[[-0.2260997580797447,1.2460631484579552],[-0.12614214105911292,1.3460631484693928]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_28","position":[0.13794065251545962,-1.396523866803971,0.71338606911949],"aabb_xy":[[0.09276933466729066,-1.4605238639485094],[0.1831119703636286,-1.3325238696594326]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_29","position":[-0.19411624947787498,-1.4626220513834027,0.71338606911949],"aabb_xy":[[-0.19875136463010837,-1.466489386460551],[-0.1894811343256416,-1.458754716306254]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_30","position":[-0.5841407640264152,0.7065524943209769,0.71338606911949],"aabb_xy":[[-0.5959089508210728,0.6215524944157554],[-0.5723725772317577,0.7915524942261987]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_31","position":[-0.427599639791525,-1.3159838938624135,0.71338606911949],"aabb_xy":[[-0.4775729337947854,-1.3659838944169607],[-0.3776263457882645,-1.265983893307866]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_32","position":[-0.3003551485366109,-1.2409508998229766,0.71338606911949],"aabb_xy":[[-0.3172658809729526,-1.2544231054155908],[-0.28344441610026905,-1.227478694230362]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6451669184425672,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8687.png","name":"8687"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8687.png","name":"8687"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4008.png","name":"4008"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5325.png","name":"5325"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2868.png","name":"2868"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1408.png","name":"1408"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":718.4660894914387,"rotation_z_degrees":49.09239089198349,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006330032583072232,-0.01065744665663246,-0.009577183974088412]},{"name":"camera_2","offset_m":[0.018372695317423856,-0.002646791319117804,-0.014789017492827057]},{"name":"camera_3","offset_m":[-0.017211335304532966,0.00506897515037439,-0.005225024887317686]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006626331633135855,-0.0019109712768203106,-0.0006784607899880065],"end_effector_yaw_offset_degrees":0.6102741738778956},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006908411522223226,-0.0010562105734329683,0.0016274747378486908],"end_effector_yaw_offset_degrees":0.7201405144746724},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[7.216310710701085e-06,-0.0002000025473848019,0.0014997445796324583],"end_effector_yaw_offset_degrees":0.5729948009544923}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016544306547379472,-0.0037015258604998127],"position_m":[0.24065443065473793,-0.059901525860499814,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003296935467185863,0.003909282927371219],"position_m":[0.19700306453281413,-0.3817907170726288,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003312615818561207,-0.0011664588261960742],"position_m":[0.2047126158185612,0.3183335411738039,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025019638505210827,-0.0007990807687911702],"position_m":[0.3436019638505211,0.16720091923120883,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c091eb10ceade87095c4858ffe7fa90d454ce18e2adafbebc1aa5aa51627e0cc","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8687/tex_ceiling_textures_1408/tex_floor_textures_2868/tex_table_textures_4008/tex_wall_textures_5325","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3195601825363789059,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3195601825363789059,"visual_seed":3195601825363789059,"scene_id":"lab_003","finished_at":"2026-09-03T20:38:23"} +{"episode_id":"ep_000044","started_at":"2026-09-03T20:38:26","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.2758778132173748,0.737018496942043,0.71338606911949],"aabb_xy":[[-0.2829192641681224,0.7299917452042485],[-0.2688363622666272,0.7440452486798376]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.4171697593055228,0.17950410979798637,0.71338606911949],"aabb_xy":[[-0.46716976025605556,0.14795496279446496],[-0.36716975835498994,0.21105325680150777]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[0.5364213939244369,0.7569688689231313,0.71338606911949],"aabb_xy":[[0.49938728449637715,0.7225916615894219],[0.5734555033524966,0.7913460762568407]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.7026353549061035,-1.7981022934463815,0.71338606911949],"aabb_xy":[[0.6856252576160529,-1.8142367819446552],[0.7196454521961542,-1.7819678049481074]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[0.5961838884802999,-0.4612190932097828,0.71338606911949],"aabb_xy":[[0.5783903815453834,-0.4790188388055805],[0.6139773954152162,-0.44341934761398516]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[-0.01835210561144418,-1.686453275212756,0.71338606911949],"aabb_xy":[[-0.06816888507627894,-1.7364532736970593],[0.03146467385339058,-1.6364532767284525]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[0.23889970112419212,-1.9161508757494894,0.71338606911949],"aabb_xy":[[0.2264323430144565,-1.9286162003828127],[0.25136705923392777,-1.9036855511161657]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.7128810088981663,1.2517887808732353,0.71338606911949],"aabb_xy":[[0.7054685533567777,1.2459375704516071],[0.7202934644395547,1.257639991294863]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[0.6810238900939207,-1.16364593974649,0.71338606911949],"aabb_xy":[[0.6728962019006075,-1.1725595481571975],[0.689151578287234,-1.1547323313357825]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.31445733045041424,0.34826190436961646,0.71338606911949],"aabb_xy":[[-0.3188879598052545,0.3428135326349339],[-0.3100267010955741,0.3537102761042991]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.425988736612388,-1.1081248673774788,0.71338606911949],"aabb_xy":[[0.4220282528426536,-1.1157927319629994],[0.4299492203821223,-1.1004570027919582]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.4117766330350988,0.6193356227741167,0.71338606911949],"aabb_xy":[[-0.42693950601203595,0.6041701654789979],[-0.3966137600581618,0.6345010800692354]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[-0.4503024905510143,-1.9513200434389073,0.71338606911949],"aabb_xy":[[-0.48780249173580703,-1.9557382661349676],[-0.41280248936622144,-1.9469018207428466]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.5230926703413898,-0.26933736063295965,0.71338606911949],"aabb_xy":[[0.45809266770359636,-0.32081695933240667],[0.5880926729791833,-0.21785776193351275]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.4518262238151535,-1.0873820148543611,0.71338606911949],"aabb_xy":[[-0.5158262209272593,-1.1364143846487718],[-0.38782622670304784,-1.0383496450599505]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[-0.2246531358031459,-1.5783452475448776,0.71338606911949],"aabb_xy":[[-0.2465428833920867,-1.6683452448341267],[-0.2027633882142051,-1.4883452502556285]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[0.5490390099320632,-0.9594048851168182,0.71338606911949],"aabb_xy":[[0.520709299983523,-0.9638656273105354],[0.5773687198806035,-0.9549441429231013]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.4798312017602169,0.4617305316583651,0.71338606911949],"aabb_xy":[[-0.5269605807620525,0.39773053061396313],[-0.43270182275838115,0.525730532702767]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[-0.3488623082769015,-2.517738594165894,0.71338606911949],"aabb_xy":[[-0.3549569361650199,-2.5263079887175626],[-0.34276768038878325,-2.509169199614225]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.39909919932365434,0.3361654595514647,0.71338606911949],"aabb_xy":[[0.3190992021640791,0.32461785859364767],[0.4790991964832297,0.34771306050928175]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[0.2625944371367782,1.1872363406710047,0.71338606911949],"aabb_xy":[[0.19859443491637113,1.1428632565457162],[0.3265944393571852,1.2316094247962928]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.5964440052314712,1.3214870373973406,0.71338606911949],"aabb_xy":[[0.5364440049800699,1.267205712360876],[0.6564440054828723,1.3757683624338053]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[0.6429060747533797,-2.1934479138779777,0.71338606911949],"aabb_xy":[[0.6356623087071344,-2.27344791208158],[0.650149840799625,-2.1134479156743753]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[-0.09993957690599842,1.0375902671416015,0.71338606911949],"aabb_xy":[[-0.16493957506191748,1.0112940225916893],[-0.034939578750079345,1.0638865116915137]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[0.16388227392616173,-2.5081740753419415,0.71338606911949],"aabb_xy":[[0.08388227594537669,-2.515775616303793],[0.24388227190694678,-2.500572534380089]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[0.3035710332550039,1.577594883387642,0.71338606911949],"aabb_xy":[[0.23357103165272441,1.5641620901859845],[0.3735710348572834,1.5910276765892997]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[-0.3106786857986248,-0.5169935430853849,0.71338606911949],"aabb_xy":[[-0.40067868439309473,-0.533244129398806],[-0.22067868720415484,-0.500742956771964]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[0.5800345020257136,-1.1225270734996196,0.71338606911949],"aabb_xy":[[0.5649322005646953,-1.137628595130681],[0.5951368034867315,-1.1074255518685572]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_28","position":[-0.43447358851064166,-0.9566388031794659,0.71338606911949],"aabb_xy":[[-0.45197352194462503,-0.9741388030997002],[-0.4169736550766583,-0.9391388032592312]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[-0.664396122620448,-0.889392160788349,0.71338606911949],"aabb_xy":[[-0.679039528174481,-0.9040508804451332],[-0.649752717066415,-0.8747334411315647]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_30","position":[-0.09461940564152616,1.151813674223495,0.71338606911949],"aabb_xy":[[-0.11467781725476645,1.1317485873143374],[-0.07456099402828587,1.1718787611326522]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_31","position":[-0.17845421787389093,-1.8265944112522075,0.71338606911949],"aabb_xy":[[-0.2284490508018325,-1.8765944101474514],[-0.1284593849459493,-1.7765944123569644]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_32","position":[0.12014015994092131,-1.8128221110770035,0.71338606911949],"aabb_xy":[[0.11005845286234782,-1.892822108969118],[0.13022186701949479,-1.7328221131848887]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_33","position":[0.23496315897047904,0.7341675702164427,0.71338606911949],"aabb_xy":[[0.18496315795134377,0.6977013544786149],[0.2849631599896143,0.7706337859542709]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_34","position":[0.2369740976045417,-1.6072405553958533,0.71338606911949],"aabb_xy":[[0.17297840020944508,-1.6712405536965618],[0.3009697949996383,-1.5432405570951444]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6518901377193281,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8646.png","name":"8646"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8646.png","name":"8646"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2630.png","name":"2630"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6481.png","name":"6481"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8147.png","name":"8147"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5039.png","name":"5039"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":695.1174073009504,"rotation_z_degrees":333.7575773014107,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0031178709965980107,0.007313359710179178,-0.011198609239153319]},{"name":"camera_2","offset_m":[-0.012194448765182754,0.008073079635600961,0.01970578242759612]},{"name":"camera_3","offset_m":[-0.016635867604440368,0.0110640582694157,0.0045113783428210145]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003181973005890477,-0.0005454458486106319,-0.0008834113498856651],"end_effector_yaw_offset_degrees":0.5107495669751063},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00029231463888299654,0.0003842696069659979,-0.0011980551163543738],"end_effector_yaw_offset_degrees":-0.5589213263310249},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00024392915853905682,0.001592480551950836,-0.00045350670474794403],"end_effector_yaw_offset_degrees":-0.06708631060093406}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038658113831605842,-0.0022828677244021147],"position_m":[0.24286581138316057,-0.058482867724402116,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00381759972594252,0.0022500937058545153],"position_m":[0.20411759972594254,-0.3834499062941455,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004720213241291149,-0.004687413447705322],"position_m":[0.19667978675870884,0.31481258655229466,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004602786923509713,-0.0014403432769467673],"position_m":[0.3364972130764903,0.16655965672305326,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c625e62c1eb3f0cda9a4181fa072467a7bd4831efb5faabf1ed5b096802a4ecf","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8646/tex_ceiling_textures_5039/tex_floor_textures_8147/tex_table_textures_2630/tex_wall_textures_6481","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":633711826255988678,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":633711826255988678,"visual_seed":633711826255988678,"scene_id":"lab_003","finished_at":"2026-09-03T20:41:10"} +{"episode_id":"ep_000045","started_at":"2026-09-03T20:41:14","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.19761189482086716,0.16467987533338713,0.71338606911949],"aabb_xy":[[-0.20294947048687176,0.13967987440424734],[-0.19227431915486262,0.18967987626252691]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.30761838014646936,0.8822102570234107,0.71338606911949],"aabb_xy":[[0.2576395716361535,0.832210257017692],[0.35759718865678525,0.9322102570291296]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[0.2708129714250902,-1.5093822928319254,0.71338606911949],"aabb_xy":[[0.2339624234881026,-1.546882293654959],[0.3076635193620778,-1.4718822920088916]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[0.014766258073466432,1.7782264869926547,0.71338606911949],"aabb_xy":[[-0.011522566246974227,1.751955053338003],[0.04105508239390709,1.8044979206473055]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.31339986958795096,0.22138083084366444,0.71338606911949],"aabb_xy":[[-0.33528961717689176,0.13138083355441532],[-0.29151012199901016,0.31138082813291357]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.6255185926261057,-0.7133299333647185,0.71338606911949],"aabb_xy":[[-0.648800434824237,-0.7983299346619466],[-0.6022367504279743,-0.6283299320674904]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.3641057895780859,-1.0982354204198705,0.71338606911949],"aabb_xy":[[0.3564815214879077,-1.1058686439564143],[0.37173005766826417,-1.0906021968833268]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.4985474294543728,0.07626342014616228,0.71338606911949],"aabb_xy":[[0.4766387473150217,0.054362753326071545],[0.5204561115937238,0.098164086966253]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[0.6231355809831169,-0.002665806736793286,0.71338606911949],"aabb_xy":[[0.6152123007443686,-0.025165806974796645],[0.6310588612218653,0.019834193501210073]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.49111643785858367,0.16279703520033229,0.71338606911949],"aabb_xy":[[-0.5551164399083157,0.12270255211102432],[-0.42711643580885167,0.20289151828964025]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[-0.5577857698440445,1.2526544476042005,0.71338606911949],"aabb_xy":[[-0.6217857721868459,1.2077135963600678],[-0.49378576750124287,1.2975952988483328]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.6378072304380082,-2.3767469435357946,0.71338606911949],"aabb_xy":[[-0.687287651651967,-2.4407469414486465],[-0.5883268092240495,-2.312746945622943]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.4272724895851734,1.4982737118799974,0.71338606911949],"aabb_xy":[[0.4218145439481532,1.4182737085723383],[0.43273043522219334,1.5782737151876565]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.38837737479942774,-2.4964143931967944,0.71338606911949],"aabb_xy":[[-0.40084473290916345,-2.5088797178301183],[-0.37591001668969215,-2.4839490685634713]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.023115118261902712,-2.341146972228629,0.71338606911949],"aabb_xy":[[-0.11311511798507688,-2.3642203247638083],[0.06688488146127146,-2.3180736196934486]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.31021043576632423,0.8312095904469983,0.71338606911949],"aabb_xy":[[-0.3280039427012407,0.8134098448512006],[-0.29241692883140785,0.8490093360427959]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.3842285000255681,1.7539749142786483,0.71338606911949],"aabb_xy":[[-0.3976750266596114,1.7405050626255567],[-0.37078197339152474,1.7674447659317394]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[-0.12784023618011486,0.607155139178813,0.71338606911949],"aabb_xy":[[-0.13713385441726544,0.5696551406906791],[-0.11854661794296428,0.6446551376669469]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.44754146905276493,-0.20586971421569356,0.71338606911949],"aabb_xy":[[-0.4562394313434803,-0.2179946885231683],[-0.4388435067620497,-0.19374473990821886]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[-0.5009947514720521,-1.0745412250850745,0.71338606911949],"aabb_xy":[[-0.5809947484863001,-1.0946757767584858],[-0.4209947544578041,-1.0544066734116633]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.6765551371618419,-1.3903837699098107,0.71338606911949],"aabb_xy":[[-0.6852691062117762,-1.4128837705689985],[-0.6678411681119072,-1.367883769250622]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[-0.3699130390515165,0.6347957087939138,0.71338606911949],"aabb_xy":[[-0.449913041214279,0.55484052516777],[-0.289913036888754,0.7147508924200573]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[-0.2470201036401567,1.4182121166928954,0.71338606911949],"aabb_xy":[[-0.27698766054998236,1.3882121163950096],[-0.21705254673033106,1.4482121169907811]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.46587430933424323,-1.945896017117406,0.71338606911949],"aabb_xy":[[0.38588048575568507,-2.025896019710248],[0.5458681329128015,-1.8658960145245647]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.24993299218436776,-0.16886732730934817,0.71338606911949],"aabb_xy":[[-0.30492847000502715,-0.22386732874325507],[-0.19493751436370838,-0.11386732587544121]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.5410215994932672,-1.7666453163375555,0.71338606911949],"aabb_xy":[[-0.5483039158699307,-1.8566453199470643],[-0.5337392831166033,-1.6766453127280463]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[0.664184982078885,-1.1914801033772164,0.71338606911949],"aabb_xy":[[0.6459791584176374,-1.202505503959208],[0.6823908057401328,-1.1804547027952248]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[0.18909397498640346,-1.3886558535801246,0.71338606911949],"aabb_xy":[[0.16409397582077032,-1.3956080992854811],[0.21409397415203654,-1.381703607874768]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_28","position":[0.08153930218229544,-2.552074117780809,0.71338606911949],"aabb_xy":[[0.0472423911645548,-2.5863710039907497],[0.11583621320003605,-2.517777231570867]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_29","position":[0.20189681904903023,1.3084884920713504,0.71338606911949],"aabb_xy":[[0.17939681853698963,1.285996633705952],[0.22439681956107083,1.3309803504367488]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.650461733113615,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7018.png","name":"7018"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7018.png","name":"7018"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4970.png","name":"4970"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6598.png","name":"6598"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1466.png","name":"1466"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5137.png","name":"5137"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":803.090382949563,"rotation_z_degrees":8.663272791236238,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011214172568997345,0.019793885534107204,-0.008223001321370594]},{"name":"camera_2","offset_m":[-0.013453544693425447,0.013506675292722644,0.014994951476452443]},{"name":"camera_3","offset_m":[-0.007551203011548267,-0.01727375989579271,-0.0057714101376208325]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016887537190368737,0.0010413416492261393,-0.00042111027448181156],"end_effector_yaw_offset_degrees":-0.5216933018087362},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009332313984429562,-4.619979094893723e-05,-0.0003397560102284913],"end_effector_yaw_offset_degrees":0.9389805789189083},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011578617772674904,-0.0018569726574918536,-0.0006965950590583439],"end_effector_yaw_offset_degrees":0.8568507367473082}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014621158365134236,-0.0036150524030182474],"position_m":[0.24046211583651342,-0.059815052403018244,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00236099475221527,0.0026762119400842097],"position_m":[0.20266099475221527,-0.38302378805991577,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009734591428514992,0.0016902162294357148],"position_m":[0.2023734591428515,0.3211902162294357,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003474919602790225,0.00016137318428765743],"position_m":[0.3376250803972098,0.16816137318428767,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e45d51f6343b0972ea1991540ca1df4db8b666a66b6780580ee46fd34e4fe191","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7018/tex_ceiling_textures_5137/tex_floor_textures_1466/tex_table_textures_4970/tex_wall_textures_6598","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3770594200367059381,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3770594200367059381,"visual_seed":3770594200367059381,"scene_id":"lab_003","finished_at":"2026-09-03T20:43:47"} +{"episode_id":"ep_000046","started_at":"2026-09-03T20:43:50","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[0.553993833012195,-1.1263064475610358,0.71338606911949],"aabb_xy":[[0.47399383158206765,-1.2058236025736453],[0.633993834442322,-1.0467892925484263]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.36618016555597527,0.5775602098091754,0.71338606911949],"aabb_xy":[[-0.37410344579472365,0.5550602095711721],[-0.358256885317227,0.6000602100471788]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.36586469805171506,-0.8259216095633608,0.71338606911949],"aabb_xy":[[0.3008646994946422,-0.8556741429772434],[0.43086469660878784,-0.7961690761494782]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[0.06461323406548636,-2.401137259413975,0.71338606911949],"aabb_xy":[[0.010597637783586342,-2.4651372623062318],[0.11862883034738635,-2.3371372565217174]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[0.49030443337181695,0.6317632811103833,0.71338606911949],"aabb_xy":[[0.40030443395344606,0.5983877842661934],[0.5803044327901878,0.6651387779545729]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.5364467204209327,-0.1528335240458909,0.71338606911949],"aabb_xy":[[0.5266907309117588,-0.1625960581051253],[0.5462027099301066,-0.14307098998665643]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[-0.12965719387120767,1.0130102678958548,0.71338606911949],"aabb_xy":[[-0.14521296328147296,0.9974598346514478],[-0.11410142446094243,1.0285607011402622]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.3165025500896603,-1.9504787774264005,0.71338606911949],"aabb_xy":[[-0.3805025503636385,-2.000544877623689],[-0.25250254981568204,-1.9004126772291128]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[0.3016913132353807,-1.8451806002187279,0.71338606911949],"aabb_xy":[[0.2908397069865051,-1.8560398909463787],[0.3125429194842563,-1.8343213094910766]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[0.30560569453199204,-1.137379328058618,0.71338606911949],"aabb_xy":[[0.24160569382852276,-1.183397710531539],[0.36960569523546144,-1.091360945585697]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[0.4392851994037805,-2.030505169347178,0.71338606911949],"aabb_xy":[[0.3692851978015011,-2.0439379625488354],[0.50928520100606,-2.0170723761455203]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.49981397036266584,1.4675805835992457,0.71338606911949],"aabb_xy":[[0.4821383397740675,1.449900367319843],[0.5174896009512642,1.4852607998786485]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.3484501303379988,-2.4319402146788414,0.71338606911949],"aabb_xy":[[-0.35935590642556153,-2.5119402110776705],[-0.3375443542504361,-2.351940218280012]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[-0.4526899899165339,-0.4569348885878215,0.71338606911949],"aabb_xy":[[-0.4739679980600061,-0.5219348909138946],[-0.4314119817730616,-0.3919348862617484]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[-0.530861448961173,1.7793008385727451,0.71338606911949],"aabb_xy":[[-0.5808614476070942,1.7293812949132827],[-0.48086145031525185,1.8292203822322075]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[-0.6385542557295272,-0.2848710845820972,0.71338606911949],"aabb_xy":[[-0.6517055017008165,-0.3098710843387838],[-0.6254030097582378,-0.2598710848254107]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[-0.30306597955357645,-1.0749921961742852,0.71338606911949],"aabb_xy":[[-0.3830659781408959,-1.1543077981124459],[-0.22306598096625704,-0.9956765942361242]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[0.36383655186219466,1.7440593109967204,0.71338606911949],"aabb_xy":[[0.333438440763051,1.7136524089950507],[0.3942346629613382,1.7744662129983897]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.11382713252771293,-1.6200654963540102,0.71338606911949],"aabb_xy":[[-0.14945628842767267,-1.655698163110863],[-0.07819797662775317,-1.584432829597157]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.05942747881314692,-1.2169491987181833,0.71338606911949],"aabb_xy":[[0.05458388405191695,-1.2218008511971676],[0.06427107357437689,-1.2120975462391994]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[-0.3473223960463293,-0.5134481876268735,0.71338606911949],"aabb_xy":[[-0.36949492302298015,-0.5356238547829966],[-0.32514986906967847,-0.4912725204707502]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[-0.47153032883878365,1.068885164484707,0.71338606911949],"aabb_xy":[[-0.49511545230267856,1.0038851622392753],[-0.44794520537488886,1.1338851667301388]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6475049604210488,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3572.png","name":"3572"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3572.png","name":"3572"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9198.png","name":"9198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7416.png","name":"7416"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3055.png","name":"3055"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/910.png","name":"910"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":551.3624333116518,"rotation_z_degrees":141.33890405370724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00033586669231288127,0.007714192391180329,-0.0159846821447238]},{"name":"camera_2","offset_m":[0.01673696860151459,-0.015563882336378336,-0.006342820972834437]},{"name":"camera_3","offset_m":[0.0002203893875456775,0.015244952792308242,-0.0075933518609444355]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008506317485393008,-0.0012839325656535511,-0.0010937543252199857],"end_effector_yaw_offset_degrees":-0.3926868129519696},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009028336263348772,-0.0016330088258727372,0.0018482003766779709],"end_effector_yaw_offset_degrees":0.05935283501992661},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013137368292126276,0.0016621420538631537,0.00035886767072141777],"end_effector_yaw_offset_degrees":-0.7916102660204358}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006552107573725655,-0.0022214625117866816],"position_m":[0.23965521075737256,-0.05842146251178668,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003030254765917931,0.004873159395695736],"position_m":[0.2006030254765918,-0.3808268406043043,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004725287878554422,-1.6544585887547092e-05],"position_m":[0.20187252878785544,0.31948345541411244,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001966171405563273,0.003929401451203293],"position_m":[0.3430661714055633,0.1719294014512033,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0121d7473d9eef7c0e88c1c0ce79186509491dde25b5b01f5b13cfa5cfb5ac6d","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3572/tex_ceiling_textures_910/tex_floor_textures_3055/tex_table_textures_9198/tex_wall_textures_7416","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6635778186305584760,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6635778186305584760,"visual_seed":6635778186305584760,"scene_id":"lab_003","finished_at":"2026-09-03T20:46:09"} +{"episode_id":"ep_000047","started_at":"2026-09-03T20:46:12","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.5302817438779326,1.5685039647456596,0.71338606911949],"aabb_xy":[[-0.5461662371432577,1.5541510244468355],[-0.5143972506126074,1.5828569050444836]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[0.12761814126639504,-1.9541602634604265,0.71338606911949],"aabb_xy":[[0.089072448441194,-1.9927060345166152],[0.16616383409159607,-1.9156144924042378]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.7055198739732211,-2.0247529795915904,0.71338606911949],"aabb_xy":[[0.694952394315122,-2.035298009704599],[0.71608735363132,-2.014207949478582]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[0.1505387219055211,-1.731056500376058,0.71338606911949],"aabb_xy":[[0.07053872324863508,-1.7455613593003212],[0.2305387205624071,-1.7165516414517954]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[0.02486308559365391,-1.5145836101393761,0.71338606911949],"aabb_xy":[[0.012930351231825846,-1.5269657629472355],[0.03679581995548198,-1.5022014573315168]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.32872795190302484,-0.6363556674722042,0.71338606911949],"aabb_xy":[[-0.4087279498838099,-0.6439572084340561],[-0.24872795392223981,-0.6287541265103522]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.45750849686838424,-0.3162037742681658,0.71338606911949],"aabb_xy":[[-0.48042420975343425,-0.3391080714045893],[-0.43459278398333445,-0.2932994771317423]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.5971596100840176,-1.809637995621466,0.71338606911949],"aabb_xy":[[-0.6611596119963601,-1.8655491448794765],[-0.5331596081716754,-1.7537268463634557]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[0.576472804802221,-1.1848929408535687,0.71338606911949],"aabb_xy":[[0.5582669811409733,-1.1959183414355605],[0.5946786284634686,-1.1738675402715772]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.344147570679897,-2.2982642641724564,0.71338606911949],"aabb_xy":[[-0.4091475716803975,-2.3490506293271314],[-0.27914756967939647,-2.2474778990177815]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.6099767720903386,0.05926845510248979,0.71338606911949],"aabb_xy":[[0.6053416569381052,0.055401120025341144],[0.6146118872425719,0.06313579017963844]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[0.41991884733926144,-0.7352505551438466,0.71338606911949],"aabb_xy":[[0.38562193632152075,-0.7695474413537877],[0.454215758357002,-0.7009536689339051]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.40511722250904736,1.328088397914986,0.71338606911949],"aabb_xy":[[0.397193942270299,1.3055883976769826],[0.4130405027477957,1.3505883981529894]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.3362609215968588,0.21618971366985074,0.71338606911949],"aabb_xy":[[-0.416260918756434,0.20464211271203364],[-0.25626092443728343,0.22773731462766772]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[-0.48925081153262506,-1.989831049627227,0.71338606911949],"aabb_xy":[[-0.5217125124145524,-2.019963881742129],[-0.45678911065069755,-1.9596982175123239]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.17157721356588596,-1.3860497980284776,0.71338606911949],"aabb_xy":[[-0.22155602207620184,-1.4360497980341962],[-0.12159840505557007,-1.3360497980227586]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[0.1266211445956953,-2.502973165501449,0.71338606911949],"aabb_xy":[[0.10534313645222304,-2.5679731678275215],[0.14789915273916754,-2.4379731631753754]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[0.2969247870363235,-1.7461167271408171,0.71338606911949],"aabb_xy":[[0.2794247877582367,-1.763454827207163],[0.31442478631441045,-1.7287786270744712]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.2931539477041474,0.9992328501025192,0.71338606911949],"aabb_xy":[[-0.3066004743381907,0.985762998449428],[-0.27970742107010405,1.0127027017556105]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.02493792813009177,-0.9002181975776413,0.71338606911949],"aabb_xy":[[0.004879516516851479,-0.920283284486799],[0.04499633974333206,-0.8801531106684839]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.020583751162357222,0.8469913766617512,0.71338606911949],"aabb_xy":[[-0.010563167681225893,0.7769913779749439],[0.05173067000594034,0.9169913753485582]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[-0.5498213100017358,-1.1536436228541636,0.71338606911949],"aabb_xy":[[-0.562693213502676,-1.2336436232679995],[-0.5369494065007957,-1.0736436224403272]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.1273390014826653,-1.4032912285840013,0.71338606911949],"aabb_xy":[[0.10483900195895789,-1.425787176034622],[0.14983900100637268,-1.3807952811333803]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[0.3433843433730537,-1.5661312374549081,0.71338606911949],"aabb_xy":[[0.30588434287569544,-1.5700999210030269],[0.3808843438704119,-1.5621625539067898]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[-0.10865769076433962,-1.5351263786622793,0.71338606911949],"aabb_xy":[[-0.14615769194913242,-1.5395446013583396],[-0.07115768957954682,-1.5307081559662186]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.3142023839417025,-2.0101510001570677,0.71338606911949],"aabb_xy":[[0.25920238476511304,-2.065140674932025],[0.369202383118292,-1.9551613253821096]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6462672154697655,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7866.png","name":"7866"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7866.png","name":"7866"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/430.png","name":"430"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2006.png","name":"2006"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9669.png","name":"9669"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8675.png","name":"8675"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":517.650112778843,"rotation_z_degrees":326.055291723474,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016049086907196398,0.015554469595511027,0.01574728731396575]},{"name":"camera_2","offset_m":[0.019378906541975997,0.00637035486498987,0.013635115272881599]},{"name":"camera_3","offset_m":[0.011674764629242228,-0.014391445141321527,0.014367243936947872]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00043330130197223853,-0.0012156652838279478,-0.001873655641127333],"end_effector_yaw_offset_degrees":0.05556036327171743},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00013467689084518215,-0.0007982002737453486,-0.00011662662276757632],"end_effector_yaw_offset_degrees":-0.8616728793106949},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005304246746901935,0.000830880325956713,0.00024379987249292193],"end_effector_yaw_offset_degrees":-0.9621950565412436}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006717047239351605,0.003757122831609638],"position_m":[0.23832829527606483,-0.05244287716839036,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020947245930414585,0.0036879552483558365],"position_m":[0.19820527540695854,-0.38201204475164413,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002476017137878812,0.0003168377336992736],"position_m":[0.2038760171378788,0.3198168377336993,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010068664763659288,-0.0011697268632226178],"position_m":[0.3400931335236341,0.1668302731367774,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0980689194d31994aee48534f1198ae8490445fde7ddd47a216e98e014e08df5","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7866/tex_ceiling_textures_8675/tex_floor_textures_9669/tex_table_textures_430/tex_wall_textures_2006","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7826709232062438394,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7826709232062438394,"visual_seed":7826709232062438394,"scene_id":"lab_003","finished_at":"2026-09-03T20:48:30"} +{"episode_id":"ep_000048","started_at":"2026-09-03T20:48:33","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[0.4194003028614701,-2.0708986758332477,0.71338606911949],"aabb_xy":[[0.40746756849964205,-2.083280828641107],[0.4313330372232982,-2.0585165230253883]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.38079832663776547,1.0186333238284675,0.71338606911949],"aabb_xy":[[0.3440036935128592,0.9817274487318852],[0.41759295976267174,1.0555391989250498]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[-0.15114007870541668,1.3056524346428793,0.71338606911949],"aabb_xy":[[-0.21514008011340735,1.2538634831189546],[-0.08714007729742602,1.357441386166804]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.6398593374789265,1.1148228128105764,0.71338606911949],"aabb_xy":[[-0.6850306553270956,1.0508228156660382],[-0.5946880196307577,1.178822809955115]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.5180963223150015,-1.092092486386251,0.71338606911949],"aabb_xy":[[0.5011855898786596,-1.1055646919788653],[0.5350070547513431,-1.078620280793636]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.6215818143193819,0.21629058418014013,0.71338606911949],"aabb_xy":[[0.6155448013187171,0.21026388311119196],[0.6276188273200466,0.22231728524908836]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[0.3815190733408136,1.411821398148028,0.71338606911949],"aabb_xy":[[0.3570054492438077,1.3875568048459916],[0.40603269743781945,1.4360859914500645]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[0.5794354941243549,0.048842233451535044,0.71338606911949],"aabb_xy":[[0.4994354926942277,-0.03067492156107443],[0.6594354955544821,0.12835938846414452]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[-0.39045641460554764,0.38728392086015573,0.71338606911949],"aabb_xy":[[-0.4036873601402289,0.3740565018381563],[-0.3772254690708663,0.40051133988215515]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.1408236926420382,0.020383548328394507,0.71338606911949],"aabb_xy":[[-0.1559865656189753,0.005218091033275749],[-0.12566081966510115,0.03554900562351326]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[0.034562146630810475,0.8623073787334339,0.71338606911949],"aabb_xy":[[-0.029437853629660327,0.8172985793805059],[0.09856214689128129,0.9073161780863619]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[0.35601589215860985,0.5998524369695941,0.71338606911949],"aabb_xy":[[0.29201588893997193,0.5531293250705858],[0.42001589537724765,0.6465755488686025]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.4460402645286615,-0.21183194747945588,0.71338606911949],"aabb_xy":[[-0.4798158237193545,-0.22587044269262094],[-0.41226470533796855,-0.1977934522662909]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[-0.6037668336805436,-2.357598577257268,0.71338606911949],"aabb_xy":[[-0.616918079651833,-2.382598577013955],[-0.5906155877092543,-2.332598577500582]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.5361906614769336,-2.1741586411899285,0.71338606911949],"aabb_xy":[[0.47219066436482804,-2.223191010984339],[0.6001906585890394,-2.125126271395518]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[0.6444147627133796,-0.9024466320479065,0.71338606911949],"aabb_xy":[[0.6194147631616411,-0.9125891159130413],[0.6694147622651181,-0.8923041481827718]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[-0.00366540018321615,1.1091388405389244,0.71338606911949],"aabb_xy":[[-0.06766540209555849,1.053227691280914],[0.06033460172912619,1.1650499897969349]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.13601800298919442,1.6867297806848165,0.71338606911949],"aabb_xy":[[-0.22101800140661765,1.6018554852225313],[-0.05101800457177119,1.7716040761471012]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[0.06907058072875538,-1.4345974621617408,0.71338606911949],"aabb_xy":[[0.051492278539808534,-1.4521719517358453],[0.08664888291770223,-1.4170229725876358]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.07327931697888856,-2.3760340621301967,0.71338606911949],"aabb_xy":[[-0.11604602385830876,-2.4400340655519996],[-0.030512610099468374,-2.3120340587083947]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.602012993864723,1.1539608655339806,0.71338606911949],"aabb_xy":[[0.5380129965790743,1.1124541465811368],[0.6660129911503716,1.1954675844868248]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[-0.28981044983369714,-0.5716574406431922,0.71338606911949],"aabb_xy":[[-0.3244015326877423,-0.6366574409282232],[-0.25521936697965186,-0.5066574403581611]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.5374588805351423,-2.524119159331455,0.71338606911949],"aabb_xy":[[0.5300464249937539,-2.5299703697530824],[0.5448713360765308,-2.5182679489098265]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[0.15446955495648862,-2.0125075679000743,0.71338606911949],"aabb_xy":[[0.08446955314774318,-2.0338613366642617],[0.22446955676523406,-1.991153799135887]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[-0.1568158231490545,0.40681500765223166,0.71338606911949],"aabb_xy":[[-0.23681582531181697,0.32685982402608804],[-0.076815820986292,0.4867701912783753]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6481148445683932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1414.png","name":"1414"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1414.png","name":"1414"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7068.png","name":"7068"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4928.png","name":"4928"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5947.png","name":"5947"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/800.png","name":"800"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":744.4784175858226,"rotation_z_degrees":57.33969114668503,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005165212029851759,-0.01817041838623375,0.003213573244637554]},{"name":"camera_2","offset_m":[-0.015187420399912428,0.018640685277371862,0.014286927055096623]},{"name":"camera_3","offset_m":[0.002384554849555215,0.001216566068788661,0.010451755037208403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015814391238494975,-0.0014558586859483602,0.0016538342672535234],"end_effector_yaw_offset_degrees":0.8689002792966787},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013109481729355684,-0.0005987781718618038,-0.0013214975926031393],"end_effector_yaw_offset_degrees":0.8967153150802474},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007319606699689647,-0.0017209052189697078,-0.001171737167546604],"end_effector_yaw_offset_degrees":-0.9901312386068386}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004568804510643905,-0.0020468966339958995],"position_m":[0.2394568804510644,-0.0582468966339959,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003878855905406586,-0.0018325769781125999],"position_m":[0.1964211440945934,-0.3875325769781126,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033271613408930555,0.004622619881428615],"position_m":[0.19807283865910694,0.3241226198814286,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000717535365931294,-0.0006958076018691896],"position_m":[0.34038246463406874,0.16730419239813082,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fb8d7fa7364976445dc26697e171adca5c6ff63e4ec2764f61f003ac904960dc","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1414/tex_ceiling_textures_800/tex_floor_textures_5947/tex_table_textures_7068/tex_wall_textures_4928","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3859692275093551937,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3859692275093551937,"visual_seed":3859692275093551937,"scene_id":"lab_003","finished_at":"2026-09-03T20:51:28"} +{"episode_id":"ep_000049","started_at":"2026-09-03T20:51:30","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.4082125242861799,-1.395470591544257,0.71338606911949],"aabb_xy":[[-0.4258881548747782,-1.4131508078236596],[-0.39053689369758154,-1.3777903752648542]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[0.48770783325408873,1.4583288914439296,0.71338606911949],"aabb_xy":[[0.4593781233055485,1.4538681492502126],[0.516037543202629,1.4627896336376467]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[-0.08827821421184845,-1.0049196742086473,0.71338606911949],"aabb_xy":[[-0.09291332936408181,-1.0087870092857958],[-0.08364309905961503,-1.0010523391314983]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[-0.2510183559700616,0.7500121408408416,0.71338606911949],"aabb_xy":[[-0.26142991465054527,0.7446664075049428],[-0.24060679728957785,0.7553578741767398]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[0.4434095172961603,-0.15956568655785164,0.71338606911949],"aabb_xy":[[0.4091126062784196,-0.19386257276779298],[0.47770642831390087,-0.12526880034791024]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.5176856832146105,-1.8138147557308106,0.71338606911949],"aabb_xy":[[-0.5589344942445251,-1.8688147552430276],[-0.4764368721846957,-1.7588147562185927]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[0.28672456478774844,1.2025081089658878,0.71338606911949],"aabb_xy":[[0.23672456376861317,1.1660418932280598],[0.3367245658068837,1.2389743247037157]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[0.4438729378054669,-2.315413009924409,0.71338606911949],"aabb_xy":[[0.36387293673234655,-2.325191056261793],[0.5238729388785872,-2.305634963587024]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[0.643141275635307,0.14568057604230766,0.71338606911949],"aabb_xy":[[0.6009568614744764,0.08168057576509646],[0.6853256897961378,0.20968057631951886]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[0.1910671362795363,-0.7657323915245462,0.71338606911949],"aabb_xy":[[0.18560919064251624,-0.8457323948322052],[0.19652508191655638,-0.685732388216887]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.4090670944914877,-0.9800739656339592,0.71338606911949],"aabb_xy":[[-0.42607719178153836,-0.996208454132233],[-0.39205699720143705,-0.9639394771356852]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[0.5969791979282761,-2.340525745619246,0.71338606911949],"aabb_xy":[[0.5856174632749899,-2.3518942120255333],[0.6083409325815622,-2.3291572792129576]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[0.5401626139681333,1.0461107089002861,0.71338606911949],"aabb_xy":[[0.47616261666578685,1.0017442819324291],[0.6041626112704797,1.0904771358681427]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.16058110100103762,-0.8049713426815905,0.71338606911949],"aabb_xy":[[-0.198081100944804,-0.8132644327164271],[-0.12308110105727119,-0.796678252646754]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[0.7113135026895989,-0.5745243119102774,0.71338606911949],"aabb_xy":[[0.6988461445798634,-0.5869896365436009],[0.7237808607993347,-0.5620589872769539]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[-0.18865102391264188,-1.9700861170112611,0.71338606911949],"aabb_xy":[[-0.1927291818196916,-1.9741670972595247],[-0.1845728660055921,-1.966005136762998]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.5704692945309691,0.4448389181798875,0.71338606911949],"aabb_xy":[[-0.6404692963397145,0.42348514941570015],[-0.5004692927222236,0.4661926869440749]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.4347074412963037,-0.006612396219986216,0.71338606911949],"aabb_xy":[[0.39720744272068287,-0.019348691883544152],[0.4722074398719245,0.006123899443571721]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.5328152059858448,0.1887193310474906,0.71338606911949],"aabb_xy":[[-0.5486996992511699,0.17436639074866656],[-0.5169307127205196,0.20307227134631467]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.24423777702992866,-2.5484709561448806,0.71338606911949],"aabb_xy":[[-0.2641288169102689,-2.5611267674295775],[-0.22434673714958844,-2.535815144860184]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[0.150290376252454,-1.9633526839323843,0.71338606911949],"aabb_xy":[[0.10030614054427678,-2.0133526827458796],[0.20027461196063123,-1.9133526851188887]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.4066252380702781,0.731005634183489,0.71338606911949],"aabb_xy":[[-0.4154064652175145,0.7222258868949588],[-0.39784401092304206,0.7397853814720191]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[-0.04983075209168408,-2.208912581149534,0.71338606911949],"aabb_xy":[[-0.08429309948982586,-2.243406463547356],[-0.015368404693542273,-2.1744186987517105]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[-0.6176987635128823,0.8257327543132709,0.71338606911949],"aabb_xy":[[-0.6221293928677226,0.8202843825785883],[-0.6132681341580423,0.8311811260479535]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[-0.19648110694401594,0.4446829863943189,0.71338606911949],"aabb_xy":[[-0.23398110760859464,0.4289959283940967],[-0.15898110627943723,0.4603700443945411]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[-0.38045121535311616,-2.106170889256812,0.71338606911949],"aabb_xy":[[-0.4604512186109591,-2.186167397048796],[-0.3004512120952732,-2.026174381464828]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.6545121623930015,-1.411217791299671,0.71338606911949],"aabb_xy":[[-0.6720121616710883,-1.428555891366017],[-0.6370121631149146,-1.3938796912333251]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6477300864537476,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3072.png","name":"3072"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3072.png","name":"3072"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8348.png","name":"8348"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7925.png","name":"7925"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4011.png","name":"4011"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7949.png","name":"7949"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":526.544615048249,"rotation_z_degrees":31.841888638731643,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01879208888326771,-0.010636503732286036,0.012230040352531352]},{"name":"camera_2","offset_m":[0.01672289981384704,-0.019514580371713625,-0.016935284185528598]},{"name":"camera_3","offset_m":[-0.001525421835504824,0.008493213398908229,-0.015438343023066362]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.363976829637958e-05,0.0011029906741942064,-0.0016336198692673914],"end_effector_yaw_offset_degrees":-0.6473372446291858},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[2.4338831492970014e-05,-0.0010882585771213463,-0.0004821089387193247],"end_effector_yaw_offset_degrees":0.24613060297071643},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016841959278160405,0.0008332883479079262,0.0011097966709380093],"end_effector_yaw_offset_degrees":-0.11671231042810848}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00396621410107113,-0.0032361221049948853],"position_m":[0.23503378589892887,-0.05943612210499488,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003501182231473451,-0.0006811520355757038],"position_m":[0.19679881776852656,-0.3863811520355757,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004365037661854468,0.003349027865309706],"position_m":[0.20576503766185447,0.3228490278653097,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002400490316293377,0.00043188504825489304],"position_m":[0.33869950968370666,0.1684318850482549,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c7845807796bc6cb2d1251ef7094133945c7074eecbb413d9e96ea3ff1383d6b","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3072/tex_ceiling_textures_7949/tex_floor_textures_4011/tex_table_textures_8348/tex_wall_textures_7925","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4747568025212412968,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4747568025212412968,"visual_seed":4747568025212412968,"scene_id":"lab_003","finished_at":"2026-09-03T20:54:10"} +{"episode_id":"ep_000050","started_at":"2026-09-03T20:54:13","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.5261428022818759,0.7076235180977406,0.71338606911949],"aabb_xy":[[-0.5761160962851364,0.6576235175431933],[-0.4761695082786155,0.7576235186522879]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.5435210323846069,-0.6202603301864071,0.71338606911949],"aabb_xy":[[-0.6075210288119288,-0.6674299540085037],[-0.479521035957285,-0.5730907063643108]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[-0.5011387751546355,0.5773444853661354,0.71338606911949],"aabb_xy":[[-0.5911387745730062,0.5439689885219456],[-0.41113877573626445,0.6107199822103251]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.06964740044740358,-2.2135050487329955,0.71338606911949],"aabb_xy":[[-0.07498497611340815,-2.2385050496621353],[-0.06430982478139902,-2.1885050478038557]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[0.5712548008649008,-0.13622240528826213,0.71338606911949],"aabb_xy":[[0.5596858201179643,-0.16122240540519386],[0.5828237816118375,-0.11122240517133045]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.14422404041483317,1.1264150345456532,0.71338606911949],"aabb_xy":[[0.1104484812241402,1.112376539332488],[0.17799959960552614,1.1404535297588179]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.4649746618576721,-0.8902211498174644,0.71338606911949],"aabb_xy":[[-0.484086969215651,-0.9093559286947064],[-0.44586235449969325,-0.8710863709402223]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[-0.4292541783994304,-0.4117879360702683,0.71338606911949],"aabb_xy":[[-0.46658545492467307,-0.4464409908651206],[-0.39192290187418777,-0.377134881275416]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[0.15401155473081807,-1.6891487367490592,0.71338606911949],"aabb_xy":[[0.14601806493553604,-1.6971468686895348],[0.1620050445261001,-1.6811506048085836]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[-0.5204215934504559,0.21863556365786652,0.71338606911949],"aabb_xy":[[-0.5654215949166849,0.17363570679638582],[-0.4754215919842272,0.2636354205193472]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[0.44248171040320505,-0.27513724765908654,0.71338606911949],"aabb_xy":[[0.4298790112661286,-0.28773264388395203],[0.4550844095402815,-0.26254185143422104]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.6212386257011049,-0.02906117387945617,0.71338606911949],"aabb_xy":[[-0.6387386248354721,-0.038940800917043994],[-0.6037386265667377,-0.019181546841868347]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.5040769259879009,-2.4755957340492576,0.71338606911949],"aabb_xy":[[-0.5940769283219198,-2.5530780886343702],[-0.4140769236538817,-2.398113379464145]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[0.3583252283967908,-0.8594113584733631,0.71338606911949],"aabb_xy":[[0.34082522815174143,-0.8769111463129299],[0.3758252286418402,-0.8419115706337962]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[0.4955416167735738,-0.45862513333914334,0.71338606911949],"aabb_xy":[[0.46054161758075546,-0.4695921793368059],[0.530541615966392,-0.44765808734148066]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.32889208269715664,-1.502582300301628,0.71338606911949],"aabb_xy":[[0.24889825911859842,-1.5825823028944699],[0.40888590627571486,-1.4225822977087867]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[0.4040694070267019,0.5627588154126641,0.71338606911949],"aabb_xy":[[0.36656940584190906,0.5583405927166035],[0.44156940821149465,0.5671770381087246]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.4540733103997616,-1.7180671506191298,0.71338606911949],"aabb_xy":[[-0.5140733102463284,-1.7748857728121685],[-0.3940733105531948,-1.6612485284260912]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[0.055588853233072166,-0.8877637862427128,0.71338606911949],"aabb_xy":[[0.04754549330711699,-0.9727637873380793],[0.06363221315902734,-0.8027637851473465]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[-0.09181081053953,-1.9362103918890972,0.71338606911949],"aabb_xy":[[-0.09739248217365876,-1.9487103917068727],[-0.08622913890540124,-1.9237103920713217]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[0.22130932821363358,-2.3799539054835437,0.71338606911949],"aabb_xy":[[0.20242494444512338,-2.3988398302638965],[0.2401937119821438,-2.361067980703191]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[0.2646587412292386,-2.2037404559831515,0.71338606911949],"aabb_xy":[[0.2553117336469434,-2.2180440782007955],[0.27400574881153383,-2.1894368337655075]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_22","position":[0.3033801904753888,-0.5775703752664385,0.71338606911949],"aabb_xy":[[0.25389976926143004,-0.6415703731792903],[0.3528606116893476,-0.5135703773535867]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[-0.2319698479265892,1.0852151334104243,0.71338606911949],"aabb_xy":[[-0.27724846280773846,1.0212151340622406],[-0.18669123304543994,1.149215132758608]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6490601012095364,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5312.png","name":"5312"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5312.png","name":"5312"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1799.png","name":"1799"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7165.png","name":"7165"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8690.png","name":"8690"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2893.png","name":"2893"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":659.3390376660877,"rotation_z_degrees":159.15777288128544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0054319470479257115,-0.009046623948087617,0.015127401992957906]},{"name":"camera_2","offset_m":[0.015778978912861976,0.013439761933584007,0.011171207607139109]},{"name":"camera_3","offset_m":[-0.019491799578755797,0.00809722182830716,0.01877237064094484]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00033814150580169407,0.0016197926443418968,-0.0011369662758945528],"end_effector_yaw_offset_degrees":0.03369776085790743},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015075182483433136,-0.0003843212858062187,0.0019043974641322244],"end_effector_yaw_offset_degrees":-0.4309562895147201},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00013523643805081996,-0.0019578234195643265,0.0005741326681110168],"end_effector_yaw_offset_degrees":0.7144036715908868}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004517928805977725,0.003417454830587005],"position_m":[0.23448207119402226,-0.052782545169413,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004241032353134699,-0.0038943903095634237],"position_m":[0.1960589676468653,-0.3895943903095634,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003757788002343271,-0.000548594082883741],"position_m":[0.19764221199765672,0.31895140591711624,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004839016573626583,-0.0025778156302409595],"position_m":[0.33626098342637345,0.16542218436975906,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1cae12aaf69c02a059b42cc1afc7c0e59bfe03ea044d40257c2a4a8406631d72","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5312/tex_ceiling_textures_2893/tex_floor_textures_8690/tex_table_textures_1799/tex_wall_textures_7165","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":269779053034898817,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":269779053034898817,"visual_seed":269779053034898817,"scene_id":"lab_003","finished_at":"2026-09-03T20:56:56"} +{"episode_id":"ep_000051","started_at":"2026-09-03T20:56:59","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[-0.22009853106117394,0.9543526848225814,0.71338606911949],"aabb_xy":[[-0.2700985320803092,0.9178864690847536],[-0.17009853004203868,0.9908189005604094]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.21110317267739515,-1.052446882492627,0.71338606911949],"aabb_xy":[[-0.23238118082086737,-1.1174468848187],[-0.18982516453392287,-0.9874468801665539]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.36851694512814165,-2.2947994066108266,0.71338606911949],"aabb_xy":[[-0.4044304495531314,-2.3307129148275814],[-0.332603440703152,-2.258885898394072]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[0.6964371538593395,-1.6469014971405944,0.71338606911949],"aabb_xy":[[0.6923589959522898,-1.6509824773888577],[0.7005153117663891,-1.642820516892331]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[0.09836011902750108,1.3302570715787954,0.71338606911949],"aabb_xy":[[0.008673042719385626,1.2402570713243448],[0.18804719533561653,1.420257071833246]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[0.47935224531989595,-1.9143104681080414,0.71338606911949],"aabb_xy":[[0.4153522449423624,-1.9640557349588534],[0.5433522456974296,-1.864565201257229]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[-0.054950426733520574,1.0188886306958023,0.71338606911949],"aabb_xy":[[-0.10494525966146218,0.9688886318005587],[-0.004955593805578973,1.0688886295910458]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.3265257311675237,-0.41188564250014226,0.71338606911949],"aabb_xy":[[-0.35692384226666724,-0.44229254450181177],[-0.29612762006838006,-0.38147874049847275]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[0.4982540223151839,-1.0895764081720385,0.71338606911949],"aabb_xy":[[0.47608149533853295,-1.1117520753281613],[0.5204265492918346,-1.0674007410159152]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.23198409908770834,-1.57738463217724,0.71338606911949],"aabb_xy":[[0.1934384062625073,-1.6159304032334287],[0.2705297919129094,-1.5388388611210513]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[-0.1288688721645993,0.1983578740946279,0.71338606911949],"aabb_xy":[[-0.16230904736061888,0.1649142482636978],[-0.09542869696857968,0.23180149992555796]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[-0.4675928807539843,-0.9763759928530598,0.71338606911949],"aabb_xy":[[-0.4894826283429251,-1.0663759901423089],[-0.4457031331650435,-0.8863759955638107]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.0996125428000263,0.4712768545410224,0.71338606911949],"aabb_xy":[[-0.137112544315658,0.4600500815248773],[-0.062112541284394585,0.4825036275571674]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.6344513090628996,1.0871617912571092,0.71338606911949],"aabb_xy":[[0.596951308270904,1.080793950298919],[0.6719513098548949,1.0935296322152994]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.1335214749378073,-1.8986807957260583,0.71338606911949],"aabb_xy":[[0.10852147577217419,-1.9056330414314147],[0.15852147410344042,-1.8917285500207015]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.12361491970953031,-2.497841397885729,0.71338606911949],"aabb_xy":[[-0.17371238369060393,-2.561841398395541],[-0.07351745572845671,-2.433841397375917]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.24776894655178888,1.4921387025777952,0.71338606911949],"aabb_xy":[[-0.32776277013034716,1.4121386999849537],[-0.1677751229732307,1.5721387051706368]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.05274116377485483,-1.8454833085040714,0.71338606911949],"aabb_xy":[[-0.10271422930737031,-1.8954833083166045],[-0.002768098242339368,-1.7954833086915387]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.4531688331515662,-2.518047243626914,0.71338606911949],"aabb_xy":[[-0.46400931137808116,-2.5352335249175626],[-0.44232835492505135,-2.500860962336265]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.1820063585759899,-2.1525593355365547,0.71338606911949],"aabb_xy":[[-0.23699956991312668,-2.2075593358753482],[-0.12701314723885315,-2.097559335197761]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_20","position":[0.013603706682859595,-2.163282032680023,0.71338606911949],"aabb_xy":[[-0.0024582207756580466,-2.248282034492614],[0.02966563414137724,-2.0782820308674306]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.6159151959132365,1.0481479288410704,0.71338606911949],"aabb_xy":[[-0.6799108933083331,0.9841479305403615],[-0.5519194985181399,1.112147927141779]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6482727074919608,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4289.png","name":"4289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4289.png","name":"4289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2658.png","name":"2658"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9251.png","name":"9251"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2830.png","name":"2830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5322.png","name":"5322"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":767.0662893353709,"rotation_z_degrees":107.610098918008,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013076374807216438,0.010550127460159004,0.00022018086933976722]},{"name":"camera_2","offset_m":[0.007210846598637431,-0.01604702062956663,0.019878593411152775]},{"name":"camera_3","offset_m":[0.01103610486574827,-0.00796398992943402,-0.006420884198539265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-1.343917554188839e-05,0.0015361379999133322,0.0003380111376854846],"end_effector_yaw_offset_degrees":-0.1563820239737479},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00022554464128991206,-0.0018804322271667889,0.0008667693980443886],"end_effector_yaw_offset_degrees":-0.49872635007149513},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017789610041790134,-0.0013054623488471377,0.0016879464644663001],"end_effector_yaw_offset_degrees":0.5400600247306573}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031780076848604887,0.004247353160001035],"position_m":[0.24217800768486047,-0.051952646839998964,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011525070257033167,0.0015826063112089148],"position_m":[0.19914749297429668,-0.38411739368879105,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004148409842766685,0.004492639282375877],"position_m":[0.20181484098427666,0.32399263928237587,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004030785382263924,0.001652380490168491],"position_m":[0.3370692146177361,0.1696523804901685,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69f887fb4168da2ff4504bdf219e5fa9e1df6275887521fa98b3457dcafe4d8f","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0051.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4289/tex_ceiling_textures_5322/tex_floor_textures_2830/tex_table_textures_2658/tex_wall_textures_9251","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7682312198454712635,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7682312198454712635,"visual_seed":7682312198454712635,"scene_id":"lab_003","finished_at":"2026-09-03T20:59:38"} +{"episode_id":"ep_000052","started_at":"2026-09-03T20:59:41","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.20040573671839595,-2.3601659011932847,0.71338606911949],"aabb_xy":[[-0.2644057340040446,-2.401672620146129],[-0.1364057394327473,-2.318659182240441]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.055203128205626006,-0.7322948947118102,0.71338606911949],"aabb_xy":[[0.0481616772548784,-0.7393216464496047],[0.062244579156373596,-0.7252681429740157]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[-0.0941748092014777,0.4699209590108073,0.71338606911949],"aabb_xy":[[-0.1287658920555229,0.4049209587257762],[-0.05958372634743248,0.5349209592958383]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.004036325346618352,-2.1726325816900363,0.71338606911949],"aabb_xy":[[-0.033463674825253586,-2.205333317072943],[0.04153632551849029,-2.1399318463071286]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[-0.38033932530929365,0.4354531455248698,0.71338606911949],"aabb_xy":[[-0.41148624415287677,0.36545314683806257],[-0.34919240646571054,0.505453144211677]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.34971008402983905,-1.1127807924943185,0.71338606911949],"aabb_xy":[[-0.42971008201062416,-1.1203823334561704],[-0.26971008604905405,-1.1051792515324665]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.5955338117182221,0.3304290484971468,0.71338606911949],"aabb_xy":[[-0.6089803383522654,0.3169591968440556],[-0.5820872850841787,0.34389890015023805]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.540810079085217,-1.9584066065620114,0.71338606911949],"aabb_xy":[[-0.558356774001336,-1.9959066081262629],[-0.5232633841690981,-1.9209066049977603]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[-0.24269541874232542,-0.5445099574735015,0.71338606911949],"aabb_xy":[[-0.26653163638293054,-0.6345099582819881],[-0.21885920110172039,-0.45450995666501515]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[-0.1543146210288241,0.1624650288735081,0.71338606911949],"aabb_xy":[[-0.2183146214063577,0.11271976202269585],[-0.09031462065129048,0.21221029572432037]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.6763536566706245,1.754030627779279,0.71338606911949],"aabb_xy":[[0.6588536573925377,1.736692527712933],[0.6938536559487114,1.771368727845625]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.2754495730765977,-0.9174889170718399,0.71338606911949],"aabb_xy":[[0.2204758510402648,-0.972488916636073],[0.33042329511293056,-0.8624889175076066]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.18592407492940166,-1.7406152551016105,0.71338606911949],"aabb_xy":[[-0.20838884490080678,-1.763115255980471],[-0.16345930495799654,-1.71811525422275]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.6158727942976923,-1.339730294882192,0.71338606911949],"aabb_xy":[[-0.6798727935918605,-1.4037164352510463],[-0.551872795003524,-1.275744154513338]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.06077427354130449,-1.9482355780848075,0.71338606911949],"aabb_xy":[[0.014689182286573023,-2.0122355753373626],[0.10685936479603597,-1.8842355808322526]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[-0.21416722787047066,0.48891468723021525,0.71338606911949],"aabb_xy":[[-0.22679401515766698,0.4793686135286423],[-0.20154044058327428,0.4984607609317881]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.13422220224705328,1.6472170259040158,0.71338606911949],"aabb_xy":[[-0.17172220206408684,1.6425788145928737],[-0.09672220243001972,1.6518552372151574]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.33899964074960653,-2.5459434791588964,0.71338606911949],"aabb_xy":[[0.24899964215513665,-2.562194065472317],[0.42899963934407653,-2.5296928928454756]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[0.034311343712554176,-1.2747094305693223,0.71338606911949],"aabb_xy":[[0.02897376804654961,-1.2997094314984623],[0.039648919378558745,-1.2497094296401827]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[-0.19049064140924454,-1.9595363164039807,0.71338606911949],"aabb_xy":[[-0.26049064321799,-1.9808900851681681],[-0.1204906396004991,-1.9381825476397934]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.21092412079773937,-1.2607854487213108,0.71338606911949],"aabb_xy":[[0.19845676268800372,-1.2732507733546345],[0.22339147890747502,-1.2483201240879875]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[-0.5244833453937972,-2.2401413260184353,0.71338606911949],"aabb_xy":[[-0.5421589759823955,-2.2578215422978376],[-0.5068077148051988,-2.222461109739032]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[0.4831441946613615,-1.7875478143850922,0.71338606911949],"aabb_xy":[[0.4191441926116295,-1.8276422974744004],[0.5471441967110935,-1.7474533312957845]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[0.4695323289508586,-0.6866112808271725,0.71338606911949],"aabb_xy":[[0.4360531616898176,-0.7200903941982796],[0.5030114962118994,-0.6531321674560656]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_24","position":[-0.62870095899476,-0.7432689443997094,0.71338606911949],"aabb_xy":[[-0.6367272296253861,-0.7520204393770621],[-0.6206746883641341,-0.7345174494223569]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[0.5878590295089086,-0.05922488314782948,0.71338606911949],"aabb_xy":[[0.5378590300687129,-0.10919280763214578],[0.6378590289491042,-0.009256958663513164]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_26","position":[-0.5204639337197103,0.6040901633700293,0.71338606911949],"aabb_xy":[[-0.575589139349301,0.5440901619287422],[-0.4653387280901195,0.6640901648113164]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_27","position":[0.19651369818436215,1.5990523891173418,0.71338606911949],"aabb_xy":[[0.19281043685522326,1.5953503708086239],[0.200216959513501,1.6027544074260593]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_28","position":[-0.3988432220277433,-2.067126368470791,0.71338606911949],"aabb_xy":[[-0.41171512552868345,-2.1471263688846265],[-0.38597131852680316,-1.9871263680569544]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[0.6334583480878959,1.3810678860797525,0.71338606911949],"aabb_xy":[[0.6225525720003333,1.3010678896809231],[0.6443641241754587,1.4610678824785814]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[0.35250198323578763,0.9649417033897207,0.71338606911949],"aabb_xy":[[0.34457870299703924,0.9424417031517174],[0.3604252634745359,0.9874417036277241]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6479379076118423,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9586.png","name":"9586"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9586.png","name":"9586"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6464.png","name":"6464"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1318.png","name":"1318"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1987.png","name":"1987"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5668.png","name":"5668"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":512.4332225514461,"rotation_z_degrees":245.83760968180462,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002961871782529584,0.001217413147885392,-0.01768300694985828]},{"name":"camera_2","offset_m":[0.00209349059424329,-0.018587832458967224,-0.004145167422846187]},{"name":"camera_3","offset_m":[-0.0033644041702252,0.018477397234300762,-0.008820395058672771]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009787564185996232,0.0010764772865124094,0.0019814811525619555],"end_effector_yaw_offset_degrees":0.36073371493107564},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005018051364317527,-0.0012112048162854702,-0.0014341397584376665],"end_effector_yaw_offset_degrees":-0.24222428543481866},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003999838504433501,-0.001212286067987407,-0.000988346428711212],"end_effector_yaw_offset_degrees":-0.30756805056922465}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001031087676244419,8.597912547692738e-06],"position_m":[0.23796891232375558,-0.05619140208745231,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037885322977538817,-0.0014154005240208057],"position_m":[0.19651146770224612,-0.38711540052402077,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026798344907879735,-0.0006175613832615301],"position_m":[0.198720165509212,0.3188824386167385,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0043021731347829,0.0014182235103434113],"position_m":[0.34540217313478294,0.1694182235103434,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aa45a57e78b7c99ab0699c86f01d328ae4a7c396c8a03a4ebbd857befb171726","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9586/tex_ceiling_textures_5668/tex_floor_textures_1987/tex_table_textures_6464/tex_wall_textures_1318","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6733671031729681819,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6733671031729681819,"visual_seed":6733671031729681819,"scene_id":"lab_003","finished_at":"2026-09-03T21:02:35"} +{"episode_id":"ep_000053","started_at":"2026-09-03T21:02:39","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.41213622094543734,-2.3038534786045086,0.71338606911949],"aabb_xy":[[0.36216315541292193,-2.353853478417042],[0.4621092864779529,-2.253853478791976]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[0.5762194848508975,0.8688396225616786,0.71338606911949],"aabb_xy":[[0.5664634953417236,0.8590770885024441],[0.5859754743600714,0.878602156620913]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[0.641212019573798,-1.261589038592353,0.71338606911949],"aabb_xy":[[0.6182963066887481,-1.2844933357287764],[0.6641277324588479,-1.2386847414559294]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[-0.26408964743081065,1.1558087635659842,0.71338606911949],"aabb_xy":[[-0.2681678053378604,1.151727783317721],[-0.2600114895237609,1.1598897438142477]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.4261967674412346,-1.7889688389276477,0.71338606911949],"aabb_xy":[[0.4184935767671575,-1.7966782096263851],[0.43389995811531157,-1.7812594682289093]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[0.4106106925102615,-1.9160748898170863,0.71338606911949],"aabb_xy":[[0.3732794159850189,-1.9507279446119385],[0.4479419690355041,-1.881421835022234]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[-0.19035055136995938,1.7595800602063165,0.71338606911949],"aabb_xy":[[-0.2603505531787048,1.738226291442129],[-0.12035054956121391,1.7809338289705037]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[-0.08035041382239472,0.22471183161760067,0.71338606911949],"aabb_xy":[[-0.11535041301521297,0.213744785619938],[-0.04535041462957644,0.23567887761526327]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.4547988553066984,-2.3566587180844234,0.71338606911949],"aabb_xy":[[-0.5187988517340203,-2.40382834190652],[-0.39079885887937654,-2.309489094262327]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[0.45443031677108126,-0.7786599203513203,0.71338606911949],"aabb_xy":[[0.44909274110507674,-0.8036599212804602],[0.4597678924370859,-0.7536599194221806]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[0.4527460610406395,1.2045330763810438,0.71338606911949],"aabb_xy":[[0.4158955131036519,1.16703307555801],[0.48959660897762713,1.2420330772040775]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[0.004289604901308808,0.6947138531620825,0.71338606911949],"aabb_xy":[[-0.05571039560654411,0.6378671194761609],[0.06428960540916172,0.7515605868480035]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.5690197413271114,-0.5153143620055132,0.71338606911949],"aabb_xy":[[0.5581139652395486,-0.5953143584043423],[0.579925517414674,-0.435314365606684]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.15406725958578316,-0.6969795678251658,0.71338606911949],"aabb_xy":[[0.12541792722536693,-0.7256251271022414],[0.18271659194619938,-0.6683340085480898]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.3085543516583727,0.7254795426631038,0.71338606911949],"aabb_xy":[[-0.3498588947221087,0.6614795430949867],[-0.2672498085946367,0.7894795422312209]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.4866969536654321,-0.29607903563340976,0.71338606911949],"aabb_xy":[[-0.5666907772439904,-0.3760790382262514],[-0.4067031300868739,-0.21607903304056825]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[-0.3422231938305834,-0.37901933255340037,0.71338606911949],"aabb_xy":[[-0.3461370670260059,-0.3877683479599571],[-0.33830932063516084,-0.3702703171468436]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.21265034164060348,-1.4773465028725938,0.71338606911949],"aabb_xy":[[0.1486503399626061,-1.5258638943519078],[0.27665034331860083,-1.4288291113932794]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[0.6388890140290469,1.538665468957317,0.71338606911949],"aabb_xy":[[0.5888940030695949,1.4886654699217252],[0.688884024988499,1.5886654679929089]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.6559712139105057,1.3251919955942029,0.71338606911949],"aabb_xy":[[-0.6651310928543823,1.3186607775506658],[-0.6468113349666291,1.33172321363774]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[0.461981609886029,-1.6712141799789653,0.71338606911949],"aabb_xy":[[0.3719816112915591,-1.6874647662923865],[0.5519816084804989,-1.6549635936655445]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[0.1772916661838102,1.1555492922482093,0.71338606911949],"aabb_xy":[[0.11229166518330969,1.1047629270935344],[0.24229166718431072,1.2063356574028843]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[-0.5648239957772174,1.4292004504999114,0.71338606911949],"aabb_xy":[[-0.5873239962892579,1.406708592134513],[-0.5423239952651767,1.4516923088653098]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.47360272760140976,-1.4546356719573839,0.71338606911949],"aabb_xy":[[-0.5636027299354288,-1.5321180265424967],[-0.3836027252673907,-1.3771533173722714]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[-0.3522130053417761,-2.0619338822485855,0.71338606911949],"aabb_xy":[[-0.369759700257895,-2.099433883812837],[-0.33466631042565714,-2.024433880684335]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.5315777029571984,-0.01651816275537854,0.71338606911949],"aabb_xy":[[-0.5466800044182163,-0.03161968438644035],[-0.5164754014961801,-0.0014166411243167162]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[-0.4515525053333951,1.631843774613292,0.71338606911949],"aabb_xy":[[-0.5014352022110913,1.5818437753670178],[-0.4016698084556989,1.6818437738595673]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_27","position":[0.08559831262367101,-1.303273072562521,0.71338606911949],"aabb_xy":[[0.035605200514479136,-1.3532730732367166],[0.13559142473286293,-1.2532730718883254]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_28","position":[-0.6373394138877082,-1.9706824722500829,0.71338606911949],"aabb_xy":[[-0.6449636819778866,-1.9783156957866268],[-0.6297151457975301,-1.9630492487135394]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_29","position":[-0.0015756044509314115,-1.1541458344941598,0.71338606911949],"aabb_xy":[[-0.05155984015910864,-1.2041458333076553],[0.048408631257245816,-1.1041458356806642]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_30","position":[-0.47461271509125735,-0.7368105819327304,0.71338606911949],"aabb_xy":[[-0.4971127146149647,-0.7593065293833511],[-0.4521127155675499,-0.7143146344821095]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_31","position":[-0.290089129871937,-0.6067375752123991,0.71338606911949],"aabb_xy":[[-0.35408913024947064,-0.6564828420632113],[-0.2260891294944034,-0.5569923083615868]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_32","position":[-0.5119626655887849,0.6331461567949468,0.71338606911949],"aabb_xy":[[-0.5402923755373251,0.6286854146012297],[-0.48363295564024467,0.6376068989886639]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_33","position":[-0.46443131191210674,0.78259568039396,0.71338606911949],"aabb_xy":[[-0.49557823075568974,0.7125956817071528],[-0.4332843930685235,0.8525956790807672]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_34","position":[-0.6122128965763396,0.8879170513522463,0.71338606911949],"aabb_xy":[[-0.624815595713416,0.8753216551273809],[-0.5996101974392631,0.9005124475771119]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6505459711491867,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5573.png","name":"5573"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5573.png","name":"5573"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1024.png","name":"1024"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8081.png","name":"8081"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6488.png","name":"6488"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7378.png","name":"7378"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":743.437903877986,"rotation_z_degrees":226.1517595818701,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005130825178367288,-0.019494634378096398,-0.006397581944903625]},{"name":"camera_2","offset_m":[0.010357752535131513,0.006797173724175275,-0.014250281509759991]},{"name":"camera_3","offset_m":[-0.015461980231261139,-0.011348222725733926,-0.01547073533138136]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00027717726165435853,0.0014153714405366184,-0.0004695053291807487],"end_effector_yaw_offset_degrees":-0.14070227359426712},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005568501040419042,0.0004953880911854817,-0.0006563579975803386],"end_effector_yaw_offset_degrees":-0.5008863092270301},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.134748692113385e-05,0.0014384442837082024,-0.00037903561867181474],"end_effector_yaw_offset_degrees":0.4226757269724726}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002035699982230268,-0.0027571075880521525],"position_m":[0.24103569998223026,-0.05895710758805215,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016361964545557415,0.0015407058147295025],"position_m":[0.20193619645455574,-0.3841592941852705,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00184399669016584,-0.0008625697345827042],"position_m":[0.20324399669016582,0.3186374302654173,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004997135923512911,-0.004649246685674281],"position_m":[0.3361028640764871,0.16335075331432572,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3affcdca3f9b9575e74ad703e13572f090156e7a7ba2c25483ce8ef2f867da0f","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0053.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5573/tex_ceiling_textures_7378/tex_floor_textures_6488/tex_table_textures_1024/tex_wall_textures_8081","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":8772571897955504587,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":8772571897955504587,"visual_seed":8772571897955504587,"scene_id":"lab_003","finished_at":"2026-09-03T21:05:18"} +{"episode_id":"ep_000054","started_at":"2026-09-03T21:05:21","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[0.31071541063042796,1.4080841777586115,0.71338606911949],"aabb_xy":[[0.26071541119023234,1.3581162532742952],[0.3607154100706236,1.4580521022429278]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.24836248743771816,1.3911980342670889,0.71338606911949],"aabb_xy":[[-0.3383624897717372,1.3137156796819762],[-0.1583624851036991,1.4686803888522015]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.1403244881452692,-2.3194171861243857,0.71338606911949],"aabb_xy":[[0.0953244866790404,-2.364417042985867],[0.18532448961149808,-2.2744173292629055]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[-0.22672087536351437,1.7453417245956593,0.71338606911949],"aabb_xy":[[-0.24429917755246122,1.7277672350215543],[-0.20914257317456753,1.7629162141697643]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.45064111895502323,0.6414235756126545,0.71338606911949],"aabb_xy":[[0.38564111784908,0.6164582025445263],[0.5156411200609665,0.6663889486807829]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[-0.6208383994259898,-1.4791852117917523,0.71338606911949],"aabb_xy":[[-0.6703188206399485,-1.5431852097046042],[-0.5713579782120309,-1.4151852138789005]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.088503125176003,1.2636998581680299,0.71338606911949],"aabb_xy":[[-0.09907060483410202,1.2531548280550213],[-0.077935645517904,1.2742448882810384]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.4232363280721114,-2.1626323129257434,0.71338606911949],"aabb_xy":[[0.4103644245711713,-2.242632313339579],[0.43610823157305156,-2.082632312511907]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[-0.19382597478667796,0.4213623328591516,0.71338606911949],"aabb_xy":[[-0.21882597405864024,0.40501696926298925],[-0.16882597551471568,0.43770769645531393]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[-0.41243659690539375,-1.5860101172346706,0.71338606911949],"aabb_xy":[[-0.4546210110662245,-1.6500101175118818],[-0.370252182744563,-1.5220101169574594]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[-0.13072822772884185,-0.9868069388316663,0.71338606911949],"aabb_xy":[[-0.16187514657242494,-1.0568069375184732],[-0.09958130888525871,-0.9168069401448589]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[-0.5385132490372568,-0.7757850293559179,0.71338606911949],"aabb_xy":[[-0.5610123847634838,-0.7982850301341807],[-0.5160141133110299,-0.7532850285776548]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[0.21453304205880763,-2.196321492096263,0.71338606911949],"aabb_xy":[[0.19762230962246582,-2.2097936976888772],[0.23144377449514938,-2.182849286503648]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[0.2179068686684852,0.868430684324665,0.71338606911949],"aabb_xy":[[0.20782516158991168,0.7884306864325501],[0.22798857574705864,0.9484306822167794]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.5444071008603488,-0.9681321464418589,0.71338606911949],"aabb_xy":[[-0.6084071025383461,-1.016649537921173],[-0.48040709918235136,-0.9196147549625446]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[0.41531398106870254,-1.728740405645357,0.71338606911949],"aabb_xy":[[0.39502967834530367,-1.7490230307880656],[0.4355982837921012,-1.708457780502648]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[0.039381307769816964,-2.0111532391832214,0.71338606911949],"aabb_xy":[[-0.024618694279915032,-2.0512477222725294],[0.10338130981954896,-1.9710587560939135]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.5618284203640647,0.45747012501819606,0.71338606911949],"aabb_xy":[[0.5243284195720692,0.45110228406000585],[0.5993284211560601,0.46383796597638605]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.053202012001566046,0.233911723614324,0.71338606911949],"aabb_xy":[[-0.08911551642655571,0.19799821539756934],[-0.017288507576576358,0.26982523183107854]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[-0.39352969895483203,0.13254706795554938,0.71338606911949],"aabb_xy":[[-0.4022276612455473,0.12042209364807469],[-0.38483173666411674,0.14467204226302413]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.242806416786913,-1.0620804787937685,0.71338606911949],"aabb_xy":[[-0.24688457469396274,-1.0661614590420316],[-0.23872825887986326,-1.057999498545505]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[-0.5526197190248554,-2.3551744741278378,0.71338606911949],"aabb_xy":[[-0.5701197192841921,-2.369266016316611],[-0.5351197187655189,-2.3410829319390656]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.654762323719022,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7985.png","name":"7985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7985.png","name":"7985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3577.png","name":"3577"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8002.png","name":"8002"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6234.png","name":"6234"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2856.png","name":"2856"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":591.7549192504054,"rotation_z_degrees":187.75397186843372,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007952451345859117,-0.013700615467419568,-0.010336415208925885]},{"name":"camera_2","offset_m":[-0.011732181528476864,0.01525664644676394,-0.0024039168443098988]},{"name":"camera_3","offset_m":[0.009270098673285088,0.006785855897064458,0.018142898655832875]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019685257399224033,-0.00133058779937143,-0.0017351830073500118],"end_effector_yaw_offset_degrees":0.34722420516634656},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017771582100474439,0.001563833682401612,-0.001179101602276794],"end_effector_yaw_offset_degrees":-0.2211252771013681},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001565102493730822,0.0004297264765159639,-0.0017335308286738748],"end_effector_yaw_offset_degrees":0.9350020709787972}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021661038679505907,0.004833545518806327],"position_m":[0.2368338961320494,-0.051366454481193674,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003653989966448618,-0.0028346542699243006],"position_m":[0.20395398996644862,-0.3885346542699243,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012567677366534082,0.0037533449613584907],"position_m":[0.2026567677366534,0.3232533449613585,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017540968581343944,-0.0012677994822237137],"position_m":[0.3428540968581344,0.1667322005177763,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6412496ba2de3b71bdbf1d78822a7ddb5f9a77444fa716798f62b240178dba58","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7985/tex_ceiling_textures_2856/tex_floor_textures_6234/tex_table_textures_3577/tex_wall_textures_8002","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6184329013488611075,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6184329013488611075,"visual_seed":6184329013488611075,"scene_id":"lab_003","finished_at":"2026-09-03T21:07:58"} +{"episode_id":"ep_000055","started_at":"2026-09-03T21:08:01","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[-0.5637619820758771,-1.5588154152591616,0.71338606911949],"aabb_xy":[[-0.5784053876299101,-1.5734741349159456],[-0.5491185765218441,-1.5441566956023771]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.4975807606998093,-1.6215177226303912,0.71338606911949],"aabb_xy":[[0.4631182826867215,-1.6281813998133141],[0.532043238712897,-1.6148540454474682]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.6008399028253131,-1.8853784603427197,0.71338606911949],"aabb_xy":[[-0.6648399051681145,-1.9303193115868522],[-0.5368399004825114,-1.8404376090985872]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.504837997162106,-1.3156304536300587,0.71338606911949],"aabb_xy":[[0.4932690164151695,-1.3406304537469904],[0.5164069779090427,-1.290630453513127]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[0.6333444255211127,1.7296527851037342,0.71338606911949],"aabb_xy":[[0.578344425899367,1.674669092316262],[0.6883444251428587,1.7846364778912074]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.6675814007163677,1.5266256047201119,0.71338606911949],"aabb_xy":[[-0.6793495875110254,1.4416256048148903],[-0.6558132139217103,1.6116256046253337]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.43350090811626174,-1.373869500742412,0.71338606911949],"aabb_xy":[[-0.4884746301525946,-1.4288695003066452],[-0.37852718607992886,-1.3188695011781788]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[0.109257420903064,-2.464823899037641,0.71338606911949],"aabb_xy":[[0.029257418740301508,-2.5447790826637844],[0.1892574230658265,-2.384868715411497]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[-0.6291047113271351,-2.236886729919095,0.71338606911949],"aabb_xy":[[-0.693104710496905,-2.283653417038057],[-0.5651047121573651,-2.190120042800132]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[-0.4404768026370835,-0.37087895497239787,0.71338606911949],"aabb_xy":[[-0.458109638230611,-0.3885019009880208],[-0.42284396704355587,-0.35325600895677484]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.3135089591067135,-1.3969748264912334,0.71338606911949],"aabb_xy":[[0.2983460861297764,-1.4121402837863521],[0.3286718320836506,-1.3818093691961146]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[0.4709886529118523,1.2898895474165637,0.71338606911949],"aabb_xy":[[0.39098864964783914,1.2763295151076504],[0.5509886561758655,1.303449579725477]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.5079125175710916,0.8961773204679715,0.71338606911949],"aabb_xy":[[-0.5160402057644048,0.887263712057264],[-0.49978482937777835,0.9050909288786793]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.07767030055841606,0.9474568927841145,0.71338606911949],"aabb_xy":[[-0.012329701775602997,0.8699745381990018],[0.16767030289243512,1.0249392473692271]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[-0.027867846604530344,-2.218895625820315,0.71338606911949],"aabb_xy":[[-0.07786267953247195,-2.2688956247155585],[0.022126986323411257,-2.1688956269250714]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.679680746079731,-1.967694197407596,0.71338606911949],"aabb_xy":[[0.6421807475041101,-1.9804304930711538],[0.7171807446553518,-1.954957901744038]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[0.3709497672946549,-1.2576610544119993,0.71338606911949],"aabb_xy":[[0.30594976873758206,-1.287413587825882],[0.43594976585172773,-1.2279085209981169]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.5621445814363555,-0.04652420599260454,0.71338606911949],"aabb_xy":[[0.4971445803304122,-0.07148957906073283],[0.6271445825422988,-0.021558832924476246]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.4326401729294994,0.9426424418863952,0.71338606911949],"aabb_xy":[[-0.43727528808173266,0.9387751068092466],[-0.42800505777726594,0.9465097769635439]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.20982722788864605,0.5767414760084613,0.71338606911949],"aabb_xy":[[0.17232722771677406,0.544040740625554],[0.24732722806051793,0.6094422113913683]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.2952861294744619,-1.0438945499903427,0.71338606911949],"aabb_xy":[[-0.34528612983502793,-1.0938745371999454],[-0.24528612911389583,-0.9939145627807396]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.2308671443837204,0.13667071377426776,0.71338606911949],"aabb_xy":[[-0.27603846223188944,0.07267071662972936],[-0.18569582653555144,0.20067071091880623]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[-0.38133304074863533,0.35578046313940304,0.71338606911949],"aabb_xy":[[-0.4463330433864289,0.3043008644399561],[-0.3163330381108419,0.40726006183885]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6539994413586373,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2080.png","name":"2080"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2080.png","name":"2080"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4376.png","name":"4376"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6.png","name":"6"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4735.png","name":"4735"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1942.png","name":"1942"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":681.2071352067268,"rotation_z_degrees":4.383708785743434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019032561622193748,-0.014049508952279174,0.005513518460926122]},{"name":"camera_2","offset_m":[-0.0157948480807671,-0.003837489412797882,-0.004537663823591212]},{"name":"camera_3","offset_m":[0.007744151283117118,0.005777013718698546,0.01290408390315646]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019643379536152944,0.0013634043986742853,-0.0011295089493375064],"end_effector_yaw_offset_degrees":-0.0710554447088605},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016084637433895375,0.0011677092778415096,-0.0017160179337182106],"end_effector_yaw_offset_degrees":0.5340475257849899},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003833230688283329,0.0013664552277612469,0.001196784820748099],"end_effector_yaw_offset_degrees":-0.05711212812764144}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004507834435712972,-0.00337892634880138],"position_m":[0.24350783443571297,-0.05957892634880138,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004812764367464961,3.426727665473486e-05],"position_m":[0.20511276436746498,-0.38566573272334526,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00032086135412532583,0.0009379227874563171],"position_m":[0.2017208613541253,0.3204379227874563,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018335052061047071,-0.0033568130581315926],"position_m":[0.3429335052061047,0.1646431869418684,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7e6fdd625fc453a0c0b697e876528bdacb3219c9f3d943b752c5118cc90add27","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2080/tex_ceiling_textures_1942/tex_floor_textures_4735/tex_table_textures_4376/tex_wall_textures_6","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3248136263275309113,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3248136263275309113,"visual_seed":3248136263275309113,"scene_id":"lab_003","finished_at":"2026-09-03T21:10:37"} +{"episode_id":"ep_000056","started_at":"2026-09-03T21:10:43","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.11044016795214084,-0.8856122664210941,0.71338606911949],"aabb_xy":[[0.10240383325085599,-0.8936503857255108],[0.11847650265342567,-0.8775741471166773]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.3665531381021627,-1.8733866789408427,0.71338606911949],"aabb_xy":[[0.319423759100327,-1.9373866799852442],[0.41368251710399834,-1.8093866778964403]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[0.49769319001046863,-0.47045910468626806,0.71338606911949],"aabb_xy":[[0.4904108736338049,-0.5604591082957768],[0.5049755063871322,-0.3804591010767589]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.182517011799867,-2.1243048852751736,0.71338606911949],"aabb_xy":[[0.09251700946584793,-2.2017872398602862],[0.27251701413388607,-2.046822530690061]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.5806033980358931,-0.8925381012876943,0.71338606911949],"aabb_xy":[[0.5631034646019097,-0.9100381012079287],[0.5981033314698765,-0.8750381013674596]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.4577513020755293,1.2782767383511184,0.71338606911949],"aabb_xy":[[0.4209007541385417,1.2407767375280845],[0.49460185001251694,1.315776739174152]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.6754334843155261,0.6411819643772056,0.71338606911949],"aabb_xy":[[-0.6862064582368939,0.6061819661581667],[-0.6646605103941583,0.6761819625962446]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[0.24069931329407346,-1.5937431783779283,0.71338606911949],"aabb_xy":[[0.20569931498337804,-1.601458193301474],[0.2756993116047689,-1.5860281634543827]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[-0.4709194591306137,-0.4126913399743031,0.71338606911949],"aabb_xy":[[-0.4934194596426543,-0.4351831983397014],[-0.44841945861857313,-0.3901994816089047]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.24620281793450755,1.495677890633829,0.71338606911949],"aabb_xy":[[-0.2637495128506265,1.4581778890695778],[-0.2286561230183886,1.5331778921980803]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[-0.39149316990132943,1.0050600685924533,0.71338606911949],"aabb_xy":[[-0.40859524785969764,0.9879532630611836],[-0.37439109194296133,1.022166874123723]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[0.20062610586090301,-0.7591441040521605,0.71338606911949],"aabb_xy":[[0.15064729735058707,-0.8091441040578793],[0.25060491437121885,-0.7091441040464417]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[-0.6578201360956547,1.5460048813940843,0.71338606911949],"aabb_xy":[[-0.6803201363391701,1.5338002467343126],[-0.6353201358521393,1.5582095160538565]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.5819932826922614,-1.3456630623381063,0.71338606911949],"aabb_xy":[[0.49699328427483824,-1.4305373578003915],[0.6669932811096847,-1.2607887668758215]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[0.4047716416340874,1.4449998531534214,0.71338606911949],"aabb_xy":[[0.3397716406335869,1.3942134879987462],[0.4697716426345879,1.495786218308096]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[-0.47775861088921673,-2.3025606766210363,0.71338606911949],"aabb_xy":[[-0.5417586131096237,-2.346933760746324],[-0.4137586086688097,-2.2581875924957475]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.6109198294607538,-0.2277473374615182,0.71338606911949],"aabb_xy":[[0.573885720032694,-0.2621245447952276],[0.6479539388888135,-0.19337013012780874]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[-0.45014305709956987,0.54017737388993,0.71338606911949],"aabb_xy":[[-0.4577673251897482,0.5325441503533863],[-0.44251878900939173,0.5478105974264738]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.06735248539055128,-1.7106514708251486,0.71338606911949],"aabb_xy":[[-0.09734414812442159,-1.7406514701619489],[-0.037360822656680934,-1.6806514714883478]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[-0.006697257370907428,-1.3678475122961486,0.71338606911949],"aabb_xy":[[-0.01469124594861082,-1.375847592391239],[0.0012967312067959655,-1.3598474322010583]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[-0.1479328138302094,-0.20066497608026568,0.71338606911949],"aabb_xy":[[-0.1854328140020813,-0.23336571146317286],[-0.11043281365833743,-0.1679642406973585]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[-0.07487210782509357,-2.161470262759557,0.71338606911949],"aabb_xy":[[-0.1548721110891067,-2.17503029506847],[0.005127895438919561,-2.1479102304506434]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[-0.010012805594949992,-0.9506644798047055,0.71338606911949],"aabb_xy":[[-0.017256571641195317,-1.0306644780083078],[-0.0027690395487046642,-0.8706644816011032]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[0.46545038720725906,-2.002706511970589,0.71338606911949],"aabb_xy":[[0.45840893625651147,-2.0097332637083833],[0.47249183815800666,-1.9956797602327945]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[-0.5130923457901202,0.07331095421361011,0.71338606911949],"aabb_xy":[[-0.5308858527250366,0.05551120861781243],[-0.49529883885520376,0.09111069980940777]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[0.543706865642893,0.30719231705191996,0.71338606911949],"aabb_xy":[[0.5372930519997079,0.30078249680425156],[0.5501206792860778,0.31360213729958825]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.291727985694706,-2.104189484148691,0.71338606911949],"aabb_xy":[[-0.3136177332836467,-2.19418948143794],[-0.2698382381057651,-2.0141894868594417]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_27","position":[0.09363259666132906,-1.048009633246312,0.71338606911949],"aabb_xy":[[0.05933568564358844,-1.0823065194562531],[0.1279295076790697,-1.0137127470363705]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_28","position":[0.7099333880344769,-1.9490909617928507,0.71338606911949],"aabb_xy":[[0.6990929098079621,-1.9662772430834992],[0.7207738662609919,-1.9319046805022018]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[-0.17122526762271995,1.31252835644242,0.71338606911949],"aabb_xy":[[-0.24122527025930623,1.2924234914465542],[-0.10122526498613355,1.3326332214382852]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[-0.1320689989189171,-0.9096162895955076,0.71338606911949],"aabb_xy":[[-0.1359828721143396,-0.9183653050020643],[-0.12815512572349455,-0.9008672741889506]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[-0.1066433949651111,-2.5401403164617116,0.71338606911949],"aabb_xy":[[-0.17064339522558192,-2.585149115814639],[-0.0426433947046403,-2.495131517108783]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_32","position":[-0.13562299631150487,0.21621906744620123,0.71338606911949],"aabb_xy":[[-0.20062299634580763,0.16951839076587394],[-0.07062299627720217,0.2629197441265285]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_33","position":[-0.33503631775778375,0.3351592741410223,0.71338606911949],"aabb_xy":[[-0.34560379741588276,0.32461424402801375],[-0.32446883809968474,0.34570430425403087]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_34","position":[0.41020148190531525,-0.3177869131827391,0.71338606911949],"aabb_xy":[[0.38391265758487453,-0.3440583468373903],[0.43649030622575585,-0.2915154795280878]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6517802284334342,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8020.png","name":"8020"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8020.png","name":"8020"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7256.png","name":"7256"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1030.png","name":"1030"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8182.png","name":"8182"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4750.png","name":"4750"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":700.7172200118493,"rotation_z_degrees":183.19103666864424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007650603329495468,0.016799393711239976,0.00647697145790033]},{"name":"camera_2","offset_m":[0.0019124173399004858,0.01958446752207686,0.012306125291611621]},{"name":"camera_3","offset_m":[-0.01645541485977871,-0.0067976550596736025,0.0015140231300674982]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018528380236982915,0.0007366428209141275,-0.0009313936620962604],"end_effector_yaw_offset_degrees":-0.8514372398459213},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.5673865862556903e-05,-0.000669901139051683,-0.001101198862723102],"end_effector_yaw_offset_degrees":-0.34551335929187244},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000282868737591333,0.00031946627697098,0.0008677159317491928],"end_effector_yaw_offset_degrees":-0.437187157242078}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001089131248038641,-0.004105420782865397],"position_m":[0.24008913124803863,-0.060305420782865396,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-9.301027037338008e-05,-0.00288509869377393],"position_m":[0.20020698972962664,-0.3885850986937739,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018746963852042187,0.00041171802950502705],"position_m":[0.2032746963852042,0.319911718029505,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029580533558121744,0.0005569988107259382],"position_m":[0.3440580533558122,0.16855699881072594,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"93bd9d52fc0a74a4ee41a88281c8489103a2c42ba8d844928b22d01b1bafe861","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8020/tex_ceiling_textures_4750/tex_floor_textures_8182/tex_table_textures_7256/tex_wall_textures_1030","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4522249175452357146,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4522249175452357146,"visual_seed":4522249175452357146,"scene_id":"lab_003","finished_at":"2026-09-03T21:13:21"} +{"episode_id":"ep_000057","started_at":"2026-09-03T21:13:24","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[0.6028085669477772,0.9760816926291698,0.71338606911949],"aabb_xy":[[0.552808566587211,0.9261017054195668],[0.6528085673083431,1.0260616798387727]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.4767899034815388,0.566151347185146,0.71338606911949],"aabb_xy":[[-0.5135845366064451,0.5292454720885638],[-0.43999527035663255,0.6030572222817283]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.07862633777226935,1.4947784096892502,0.71338606911949],"aabb_xy":[[0.03644192361143861,1.430778409412039],[0.12081075193310009,1.5587784099664614]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[-0.3352388994832697,-0.5931653148727332,0.71338606911949],"aabb_xy":[[-0.3565169076267419,-0.6581653171988061],[-0.3139608913397974,-0.52816531254666]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[0.6709656036888461,-0.7116621941737191,0.71338606911949],"aabb_xy":[[0.6550811104235209,-0.7260151344725432],[0.6868500969541712,-0.6973092538748951]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.17246736397232088,-2.209314006294223,0.71338606911949],"aabb_xy":[[-0.22246736499145617,-2.245780222032051],[-0.12246736295318561,-2.172847790556395]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[-0.5337702653090197,-1.4764114547718057,0.71338606911949],"aabb_xy":[[-0.5417637551043019,-1.4844095867122815],[-0.5257767755137378,-1.4684133228313303]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[0.03211604486194275,-2.114671489783476,0.71338606911949],"aabb_xy":[[0.0075698292391920335,-2.1449203863325126],[0.05666226048469347,-2.0844225932344385]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[0.5217920749827336,-1.0166446559558016,0.71338606911949],"aabb_xy":[[0.4417920735526064,-1.096161810968411],[0.6017920764128608,-0.9371275009431921]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.036758558290132304,-2.305526339067803,0.71338606911949],"aabb_xy":[[0.03044645875379387,-2.311293278321022],[0.04307065782647074,-2.2997593998145844]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.5185691998802069,-1.2794889796803952,0.71338606911949],"aabb_xy":[[-0.583569198036126,-1.3057852242303074],[-0.45356920172428783,-1.253192735130483]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[-0.2399197337852605,-1.1341946114831938,0.71338606911949],"aabb_xy":[[-0.2723814346671879,-1.164327443598096],[-0.207458032903333,-1.1040617793682908]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[-0.4871063344713497,0.996505743598175,0.71338606911949],"aabb_xy":[[-0.5370994465805417,0.9465057429239796],[-0.4371132223621579,1.0465057442723709]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[0.2779512914084278,-1.0199845745262501,0.71338606911949],"aabb_xy":[[0.2702481007343507,-1.0276939452249882],[0.28565448208250477,-1.012275203827512]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[-0.31676787930065536,-0.7534135514181961,0.71338606911949],"aabb_xy":[[-0.33926787911455775,-0.757888167788677],[-0.294267879486753,-0.7489389350477155]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.6356812831978484,-2.3315655495630034,0.71338606911949],"aabb_xy":[[0.5556812860382732,-2.34311315052082],[0.7156812803574237,-2.320017948605186]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.5357421583816189,0.6182320926140288,0.71338606911949],"aabb_xy":[[0.49824215788426063,0.6142634090659104],[0.5732421588789771,0.6222007761621472]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[0.5117822950032318,-1.9752084646383512,0.71338606911949],"aabb_xy":[[0.4942823615692483,-1.9927084645585857],[0.5292822284372151,-1.9577084647181167]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.6545644900089695,-0.5347058501363673,0.71338606911949],"aabb_xy":[[0.6045914244764541,-0.5847058499489003],[0.704537555541485,-0.4847058503238345]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[0.3218598211718189,0.9881858974644202,0.71338606911949],"aabb_xy":[[0.31640187553479876,0.9081858941567611],[0.3273177668088389,1.0681859007720793]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[-0.6401505406099144,1.4903749452079187,0.71338606911949],"aabb_xy":[[-0.6481939005358696,1.4053749441125523],[-0.6321071806839592,1.5753749463032851]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[-0.45602736162867447,-0.903000221041877,0.71338606911949],"aabb_xy":[[-0.4810273615611924,-0.9098828892628005],[-0.43102736169615663,-0.8961175528209538]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.19987072375785886,1.4832229831731625,0.71338606911949],"aabb_xy":[[0.18431495434759362,1.4676725499287553],[0.21542649316812418,1.4987734164175697]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[-0.6282097291271317,0.14354361684019734,0.71338606911949],"aabb_xy":[[-0.6352500390606688,0.06354361744052593],[-0.6211694191935948,0.22354361623986876]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[-0.6185338042961526,0.6401495474574674,0.71338606911949],"aabb_xy":[[-0.6684165011738488,0.5901495482111927],[-0.5686511074184564,0.6901495467037422]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[0.20650746938351183,0.8110308854417281,0.71338606911949],"aabb_xy":[[0.151507471181767,0.7705089188152904],[0.26150746758525667,0.8515528520681656]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[-0.6704621252287777,0.8258323946720867,0.71338606911949],"aabb_xy":[[-0.6874722225188283,0.8096979061738127],[-0.653452027938727,0.8419668831703605]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[-0.5358985579736828,-0.25843614451568087,0.71338606911949],"aabb_xy":[[-0.5463101166541665,-0.2637818778515793],[-0.5254869992931991,-0.2530904111797823]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_28","position":[-0.3868560255813559,1.5616539442616815,0.71338606911949],"aabb_xy":[[-0.3977618016689186,1.4816539478628523],[-0.3759502494937932,1.6416539406605106]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6488996566509231,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6819.png","name":"6819"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6819.png","name":"6819"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7013.png","name":"7013"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5379.png","name":"5379"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1230.png","name":"1230"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9679.png","name":"9679"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":624.0572581481239,"rotation_z_degrees":253.9850933291069,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005554506208620738,-0.010840745668979853,-0.016785053547096456]},{"name":"camera_2","offset_m":[0.01300375119143549,0.009267568104149932,-0.0005985708441389459]},{"name":"camera_3","offset_m":[0.006152813049167708,-0.012032650639253548,-0.008558858416837874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004157243552986886,-0.0016921160158033422,-0.0011945099535502243],"end_effector_yaw_offset_degrees":0.48047633878524176},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007182728278893426,-0.001679885338259691,0.0007439871672970987],"end_effector_yaw_offset_degrees":0.9146118986570313},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018421437012436787,-0.0009690482803514336,0.00023393157964518097],"end_effector_yaw_offset_degrees":-0.02392222023114976}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017666442084916878,-0.00428649970046085],"position_m":[0.2372333557915083,-0.06048649970046085,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038166924556058777,-0.003060596999590438],"position_m":[0.19648330754439414,-0.3887605969995904,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004607767983005421,-0.002165693911469765],"position_m":[0.19679223201699458,0.31733430608853025,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004757099951343934,0.0023243667877493393],"position_m":[0.3363429000486561,0.17032436678774934,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0feb09d7dd8887359f399a37b57092f48a8b01599a2f7a17e2e37f16544deb67","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6819/tex_ceiling_textures_9679/tex_floor_textures_1230/tex_table_textures_7013/tex_wall_textures_5379","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":1528053459773165321,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":1528053459773165321,"visual_seed":1528053459773165321,"scene_id":"lab_003","finished_at":"2026-09-03T21:16:01"} +{"episode_id":"ep_000058","started_at":"2026-09-03T21:16:04","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[-0.5310638922064214,-1.1200645730082526,0.71338606911949],"aabb_xy":[[-0.6010638948430076,-1.1401694380041179],[-0.4610638895698349,-1.0999597080123868]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[-0.5447606084347305,-1.444229331333839,0.71338606911949],"aabb_xy":[[-0.5860094194646452,-1.4992293308460565],[-0.5035117974048158,-1.3892293318216216]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.48452088613966926,-0.8061451995533873,0.71338606911949],"aabb_xy":[[0.47747943518892166,-0.8131719512911818],[0.49156233709041686,-0.7991184478155927]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.23667414099092782,-0.8384449161399674,0.71338606911949],"aabb_xy":[[-0.24408659653231626,-0.8442961265615954],[-0.22926168544953932,-0.8325937057183395]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[-0.10996977971416144,-2.2530284165171635,0.71338606911949],"aabb_xy":[[-0.1599697807332967,-2.289494632254992],[-0.05996977869502618,-2.216562200779336]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[0.637798414708977,0.6552182762826919,0.71338606911949],"aabb_xy":[[0.6301741466187989,0.6475850527461483],[0.6454226827991554,0.6628514998192357]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.3905447315902668,1.2906503521599157,0.71338606911949],"aabb_xy":[[0.3555447332795714,1.2829353372363699],[0.4255447299009623,1.2983653670834612]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[0.3477572438427152,-1.367719951050034,0.71338606911949],"aabb_xy":[[0.3107231344146555,-1.4020971583837432],[0.38479135327077496,-1.3333427437163243]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.29029485509294706,0.1316096232377597,0.71338606911949],"aabb_xy":[[-0.31480847918995297,0.10734502993572323],[-0.26578123099594125,0.15587421653979613]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.14255103747441666,-1.656144745147688,0.71338606911949],"aabb_xy":[[-0.15218267369484628,-1.6657820579273968],[-0.13291940125398705,-1.646507432367979]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.06340532170145996,-1.3169438054481843,0.71338606911949],"aabb_xy":[[-0.1184053213232058,-1.3719274982356573],[-0.008405322079714117,-1.2619601126607118]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[0.16201682341406476,-1.0146968399519694,0.71338606911949],"aabb_xy":[[0.1469145219530466,-1.0297983615830306],[0.1771191248750828,-0.9995953183209072]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[-0.4596834016772362,0.9304728187665536,0.71338606911949],"aabb_xy":[[-0.5396833996580213,0.9228712778047017],[-0.3796834036964512,0.9380743597284056]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[0.07902592544077136,0.8876875741867938,0.71338606911949],"aabb_xy":[[-0.0009740717188039261,0.8761399732289765],[0.15902592260034665,0.8992351751446106]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[0.3120776985400817,1.6306343637601723,0.71338606911949],"aabb_xy":[[0.27457769824790684,1.6265928883595688],[0.3495776988322565,1.6346758391607759]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.15075541141856197,0.3402455468225014,0.71338606911949],"aabb_xy":[[-0.23075541467640492,0.2602490390305174],[-0.07075540816071901,0.4202420546144853]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[-0.3874516047845806,1.2582816213663688,0.71338606911949],"aabb_xy":[[-0.39278411943919367,1.2529572931211332],[-0.3821190901299677,1.2636059496116043]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.43713191982516136,0.59128122332107,0.71338606911949],"aabb_xy":[[-0.5011319218748933,0.5511867402317621],[-0.37313191777542937,0.631375706410378]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.040583934917509445,-2.2638367053348234,0.71338606911949],"aabb_xy":[[0.004954779017549704,-2.299469372091676],[0.07621309081746919,-2.22820403857797]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[0.2647471624507335,0.6585112364573789,0.71338606911949],"aabb_xy":[[0.18474715918672036,0.6449512041484654],[0.3447471657147466,0.6720712687662921]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.2298467754245485,-1.7963493256974326,0.71338606911949],"aabb_xy":[[-0.2407525515121112,-1.8763493220962615],[-0.21894099933698577,-1.7163493292986032]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6490693778332831,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3303.png","name":"3303"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3303.png","name":"3303"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1535.png","name":"1535"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6538.png","name":"6538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7599.png","name":"7599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3773.png","name":"3773"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":801.2251917868102,"rotation_z_degrees":121.8186605622615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006975396264256771,-0.01154123408107234,0.011955545078662779]},{"name":"camera_2","offset_m":[-0.0013036889721903325,0.002345769019952801,-0.006812705642808479]},{"name":"camera_3","offset_m":[-0.007861145960553881,0.003654282297704089,-0.018456195336171613]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002531877368278095,0.00026780182420210177,0.0016464596260582325],"end_effector_yaw_offset_degrees":-0.6981489621360721},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017537214262732365,0.0017812070541988216,-0.0001261993239337364],"end_effector_yaw_offset_degrees":-0.1944484357583851},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.042018358500226e-05,0.00017072694667828216,0.0016476251159855178],"end_effector_yaw_offset_degrees":0.7274267960088614}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034216787901030863,0.002907465759590797],"position_m":[0.2355783212098969,-0.0532925342404092,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004345297571428184,0.002398968170953977],"position_m":[0.20073452975714282,-0.383301031829046,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012103384185077936,-6.523024706914932e-05],"position_m":[0.2001896615814922,0.31943476975293084,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021303303901775757,0.0015250095354233696],"position_m":[0.3432303303901776,0.16952500953542338,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"29c4ae7d2207c06c03a8695e2227c03a0ca3bba492d91f97348e5b414c83a74e","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3303/tex_ceiling_textures_3773/tex_floor_textures_7599/tex_table_textures_1535/tex_wall_textures_6538","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":2714479423951618931,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":2714479423951618931,"visual_seed":2714479423951618931,"scene_id":"lab_003","finished_at":"2026-09-03T21:18:38"} +{"episode_id":"ep_000059","started_at":"2026-09-03T21:18:42","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[0.10447918396188505,1.459971040519354,0.71338606911949],"aabb_xy":[[0.04047918368790682,1.409904940322066],[0.16847918423586328,1.510037140716642]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[0.3548456690286079,-1.2603098056382707,0.71338606911949],"aabb_xy":[[0.29984567082686303,-1.300831772264708],[0.4098456672303527,-1.2197878390118329]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[-0.05636211376574285,-2.0661337177073595,0.71338606911949],"aabb_xy":[[-0.060065375094881704,-2.0698357360160773],[-0.05265885243660397,-2.062431699398642]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.1377499817765534,1.0740571740417941,0.71338606911949],"aabb_xy":[[0.10274998180005757,1.0645925579941777],[0.17274998175304923,1.083521790089411]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[0.5229198784245668,-1.9391150796851355,0.71338606911949],"aabb_xy":[[0.46792762778905583,-1.9941150814284485],[0.5779121290600777,-1.884115077941823]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.488092288550655,-2.1425933532138224,0.71338606911949],"aabb_xy":[[-0.5237214444506149,-2.1782260199706753],[-0.4524631326506954,-2.1069606864569694]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.5368381024264788,1.5488998247909147,0.71338606911949],"aabb_xy":[[0.486838101475946,1.517350677787393],[0.5868381033770116,1.5804489717944359]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.2698488617769711,0.9358367173629136,0.71338606911949],"aabb_xy":[[-0.3498488597577561,0.9282351764010616],[-0.189848863796186,0.9434382583247655]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.226688141251412,-0.8417125116337896,0.71338606911949],"aabb_xy":[[0.2092574261724055,-0.8589846262976403],[0.24411885633041852,-0.8244403969699386]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[-0.5142586590294158,-1.4393826955037656,0.71338606911949],"aabb_xy":[[-0.5642374675397317,-1.4893826955094844],[-0.4642798505190999,-1.3893826954980468]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.221539198872312,0.4165912389797892,0.71338606911949],"aabb_xy":[[-0.3115391982906829,0.38321574213559945],[-0.1315391994539411,0.4499667358239789]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.2697192454949794,-2.0623068348568507,0.71338606911949],"aabb_xy":[[0.24588302785437438,-2.1523068356653376],[0.2935554631355845,-1.9723068340483647]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[-0.4220723032118354,-0.8762076126640153,0.71338606911949],"aabb_xy":[[-0.431703939432265,-0.8858449254437242],[-0.41244066699140575,-0.8665702998843063]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[0.6167151514482063,-2.4912935838135235,0.71338606911949],"aabb_xy":[[0.5467151480566442,-2.526609357516954],[0.6867151548397682,-2.455977810110092]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.21913635123419095,-0.5386694783034858,0.71338606911949],"aabb_xy":[[0.21263471472618636,-0.5484373003297957],[0.2256379877421956,-0.5289016562771761]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.456479719539852,-1.0997924788557534,0.71338606911949],"aabb_xy":[[-0.5464797162754622,-1.1529759421730479],[-0.36647972280424174,-1.0466090155384589]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[-0.4573286231757825,-0.36372682739265905,0.71338606911949],"aabb_xy":[[-0.4660265854664978,-0.37585180170013377],[-0.4486306608850672,-0.35160185308518427]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.17776517195366204,1.3058369996293884,0.71338606911949],"aabb_xy":[[-0.20276517188617996,1.298954331408465],[-0.15276517202114417,1.3127196678503117]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[0.524371625845677,0.10894729362567057,0.71338606911949],"aabb_xy":[[0.4443716288314289,0.0888127419522593],[0.6043716228599249,0.12908184529908184]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[-0.15989883183722142,0.7017480626545516,0.71338606911949],"aabb_xy":[[-0.19038308196425158,0.6517480628730555],[-0.12941458171019127,0.7517480624360474]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[0.12744301338883635,-1.7849773387061534,0.71338606911949],"aabb_xy":[[0.07744301381250163,-1.8349579176582593],[0.17744301296517107,-1.7349967597540474]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[0.6127649974964007,-0.6864774871312591,0.71338606911949],"aabb_xy":[[0.5327649942385577,-0.7664739949232431],[0.6927650007542436,-0.6064809793392751]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[0.008280427970436044,-1.3470869650791193,0.71338606911949],"aabb_xy":[[-0.0011370465994267071,-1.3565031422168383],[0.017697902540298793,-1.3376707879414003]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[0.2745530322271328,-1.6200978525048777,0.71338606911949],"aabb_xy":[[0.22955303076090394,-1.6650977093663588],[0.31955303369336163,-1.5750979956433975]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6535120504888411,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5360.png","name":"5360"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5360.png","name":"5360"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5233.png","name":"5233"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2332.png","name":"2332"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4214.png","name":"4214"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4067.png","name":"4067"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":618.2459646122591,"rotation_z_degrees":359.4322068667568,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015683463748083232,-0.004099290703412226,0.00618767833172958]},{"name":"camera_2","offset_m":[-0.013490658241798768,0.0036500125713330583,0.017531648512072045]},{"name":"camera_3","offset_m":[0.005655707960480906,-0.00999932891132299,-0.009156665091194336]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00039795319649843465,-0.0009159365815195363,0.001003644427559082],"end_effector_yaw_offset_degrees":-0.5452047206621815},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012151570670964483,-5.1191240852297e-05,-0.0010983353747137015],"end_effector_yaw_offset_degrees":0.6482262549601405},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014761908801223193,9.953446048288194e-05,-0.001456619721440873],"end_effector_yaw_offset_degrees":0.04372640315561327}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031645858933020228,0.004429474877974214],"position_m":[0.242164585893302,-0.05177052512202578,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00489939705519644,0.0009802569567056007],"position_m":[0.20519939705519644,-0.38471974304329437,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006549235072355105,-0.0026055269997853616],"position_m":[0.2007450764927645,0.31689447300021467,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003414221640809468,0.0007192064102744334],"position_m":[0.34144142216408097,0.16871920641027444,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"05f2d109ec667bb5a7597711e86189d4f52d75693a30e9e1f1c382a768e934f3","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5360/tex_ceiling_textures_4067/tex_floor_textures_4214/tex_table_textures_5233/tex_wall_textures_2332","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":5300104479417315275,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":5300104479417315275,"visual_seed":5300104479417315275,"scene_id":"lab_003","finished_at":"2026-09-03T21:21:22"} +{"episode_id":"ep_000060","started_at":"2026-09-03T21:21:25","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[0.21630213553823618,-1.8782727145676419,0.71338606911949],"aabb_xy":[[0.13130213684616154,-1.9102585779625207],[0.3013021342303108,-1.846286851172763]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[-0.4209291761504875,-0.22852831008630492,0.71338606911949],"aabb_xy":[[-0.47592465397114686,-0.28352831152021185],[-0.3659336983298281,-0.17352830865239796]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.08956756391437781,-2.1239959872294776,0.71338606911949],"aabb_xy":[[0.07136174025313015,-2.135021387811469],[0.1077733875756255,-2.112970586647486]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[0.3931664544462272,-1.7806414424607642,0.71338606911949],"aabb_xy":[[0.38575399890483875,-1.7864926528823921],[0.4005789099876157,-1.7747902320391362]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[0.41807723460271173,1.368522032985787,0.71338606911949],"aabb_xy":[[0.38244807870275205,1.3328893662289338],[0.45370639050267153,1.4041546997426397]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.4659155862998883,-0.7397091096854385,0.71338606911949],"aabb_xy":[[0.401915585596419,-0.7857274921583597],[0.5299155870033576,-0.6936907272125176]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.575383645385479,0.5380055613615693,0.71338606911949],"aabb_xy":[[0.5657520091650494,0.5283682485818604],[0.5850152816059087,0.5476428741412782]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.4645382291275504,1.6621627151416134,0.71338606911949],"aabb_xy":[[0.45969463436632046,1.6573110626626293],[0.4693818238887804,1.6670143676205975]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.45840638330970374,1.3071011612701242,0.71338606911949],"aabb_xy":[[-0.466534071503017,1.2981875528594167],[-0.45027869511639057,1.3160147696808322]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.2649962790626009,-2.0197087192546075,0.71338606911949],"aabb_xy":[[0.20100058166750429,-2.0837087175553157],[0.32899197645769745,-1.9557087209538984]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.4215873659107619,1.1046751026783275,0.71338606911949],"aabb_xy":[[-0.5015873638915468,1.0970735617164753],[-0.3415873679299768,1.1122766436401792]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.17359094046726653,0.7485755585464298,0.71338606911949],"aabb_xy":[[-0.2535909437251095,0.6685790507544458],[-0.09359093720942357,0.8285720663384137]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.504499000129208,-1.7154808157831287,0.71338606911949],"aabb_xy":[[-0.5105936280173263,-1.7240502103347977],[-0.4984043722410897,-1.7069114212314602]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.03666249568669733,1.7182525375180009,0.71338606911949],"aabb_xy":[[-0.10666249749544277,1.6968987687538133],[0.03333750612204811,1.739606306282188]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.5162357600510734,-1.1796420921940691,0.71338606911949],"aabb_xy":[[0.493735759807558,-1.191846726853841],[0.5387357602945888,-1.1674374575342972]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.33052817974691473,-1.4532534171443086,0.71338606911949],"aabb_xy":[[-0.40052818134919427,-1.4666862103459661],[-0.2605281781446353,-1.439820623942651]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[-0.5852215430438593,0.5966597795680393,0.71338606911949],"aabb_xy":[[-0.602132275480201,0.5831875739754246],[-0.5683108106075174,0.6101319851606537]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[0.5806914257187921,0.7973855726827446,0.71338606911949],"aabb_xy":[[0.5166914253412584,0.7476403058319323],[0.6446914260963257,0.8471308395335568]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.31075461096405177,-1.4894314196252973,0.71338606911949],"aabb_xy":[[0.29164230360607296,-1.5085661985025394],[0.3298669183220307,-1.4702966407480553]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[-0.4209146545578377,0.6383172579814822,0.71338606911949],"aabb_xy":[[-0.436470423968103,0.6227668247370751],[-0.40535888514757246,0.6538676912258895]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[0.1998937629843508,-1.0038148864560583,0.71338606911949],"aabb_xy":[[0.18726697569715442,-1.013360960157631],[0.21252055027154712,-0.9942688127544852]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[-0.19666374732484582,0.41732847796210093,0.71338606911949],"aabb_xy":[[-0.2606637506145539,0.3739935589581832],[-0.13266374403513767,0.46066339696601843]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_22","position":[-0.05779812894871683,-1.565132728522381,0.71338606911949],"aabb_xy":[[-0.10779296187665843,-1.6151327274176246],[-0.007803296020775237,-1.5151327296271375]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.3639553551378054,-1.018941910578471,0.71338606911949],"aabb_xy":[[0.3254096623126044,-1.0574876816346597],[0.40250104796300645,-0.9803961395222823]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[-0.35509078232857605,-0.4949420698094289,0.71338606911949],"aabb_xy":[[-0.37759078214247843,-0.4994166861799096],[-0.33259078251467367,-0.4904674534389482]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[-0.3059517410189443,-2.4826579839535006,0.71338606911949],"aabb_xy":[[-0.3559305495292602,-2.5326579839592194],[-0.2559729325086284,-2.4326579839477818]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[0.39125551621141574,-2.530915152964779,0.71338606911949],"aabb_xy":[[0.37878815810168015,-2.5433804775981033],[0.40372287432115145,-2.5184498283314563]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_27","position":[-0.5187202987763478,0.6709096771178418,0.71338606911949],"aabb_xy":[[-0.5267142873540512,0.6629095970227513],[-0.5107263101986445,0.678909757212932]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_28","position":[-0.16194115851827995,-0.7673425262394509,0.71338606911949],"aabb_xy":[[-0.1695654266084582,-0.7749757497759948],[-0.1543168904281017,-0.7597093027029074]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_29","position":[-0.3423214389805237,-1.9551158166309293,0.71338606911949],"aabb_xy":[[-0.3833393823668946,-2.0051158172618866],[-0.3013034955941528,-1.905115815999972]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_30","position":[-0.15647539648654063,-1.0390128225963664,0.71338606911949],"aabb_xy":[[-0.18147539641905852,-1.0458954908172897],[-0.13147539655402274,-1.032130154375443]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6516419289049974,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/194.png","name":"194"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/194.png","name":"194"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3799.png","name":"3799"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1881.png","name":"1881"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8299.png","name":"8299"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9994.png","name":"9994"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":744.7139407008216,"rotation_z_degrees":164.3643090693434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013768075681427138,0.010316438571755463,0.009720567271114477]},{"name":"camera_2","offset_m":[-0.005573452076997776,0.01038624261970646,-0.01110668170469039]},{"name":"camera_3","offset_m":[-0.0016560826027515498,-0.010599480066135812,-0.01742982061948809]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000972790621517535,9.761279993368783e-05,0.0016174062953950904],"end_effector_yaw_offset_degrees":0.21957241943667483},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010204857853306458,0.0008960253649717064,-0.0013977823208829738],"end_effector_yaw_offset_degrees":0.7173039536939874},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010615950960131777,-0.0017971182236572254,-3.0006163138957594e-05],"end_effector_yaw_offset_degrees":-0.4820721903189893}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010406775483043432,0.0016971123897495917],"position_m":[0.23795932245169565,-0.054502887610250406,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031277356740833087,0.0017245238679441475],"position_m":[0.20342773567408332,-0.38397547613205585,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021199620688928987,0.004753400890176152],"position_m":[0.2035199620688929,0.3242534008901762,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010319243456820056,-0.002744904051296002],"position_m":[0.342131924345682,0.165255095948704,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e43e9fc6bfd64bc744f4a246a121caebcb9a32359b55f8e69b973a0bcbe249a7","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_194/tex_ceiling_textures_9994/tex_floor_textures_8299/tex_table_textures_3799/tex_wall_textures_1881","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7048960244489452721,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7048960244489452721,"visual_seed":7048960244489452721,"scene_id":"lab_003","finished_at":"2026-09-03T21:24:05"} +{"episode_id":"ep_000061","started_at":"2026-09-03T21:24:09","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[0.3813218262968743,-0.8364503651313,0.71338606911949],"aabb_xy":[[0.3163218236590808,-0.8879299638307471],[0.44632182893466776,-0.7849707664318532]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.4167422920142234,1.2372318596027263,0.71338606911949],"aabb_xy":[[0.39315716855032856,1.1722318573572947],[0.44032741547811827,1.3022318618481583]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[-0.20294985119601044,-1.8995396276623553,0.71338606911949],"aabb_xy":[[-0.2529491263644466,-1.9495396289383025],[-0.15295057602757428,-1.8495396263864081]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.5530554691456686,-1.848379313070447,0.71338606911949],"aabb_xy":[[-0.5880554674563641,-1.8560943279939925],[-0.5180554708349732,-1.8406642981469012]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.5733633663115729,-0.8751516009700306,0.71338606911949],"aabb_xy":[[0.5659509107701844,-0.8810028113916586],[0.5807758218529614,-0.8693003905484027]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.3030918045165144,-2.415959631673573,0.71338606911949],"aabb_xy":[[0.23309180291423498,-2.4293924248752305],[0.37309180611879394,-2.4025268384719154]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[0.34195457989125533,-0.649490273225398,0.71338606911949],"aabb_xy":[[0.2869545802695095,-0.7044739660128708],[0.39695457951300117,-0.5945065804379254]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.39894782525660416,-0.07296297589045064,0.71338606911949],"aabb_xy":[[-0.43394782352672406,-0.08003710358543879],[-0.36394782698648426,-0.06588884819546247]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[0.5157751560984734,-1.7833527027594553,0.71338606911949],"aabb_xy":[[0.4919389384578684,-1.8733527035679425],[0.5396113737390785,-1.6933527019509695]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.6257909476228254,1.3386467248629632,0.71338606911949],"aabb_xy":[[0.5457909454600629,1.2586915412368191],[0.7057909497855879,1.4186019084891064]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[0.5756807790485641,0.8107560523636517,0.71338606911949],"aabb_xy":[[0.5451965289215339,0.7607560525821558],[0.6061650291755942,0.8607560521451477]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[-0.43411821383676946,-1.445899420935787,0.71338606911949],"aabb_xy":[[-0.441400530213433,-1.5358994245452957],[-0.4268358974601057,-1.3558994173262777]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[-0.280268234808872,-0.2499661760414873,0.71338606911949],"aabb_xy":[[-0.344268233978642,-0.2967328631604498],[-0.2162682356391021,-0.20319948892252485]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[0.3105267143402426,-1.5664663978875955,0.71338606911949],"aabb_xy":[[0.27461320991525284,-1.60237990610435],[0.34644021876523223,-1.530552889670841]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[0.03809790323435158,0.960200375954587,0.71338606911949],"aabb_xy":[[0.024946657263062222,0.9352003761979005],[0.05124914920564095,0.9852003757112736]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.5492314739058954,-0.7370604193800496,0.71338606911949],"aabb_xy":[[-0.6042051959422284,-0.7920604189442828],[-0.49425775186956267,-0.6820604198158164]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.11333995194015034,-1.703868899872023,0.71338606911949],"aabb_xy":[[0.08087825105822287,-1.7340017319869254],[0.14580165282207777,-1.6737360677571202]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[-0.20896938679636456,1.3342829635990725,0.71338606911949],"aabb_xy":[[-0.29865646310448,1.244282963344622],[-0.11928231048824911,1.424282963853523]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[-0.21567289127092987,-1.4678801812287003,0.71338606911949],"aabb_xy":[[-0.22890383680561113,-1.4811076002506995],[-0.20244194573624855,-1.4546527622067007]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[-0.1499948034522055,0.0681899614141952,0.71338606911949],"aabb_xy":[[-0.21499480348650823,0.02148928473386791],[-0.08499480341790278,0.11489063809452249]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6516291868299603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/351.png","name":"351"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/351.png","name":"351"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1998.png","name":"1998"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2530.png","name":"2530"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6460.png","name":"6460"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7153.png","name":"7153"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":600.9038425618377,"rotation_z_degrees":36.59938848181823,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007158954674435284,0.01820508049913556,-0.01285780759110713]},{"name":"camera_2","offset_m":[-0.0012974028703862037,0.009762432238020261,-0.0006406628373296953]},{"name":"camera_3","offset_m":[0.016332785156112018,-0.0017644992155636842,-0.005254534083959008]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004429538885831093,-0.0018532482178495453,0.0015785887772721942],"end_effector_yaw_offset_degrees":0.41778293338053785},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003644585791526128,0.0001506466688590848,0.0007479520960602471],"end_effector_yaw_offset_degrees":0.35597491996629027},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003991011336587568,0.0016204998145521996,-0.0012396821652738703],"end_effector_yaw_offset_degrees":-0.765254211506563}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004933643677130994,-0.001130862157057926],"position_m":[0.243933643677131,-0.057330862157057925,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012098575335157415,-0.004132106968592597],"position_m":[0.19909014246648427,-0.3898321069685926,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002341656056932673,0.003510779132226715],"position_m":[0.20374165605693267,0.3230107791322267,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003613974791450191,-0.000990602791653956],"position_m":[0.3374860252085498,0.16700939720834607,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"289a945f7004470138241ff9ab5a4aa12edd1ba6430e1da4e7dff8e30b16b016","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_351/tex_ceiling_textures_7153/tex_floor_textures_6460/tex_table_textures_1998/tex_wall_textures_2530","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":560172423955052621,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":560172423955052621,"visual_seed":560172423955052621,"scene_id":"lab_003","finished_at":"2026-09-03T21:26:53"} +{"episode_id":"ep_000062","started_at":"2026-09-03T21:26:56","dimensions":{"distractor":{"count":30,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[-0.20761454260262507,-2.457305511423659,0.71338606911949],"aabb_xy":[[-0.22952322474197612,-2.4792061782437496],[-0.18570586046327403,-2.435404844603568]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.6161871442293996,-2.311943431146591,0.71338606911949],"aabb_xy":[[0.5521871410107616,-2.3586665430455995],[0.6801871474480373,-2.265220319247583]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.30334983170703717,0.40526186325441893,0.71338606911949],"aabb_xy":[[-0.3074279896140869,0.4011808830061556],[-0.2992716737999874,0.40934284350268224]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.03726963810394279,-0.6979193784170488,0.71338606911949],"aabb_xy":[[0.024397734603002656,-0.7779193788308848],[0.05014154160488293,-0.6179193780032125]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.13326036194174273,-0.35542655508041454,0.71338606911949],"aabb_xy":[[-0.14255398017889329,-0.39292655356854844],[-0.12396674370459212,-0.31792655659228064]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.1316396043867163,-1.0532630324255503,0.71338606911949],"aabb_xy":[[0.04163960205269723,-1.130745387010663],[0.22163960672073535,-0.9757806778404376]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.06267809464369034,-2.0079069068959825,0.71338606911949],"aabb_xy":[[-0.08767809419542882,-2.0180493907611172],[-0.03767809509195186,-1.9977644230308478]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[-0.23185593409901673,0.9439976000023598,0.71338606911949],"aabb_xy":[[-0.2693559347635953,0.9283105420021376],[-0.19435593343443797,0.959684658002582]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.2502015482401437,0.528672786329671,0.71338606911949],"aabb_xy":[[-0.2653038497011617,0.5135712646986089],[-0.23509924677912555,0.5437743079607326]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.39393076103676283,0.5269714587585139,0.71338606911949],"aabb_xy":[[-0.45893076203726335,0.476185093603839],[-0.3289307600362623,0.5777578239131889]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[-0.598649258439395,-1.965988992921809,0.71338606911949],"aabb_xy":[[-0.6185402983197352,-1.978644804206506],[-0.5787582185590547,-1.9533331816371122]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.1063074606837604,0.6786765465687399,0.71338606911949],"aabb_xy":[[-0.11026794445349476,0.6710086819832193],[-0.10234697691402601,0.6863444111542605]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[-0.5186750598892876,-2.327758177672104,0.71338606911949],"aabb_xy":[[-0.5561750601814625,-2.331799653072707],[-0.4811750595971128,-2.3237167022714997]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[-0.38118228565269663,1.1469038216270593,0.71338606911949],"aabb_xy":[[-0.3903421645965732,1.140372603583522],[-0.37202240670882003,1.1534350396705961]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[-0.08590574324378819,1.744234546702884,0.71338606911949],"aabb_xy":[[-0.09715079881440603,1.7329927489787886],[-0.07466068767317036,1.7554763444269792]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.498458417668898,-1.7980055786437004,0.71338606911949],"aabb_xy":[[0.4134584192514748,-1.8828798741059853],[0.5834584160863212,-1.7131312831814154]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.47361195990302807,1.0127107806182707,0.71338606911949],"aabb_xy":[[-0.5536119603732441,1.0044000730039224],[-0.3936119594328122,1.021021488232619]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[-0.6782798282051393,-2.215713241614497,0.71338606911949],"aabb_xy":[[-0.6859040962953176,-2.2233464651510406],[-0.6706555601149611,-2.208080018077953]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[0.2719024528135966,0.5747100326618191,0.71338606911949],"aabb_xy":[[0.2483173293497018,0.5097100304163873],[0.2954875762774915,0.6397100349072509]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.3487558858025863,0.8660452971375463,0.71338606911949],"aabb_xy":[[0.3112558856969933,0.8592231352845652],[0.3862558859081792,0.8728674589905274]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.12945572843322117,0.46292473624710295,0.71338606911949],"aabb_xy":[[-0.1381696974831556,0.4404247355879146],[-0.12074175938328664,0.48542473690629107]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.2753166437264054,-0.5017459654468963,0.71338606911949],"aabb_xy":[[0.2507704281036547,-0.5319948619959334],[0.29986285934915613,-0.4714970688978593]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.17318060162431148,-0.6943325630016628,0.71338606911949],"aabb_xy":[[0.165768146082923,-0.7001837734232907],[0.18059305716569996,-0.6884813525800348]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[0.6243862654777417,-0.09863723538838487,0.71338606911949],"aabb_xy":[[0.6146302759685678,-0.1083997694476193],[0.6341422549869156,-0.08887470132915042]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[-0.21628486696878146,-1.272388626171875,0.71338606911949],"aabb_xy":[[-0.2332949642588321,-1.288523114670149],[-0.19927476967873078,-1.2562541376736012]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[0.6339760266991517,1.2741525347331453,0.71338606911949],"aabb_xy":[[0.5839760280532305,1.2242329910736827],[0.6839760253450728,1.3240720783926074]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[-0.6097243530314954,-1.029386263435775,0.71338606911949],"aabb_xy":[[-0.659821817012569,-1.0933862639455871],[-0.5596268890504218,-0.9653862629259635]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_27","position":[0.5268336085612468,0.5503897180451127,0.71338606911949],"aabb_xy":[[0.5097315306028787,0.533282912513843],[0.543935686519615,0.5674965235763825]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[0.0736452715906365,0.8275836347844501,0.71338606911949],"aabb_xy":[[0.036794723653648886,0.7900836339614163],[0.1104958195276241,0.8650836356074838]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_29","position":[0.5310293712626613,-1.2372209641912353,0.71338606911949],"aabb_xy":[[0.5005451211356311,-1.2872209639727312],[0.5615136213896914,-1.1872209644097393]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6529517907179968,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8967.png","name":"8967"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8967.png","name":"8967"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6136.png","name":"6136"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7455.png","name":"7455"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3186.png","name":"3186"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9417.png","name":"9417"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":554.6384560339048,"rotation_z_degrees":25.371969499347387,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01806891600143398,0.0025020013800878954,-0.004902681162962597]},{"name":"camera_2","offset_m":[-0.00557420882063092,-0.018744227752540327,-0.012238620627405461]},{"name":"camera_3","offset_m":[0.012334626359551838,0.017329938315157414,-0.01595000166303112]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019377433653255186,0.0001673070075893122,0.0011894900999980433],"end_effector_yaw_offset_degrees":0.76580588127352},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014058001648983303,-0.0017253259375520874,0.001521642720626736],"end_effector_yaw_offset_degrees":0.9091886185592348},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017083292276703107,-0.0011702562067708263,-0.00043171361638356053],"end_effector_yaw_offset_degrees":-0.1201382673499547}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003849456437497353,0.0037730780454628627],"position_m":[0.24284945643749734,-0.05242692195453714,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00018966913107329366,-0.004976425407929037],"position_m":[0.2001103308689267,-0.390676425407929,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025317243411779374,0.0028353028595075437],"position_m":[0.20393172434117793,0.32233530285950757,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002305932856730887,0.002189298463833465],"position_m":[0.3434059328567309,0.1701892984638335,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f9f8505a22a8f1abb8de786edb1e3db9267b181c52b41f23fad745666207f24d","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8967/tex_ceiling_textures_9417/tex_floor_textures_3186/tex_table_textures_6136/tex_wall_textures_7455","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3168836215773276925,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3168836215773276925,"visual_seed":3168836215773276925,"scene_id":"lab_003","finished_at":"2026-09-03T21:29:33"} +{"episode_id":"ep_000063","started_at":"2026-09-03T21:29:36","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[-0.6261207991998753,1.2760175727232292,0.71338606911949],"aabb_xy":[[-0.6437536347934029,1.2583946267076063],[-0.6084879636063477,1.2936405187388522]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.6191561281609828,-0.9215969430939404,0.71338606911949],"aabb_xy":[[0.5691731779735034,-0.9715969427365007],[0.6691390783484621,-0.8715969434513798]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.09634336072036154,-2.539175207934897,0.71338606911949],"aabb_xy":[[0.0902487328322432,-2.547744602486566],[0.10243798860847984,-2.5306058133832288]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.49220295290635874,-2.415235757065564,0.71338606911949],"aabb_xy":[[0.4421054889252852,-2.479235757575376],[0.5423004168874324,-2.3512357565557522]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[-0.49680534682548594,0.3844105870464385,0.71338606911949],"aabb_xy":[[-0.546805348186373,0.33443268247102287],[-0.44680534546459866,0.4343884916218541]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[0.23198891521749032,0.568653044097386,0.71338606911949],"aabb_xy":[[0.15198891820324234,0.5485184924239747],[0.3119889122317383,0.5887875957707972]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[-0.23704365824198947,-2.046592044383315,0.71338606911949],"aabb_xy":[[-0.24408396817552655,-2.126592043782987],[-0.23000334830845257,-1.9665920449836443]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[0.12812362469846772,0.9684723478759851,0.71338606911949],"aabb_xy":[[0.10312362542650542,0.9521269842798227],[0.15312362397042997,0.9848177114721474]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.48411248189778244,-1.9590625159150696,0.71338606911949],"aabb_xy":[[-0.4941941889763558,-2.039062513807184],[-0.47403077481920886,-1.8790625180229548]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[-0.5447882045203019,-1.723723533080656,0.71338606911949],"aabb_xy":[[-0.567284625954166,-1.7462235328874032],[-0.5222917830864378,-1.7012235332739083]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.32561163987571967,0.6801405460320207,0.71338606911949],"aabb_xy":[[-0.3384835433766598,0.6001405456181844],[-0.31273973637477953,0.7601405464458567]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.01477071574047839,0.7816342017409377,0.71338606911949],"aabb_xy":[[-0.07877071765282073,0.7257230524829273],[0.04922928617186395,0.8375453509989482]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[-0.16120146120115952,-1.264543678172116,0.71338606911949],"aabb_xy":[[-0.186201460752898,-1.2746861620372505],[-0.13620146164942104,-1.254401194306981]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[-0.33272505159935495,0.9381461362217771,0.71338606911949],"aabb_xy":[[-0.3518373589573338,0.9190113573445351],[-0.3136127442413761,0.9572809150990191]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[0.3721300081375176,0.9811671946909546,0.71338606911949],"aabb_xy":[[0.3647175525961291,0.9753159842693265],[0.37954246367890604,0.9870184051125824]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[-0.06132471306378828,-0.37166990746107764,0.71338606911949],"aabb_xy":[[-0.07890301525273513,-0.3892443970351826],[-0.043746410874841435,-0.3540954178869728]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.3119629536169247,1.0512421449508764,0.71338606911949],"aabb_xy":[[-0.3270652550779427,1.036140623319814],[-0.2968606521559065,1.066343666581938]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[0.3470314993952006,0.7919879408261692,0.71338606911949],"aabb_xy":[[0.28303150080862816,0.7449809774266605],[0.4110314979817731,0.8389949042256779]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.5355691911795262,-1.770060573528387,0.71338606911949],"aabb_xy":[[0.5229664920424497,-1.7826559697532527],[0.5481718903166026,-1.7574651773035217]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.25000573168316165,-1.5657704637534833,0.71338606911949],"aabb_xy":[[0.2114600388579606,-1.604316234809672],[0.2885514245083627,-1.5272246926972946]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[-0.6120166677619477,0.19393044504557233,0.71338606911949],"aabb_xy":[[-0.6591460467637833,0.12993044400117035],[-0.564887288760112,0.2579304460899743]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[-0.42342730132315026,-1.0771817230410303,0.71338606911949],"aabb_xy":[[-0.44010443731624577,-1.0938816470149606],[-0.40675016533005476,-1.0604817990671]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[0.3653119429495386,1.2390681148396605,0.71338606911949],"aabb_xy":[[0.33482769282250846,1.1890681150581646],[0.39579619307656877,1.2890681146211564]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6442815730503172,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/551.png","name":"551"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/551.png","name":"551"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7150.png","name":"7150"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5003.png","name":"5003"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/570.png","name":"570"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3941.png","name":"3941"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":556.2392481061362,"rotation_z_degrees":192.4406500537271,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014722020263531876,-0.0044425371701954045,0.00880173005535612]},{"name":"camera_2","offset_m":[-0.0013952116583924173,-0.0020393645440661586,-0.0027057998038391463]},{"name":"camera_3","offset_m":[-0.002473721163464629,0.0014563786436262542,-0.0010152749446537684]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009139036816115933,-0.00032945869917740513,0.001226554960525901],"end_effector_yaw_offset_degrees":0.7655317120161633},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006461211190892681,-0.0016291332004832984,-0.0006846066501285763],"end_effector_yaw_offset_degrees":0.8465840535872544},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008738262014109021,-0.0012606492923203155,-0.0006131952111600668],"end_effector_yaw_offset_degrees":-0.21908336402042128}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008457978301088399,-0.0005593656720479364],"position_m":[0.23815420216989114,-0.05675936567204794,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00419411120960716,0.004183384813127252],"position_m":[0.19610588879039284,-0.38151661518687274,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020590334171820724,-0.0020302949999691823],"position_m":[0.1993409665828179,0.3174697050000308,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004355252116042311,0.00027877000067932055],"position_m":[0.34545525211604233,0.16827877000067934,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10a4c413c66baa05efb54fb528f8a5e1638c05f6facd4ea68858192858b67e81","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_551/tex_ceiling_textures_3941/tex_floor_textures_570/tex_table_textures_7150/tex_wall_textures_5003","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":2095016993982968133,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":2095016993982968133,"visual_seed":2095016993982968133,"scene_id":"lab_003","finished_at":"2026-09-03T21:32:21"} +{"episode_id":"ep_000064","started_at":"2026-09-03T21:32:24","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[-0.3782332516938029,1.1122239381296253,0.71338606911949],"aabb_xy":[[-0.40069802166520796,1.0897239372507646],[-0.3557684817223977,1.1347239390084856]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[0.40721272883797055,-2.1362540601828712,0.71338606911949],"aabb_xy":[[0.4017547832009504,-2.2162540634905303],[0.41267067447499056,-2.056254056875212]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[-0.1965490271584434,0.7053254817429759,0.71338606911949],"aabb_xy":[[-0.23154902713493927,0.6958608656953593],[-0.1615490271819476,0.7147900977905925]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.16065783308654769,-2.2272916394162032,0.71338606911949],"aabb_xy":[[-0.21065783444743488,-2.277269543991619],[-0.11065783172566045,-2.1773137348407876]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[-0.33899257402505617,0.7200022289870014,0.71338606911949],"aabb_xy":[[-0.3430707319321059,0.7159212487387381],[-0.33491441611800643,0.7240832092352647]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.6544235727624985,-1.9338794223015912,0.71338606911949],"aabb_xy":[[0.5904278753674018,-1.9978794206022996],[0.718419270157595,-1.8698794240008823]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.36630760091738596,0.30785898192994354,0.71338606911949],"aabb_xy":[[-0.3838076011624353,0.29035919409037664],[-0.3488076006723365,0.32535876976951034]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[-0.4332997980554849,1.2555650318705358,0.71338606911949],"aabb_xy":[[-0.5032997944654465,1.2351270962188536],[-0.363299801645523,1.276002967522217]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.23277177576503727,0.972086156465445,0.71338606911949],"aabb_xy":[[0.195271775267679,0.9681174729173265],[0.2702717762623955,0.9760548400135634]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.23723681033930122,-2.3826621846907106,0.71338606911949],"aabb_xy":[[0.22961254224912303,-2.3902954082272543],[0.24486107842947952,-2.375028961154167]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.00263098653200311,-1.4170747597128623,0.71338606911949],"aabb_xy":[[-0.08109123896807935,-1.507074763247558],[0.08635321203208557,-1.3270747561781662]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.05425028942216137,1.4455681477158753,0.71338606911949],"aabb_xy":[[0.026405252641554244,1.4147836489775636],[0.08209532620276849,1.476352646454187]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[-0.10657497127239957,0.40081340575367763,0.71338606911949],"aabb_xy":[[-0.18657497343516205,0.32085822212753395],[-0.02657496910963708,0.4807685893798212]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.14720708485236256,1.718907297024813,0.71338606911949],"aabb_xy":[[-0.16911576699171357,1.697006630204722],[-0.1252984027130115,1.7408079638449034]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[0.582781389903233,0.6502988081660863,0.71338606911949],"aabb_xy":[[0.5177813889461058,0.5983505962323808],[0.6477813908603602,0.702247020099792]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.5787806353041177,1.3913442157151086,0.71338606911949],"aabb_xy":[[-0.6130775463218582,1.357047329505167],[-0.544483724286377,1.4256411019250497]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.3534285873082681,0.8888696705405357,0.71338606911949],"aabb_xy":[[-0.4334285905722812,0.8753096382316223],[-0.27342858404425496,0.902429702849449]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[0.05444635903351547,1.6287215316160686,0.71338606911949],"aabb_xy":[[0.036899664117396536,1.591221530051817],[0.0719930539496344,1.6662215331803196]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[0.6199090977928603,0.3964310671749778,0.71338606911949],"aabb_xy":[[0.5786045547291242,0.3324310676068607],[0.6612136408565962,0.46043106674309486]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.2724182447071025,1.2999071979042274,0.71338606911949],"aabb_xy":[[-0.2811322137570369,1.277407197245039],[-0.2637042756571679,1.3224071985634154]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6507761539194307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/351.png","name":"351"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/351.png","name":"351"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2646.png","name":"2646"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1794.png","name":"1794"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4461.png","name":"4461"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8469.png","name":"8469"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":822.6701933439625,"rotation_z_degrees":87.20317266297194,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005570466015315039,-0.005422645672043496,-0.01769177484179042]},{"name":"camera_2","offset_m":[-0.018182532630355075,-0.013406883205528769,-0.002627994485004715]},{"name":"camera_3","offset_m":[-0.015532536523149041,-0.004018910326077759,0.006675111442929073]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010719878269859692,-0.0009749702035628288,0.0002926752737064894],"end_effector_yaw_offset_degrees":-0.9319972301652664},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011281297852537594,-0.0012311521750099008,9.173830759767613e-05],"end_effector_yaw_offset_degrees":-0.5852704776519033},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008034157450375369,-0.0015262411633029558,0.0008636690693621715],"end_effector_yaw_offset_degrees":-0.1200150150666699}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025457262115743153,-0.004309123107482591],"position_m":[0.2415457262115743,-0.06050912310748259,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006737041853171512,-0.0019827482043498967],"position_m":[0.19962629581468286,-0.3876827482043499,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007183116436932637,0.001721120085449496],"position_m":[0.20211831164369326,0.3212211200854495,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00240600484380335,-0.0039972486414890694],"position_m":[0.34350600484380334,0.16400275135851095,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2cb6f1a0fe105f5fb95081d079eb128e78f9452a4fbd271e3a2ab652faac86a3","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_351/tex_ceiling_textures_8469/tex_floor_textures_4461/tex_table_textures_2646/tex_wall_textures_1794","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4771194184949016731,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4771194184949016731,"visual_seed":4771194184949016731,"scene_id":"lab_003","finished_at":"2026-09-03T21:35:21"} +{"episode_id":"ep_000065","started_at":"2026-09-03T21:35:25","dimensions":{"distractor":{"count":23,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.2694230895607611,-2.016883270575633,0.71338606911949],"aabb_xy":[[-0.2809920703076977,-2.0418832706925647],[-0.25785410881382453,-1.9918832704587013]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.1896573505248491,0.10176845696100356,0.71338606911949],"aabb_xy":[[-0.2536573507853199,0.05675965760807556],[-0.1256573502643783,0.14677725631393157]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.1740277521197089,0.5252953169186347,0.71338606911949],"aabb_xy":[[0.16793312423159057,0.516725922366966],[0.1801223800078272,0.5338647114703035]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[-0.13093676256047138,0.8421218171381217,0.71338606911949],"aabb_xy":[[-0.1592664725090116,0.8376610749444047],[-0.10260705261193115,0.8465825593318388]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[0.3594083035162532,-2.015536169639037,0.71338606911949],"aabb_xy":[[0.3547731883640198,-2.0194035047161853],[0.3640434186684865,-2.011668834561888]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.6731142785859394,-1.3254684757811759,0.71338606911949],"aabb_xy":[[0.6452692418053323,-1.3562529745194876],[0.7009593153665465,-1.2946839770428642]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.5713956355870866,-1.6400051815750287,0.71338606911949],"aabb_xy":[[-0.6513956370172138,-1.719522336587638],[-0.4913956341569594,-1.560488026562419]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.5529864634142951,-1.105251768188303,0.71338606911949],"aabb_xy":[[0.5154864626222997,-1.111619609146493],[0.5904864642062906,-1.098883927230113]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[0.27149406831139977,1.1527088401180876,0.71338606911949],"aabb_xy":[[0.22436468930956405,1.0887088390736857],[0.3186234473132354,1.2167088411624896]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[0.33178736373912043,-0.9108977989017502,0.71338606911949],"aabb_xy":[[0.29678736384310156,-0.9192720344136902],[0.3667873636351393,-0.9025235633898103]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.5962366019592544,1.1455510993457545,0.71338606911949],"aabb_xy":[[-0.6462366029783897,1.1090848836079268],[-0.5462366009401192,1.1820173150835827]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[0.6678060189794415,1.1758534398335838,0.71338606911949],"aabb_xy":[[0.6453060187359261,1.1636488051738119],[0.6903060192229569,1.1880580744933558]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[0.28776465186497235,1.7365246236680814,0.71338606911949],"aabb_xy":[[0.26587490427603155,1.6465246263788322],[0.30965439945391315,1.8265246209573305]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.3092270787496917,-0.6404964672212794,0.71338606911949],"aabb_xy":[[-0.3281114625182019,-0.6593823920016322],[-0.2903426949811815,-0.6216105424409266]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.5400493131311634,1.3660086852110784,0.71338606911949],"aabb_xy":[[0.502549314707763,1.3528444712432472],[0.5775493115545637,1.3791728991789087]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.06955388953204567,0.6178209275422595,0.71338606911949],"aabb_xy":[[-0.08705388866641282,0.6079413005046714],[-0.052053890397678486,0.6277005545798471]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.22222026138639978,0.4041940119999681,0.71338606911949],"aabb_xy":[[-0.23409234439790091,0.3191940123063177],[-0.2103481783748987,0.4891940116936184]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.6216193028763795,0.7758539844354182,0.71338606911949],"aabb_xy":[[0.6041193026170429,0.7617624422466457],[0.6391193031357162,0.7899455266241909]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.6532793834345201,-0.7111682475561252,0.71338606911949],"aabb_xy":[[0.5832793813030903,-0.7339302131818207],[0.7232793855659494,-0.6884062819304294]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.6261883975058093,-0.892985267037204,0.71338606911949],"aabb_xy":[[-0.66368839608143,-0.9057215627007619],[-0.5886883989301884,-0.880248971373646]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.2189313858881019,-1.8400438165130328,0.71338606911949],"aabb_xy":[[0.16393138671151242,-1.8950334912879903],[0.2739313850646914,-1.785054141738075]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.4558528292151931,1.2386497379018433,0.71338606911949],"aabb_xy":[[-0.46069642397642313,1.2337980854228592],[-0.4510092344539632,1.2435013903808274]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.6360252911868738,0.29739232071859245,0.71338606911949],"aabb_xy":[[-0.6610252907386124,0.2872498368534577],[-0.6110252916351354,0.3075348045837271]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6525623656653922,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7499.png","name":"7499"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7499.png","name":"7499"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6307.png","name":"6307"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1331.png","name":"1331"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2213.png","name":"2213"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/618.png","name":"618"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":536.4898282650129,"rotation_z_degrees":181.68482559695633,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018782396244311494,0.008388351403409437,0.014915315209581805]},{"name":"camera_2","offset_m":[-0.01198315102503849,0.018627480169959073,-0.0027959961768544914]},{"name":"camera_3","offset_m":[-0.003962385821029982,0.018123092080405374,0.010020806838190649]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00047821324606237003,0.001026181485587798,-0.00031831581145631426],"end_effector_yaw_offset_degrees":0.7038253686841651},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018345321927266249,-0.000888375934548273,0.0006462996134159594],"end_effector_yaw_offset_degrees":-0.4306024655432472},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016330247846592103,0.0010096615687051713,-0.0010308181321124117],"end_effector_yaw_offset_degrees":-0.09720909893889806}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002633203669629705,0.003487165608143837],"position_m":[0.23926332036696296,-0.052712834391856166,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003128120916135283,0.00016508093215940062],"position_m":[0.2034281209161353,-0.3855349190678406,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003548111451247472,0.0003246414997557061],"position_m":[0.20494811145124747,0.3198246414997557,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017615454342414017,0.0037163864995159003],"position_m":[0.3393384545657586,0.1717163864995159,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1c86dab4dd886213537f16af77415bda40b1ca50f8b08c2a3a727671fd9a6b2a","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0065.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7499/tex_ceiling_textures_618/tex_floor_textures_2213/tex_table_textures_6307/tex_wall_textures_1331","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":882450843730182154,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":882450843730182154,"visual_seed":882450843730182154,"scene_id":"lab_003","finished_at":"2026-09-03T21:38:06"} +{"episode_id":"ep_000066","started_at":"2026-09-03T21:38:12","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.5950948177882345,1.7170874234272033,0.71338606911949],"aabb_xy":[[0.5878335702178269,1.7043004131636939],[0.6023560653586418,1.7298744336907128]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[-0.1532167566027508,0.2772997633989105,0.71338606911949],"aabb_xy":[[-0.20309945348044706,0.22729976415263575],[-0.10333405972505463,0.32729976264518523]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[-0.6692364090347994,-0.45600440042855483,0.71338606911949],"aabb_xy":[[-0.6772303976125027,-0.4640044805236451],[-0.6612424204570959,-0.44800432033346443]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[-0.08668512398025918,-2.331759806836976,0.71338606911949],"aabb_xy":[[-0.17168512267233382,-2.3637456702318547],[-0.0016851252881845274,-2.299773943442097]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[-0.1701833148965658,1.076425223191317,0.71338606911949],"aabb_xy":[[-0.1926833154086064,1.0539333648259184],[-0.1476833143845252,1.098917081556715]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[-0.34880730221672784,-0.8829090209040962,0.71338606911949],"aabb_xy":[[-0.41280730259426146,-0.9326542877549083],[-0.2848073018391942,-0.8331637540532838]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.13652661600373428,0.7743126456947858,0.71338606911949],"aabb_xy":[[0.07252661574326345,0.7293038463418576],[0.20052661626420507,0.8193214450477136]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.5256323407497243,-2.170418316255307,0.71338606911949],"aabb_xy":[[0.5079567101611259,-2.1880985325347093],[0.5433079713383225,-2.152738099975904]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[-0.20124310899110343,-0.339441546279327,0.71338606911949],"aabb_xy":[[-0.23555938616572136,-0.3894415462525047],[-0.1669268318164855,-0.28944154630614927]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.08343019623194625,1.1959501105512969,0.71338606911949],"aabb_xy":[[-0.0977646213581097,1.183889894996758],[-0.0690957711057828,1.2080103261058357]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[0.5771059086814152,-1.5897775495066824,0.71338606911949],"aabb_xy":[[0.5508170843609744,-1.6160489831613334],[0.6033947330018558,-1.563506115852031]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.17088112218592233,0.811894738200575,0.71338606911949],"aabb_xy":[[-0.21588112365215123,0.7668948813390946],[-0.1258811207196935,0.8568945950620559]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.4952099907941635,1.3399369578085385,0.71338606911949],"aabb_xy":[[-0.5320046239190697,1.3030310827119564],[-0.4584153576692572,1.376842832905121]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[0.3021843082622703,1.5819704616070944,0.71338606911949],"aabb_xy":[[0.23218430613084062,1.5592084959813988],[0.3721843103936997,1.60473242723279]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[-0.10705991823370309,-0.6664010159310616,0.71338606911949],"aabb_xy":[[-0.13952161911563052,-0.696533848045964],[-0.07459821735177562,-0.6362681838161588]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[0.3461495556551921,-1.753555610532549,0.71338606911949],"aabb_xy":[[0.34130596089396215,-1.7584072630115333],[0.3509931504164221,-1.748703958053565]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.23663826454435455,0.65745385438046,0.71338606911949],"aabb_xy":[[0.2214660952627212,0.6422849974522566],[0.2518104338259879,0.6726227113086634]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[0.5320272346285142,0.36659135255661246,0.71338606911949],"aabb_xy":[[0.4520272359716282,0.3520864936323497],[0.6120272332854002,0.38109621148087525]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.3988127677274431,-1.791303848474744,0.71338606911949],"aabb_xy":[[-0.46281276412301614,-1.8552671368934777],[-0.33481277133187,-1.7273405600560106]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.3414381228883363,1.1323277461081855,0.71338606911949],"aabb_xy":[[0.26143812548474277,1.0523351749100025],[0.4214381202919296,1.2123203173063681]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[-0.6101167031578784,1.2124159862246047,0.71338606911949],"aabb_xy":[[-0.6741167004435271,1.170909267271761],[-0.5461167058722298,1.2539227051774489]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.6092305218245995,0.7837000288030977,0.71338606911949],"aabb_xy":[[0.5973584388130984,0.6987000291094474],[0.6211026048361006,0.8687000284967481]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[0.3936362146345409,-2.050461716000487,0.71338606911949],"aabb_xy":[[0.38492224558460636,-2.072961716659675],[0.40235018368447534,-2.0279617153412985]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[-0.015090632532998915,1.5322278432383176,0.71338606911949],"aabb_xy":[[-0.09881285803308137,1.4422278397036215],[0.06863159296708354,1.6222278467730133]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[-0.33082170038496184,-1.4020727898523941,0.71338606911949],"aabb_xy":[[-0.4205087766930773,-1.4920727901068447],[-0.24113462407684638,-1.3120727895979436]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_25","position":[-0.18861508515962067,-0.7681266593229332,0.71338606911949],"aabb_xy":[[-0.21111508468332804,-0.7906226067735538],[-0.16611508563591323,-0.7456307118723122]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[-0.48390085565208174,-2.019304096375823,0.71338606911949],"aabb_xy":[[-0.5338782725173352,-2.069304097865071],[-0.43392343878682815,-1.969304094886574]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_27","position":[0.12291567260584524,-1.863287833006545,0.71338606911949],"aabb_xy":[[0.07291567395992406,-1.9132073766660074],[0.17291567125176643,-1.8133682893470826]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_28","position":[-0.3863999595710755,0.7650595017547239,0.71338606911949],"aabb_xy":[[-0.3998464862051188,0.7515896501016327],[-0.37295343293703215,0.7785293534078152]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_29","position":[0.6392027974114822,-2.4380713386679345,0.71338606911949],"aabb_xy":[[0.5592027952487196,-2.5180265222940776],[0.7192027995742446,-2.3581161550417904]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_30","position":[0.0012610938768015112,-0.9087362238348125,0.71338606911949],"aabb_xy":[[-0.01879731773643878,-0.9288013107439699],[0.0213195054900418,-0.8886711369256548]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6532386902405897,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8407.png","name":"8407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8407.png","name":"8407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6773.png","name":"6773"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9720.png","name":"9720"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5255.png","name":"5255"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4380.png","name":"4380"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":549.5908570222565,"rotation_z_degrees":18.952198648992393,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003891904836988619,-0.0012345924304715122,0.010825488552003937]},{"name":"camera_2","offset_m":[-0.003518754049808271,0.009668624805099637,0.019785728492602555]},{"name":"camera_3","offset_m":[0.00841763208545867,-0.01587145236822761,-0.0033085267700506855]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006359192497301727,0.0002403423215732608,0.0004895353521337949],"end_effector_yaw_offset_degrees":-0.11419711518610143},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005670168382166966,0.0018844008687800705,0.0011601315545544757],"end_effector_yaw_offset_degrees":-0.9632617008975344},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00046811446893129565,0.0012614937146716082,-0.0010547641594476844],"end_effector_yaw_offset_degrees":0.8049612482755615}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022719598470390765,0.0004041767276785728],"position_m":[0.24127195984703906,-0.055795823272321424,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023339475198698697,-0.002057535743074902],"position_m":[0.20263394751986988,-0.38775753574307487,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001119820626892607,-0.001489772507264443],"position_m":[0.2025198206268926,0.31801022749273555,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029221347106898454,0.004234286071985717],"position_m":[0.33817786528931015,0.17223428607198574,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dba237446a980cdd31b533f849a3b9569744480a10f1b84f127ac532aad3ce54","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8407/tex_ceiling_textures_4380/tex_floor_textures_5255/tex_table_textures_6773/tex_wall_textures_9720","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7505559139549353076,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7505559139549353076,"visual_seed":7505559139549353076,"scene_id":"lab_003","finished_at":"2026-09-03T21:40:51"} +{"episode_id":"ep_000067","started_at":"2026-09-03T21:40:53","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[0.5238515925446434,1.624225258687415,0.71338606911949],"aabb_xy":[[0.4598515922706652,1.574159158490127],[0.5878515928186216,1.674291358884703]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.36017403791246366,-0.3165320188045344,0.71338606911949],"aabb_xy":[[-0.3682103726137485,-0.3245701381089512],[-0.3521377032111788,-0.30849389950011763]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[0.3632118643947575,0.6845489084891021,0.71338606911949],"aabb_xy":[[0.2992118672826518,0.6355165386946915],[0.4272118615068632,0.7335812782835127]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.20740735261334775,-1.3153553748398112,0.71338606911949],"aabb_xy":[[-0.2174890596919212,-1.395355372731926],[-0.19732564553477425,-1.2353553769476966]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[0.12412113217578036,-1.4132882180530526,0.71338606911949],"aabb_xy":[[0.08912113227976151,-1.4216624535649929],[0.15912113207179923,-1.4049139825411128]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[0.47455573581426624,-0.13667762397114025,0.71338606911949],"aabb_xy":[[0.4684611079261479,-0.14524701852280894],[0.48065036370238456,-0.1281082294194715]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.3953392908143445,0.4012587690000502,0.71338606911949],"aabb_xy":[[0.35854465768943816,0.3643528939034679],[0.4321339239392507,0.43816464409663247]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[0.07472258986625524,0.7284411480668838,0.71338606911949],"aabb_xy":[[0.010722591279682767,0.681434184667375],[0.1387225884528277,0.7754481114663925]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[0.6817624890499323,-0.1995503525689566,0.71338606911949],"aabb_xy":[[0.6709108828010567,-0.2104096432966076],[0.6926140952988079,-0.18869106184130557]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.4453558873362048,1.1690445865818155,0.71338606911949],"aabb_xy":[[-0.5253558843504527,1.1489100349084043],[-0.36535589032195676,1.1891791382552268]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[0.08120869480671689,-2.0800631792303665,0.71338606911949],"aabb_xy":[[0.02120869394590409,-2.1314896092368527],[0.1412086956675297,-2.0286367492238795]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[0.33746517874587156,1.0979184295413145,0.71338606911949],"aabb_xy":[[0.3183528713878927,1.0787836506640724],[0.3565774861038504,1.1170532084185565]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[-0.19578179776092203,1.4461722748986294,0.71338606911949],"aabb_xy":[[-0.20228343426892667,1.4364044528723199],[-0.18928016125291744,1.4559400969249394]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[0.4131980378997637,1.2058438476068214,0.71338606911949],"aabb_xy":[[0.3491980356793567,1.161470763481533],[0.47719804012017075,1.2502169317321097]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.401943239006459,-1.2216851736854117,0.71338606911949],"aabb_xy":[[0.35197017347394355,-1.2716851734979449],[0.4519163045389745,-1.171685173872879]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[0.5133574644323788,-1.052305387349471,0.71338606911949],"aabb_xy":[[0.4963473671423281,-1.0684398758477447],[0.5303675617224294,-1.0361708988511968]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[-0.61590970973596,0.4500685910972506,0.71338606911949],"aabb_xy":[[-0.6199878676430097,0.44598761084898736],[-0.6118315518289104,0.454149571345514]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[-0.6162519736699774,-1.303192420178833,0.71338606911949],"aabb_xy":[[-0.6387656654934345,-1.3731924207798405],[-0.5937382818465201,-1.2331924195778254]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[0.6594405500327891,0.36772144431919607,0.71338606911949],"aabb_xy":[[0.6459940233987458,0.35425159266610484],[0.6728870766668325,0.3811912959722873]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.5829217119590692,0.3254070970151113,0.71338606911949],"aabb_xy":[[-0.6175127948131144,0.2604070967300802],[-0.548330629105024,0.39040709730014234]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[0.39480567303209946,1.7462076028885698,0.71338606911949],"aabb_xy":[[0.37722737084315255,1.7286331133144648],[0.41238397522104625,1.7637820924626748]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[-0.169716666920528,1.361728379640868,0.71338606911949],"aabb_xy":[[-0.2001147780196716,1.3313214776391982],[-0.13931855582138442,1.3921352816425372]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[0.30791568385129664,-0.5044737389372957,0.71338606911949],"aabb_xy":[[0.3034850544964565,-0.5099221106719783],[0.31234631320613687,-0.49902536720261315]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[-0.45924200454670006,-2.2649478511497483,0.71338606911949],"aabb_xy":[[-0.5392420056198204,-2.2747258974871327],[-0.3792420034735797,-2.255169804812364]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[0.5091463909432488,-1.5671845496928094,0.71338606911949],"aabb_xy":[[0.5051859071735144,-1.5748524142783298],[0.5131068747129831,-1.5595166851072886]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_25","position":[-0.2434752535396586,-0.34107691938593243,0.71338606911949],"aabb_xy":[[-0.2684752530913971,-0.35121940325106715],[-0.21847525398792011,-0.3309344355207977]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.25163867490650677,-2.416458565686041,0.71338606911949],"aabb_xy":[[-0.2738112018831576,-2.438634232842164],[-0.22946614792985592,-2.394282898529918]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6453213988887961,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8027.png","name":"8027"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8027.png","name":"8027"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3611.png","name":"3611"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8094.png","name":"8094"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7905.png","name":"7905"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/280.png","name":"280"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":759.2397724414625,"rotation_z_degrees":131.43363354687764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009560976392308409,-0.0014444771709678644,-0.009384033488441284]},{"name":"camera_2","offset_m":[-0.018653922582735682,0.012031776815282707,-0.00027640795206291743]},{"name":"camera_3","offset_m":[-0.014550469059476052,-0.002969854162240354,-0.012087849677537729]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006236971108102458,0.001495961603685253,-0.00021185671490934555],"end_effector_yaw_offset_degrees":0.09075183556715105},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001913224767982916,0.001542085870472683,-0.001794307111633783],"end_effector_yaw_offset_degrees":0.448846642607839},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007932039898561557,0.0009196168970089309,0.000909700681323847],"end_effector_yaw_offset_degrees":-0.5576155170618191}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003123022105245568,0.003571431062261483],"position_m":[0.23587697789475442,-0.05262856893773852,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049957881048100705,0.0013464948963346716],"position_m":[0.19530421189518993,-0.38435350510366534,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004784101993373083,0.00475821025013323],"position_m":[0.2061841019933731,0.32425821025013324,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002842375526800609,0.004522096870103405],"position_m":[0.3382576244731994,0.17252209687010342,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3052bb0fbfee2c8a1baeb572ae869d605121f602b4a67814f1f06dcac6e53901","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0067.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8027/tex_ceiling_textures_280/tex_floor_textures_7905/tex_table_textures_3611/tex_wall_textures_8094","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":5705869035784006778,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":5705869035784006778,"visual_seed":5705869035784006778,"scene_id":"lab_003","finished_at":"2026-09-03T21:43:33"} +{"episode_id":"ep_000068","started_at":"2026-09-03T21:43:36","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.20597381387496289,-2.0449028433987033,0.71338606911949],"aabb_xy":[[-0.24029009104958082,-2.094902843371881],[-0.17165753670034495,-1.9949028434255256]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.030642096747534597,-2.37869486631226,0.71338606911949],"aabb_xy":[[0.00846956977088375,-2.400870533468383],[0.052814623724185425,-2.356519199156137]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.0877989295385544,-1.4763029813424433,0.71338606911949],"aabb_xy":[[0.02279892843261111,-1.5012683544105716],[0.15279893064449768,-1.451337608274315]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[-0.10934737554713803,-1.944736822547936,0.71338606911949],"aabb_xy":[[-0.18934737662025836,-1.9545148688853202],[-0.029347374474017696,-1.9349587762105513]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[0.39530550687491206,0.5628762331474269,0.71338606911949],"aabb_xy":[[0.3794210136095869,0.5485232928486029],[0.4111900001402372,0.577229173446251]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.31837498627826966,0.641384176242688,0.71338606911949],"aabb_xy":[[0.22837498768379977,0.625133589929267],[0.40837498487273965,0.6576347625561091]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.4464717100295006,-1.6591993686080901,0.71338606911949],"aabb_xy":[[0.439430259078753,-1.666226120345885],[0.4535131609802482,-1.6521726168702957]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[0.37885929773055804,-1.3953323562974076,0.71338606911949],"aabb_xy":[[0.3287618337494844,-1.4593323568072194],[0.42895676171163166,-1.3313323557875958]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[-0.19546925216759986,1.2958126969442127,0.71338606911949],"aabb_xy":[[-0.23138275659258953,1.2598991887274582],[-0.15955574774261014,1.3317262051609673]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.25813977408850775,1.524173348630605,0.71338606911949],"aabb_xy":[[-0.32313977672630123,1.472693749931158],[-0.19313977145071426,1.575652947330052]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[0.24113861412478133,-0.926958232621611,0.71338606911949],"aabb_xy":[[0.2302870078759057,-0.937817523349262],[0.2519902203736569,-0.91609894189396]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.39063250202032385,-2.4044384589372587,0.71338606911949],"aabb_xy":[[0.35313250135574503,-2.42012551693748],[0.42813250268490244,-2.3887514009370356]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[-0.6502071886023078,-0.7732375519387344,0.71338606911949],"aabb_xy":[[-0.6557888602364365,-0.7857375517565098],[-0.6446255169681788,-0.7607375521209588]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.44703052678489463,-1.0547158745231124,0.71338606911949],"aabb_xy":[[0.39704629107671746,-1.104715873336608],[0.4970147624930719,-1.0047158757096168]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[0.23068473202752682,-2.476847380281504,0.71338606911949],"aabb_xy":[[0.2081710402040696,-2.546847380882511],[0.253198423850984,-2.406847379680496]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.3928790905370473,-1.929040626573876,0.71338606911949],"aabb_xy":[[-0.47287909100726333,-1.9373513341882247],[-0.3128790900668314,-1.9207299189595282]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.25868410400238895,1.0335041953641686,0.71338606911949],"aabb_xy":[[0.250657833371763,1.024752700386816],[0.266710374633015,1.0422556903415212]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[0.339722564148661,1.2817782989450341,0.71338606911949],"aabb_xy":[[0.29024214293470224,1.2177783010321823],[0.3892029853626198,1.345778296857886]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.5097889562487936,-2.177562982352116,0.71338606911949],"aabb_xy":[[-0.5447889545189135,-2.1846371100471043],[-0.4747889579786737,-2.170488854657128]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[-0.12093007663678512,-0.695071416082774,0.71338606911949],"aabb_xy":[[-0.1809300774975979,-0.7464978460892603],[-0.06093007577597231,-0.6436449860762875]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[0.5833335714606671,1.1489992161451985,0.71338606911949],"aabb_xy":[[0.519333575065094,1.0850359277264652],[0.6473335678562402,1.2129625045639323]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.2875267548211672,0.7850602052723543,0.71338606911949],"aabb_xy":[[0.20752675741757373,0.7050676340741715],[0.36752675222476056,0.8650527764705371]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[0.6586874704060883,-2.3524063630436958,0.71338606911949],"aabb_xy":[[0.5946874732939825,-2.4014387328381064],[0.7226874675181939,-2.303373993249285]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[0.023148680927334797,-1.7096466653080307,0.71338606911949],"aabb_xy":[[0.019032730815262126,-1.713762220340876],[0.027264631039407454,-1.705531110275185]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[0.02680315708894221,1.1769799674662802,0.71338606911949],"aabb_xy":[[-0.007659190309199592,1.142486085068457],[0.061265504487084003,1.2114738498641024]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[-0.40425237908628037,0.06667886542054546,0.71338606911949],"aabb_xy":[[-0.4417523775096807,0.05351465145271482],[-0.36675238066288,0.07984307938837608]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.654586306165849,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5523.png","name":"5523"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5523.png","name":"5523"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4727.png","name":"4727"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1042.png","name":"1042"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5048.png","name":"5048"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2937.png","name":"2937"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":651.4173873682078,"rotation_z_degrees":109.17149283532716,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01716876843158528,-0.013705013552283445,0.00904940556209314]},{"name":"camera_2","offset_m":[0.011975991583671467,0.01212888598382161,-0.012452104903557904]},{"name":"camera_3","offset_m":[-0.016084041960536886,0.005722070574997424,-0.015322993405253765]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011161802958838097,0.0009499047630040554,0.0001991995565326257],"end_effector_yaw_offset_degrees":-0.7778956521038245},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010175082397914162,7.56195303227348e-05,-0.0010497676343762734],"end_effector_yaw_offset_degrees":0.12780658996643668},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018085673534678917,0.0001419879940952242,-0.00021389263671024272],"end_effector_yaw_offset_degrees":0.03346348913529318}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001891441559876026,-0.0023015842463676895],"position_m":[0.23710855844012396,-0.05850158424636769,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018979394748563265,-0.004910464658817753],"position_m":[0.20219793947485634,-0.3906104646588177,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002549447702848412,-0.001577152213182087],"position_m":[0.1988505522971516,0.3179228477868179,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003994500522857333,0.0035458331212243786],"position_m":[0.3371054994771427,0.1715458331212244,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f6212260c23afc289754dab8f3fce2434df0e2ce622c65367dcff0babed57b44","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5523/tex_ceiling_textures_2937/tex_floor_textures_5048/tex_table_textures_4727/tex_wall_textures_1042","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":1080363754899172957,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":1080363754899172957,"visual_seed":1080363754899172957,"scene_id":"lab_003","finished_at":"2026-09-03T21:46:27"} +{"episode_id":"ep_000069","started_at":"2026-09-03T21:46:30","dimensions":{"distractor":{"count":23,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.6630207649589542,0.3460415053866708,0.71338606911949],"aabb_xy":[[-0.6679767851438354,0.3235415051845492],[-0.6580647447740731,0.36854150558879245]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[0.4702010683323392,1.0616209831150774,0.71338606911949],"aabb_xy":[[0.3852010696402645,1.0296351197201983],[0.5552010670244139,1.093606846509956]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[0.6450480753610437,-0.8215286305157332,0.71338606911949],"aabb_xy":[[0.6342075971345288,-0.8387149118063818],[0.6558885535875586,-0.8043423492250842]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.41380233893734175,-1.109999351000206,0.71338606911949],"aabb_xy":[[-0.4488023388333606,-1.118373586512146],[-0.3788023390413229,-1.101625115488266]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.4975127269145583,-0.6257633854369982,0.71338606911949],"aabb_xy":[[-0.5775127255018777,-0.7050789873751591],[-0.41751272832723885,-0.5464477834988373]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.22078399400176196,1.5326964587748741,0.71338606911949],"aabb_xy":[[-0.2707839934419576,1.4827285342905578],[-0.17078399456156632,1.5826643832591905]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.44007868184656423,-0.05790601175809895,0.71338606911949],"aabb_xy":[[-0.4487766441372795,-0.07003098606557367],[-0.43138071955584895,-0.04578103745062423]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.3424462654908039,-0.889471632257306,0.71338606911949],"aabb_xy":[[-0.4074462633724518,-0.940595295963847],[-0.2774462676091562,-0.8383479685507652]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[-0.5337012224052922,-2.1087537513057972,0.71338606911949],"aabb_xy":[[-0.541737557106577,-2.116791870610214],[-0.5256648877040073,-2.10071563200138]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[-0.13142684110126124,-0.2453812165999878,0.71338606911949],"aabb_xy":[[-0.16588931911434898,-0.2520448937829106],[-0.09696436308817344,-0.23871753941706494]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[0.6606901657432724,1.3585738113409533,0.71338606911949],"aabb_xy":[[0.6406317541300321,1.338508724431796],[0.6807485773565127,1.3786388982501108]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.4113375677791211,-1.377831071824362,0.71338606911949],"aabb_xy":[[0.3961653984974878,-1.3929999287525656],[0.42650973706075446,-1.362662214896159]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.6822750188518707,1.7911183009351181,0.71338606911949],"aabb_xy":[[0.6463615144268811,1.7552047927183632],[0.7181885232768603,1.8270318091518722]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[0.2618267494871792,1.3353029403571797,0.71338606911949],"aabb_xy":[[0.23134249936014906,1.2853029405756837],[0.29231099961420937,1.3853029401386756]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[-0.052377430272883774,-1.6468081418043572,0.71338606911949],"aabb_xy":[[-0.056337914042618155,-1.6544760063898778],[-0.048416946503149406,-1.6391402772188366]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[-0.009212531745781405,-1.230255169110811,0.71338606911949],"aabb_xy":[[-0.051979238625201596,-1.2942551725326135],[0.033554175133638786,-1.1662551656890086]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[0.06435461740846182,0.6188280412959806,0.71338606911949],"aabb_xy":[[0.027504069471474213,0.5813280404729468],[0.10120516534544943,0.6563280421190143]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.5119465058788852,1.4674660696805923,0.71338606911949],"aabb_xy":[[-0.5189868158124223,1.3874660702809212],[-0.5049061959453484,1.5474660690802642]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.05602530028367181,1.3032123052313351,0.71338606911949],"aabb_xy":[[-0.10602530164455903,1.2532344006559193],[-0.006025298922784596,1.3531902098067505]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.6738020320189584,-0.2700264567177646,0.71338606911949],"aabb_xy":[[0.6658085422236765,-0.2780245886582403],[0.6817955218142405,-0.262028324777289]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.550039365432841,-2.3128205899343937,0.71338606911949],"aabb_xy":[[0.4600393657096668,-2.335893942469573],[0.6400393651560151,-2.2897472373992134]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.49296280943572823,0.49232698634406846,0.71338606911949],"aabb_xy":[[-0.5427795889005631,0.4423269878597651],[-0.44314602997089353,0.5423269848283718]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[0.29627227455967464,-0.9002697499832677,0.71338606911949],"aabb_xy":[[0.20627227782406443,-0.9534532133005621],[0.38627227129528485,-0.8470862866659731]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6521034487038232,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6338.png","name":"6338"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6338.png","name":"6338"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3137.png","name":"3137"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/215.png","name":"215"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2406.png","name":"2406"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8084.png","name":"8084"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":661.0851805081817,"rotation_z_degrees":151.17292199315673,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0038571027212503488,0.003760500271056285,0.019363214001853975]},{"name":"camera_2","offset_m":[-0.004790634573752497,-0.006040908468146849,-0.015383762123943536]},{"name":"camera_3","offset_m":[-0.0011417098053728043,-0.017902892433986763,0.003560620913026672]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001825824674752697,0.0010680799153821906,-0.0015480543087558955],"end_effector_yaw_offset_degrees":0.5834484281283803},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015356271874838933,-0.00040903527794694484,0.0010449408748096282],"end_effector_yaw_offset_degrees":0.780094754301538},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005664230942232897,0.0002818584310378329,-0.0008276465446573704],"end_effector_yaw_offset_degrees":0.34274061793409527}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003997369459788952,0.0003496025785497273],"position_m":[0.23500263054021103,-0.055850397421450274,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002442905255862972,6.481156012492009e-06],"position_m":[0.20274290525586297,-0.3856935188439875,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036190643891001765,-0.0009287989156301262],"position_m":[0.20501906438910017,0.31857120108436987,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022206096763520136,0.004852731202528492],"position_m":[0.34332060967635203,0.1728527312025285,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"83ff516c96068b3879f15f396eef6904c0fc8242eddd66b78de4aa14ae501933","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6338/tex_ceiling_textures_8084/tex_floor_textures_2406/tex_table_textures_3137/tex_wall_textures_215","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3063178164738278442,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3063178164738278442,"visual_seed":3063178164738278442,"scene_id":"lab_003","finished_at":"2026-09-03T21:49:14"} +{"episode_id":"ep_000070","started_at":"2026-09-03T21:49:17","dimensions":{"distractor":{"count":31,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[0.43323839430224176,1.0181293435882095,0.71338606911949],"aabb_xy":[[0.34951616880215924,0.9281293400535136],[0.5169606198023242,1.1081293471229055]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[-0.47135316205872135,-0.5174437032057662,0.71338606911949],"aabb_xy":[[-0.5163531635249502,-0.5624435600672469],[-0.4263531605924925,-0.4724438463442856]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[0.26799188862877354,-1.4598143535802823,0.71338606911949],"aabb_xy":[[0.2079918877679607,-1.5112407835867683],[0.3279918894895863,-1.4083879235737955]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.3429645105042418,-1.960178166570192,0.71338606911949],"aabb_xy":[[0.3320587344166791,-2.0401781629690214],[0.35387028659180453,-1.8801781701713627]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[-0.2927407100572249,1.1087898740017628,0.71338606911949],"aabb_xy":[[-0.29998447610347023,1.0287898757981604],[-0.2854969440109796,1.1887898722053651]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[-0.5102502602944126,-1.779498088270306,0.71338606911949],"aabb_xy":[[-0.574250258880985,-1.8265050516698147],[-0.4462502617078401,-1.7324911248707973]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[-0.45050539813899043,0.5419221497322777,0.71338606911949],"aabb_xy":[[-0.5005053994228301,0.49194329534165554],[-0.40050539685515035,0.5919010041228997]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.3722853453022457,-1.0540147037848908,0.71338606911949],"aabb_xy":[[-0.45228534557585265,-1.1269642516106075],[-0.2922853450286387,-0.9810651559591742]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.024662778516733153,-0.7805624438166638,0.71338606911949],"aabb_xy":[[-0.009799699496354619,-0.7872261209995867],[0.059125256529820924,-0.773898766633741]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.24015404698173254,-1.751796995746168,0.71338606911949],"aabb_xy":[[-0.26265404699188083,-1.7658932153857714],[-0.21765404697158425,-1.7377007761065648]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.21795008709371982,-0.5798701108891011,0.71338606911949],"aabb_xy":[[-0.26792750395897336,-0.6298701123783496],[-0.1679726702284662,-0.5298701093998525]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.5969324955498763,0.5700241898050615,0.71338606911949],"aabb_xy":[[-0.6049758554758314,0.4850241887096952],[-0.5888891356239211,0.6550241909004281]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.402460078630117,-1.4154362125435413,0.71338606911949],"aabb_xy":[[-0.41996007888945375,-1.4295277547323144],[-0.3849600783707805,-1.4013446703547692]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[0.4675435367086833,-1.5256822918960182,0.71338606911949],"aabb_xy":[[0.4635830529389489,-1.5333501564815388],[0.4715040204784176,-1.5180144273104976]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[-0.5483299224191496,-0.10486350089910612,0.71338606911949],"aabb_xy":[[-0.5634927953960868,-0.12002895819422489],[-0.5331670494422126,-0.08969804360398737]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.22378209202169735,-1.5969105616507684,0.71338606911949],"aabb_xy":[[-0.24506010016516958,-1.6619105639768414],[-0.20250408387822508,-1.5319105593246953]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[0.6366565698117144,-1.6166523481701018,0.71338606911949],"aabb_xy":[[0.6247844868002133,-1.7016523478637522],[0.6485286528232155,-1.5316523484764515]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[0.2617101861318095,-1.2159138996564653,0.71338606911949],"aabb_xy":[[0.2553980865954711,-1.2216808389096843],[0.26802228566814795,-1.2101469604032464]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[0.40151233987170953,-2.317008760279157,0.71338606911949],"aabb_xy":[[0.3640123399279432,-2.3253018503139935],[0.439012339815476,-2.3087156702443203]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.04567461974642861,0.24102845606163736,0.71338606911949],"aabb_xy":[[-0.08317462009465637,0.22923706048055378],[-0.008174619398200848,0.2528198516427209]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.09550759189123703,-1.4343698118564334,0.71338606911949],"aabb_xy":[[-0.13050759020193248,-1.442084826779979],[-0.060507593580541585,-1.4266547969328878]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.06410907650176811,-1.8644588180454362,0.71338606911949],"aabb_xy":[[0.041936549525117266,-1.8866344852015589],[0.08628160347841894,-1.8422831508893127]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[-0.590953689820046,-1.884414200303669,0.71338606911949],"aabb_xy":[[-0.670953688476932,-1.898919059227932],[-0.51095369116316,-1.8699093413794066]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_23","position":[-0.25325081094512786,0.34929307247662855,0.71338606911949],"aabb_xy":[[-0.29075080952074867,0.3365567768130706],[-0.21575081236950708,0.3620293681401865]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[0.4043891987588737,-1.65896379287858,0.71338606911949],"aabb_xy":[[0.3403891984984029,-1.7039725922315079],[0.4683891990193445,-1.6139549935256519]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[-0.12174548486150139,-2.311751181275184,0.71338606911949],"aabb_xy":[[-0.13924548399586856,-2.3216308083127712],[-0.10424548572713421,-2.3018715542375956]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[-0.5247392611876172,-0.705950582463599,0.71338606911949],"aabb_xy":[[-0.579739260809363,-0.7609342752510717],[-0.4697392615658713,-0.6509668896761263]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_27","position":[0.34430304425839586,-0.353049450072795,0.71338606911949],"aabb_xy":[[0.3272009663000277,-0.3701562556040647],[0.361405122216764,-0.33594264454152517]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[0.5180816931309593,-1.6401351630549013,0.71338606911949],"aabb_xy":[[0.5092796378219865,-1.6479464892098303],[0.5268837484399319,-1.6323238368999722]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[-0.24857018891256782,-0.3595553210004616,0.71338606911949],"aabb_xy":[[-0.3125701905905651,-0.40807271247977583],[-0.18457018723457042,-0.3110379295211474]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_30","position":[0.42817991374085485,-2.4455558384834193,0.71338606911949],"aabb_xy":[[0.42006625906747774,-2.4536616549374486],[0.43629356841423195,-2.43745002202939]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6478929984250572,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/115.png","name":"115"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/115.png","name":"115"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3509.png","name":"3509"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1804.png","name":"1804"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2619.png","name":"2619"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/609.png","name":"609"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":806.18598224365,"rotation_z_degrees":286.75022139838643,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014848067078965407,-0.015399716793264285,0.018471984490875375]},{"name":"camera_2","offset_m":[-0.005989108665170084,1.5071007379196394e-05,0.015680397299721035]},{"name":"camera_3","offset_m":[-0.019915519102449913,-0.0197512095406881,-0.007208726294594205]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016366628686443545,0.0014453075203634514,0.0009026632234598654],"end_effector_yaw_offset_degrees":0.2319515851895564},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013410206423567594,-0.0007304772243833693,-0.0013431430582064347],"end_effector_yaw_offset_degrees":-0.13462383454646565},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00167047789114407,0.00179341423082495,-0.0009572361913210909],"end_effector_yaw_offset_degrees":0.8340880136439028}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004097780206563457,-0.00014281463401834022],"position_m":[0.24309778020656345,-0.05634281463401834,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013298840556115578,0.0019823461709511624],"position_m":[0.19897011594438846,-0.3837176538290488,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037383355807926767,0.0019353319620482564],"position_m":[0.19766166441920732,0.32143533196204827,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024856838599998654,0.002886299132997203],"position_m":[0.33861431614000015,0.17088629913299722,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"259a2cbc00e1b2640b68f2e1689d9d59dd464458e8aeae7d4211e015799a1d29","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_115/tex_ceiling_textures_609/tex_floor_textures_2619/tex_table_textures_3509/tex_wall_textures_1804","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":1888894919124133567,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":1888894919124133567,"visual_seed":1888894919124133567,"scene_id":"lab_003","finished_at":"2026-09-03T21:51:57"} +{"episode_id":"ep_000071","started_at":"2026-09-03T21:52:00","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.2524059671185342,1.0325912258263812,0.71338606911949],"aabb_xy":[[-0.30739917845567094,0.9775912254875876],[-0.19741275578139744,1.0875912261651748]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.07757673058373515,-1.9297313388998656,0.71338606911949],"aabb_xy":[[0.06841685163985856,-1.9362625569434027],[0.08673660952761175,-1.9232001208563285]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.4268030542175987,-1.5123098607819867,0.71338606911949],"aabb_xy":[[-0.43873578857942663,-1.524692013589846],[-0.4148703198557705,-1.4999277079741273]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[-0.6166127638466259,-2.2330600819563937,0.71338606911949],"aabb_xy":[[-0.680612763140794,-2.297046222325248],[-0.5526127645524576,-2.1690739415875395]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.3341963819980708,-0.3957084721108095,0.71338606911949],"aabb_xy":[[-0.3793676998462398,-0.45970846925534803],[-0.2890250641499018,-0.33170847496627115]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_5","position":[-0.43904010614443906,1.181430385433416,0.71338606911949],"aabb_xy":[[-0.4673698160929793,1.176969643239699],[-0.41071039619589883,1.1858911276271331]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.4359764646211804,1.3572758520472425,0.71338606911949],"aabb_xy":[[-0.4446744269118958,1.3451508777397678],[-0.4272785023304652,1.3694008263547173]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.5498919984993274,0.6824208161807004,0.71338606911949],"aabb_xy":[[0.532391998254278,0.6649210283411335],[0.5673919987443767,0.6999206040202672]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[0.10183449998347993,-0.8579177263119164,0.71338606911949],"aabb_xy":[[0.09573987209536163,-0.8664871208635851],[0.10792912787159827,-0.8493483317602477]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[0.6715718655123308,0.8602086157535607,0.71338606911949],"aabb_xy":[[0.6538962349237324,0.8425283994741579],[0.6892474961009291,0.8778888320329634]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.06577861480229652,0.11435788364033428,0.71338606911949],"aabb_xy":[[-0.10077861399511479,0.10339083764267164],[-0.030778615609478255,0.1253249296379969]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[0.5064938844418558,0.9440683573251154,0.71338606911949],"aabb_xy":[[0.4612152695607066,0.8800683579769317],[0.5517724993230051,1.008068356673299]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.06735650195285858,1.4690720257800085,0.71338606911949],"aabb_xy":[[-0.07439795290360618,1.4620452740422138],[-0.060315051002110986,1.4760987775178027]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[-0.37858671911930075,0.9245980506015057,0.71338606911949],"aabb_xy":[[-0.3960867183973876,0.9072599505351596],[-0.3610867198412139,0.9419361506678515]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[0.5387728780124015,-0.17924658432301754,0.71338606911949],"aabb_xy":[[0.5162591861889442,-0.24924658492402504],[0.5612865698358586,-0.10924658372200999]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.45032095156036056,0.7711580307988006,0.71338606911949],"aabb_xy":[[-0.45834722219098667,0.762406535821448],[-0.4422946809297347,0.7799095257761532]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[-0.3576663498746384,-0.18623154881398563,0.71338606911949],"aabb_xy":[[-0.44138857537472087,-0.2762315523486816],[-0.27394412437455595,-0.09623154527928965]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[-0.22482769632569166,-1.7570718755286825,0.71338606911949],"aabb_xy":[[-0.2748276976865789,-1.807049780104098],[-0.17482769496480446,-1.7070939709532666]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.2762573348708638,-2.1399089014668675,0.71338606911949],"aabb_xy":[[-0.31188649077082353,-2.1755415682237205],[-0.24062817897090405,-2.1042762347100146]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.12251440694683657,-1.3465195994120625,0.71338606911949],"aabb_xy":[[0.08396871412163552,-1.3850653704682512],[0.1610600997720376,-1.3079738283558737]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[0.07547214884353015,-1.813420274761469,0.71338606911949],"aabb_xy":[[0.041155871668912214,-1.8634202747346467],[0.10978842601814809,-1.7634202747882912]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[-0.5284072588709086,1.4430873714128682,0.71338606911949],"aabb_xy":[[-0.5323211320663309,1.4343383560063112],[-0.524493385675486,1.4518363868194248]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_22","position":[-0.16826357842267647,0.8012068690624177,0.71338606911949],"aabb_xy":[[-0.20170375361869602,0.7677632432314874],[-0.1348234032266568,0.8346504948933475]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[-0.4572696990020334,0.6001220477027402,0.71338606911949],"aabb_xy":[[-0.4681101772285483,0.5829357664120914],[-0.4464292207755185,0.617308328993389]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[0.450711281363561,1.57229906408585,0.71338606911949],"aabb_xy":[[0.4007112817872263,1.5223184851337443],[0.5007112809398957,1.6222796430379562]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_25","position":[0.056407938905732924,1.577542103042862,0.71338606911949],"aabb_xy":[[0.018907940330112113,1.5648058073793039],[0.09390793748135372,1.5902783987064197]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_26","position":[0.4347404782671229,1.7019473858589769,0.71338606911949],"aabb_xy":[[0.39794584514221665,1.6650415107623946],[0.4715351113920292,1.7388532609555591]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_27","position":[-0.32699120137954235,1.6424059310898875,0.71338606911949],"aabb_xy":[[-0.3556405337399585,1.6137603718128115],[-0.29834186901912607,1.671051490366963]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_28","position":[-0.3318015443542376,-1.5107229419050683,0.71338606911949],"aabb_xy":[[-0.3668015443307334,-1.5201875579526851],[-0.29680154437774176,-1.501258325857452]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_29","position":[-0.02052522832293746,0.5266992700879802,0.71338606911949],"aabb_xy":[[-0.039637535680916325,0.5075644912107382],[-0.0014129209649585937,0.5458340489652223]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_30","position":[0.36912036993401554,0.5764192620792645,0.71338606911949],"aabb_xy":[[0.2891203719532304,0.5688177211174126],[0.44912036791480053,0.5840208030411165]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_31","position":[0.45378764382559456,-2.1187467369991957,0.71338606911949],"aabb_xy":[[0.39878764464900507,-2.1737364117741533],[0.508787643002184,-2.063757062224238]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_32","position":[0.16562194023158905,1.2603721157055627,0.71338606911949],"aabb_xy":[[0.1523909946969077,1.247144696683563],[0.1788528857662703,1.273599534727562]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_33","position":[-0.45593154270500313,-0.7501224410850138,0.71338606911949],"aabb_xy":[[-0.4593722189450603,-0.7539838740593784],[-0.45249086646494596,-0.7462610081106493]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_34","position":[0.28287200507563814,0.8340956666131909,0.71338606911949],"aabb_xy":[[0.19787200665821486,0.7492213711509058],[0.3678720034930613,0.9189699620754758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6524813631716708,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4648.png","name":"4648"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4648.png","name":"4648"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/364.png","name":"364"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5692.png","name":"5692"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9605.png","name":"9605"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4165.png","name":"4165"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":605.7771074586753,"rotation_z_degrees":326.8117906399025,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009171593142201267,-0.011408292173374988,0.0075556350762856495]},{"name":"camera_2","offset_m":[0.007163827972341431,-0.002009182298561077,-0.017551029482577404]},{"name":"camera_3","offset_m":[-0.010179808758579942,-0.003039812494486288,-0.00011755871975649076]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011420414900102194,-0.00199099392125542,-0.00021628923693062154],"end_effector_yaw_offset_degrees":0.40800195579174403},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012345714725130767,0.001870615338644049,0.0015666320504651105],"end_effector_yaw_offset_degrees":-0.987130810977529},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009674225168271517,0.0004016158602622405,-0.000554691959207592],"end_effector_yaw_offset_degrees":-0.04948104786450802}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010858876392634744,-0.00315192840260514],"position_m":[0.24008588763926347,-0.05935192840260514,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002631036849273337,-0.0003759363476121139],"position_m":[0.20293103684927336,-0.3860759363476121,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001889012069782813,0.004294063080937234],"position_m":[0.19951098793021718,0.3237940630809372,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003042140916954178,0.0007177001697194416],"position_m":[0.33805785908304586,0.16871770016971946,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f67b394ac6a4f279913df9f517ec971775c7c7f56a67cd3e2c410ccd27d3a3c9","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4648/tex_ceiling_textures_4165/tex_floor_textures_9605/tex_table_textures_364/tex_wall_textures_5692","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":1312960455842840016,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":1312960455842840016,"visual_seed":1312960455842840016,"scene_id":"lab_003","finished_at":"2026-09-03T21:54:48"} +{"episode_id":"ep_000072","started_at":"2026-09-03T21:54:51","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.2481879516843229,1.2112758007887492,0.71338606911949],"aabb_xy":[[-0.26707233545283315,1.1923898760083966],[-0.22930356791581272,1.2301617255691022]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[-0.5536632793011551,-0.6283958625682802,0.71338606911949],"aabb_xy":[[-0.5679977044273186,-0.640456078122819],[-0.5393288541749917,-0.6163356470137413]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.3988567137653832,0.2209184458008684,0.71338606911949],"aabb_xy":[[-0.46285671019270513,0.17374882197877195],[-0.3348567173380613,0.26808806962296483]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[-0.008477776332612152,-2.1111851559115045,0.71338606911949],"aabb_xy":[[-0.07347777636691488,-2.1578858325918313],[0.05652222370169058,-2.0644844792311767]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[0.07247959140261351,-1.462514937982233,0.71338606911949],"aabb_xy":[[-0.017520405098258248,-1.508426580400691],[0.16247958790348524,-1.4166032955637746]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[0.6611490310587962,-1.898325206196143,0.71338606911949],"aabb_xy":[[0.6071334347768962,-1.9623252090884002],[0.7151646273406962,-1.834325203303886]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.3957241420604533,-2.3083111182032585,0.71338606911949],"aabb_xy":[[-0.4597241424379869,-2.3580563850540703],[-0.3317241416829197,-2.258565851352446]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.2632608977371857,-2.0224611243755795,0.71338606911949],"aabb_xy":[[-0.2726079053194809,-2.0367647465932235],[-0.25391389015489046,-2.0081575021579354]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.002788027260702264,1.5560896993289792,0.71338606911949],"aabb_xy":[[-0.04721197440079249,1.5060912570732763],[0.05278802892219702,1.6060881415846817]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.5297915257400372,-2.5692563414598912,0.71338606911949],"aabb_xy":[[0.5220883350659602,-2.5769657121586294],[0.5374947164141142,-2.561546970761153]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[-0.060555269666558775,-1.6244259908568803,0.71338606911949],"aabb_xy":[[-0.12055527052737158,-1.6758524208633665],[-0.0005552688057459744,-1.5729995608503937]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[-0.11535390486849173,0.33856851251209363,0.71338606911949],"aabb_xy":[[-0.14368361481703196,0.3341077703183766],[-0.08702419491995152,0.3430292547058107]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[-0.5970221390555095,-1.7987494445778118,0.71338606911949],"aabb_xy":[[-0.6050484096861355,-1.8075009395551642],[-0.5889958684248835,-1.789997949600459]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[-0.5803584691608166,-2.136665277652958,0.71338606911949],"aabb_xy":[[-0.6603584661238557,-2.2137409192967312],[-0.5003584721977774,-2.0595896360091843]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.6259898414868901,-0.883699335141692,0.71338606911949],"aabb_xy":[[0.5709898418651442,-0.9386830279291647],[0.6809898411086359,-0.8287156423542192]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[-0.28741637353229926,-1.930873090961904,0.71338606911949],"aabb_xy":[[-0.3025792465092364,-1.946038548257023],[-0.27225350055536224,-1.9157076336667855]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.03408947601798906,-1.8442498904189837,0.71338606911949],"aabb_xy":[[-0.038049959787723436,-1.8519177550045045],[-0.030128992248254688,-1.8365820258334633]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.28908189371990467,-0.16024026015015203,0.71338606911949],"aabb_xy":[[-0.3740818921373279,-0.24511455561243703],[-0.20408189530248144,-0.07536596468786708]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[-0.3908107714074776,-1.7514324678732986,0.71338606911949],"aabb_xy":[[-0.4408107708476732,-1.8014003923576147],[-0.34081077196728193,-1.7014645433889821]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[-0.5004199019673072,-0.8707361633869664,0.71338606911949],"aabb_xy":[[-0.5644198992529559,-0.9122428823398103],[-0.4364199046816586,-0.8292294444341224]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.38257839981554403,-1.0574350702293138,0.71338606911949],"aabb_xy":[[-0.4402088687028148,-1.1174350691560242],[-0.3249479309282731,-0.997435071302603]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.6150508666258756,-0.4306604688337461,0.71338606911949],"aabb_xy":[[0.5846527555267319,-0.46106737083541555],[0.6454489777250191,-0.4002535668320765]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[-0.34049430142223613,-0.3747535519899139,0.71338606911949],"aabb_xy":[[-0.4044943031002335,-0.423270943469228],[-0.2764942997442388,-0.32623616051059956]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[0.13226376605232315,1.2211149386611422,0.71338606911949],"aabb_xy":[[0.08226376476848317,1.1711360842705199],[0.1822637673361631,1.271093793051764]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[0.5799795657181286,1.0625974564268126,0.71338606911949],"aabb_xy":[[0.5759014078110788,1.0585164761785493],[0.5840577236251782,1.066678436675076]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6483610291939552,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1310.png","name":"1310"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1310.png","name":"1310"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4194.png","name":"4194"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6585.png","name":"6585"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6942.png","name":"6942"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4508.png","name":"4508"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":658.3678644861484,"rotation_z_degrees":162.31911910363448,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010163703880941233,-0.008904361291547423,0.010503649496588201]},{"name":"camera_2","offset_m":[-0.0016066655064343183,0.0017632403241875719,-0.003344175506791426]},{"name":"camera_3","offset_m":[-0.0009056504897182772,-0.012115795171695632,0.005184763985935682]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019798751552778803,4.6591846133373777e-07,0.001959045818030773],"end_effector_yaw_offset_degrees":-0.897091271237636},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014463037307258443,-0.0002800174130386957,-8.783634351413792e-05],"end_effector_yaw_offset_degrees":-0.18758295883949705},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[2.0622154400737076e-05,0.0007419249071760141,0.00046976124918294247],"end_effector_yaw_offset_degrees":0.35768895104947207}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00288332115355069,-0.004992209580244592],"position_m":[0.24188332115355068,-0.06119220958024459,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017061088878327392,0.0006823802578826829],"position_m":[0.19859389111216727,-0.3850176197421173,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031424229133624726,-0.0031485448581187515],"position_m":[0.19825757708663752,0.31635145514188123,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004663296907169493,-0.002194727698761835],"position_m":[0.3364367030928305,0.16580527230123818,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2812ba88f48babd67c988c3bb29708fe5d7795f102ff558ac14d1d0c315fbd46","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1310/tex_ceiling_textures_4508/tex_floor_textures_6942/tex_table_textures_4194/tex_wall_textures_6585","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7644174327438384790,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7644174327438384790,"visual_seed":7644174327438384790,"scene_id":"lab_003","finished_at":"2026-09-03T21:57:34"} +{"episode_id":"ep_000073","started_at":"2026-09-03T21:57:36","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.27107616617718083,-0.6511661695003164,0.71338606911949],"aabb_xy":[[-0.2949123838177859,-0.7411661703088029],[-0.24723994853657577,-0.56116616869183]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[-0.37562240425872956,-1.8827683314450114,0.71338606911949],"aabb_xy":[[-0.4131224050507249,-1.8891361724032016],[-0.338122403466734,-1.8764004904868212]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[-0.5903600444396827,0.2060164566484577,0.71338606911949],"aabb_xy":[[-0.6032319479406227,0.12601645623462154],[-0.5774881409387425,0.28601645706229384]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.6124436689482948,-0.5215388794615592,0.71338606911949],"aabb_xy":[[0.5899436691343923,-0.5260134958320399],[0.6349436687621971,-0.5170642630910784]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.004755572095949123,0.9859230152726499,0.71338606911949],"aabb_xy":[[-0.003942390194766167,0.9737980409651752],[0.013453534386664415,0.9980479895801246]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[0.4119701274588281,0.7705227895285152,0.71338606911949],"aabb_xy":[[0.3479701271983573,0.725513990175587],[0.4759701277192989,0.8155315888814431]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.3275091212677265,-2.4501149544753043,0.71338606911949],"aabb_xy":[[-0.3380766009258254,-2.460659984588313],[-0.3169416416096274,-2.4395699243622957]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.35848234067502904,-1.5836272522553188,0.71338606911949],"aabb_xy":[[-0.42248234389366685,-1.630350364154327],[-0.29448233745639113,-1.5369041403563104]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[0.4588770751668034,1.243935071579061,0.71338606911949],"aabb_xy":[[0.4352919517029086,1.1789350693336293],[0.4824621986306983,1.308935073824493]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.298625694655121,-1.489711452297006,0.71338606911949],"aabb_xy":[[0.20862569523675006,-1.5230869491411958],[0.38862569407349185,-1.4563359554528164]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[-0.3192383458241131,0.4884468329091547,0.71338606911949],"aabb_xy":[[-0.3417383458342613,0.47435061326955147],[-0.29673834581396474,0.502543052548758]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.46608119980979246,-2.062322553794846,0.71338606911949],"aabb_xy":[[0.4161037829445388,-2.112322555284094],[0.5160586166750459,-2.012322552305597]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[0.637827722564762,0.9915257837568752,0.71338606911949],"aabb_xy":[[0.6003277220674037,0.9875571002087568],[0.6753277230621202,0.9954944673049936]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.32663549016258253,0.6222610118880141,0.71338606911949],"aabb_xy":[[0.32129791449657796,0.5972610109588743],[0.3319730658285871,0.6472610128171539]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.28199108529134276,1.1825327342103509,0.71338606911949],"aabb_xy":[[-0.34599108696934017,1.1340153427310364],[-0.21799108361334546,1.2310501256896649]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[0.4004851638845577,0.25438124471593193,0.71338606911949],"aabb_xy":[[0.37526432702471796,0.2291574938630451],[0.4257060007443973,0.27960499556881857]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[-0.5657528968851833,1.0553463249382502,0.71338606911949],"aabb_xy":[[-0.576658672972746,0.975346328539421],[-0.5548471207976206,1.1353463213370794]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[0.4903455584174996,-2.443881831641422,0.71338606911949],"aabb_xy":[[0.4263455591233314,-2.5078679720102763],[0.5543455577116678,-2.379895691272568]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.14815444821121693,1.2291357151078999,0.71338606911949],"aabb_xy":[[-0.15823615528979038,1.149135717215785],[-0.13807274113264342,1.3091357130000143]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[-0.5456178419791439,1.3583465298757744,0.71338606911949],"aabb_xy":[[-0.6096178452688519,1.3150116108718566],[-0.4816178386894357,1.4016814488796918]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[0.041423453470532334,-1.6567117603120187,0.71338606911949],"aabb_xy":[[-0.008571379457409267,-1.7067117592072625],[0.09141828639847394,-1.6067117614167754]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.6577316426072917,0.3957013228903308,0.71338606911949],"aabb_xy":[[0.6410545066141962,0.3790013989164005],[0.6744087786003872,0.41240124686426105]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.2839754911484724,-0.5537735891389248,0.71338606911949],"aabb_xy":[[0.23397548986463237,-0.6037524435295468],[0.3339754924323123,-0.5037947347483026]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[0.6315425919719844,1.3200211545568479,0.71338606911949],"aabb_xy":[[0.6199736112250479,1.2950211544399162],[0.643111572718921,1.3450211546737796]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[0.4590559952213147,0.43531511272458934,0.71338606911949],"aabb_xy":[[0.4549201388886145,0.3978151132802324],[0.4631918515540149,0.4728151121689464]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.6866301493932037,-2.5255930398661484,0.71338606911949],"aabb_xy":[[0.6778489222459674,-2.534372787154679],[0.6954113765404399,-2.5168132925776185]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[0.15923481547576912,-1.0033714114584669,0.71338606911949],"aabb_xy":[[0.14222471818571847,-1.0195058999567408],[0.17624491276581977,-0.9872369229601929]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[-0.09794218090737672,-2.048037297054014,0.71338606911949],"aabb_xy":[[-0.12627189085591695,-2.0524980392477317],[-0.06961247095883649,-2.0435765548602975]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_28","position":[-0.5853117322247278,-0.3607210330452775,0.71338606911949],"aabb_xy":[[-0.5933480669260126,-0.3687591523496942],[-0.5772753975234429,-0.35268291374086064]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[-0.5224220672312111,-1.1144329874818895,0.71338606911949],"aabb_xy":[[-0.5864220686392015,-1.1662219390058142],[-0.45842206582322026,-1.0626440359579647]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6490240184630487,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3326.png","name":"3326"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3326.png","name":"3326"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2269.png","name":"2269"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9568.png","name":"9568"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3315.png","name":"3315"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2579.png","name":"2579"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":503.47621135875596,"rotation_z_degrees":324.2733552889148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017910460747828674,-0.0011189400218016843,-0.018317465299933056]},{"name":"camera_2","offset_m":[0.015432306642564352,-0.009136391866860017,0.019862375300459877]},{"name":"camera_3","offset_m":[-0.019230236731571818,5.861737614407114e-05,-0.0007225258508336725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00044576332366946716,0.001926694654186806,-0.00012919258751189133],"end_effector_yaw_offset_degrees":-0.7533728216405768},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019719077418845756,0.0019043821949908074,-0.0013403560466248442],"end_effector_yaw_offset_degrees":0.42079200367171543},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001588622894072453,-0.0007360872316836834,0.0008555319753584937],"end_effector_yaw_offset_degrees":-0.8146930550657383}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017752861955536428,-0.0028625416381481217],"position_m":[0.23722471380444635,-0.05906254163814812,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00043778893453372703,0.0012863409306015181],"position_m":[0.19986221106546628,-0.38441365906939845,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004576285361263629,-0.0027644696696521066],"position_m":[0.2059762853612636,0.3167355303303479,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004799792403541717,0.0034305712975026452],"position_m":[0.3363002075964583,0.17143057129750267,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ccd4a3051ce186695212fd608e47c84b4dea033ef973b73b09e2ece0cf467d1e","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3326/tex_ceiling_textures_2579/tex_floor_textures_3315/tex_table_textures_2269/tex_wall_textures_9568","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":2395831638028989291,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":2395831638028989291,"visual_seed":2395831638028989291,"scene_id":"lab_003","finished_at":"2026-09-03T22:00:20"} +{"episode_id":"ep_000074","started_at":"2026-09-03T22:00:24","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[-0.42041566091528126,1.019279944161748,0.71338606911949],"aabb_xy":[[-0.4744312571971812,0.9552799412694908],[-0.3664000646333812,1.083279947054005]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.041063523671781565,0.8795821579385827,0.71338606911949],"aabb_xy":[[-0.11106352008174333,0.8591442222869009],[0.028936472738180233,0.9000200935902644]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[0.5334892389574795,-1.7186110741560576,0.71338606911949],"aabb_xy":[[0.48348923800694654,-1.750160221159579],[0.5834892399080122,-1.6870619271525362]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[-0.6551998030258268,0.9545931055883687,0.71338606911949],"aabb_xy":[[-0.6855979141249704,0.9241862035866991],[-0.6248016919266832,0.9850000075900381]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.40315893602012765,-0.4174178329840097,0.71338606911949],"aabb_xy":[[-0.4401930454481873,-0.4517950403177191],[-0.36612482659206785,-0.38304062565030017]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[0.20965089058919095,-1.0471347866927345,0.71338606911949],"aabb_xy":[[0.1746508906931721,-1.0555090222046741],[0.24465089048520985,-1.0387605511807945]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[-0.10312948340809347,1.6148726645651013,0.71338606911949],"aabb_xy":[[-0.12133530706934115,1.6038472639831098],[-0.08492365974684579,1.6258980651470931]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.24506867157003553,-0.8796855406612916,0.71338606911949],"aabb_xy":[[-0.27850884676605503,-0.9131291664922215],[-0.21162849637401587,-0.8462419148303614]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.625946801877193,-1.3226165549577606,0.71338606911949],"aabb_xy":[[0.622243540548054,-1.3263185732664782],[0.6296500632063318,-1.3189145366490427]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[0.5738363411196681,0.9097218953524835,0.71338606911949],"aabb_xy":[[0.5098363418254998,0.8457357549836293],[0.6378363404138362,0.9737080357213377]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.20112470331655063,0.7385230162046694,0.71338606911949],"aabb_xy":[[-0.2811247054793131,0.6585678325785258],[-0.12112470115378815,0.818478199830813]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[0.6141457792030454,-0.26865587310713446,0.71338606911949],"aabb_xy":[[0.6076441426950409,-0.2784236951334443],[0.6206474157110501,-0.25888805108082474]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.2548480848287865,1.0063043796987587,0.71338606911949],"aabb_xy":[[-0.31984808593472974,0.9813390066306305],[-0.18984808372284318,1.031269752766887]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.25370894319740767,0.7403962852925403,0.71338606911949],"aabb_xy":[[0.20361147921633405,0.6763962847827285],[0.3038064071784813,0.8043962858023521]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[-0.5807238932887141,-1.1287745146970285,0.71338606911949],"aabb_xy":[[-0.6307187262166557,-1.178774513592272],[-0.5307290603607725,-1.078774515801785]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.4371955192995147,0.38680954389729294,0.71338606911949],"aabb_xy":[[0.43185794363351016,0.3618095429681532],[0.4425330949655193,0.4118095448264328]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.4426207753102649,-1.1080951852944478,0.71338606911949],"aabb_xy":[[0.4377214830037013,-1.1357721045970166],[0.4475200676168283,-1.080418265991879]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[-0.54351046944273,-0.9489924267934404,0.71338606911949],"aabb_xy":[[-0.6235104680300494,-1.028308028731601],[-0.4635104708554106,-0.8696768248552794]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.21932617677681682,-0.2742582582611268,0.71338606911949],"aabb_xy":[[-0.2693049852871327,-0.3242582582668456],[-0.16934736826650093,-0.22425825825540802]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[0.5451370943019704,-0.015967118884593123,0.71338606911949],"aabb_xy":[[0.4801370942676676,-0.06266779556492041],[0.6101370943362731,0.030733557795734168]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.5187559391876844,-0.7737441413800108,0.71338606911949],"aabb_xy":[[-0.5987559363472595,-0.7852917423378277],[-0.43875594202810897,-0.7621965404221936]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[0.13705467317034326,-1.3589768086952014,0.71338606911949],"aabb_xy":[[0.07305466995170543,-1.4056999205942098],[0.20105467638898114,-1.312253696796193]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[-0.330040795583425,-2.3351886249548723,0.71338606911949],"aabb_xy":[[-0.39404079699141564,-2.386977576478797],[-0.2660407941754343,-2.2833996734309476]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[0.47352774291940736,-0.43690208195869706,0.71338606911949],"aabb_xy":[[0.4385277446492874,-0.44397620965368517],[0.5085277411895273,-0.42982795426370884]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[0.5289384309085421,0.2470123890118754,0.71338606911949],"aabb_xy":[[0.5229014179078775,0.2409856879429272],[0.5349754439092069,0.2530390900808236]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_25","position":[-0.6435142735427725,-1.6325163030445982,0.71338606911949],"aabb_xy":[[-0.6611471091363,-1.650139249060221],[-0.6258814379492449,-1.614893357028975]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_26","position":[0.5833039393653257,-2.175075612961363,0.71338606911949],"aabb_xy":[[0.545972662840083,-2.2097286677562153],[0.6206352158905681,-2.140422558166511]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[0.07755897995063676,-1.1087999503007013,0.71338606911949],"aabb_xy":[[0.027676283072940573,-1.1587999495469763],[0.127441676828333,-1.0587999510544268]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[0.031882783619057276,-0.8471906043192332,0.71338606911949],"aabb_xy":[[0.02063772804843944,-0.8584324020433285],[0.04312783918967511,-0.8359488065951379]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_29","position":[0.17885395158108086,-2.2055455757645683,0.71338606911949],"aabb_xy":[[0.1695603333439303,-2.2430455742527022],[0.18814756981823147,-2.1680455772764344]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_30","position":[0.6748295601820575,1.22865435376456,0.71338606911949],"aabb_xy":[[0.6622268610449811,1.2160589575396945],[0.687432259319134,1.2412497499894255]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_31","position":[0.5866818856181102,0.23956987792181073,0.71338606911949],"aabb_xy":[[0.5794381195718649,0.15956987971820838],[0.5939256516643555,0.3195698761254131]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6514224850522154,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4988.png","name":"4988"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4988.png","name":"4988"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2411.png","name":"2411"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6558.png","name":"6558"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1709.png","name":"1709"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4736.png","name":"4736"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":533.3452180364621,"rotation_z_degrees":259.3005022260006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00653761301686703,0.018859646317358075,0.010469177573435937]},{"name":"camera_2","offset_m":[-0.010037146972234177,-0.0010607083799525144,-0.01754463685763826]},{"name":"camera_3","offset_m":[-0.019055229745688188,0.002714455890324135,-0.013304008921856663]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004046214504326224,0.00011515134143551611,-0.0012983195642527195],"end_effector_yaw_offset_degrees":0.7601010912634742},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007172276468634311,0.0005354233449388368,-0.0019397015769415096],"end_effector_yaw_offset_degrees":-0.08953404480901717},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00031389134120659895,0.0007599877873071242,-0.00039435504850834544],"end_effector_yaw_offset_degrees":-0.913708839555547}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016488254146445427,-0.00025835633076761854],"position_m":[0.23735117458535546,-0.056458356330767616,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00022699258484786856,-0.002465394684730381],"position_m":[0.20007300741515213,-0.3881653946847304,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001460246760941357,0.0026582902155812974],"position_m":[0.20286024676094136,0.3221582902155813,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021752891162155753,0.0018124711979255505],"position_m":[0.33892471088378445,0.16981247119792556,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"77c0a033a82ba021a88736150fb993f6928f5883b579988e17f47870a9aa989c","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4988/tex_ceiling_textures_4736/tex_floor_textures_1709/tex_table_textures_2411/tex_wall_textures_6558","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":2581398030919363017,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":2581398030919363017,"visual_seed":2581398030919363017,"scene_id":"lab_003","finished_at":"2026-09-03T22:03:07"} +{"episode_id":"ep_000075","started_at":"2026-09-03T22:03:12","dimensions":{"distractor":{"count":34,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[0.34521634936950507,-1.1593983990186525,0.71338606911949],"aabb_xy":[[0.3233266017805642,-1.2493983963079016],[0.3671060969584458,-1.0693984017294034]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[-0.4504567027847579,-2.1075427415334596,0.71338606911949],"aabb_xy":[[-0.46736743522109964,-2.1210149471260737],[-0.4335459703484161,-2.0940705359408445]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.4063798542411523,1.4407698723990205,0.71338606911949],"aabb_xy":[[0.39581237458305324,1.430224842286012],[0.41694733389925126,1.451314902512029]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.41820528185399897,0.9285800127989257,0.71338606911949],"aabb_xy":[[0.3542052845683503,0.8870732938460817],[0.4822052791396476,0.9700867317517696]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.1492723178609937,-1.6653443117849906,0.71338606911949],"aabb_xy":[[-0.23927231436186544,-1.7112559542034487],[-0.05927232136012194,-1.6194326693665322]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.43040107694583457,-1.6466174919238379,0.71338606911949],"aabb_xy":[[-0.4775304559476702,-1.7106174929682396],[-0.38327169794399885,-1.5826174908794357]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.20330209145712286,-1.4154676659707313,0.71338606911949],"aabb_xy":[[0.1393020943450172,-1.464500035765142],[0.26730208856922855,-1.3664352961763209]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.27196434712141526,-2.2993949840347456,0.71338606911949],"aabb_xy":[[0.2079643454434179,-2.3479123755140594],[0.3359643487994126,-2.250877592555431]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.3922100041142727,-1.4178583862720522,0.71338606911949],"aabb_xy":[[-0.4124943068376714,-1.4381410114147608],[-0.3719257013908739,-1.3975757611293431]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.5124216382129329,0.937172086628848,0.71338606911949],"aabb_xy":[[-0.5674216373895222,0.8821824118538902],[-0.45742163903634325,0.9921617614038055]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.6511730946627414,-2.056902584673508,0.71338606911949],"aabb_xy":[[0.6011730952225457,-2.106870509157824],[0.7011730941029369,-2.0069346601891915]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.6540957103368265,-1.9218202434504321,0.71338606911949],"aabb_xy":[[-0.662897765645799,-1.929631569605361],[-0.6452936550278536,-1.9140089172955028]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.36270205811201217,1.2858383644142477,0.71338606911949],"aabb_xy":[[0.3495508121407228,1.2608383646575612],[0.3758533040833016,1.3108383641709342]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[-0.41309371941734613,0.24728947854075445,0.71338606911949],"aabb_xy":[[-0.4930937196909531,0.1743399307150377],[-0.33309371914373914,0.3202390263664711]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.46293644232785647,-2.4587663924206975,0.71338606911949],"aabb_xy":[[-0.4820487496858353,-2.477901171297939],[-0.44382413496987755,-2.439631613543455]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.007332731395112035,0.7969734067768464,0.71338606911949],"aabb_xy":[[-0.04483273121214559,0.7923351954657046],[0.030167268421921523,0.8016116180879883]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.265417793415242,1.626598511029656,0.71338606911949],"aabb_xy":[[-0.31539085894775754,1.5765985112171235],[-0.21544472788272662,1.6765985108421892]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.4923592949761988,-0.10053065005332673,0.71338606911949],"aabb_xy":[[0.4836453259262643,-0.12303065071251494],[0.5010732640261333,-0.0780306493941385]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[0.6882214781599001,0.06886006486967666,0.71338606911949],"aabb_xy":[[0.6730493088782669,0.05369120794147331],[0.7033936474415335,0.08402892179788002]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.5200504615983566,-1.0975251505731458,0.71338606911949],"aabb_xy":[[-0.5800504621062094,-1.154371884259067],[-0.46005046109050357,-1.0406784168872243]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.31447649844254055,1.0206283005950398,0.71338606911949],"aabb_xy":[[0.2769764972577477,1.016210077898979],[0.3519764996273333,1.0250465232911001]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[0.471965184953276,1.0481168142551973,0.71338606911949],"aabb_xy":[[0.4625477103834132,1.0387006371174783],[0.4813826595231387,1.0575329913929163]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[0.2400712023835022,1.1736290275861911,0.71338606911949],"aabb_xy":[[0.23195754771012508,1.165523211132162],[0.2481848570568793,1.1817348440402202]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[-0.12696361717308802,-0.20358393852975532,0.71338606911949],"aabb_xy":[[-0.131807211934318,-0.20843559100873946],[-0.12212002241185804,-0.19873228605077123]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[0.42614617091175444,1.3708276076787573,0.71338606911949],"aabb_xy":[[0.4086461706524179,1.3567360654899847],[0.4436461711710911,1.38491914986753]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[-0.29207397449073785,1.156196258996927,0.71338606911949],"aabb_xy":[[-0.3820739768247569,1.0787139044118144],[-0.2020739721567188,1.2336786135820397]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[0.22962957231592485,0.9051465923591606,0.71338606911949],"aabb_xy":[[0.16962957246935803,0.8483279701661218],[0.28962957216249163,0.9619652145521992]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_27","position":[0.17753782230738901,-0.637589006483636,0.71338606911949],"aabb_xy":[[0.08753782258421482,-0.6606623590188156],[0.26753782203056314,-0.614515653948456]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[-0.3380447321439761,-1.0427345161696404,0.71338606911949],"aabb_xy":[[-0.4020447344867777,-1.0876753674137727],[-0.27404472980117456,-0.9977936649255078]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_29","position":[0.1493507347679056,-1.7191191174335994,0.71338606911949],"aabb_xy":[[0.0877599755439128,-1.7831191155426467],[0.21094149399189843,-1.655119119324553]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_30","position":[0.6293421633008651,-0.752519636535774,0.71338606911949],"aabb_xy":[[0.6237604916667363,-0.7650196363535495],[0.6349238349349939,-0.7400196367179985]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_31","position":[-0.14730931749938547,-0.7424698792613718,0.71338606911949],"aabb_xy":[[-0.1554370056926987,-0.7513834876720794],[-0.13918162930607225,-0.7335562708506641]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_32","position":[0.5922571976614195,-1.3514709872556787,0.71338606911949],"aabb_xy":[[0.5697607762275554,-1.3739709870624262],[0.6147536190952836,-1.3289709874489313]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_33","position":[0.45258888712961953,-2.1009155456965347,0.71338606911949],"aabb_xy":[[0.38858888391098173,-2.147638657595543],[0.5165888903482574,-2.0541924337975264]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6444761480353901,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2769.png","name":"2769"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1680.png","name":"1680"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1905.png","name":"1905"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8611.png","name":"8611"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":519.5811407937973,"rotation_z_degrees":242.36930565935316,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00037566057485763707,-0.004181794907778775,-0.007563300622760298]},{"name":"camera_2","offset_m":[-0.015958884835284334,-0.004633255010827085,0.014548997534470292]},{"name":"camera_3","offset_m":[-0.013343206319164214,-0.009354148730760983,0.014161242355020382]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00027868373433015533,-0.0004921194095751278,-0.001571962598246516],"end_effector_yaw_offset_degrees":0.9173706830112702},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014554068507562105,-0.00041737028787982677,-0.0001323665718669393],"end_effector_yaw_offset_degrees":0.8173962198965283},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016528980650045216,0.0012913902074998041,0.0010628841242574004],"end_effector_yaw_offset_degrees":0.36147516139449687}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022759838865974626,0.001445109573452015],"position_m":[0.23672401611340252,-0.054754890426547985,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003877239398546999,0.004286093625752938],"position_m":[0.196422760601453,-0.38141390637424705,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012031205469351458,0.0011008150344792743],"position_m":[0.20019687945306486,0.3206008150344793,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020003429715819854,0.0031987827723200324],"position_m":[0.33909965702841804,0.17119878277232004,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"80d539101ff60681cc68142a8a94aec3bdb7b85a8449e5341175442418a13e55","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6430/tex_ceiling_textures_8611/tex_floor_textures_1905/tex_table_textures_2769/tex_wall_textures_1680","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3310010386895143742,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3310010386895143742,"visual_seed":3310010386895143742,"scene_id":"lab_003","finished_at":"2026-09-03T22:05:53"} +{"episode_id":"ep_000076","started_at":"2026-09-03T22:05:56","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.5128366658069234,1.4194289855144153,0.71338606911949],"aabb_xy":[[0.5067996528062588,1.413402284445467],[0.5188736788075883,1.4254556865833632]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.4668729824707912,0.015338893195365078,0.71338606911949],"aabb_xy":[[-0.5308729828483247,-0.03440637365544719],[-0.40287298209325756,0.06508416004617734]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.2931907337546915,-1.259266308547843,0.71338606911949],"aabb_xy":[[-0.3218400661151077,-1.2879118678249186],[-0.26454140139427523,-1.230620749270767]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.5376208463158718,-2.2509439650829415,0.71338606911949],"aabb_xy":[[-0.5726208445859916,-2.258018092777929],[-0.5026208480457518,-2.243869837387953]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[0.5597072127348923,-0.8076785466085128,0.71338606911949],"aabb_xy":[[0.5097079375664563,-0.85767854788446],[0.6097064879033286,-0.7576785453325656]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[-0.20489680539235894,-1.5134256021638355,0.71338606911949],"aabb_xy":[[-0.2848968027959523,-1.5934181733620183],[-0.12489680798876553,-1.4334330309656527]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[-0.5617107546484773,0.9633157949839295,0.71338606911949],"aabb_xy":[[-0.5704247236984117,0.9408157943247412],[-0.5529967855985427,0.9858157956431176]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[-0.502513096290107,-2.3355341027565264,0.71338606911949],"aabb_xy":[[-0.5369755743031948,-2.3421977799394487],[-0.4680506182770192,-2.3288704255736032]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[-0.20337872014746167,-2.5315958397286287,0.71338606911949],"aabb_xy":[[-0.26337872074347785,-2.586408312273852],[-0.1433787195514455,-2.476783367183405]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.44359798381514404,-0.19258934505259484,0.71338606911949],"aabb_xy":[[0.405052290989943,-0.2311351161087835],[0.4821436766403451,-0.15404357399640617]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.13637284030620522,-0.6112910430720742,0.71338606911949],"aabb_xy":[[0.11137284103424293,-0.6276364066682364],[0.16137283957816748,-0.5949456794759117]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[0.1666373628991794,1.7539919215637343,0.71338606911949],"aabb_xy":[[0.1291373626070046,1.7499504461631308],[0.20413736319135423,1.7580333969643378]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[-0.027189211152590653,-1.666972282397892,0.71338606911949],"aabb_xy":[[-0.031103084348013177,-1.675721297804449],[-0.02327533795716813,-1.6582232669913353]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.6678872884437859,0.4468525846928477,0.71338606911949],"aabb_xy":[[0.648774981085807,0.4277178058156057],[0.6869995958017647,0.46598736357008974]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[0.39895180804554076,-0.7947256770293007,0.71338606911949],"aabb_xy":[[0.3489518067617008,-0.844704531419923],[0.4489518093293807,-0.7447468226386788]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.5958135295928844,1.563730383713756,0.71338606911949],"aabb_xy":[[-0.6133135287272515,1.553850756676168],[-0.5783135304585172,1.5736100107513435]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.27139414937160167,1.1294194750633304,0.71338606911949],"aabb_xy":[[-0.3073076537965914,1.0935059668465756],[-0.23548064494661203,1.1653329832800847]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.3240180348262629,1.7635712236507213,0.71338606911949],"aabb_xy":[[-0.3734984560402217,1.6995712257378695],[-0.2745376136123041,1.827571221563573]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[-0.09996283681014062,0.373365782096271,0.71338606911949],"aabb_xy":[[-0.11750953172625955,0.33586578053201976],[-0.08241614189402169,0.4108657836605223]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[0.07556243402304708,1.3741410183837361,0.71338606911949],"aabb_xy":[[0.06743474582973386,1.3652274099730282],[0.0836901222163603,1.3830546267944437]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[0.5632982280460033,1.0690378641715124,0.71338606911949],"aabb_xy":[[0.5501469820747139,1.044037864414826],[0.5764494740172926,1.0940378639281991]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[0.2949552490587536,-1.2529765585709638,0.71338606911949],"aabb_xy":[[0.24485778507767997,-1.3169765590807756],[0.3450527130398272,-1.188976558061152]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.15152355126782668,-1.7224424642385872,0.71338606911949],"aabb_xy":[[0.12902355102431132,-1.7346470988983589],[0.1740235515113421,-1.710237829578815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6535805288139093,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7278.png","name":"7278"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7278.png","name":"7278"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1689.png","name":"1689"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6140.png","name":"6140"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7521.png","name":"7521"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4855.png","name":"4855"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":749.4896391253891,"rotation_z_degrees":192.0844619839709,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005302175033674167,0.0031954852873705003,-0.015547804349313167]},{"name":"camera_2","offset_m":[0.004301477040669802,0.012628487891561523,0.0054214718019274764]},{"name":"camera_3","offset_m":[0.01306734855138077,0.01873873647373502,0.01613392356999133]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001252862232653171,-0.00023702776950807174,0.0007648995030304835],"end_effector_yaw_offset_degrees":-0.3226670905559337},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005459106224986882,0.001733820749271163,0.001001067697845188],"end_effector_yaw_offset_degrees":-0.4981409287988301},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00021121017667401969,0.0004373311137327164,-0.0015312066725935956],"end_effector_yaw_offset_degrees":-0.7069709386563467}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007769255993338988,-0.002084805927487846],"position_m":[0.2397769255993339,-0.058284805927487846,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028724758324125766,-0.0019030613755305903],"position_m":[0.20317247583241257,-0.3876030613755306,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003970665186884483,-0.0021691959584156486],"position_m":[0.2053706651868845,0.31733080404158437,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000236919774188429,-0.002090682895701409],"position_m":[0.34133691977418845,0.1659093171042986,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a50820c2a176de15f290fc92550df098bf5d0194ddcc9da214f174effa61b898","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7278/tex_ceiling_textures_4855/tex_floor_textures_7521/tex_table_textures_1689/tex_wall_textures_6140","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6072923049984425286,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6072923049984425286,"visual_seed":6072923049984425286,"scene_id":"lab_003","finished_at":"2026-09-03T22:08:56"} +{"episode_id":"ep_000077","started_at":"2026-09-03T22:09:00","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[0.3073539850479987,-0.9921340189793921,0.71338606911949],"aabb_xy":[[0.29972971695782047,-0.999767242515936],[0.31497825313817696,-0.9845007954428485]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[0.15423456487664755,1.416879504967826,0.71338606911949],"aabb_xy":[[0.09423456436879461,1.3600327712819043],[0.21423456538450045,1.4737262386537469]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.09240000471898313,1.266696421232671,0.71338606911949],"aabb_xy":[[0.055904184091704376,1.2302124788059132],[0.12889582534626187,1.3031803636594284]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[0.5592022700769148,0.3143042808959331,0.71338606911949],"aabb_xy":[[0.5247397920638269,0.3076406037130102],[0.5936647480900025,0.32096795807885586]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_4","position":[-0.047319648348329135,-1.8056315974079054,0.71338606911949],"aabb_xy":[[-0.08950406250915988,-1.8696315976851166],[-0.005135234187498401,-1.7416315971306942]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[0.5637635466927289,1.205944803031731,0.71338606911949],"aabb_xy":[[0.5097479504108288,1.1419448001394739],[0.6177791429746288,1.2699448059239882]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.31479865215841685,-0.9616164324787775,0.71338606911949],"aabb_xy":[[-0.37879864927052254,-1.010648802273188],[-0.25079865504631116,-0.912584062684367]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.4903280455191874,-0.400076065556501,0.71338606911949],"aabb_xy":[[-0.5703280476819499,-0.4800312491826446],[-0.4103280433564249,-0.32012088193035737]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.441439511127863,-1.2974193149982471,0.71338606911949],"aabb_xy":[[-0.44514277245700185,-1.3011213333069647],[-0.43773624979872416,-1.2937172966895292]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.3138524861196583,-2.563227492409436,0.71338606911949],"aabb_xy":[[0.3097365360075856,-2.567343047442281],[0.31796843623173093,-2.55911193737659]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[-0.28080738524867255,0.41416609547090477,0.71338606911949],"aabb_xy":[[-0.3235740921280928,0.3501660920491024],[-0.2380406783692524,0.4781660988927073]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[0.5660993886050056,1.0346546369219238,0.71338606911949],"aabb_xy":[[0.5578848434893215,1.025978046624282],[0.5743139337206895,1.0433312272195647]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[-0.18155327683646272,1.4427595062114622,0.71338606911949],"aabb_xy":[[-0.19025123912717803,1.4306345319039877],[-0.17285531454574743,1.4548844805189372]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.17091237952362748,-2.4766939061107665,0.71338606911949],"aabb_xy":[[-0.17554749467586087,-2.4805612411879148],[-0.1662772643713941,-2.4728265710336172]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.35323644026140943,-2.0706732667569443,0.71338606911949],"aabb_xy":[[0.34524295046612746,-2.0786713986974203],[0.3612299300566915,-2.062675134816469]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[-0.3552515313604534,-2.205505267357223,0.71338606911949],"aabb_xy":[[-0.43525153462446653,-2.2190652996661364],[-0.27525152809644027,-2.1919452350483097]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[0.07030517899600841,-2.3577782316633984,0.71338606911949],"aabb_xy":[[-0.009694819591311006,-2.437093833601559],[0.15030517758332784,-2.278462629725237]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.48607269405221687,-0.22970401385269046,0.71338606911949],"aabb_xy":[[0.4310794827150802,-0.2847040141914841],[0.5410659053893536,-0.1747040135138969]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[-0.06927607175208217,0.7625235922938063,0.71338606911949],"aabb_xy":[[-0.10357298276982278,0.728226706083865],[-0.034979160734341534,0.7968204785037476]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.4850341599551271,-1.4036204585997645,0.71338606911949],"aabb_xy":[[0.4150341573185407,-1.4237253235956295],[0.5550341625917135,-1.3835155936038985]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[-0.31750048582253465,-1.6999850040737656,0.71338606911949],"aabb_xy":[[-0.32400212233053927,-1.7097528261000758],[-0.31099884931453003,-1.6902171820474563]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[0.404025105479773,0.3499049562326646,0.71338606911949],"aabb_xy":[[0.32402510222193004,0.2699084484406806],[0.48402510873761595,0.42990146402464857]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[0.20599942087473466,-0.9788449001584143,0.71338606911949],"aabb_xy":[[0.16914887293774705,-1.0163449009814478],[0.24284996881172227,-0.9413448993353805]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.2953101228432513,-1.6034938797600775,0.71338606911949],"aabb_xy":[[0.275251711230011,-1.6235589666692352],[0.3153685344564916,-1.5834287928509203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6484034609918696,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8665.png","name":"8665"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8665.png","name":"8665"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4951.png","name":"4951"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6510.png","name":"6510"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2873.png","name":"2873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8779.png","name":"8779"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":714.656801073713,"rotation_z_degrees":192.90832564467263,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006308857187783387,-0.01110890156830458,0.011581273703059097]},{"name":"camera_2","offset_m":[0.018503465615534277,0.011094102466452576,0.00010227177696437578]},{"name":"camera_3","offset_m":[0.01222720122359498,0.01462040186401813,0.005512163743533711]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00025082677733947057,5.118594206469365e-05,-0.0010418754821693269],"end_effector_yaw_offset_degrees":-0.7688281347983128},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009666812779019584,0.0011752887798184616,0.0012832352123052734],"end_effector_yaw_offset_degrees":0.7218934044365548},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001971826661465401,0.0017669471713324734,-0.0002264177551166769],"end_effector_yaw_offset_degrees":-0.6265343538702135}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004070374304618823,0.0015725557864933789],"position_m":[0.23492962569538117,-0.05462744421350662,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028773092550169323,-0.0009705664138925218],"position_m":[0.1974226907449831,-0.3866705664138925,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003932205980714274,0.004383867775881736],"position_m":[0.20533220598071428,0.32388386777588174,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023728025832000055,-0.0037282050007638214],"position_m":[0.3387271974168,0.1642717949992362,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1c0a2b2e038d6cedd40781a721b7e56dcc8eb1cc3b772b6607d629a3560af00a","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8665/tex_ceiling_textures_8779/tex_floor_textures_2873/tex_table_textures_4951/tex_wall_textures_6510","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":8493344873047914016,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":8493344873047914016,"visual_seed":8493344873047914016,"scene_id":"lab_003","finished_at":"2026-09-03T22:11:38"} +{"episode_id":"ep_000078","started_at":"2026-09-03T22:11:43","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[0.5664252831820229,-1.3055287807986744,0.71338606911949],"aabb_xy":[[0.5024252829080447,-1.3555948809959626],[0.6304252834560011,-1.2554626806013867]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[0.37894701569423295,0.7059058672569432,0.71338606911949],"aabb_xy":[[0.3376424726304969,0.641905867688826],[0.4202515587579689,0.7699058668250601]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.5194772264731167,0.9933531639160962,0.71338606911949],"aabb_xy":[[0.49163218969250944,0.9625686651777845],[0.5473222632537237,1.0241376626544079]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[0.5096235593123506,-0.11342914555364914,0.71338606911949],"aabb_xy":[[0.49219284423334403,-0.13070126021749995],[0.527054274391357,-0.09615703088979832]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[0.22704050244280183,-1.3692178349645134,0.71338606911949],"aabb_xy":[[0.20576249429932955,-1.4342178372905865],[0.24831851058627405,-1.3042178326384404]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[-0.3647896568322754,-1.1442995469692894,0.71338606911949],"aabb_xy":[[-0.3724928475063524,-1.152008917668027],[-0.35708646615819833,-1.1365901762705513]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.14036324773209685,-2.3722427990327035,0.71338606911949],"aabb_xy":[[-0.17151016657567994,-2.4422427977195107],[-0.10921632888851371,-2.3022428003458963]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.04294755705542619,-1.6883153303953968,0.71338606911949],"aabb_xy":[[0.023835249697447325,-1.7074501092726388],[0.06205986441340505,-1.6691805515181548]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.18603957759997158,-1.8463491621234862,0.71338606911949],"aabb_xy":[[0.14853957680797614,-1.8527170030816762],[0.22353957839196703,-1.8399813211652958]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[-0.04915330030974441,0.6668993048474001,0.71338606911949],"aabb_xy":[[-0.0919200071891646,0.6028993014255977],[-0.006386593430324217,0.7308993082692026]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.3691306637224214,0.516352015486023,0.71338606911949],"aabb_xy":[[0.3366689628404939,0.48621918337112024],[0.40159236460434883,0.5464848476009254]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[-0.04868764708093731,0.4170921777382084,0.71338606911949],"aabb_xy":[[-0.08618764725280925,0.38439144235530115],[-0.011187646909065367,0.4497929131211155]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.5698174758137997,-0.5113317622285622,0.71338606911949],"aabb_xy":[[-0.6498174732173931,-0.591324333426745],[-0.48981747841020634,-0.4313391910303794]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.5459811894252511,1.816447531660788,0.71338606911949],"aabb_xy":[[0.5115187114121632,1.809783854477865],[0.5804436674383388,1.8231112088437105]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.24198499891198022,-0.8263336422588439,0.71338606911949],"aabb_xy":[[0.22530786291888474,-0.8430335662327743],[0.2586621349050757,-0.8096337182849137]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[-0.6195678878160036,-1.0067147829373995,0.71338606911949],"aabb_xy":[[-0.6795678876625704,-1.0635334051304381],[-0.5595678879694368,-0.9498961607443608]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.0388181671192811,-2.191664159064611,0.71338606911949],"aabb_xy":[[-0.016174083516229846,-2.246664160807924],[0.09381041775479207,-2.1366641573212983]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.4633783982436803,-2.486584825101602,0.71338606911949],"aabb_xy":[[-0.5008783966670807,-2.499749039069432],[-0.42587839982028,-2.4734206111337707]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.21581199201553952,1.712616852541141,0.71338606911949],"aabb_xy":[[-0.22393968020885271,1.7037032441304334],[-0.20768430382222627,1.721530460951849]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_19","position":[0.513653017369399,0.8591684783645306,0.71338606911949],"aabb_xy":[[0.49900961181536596,0.8445097587077462],[0.5282964229234319,0.8738271980213147]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[0.6449645622955376,0.19645339252458127,0.71338606911949],"aabb_xy":[[0.5799645641396184,0.17015714797466908],[0.7099645604514565,0.22274963707449347]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.2932101303474529,1.41360499451616,0.71338606911949],"aabb_xy":[[0.235579661460182,1.3536049955894491],[0.3508405992347237,1.4736049934428703]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6525086976178411,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8716.png","name":"8716"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8716.png","name":"8716"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5635.png","name":"5635"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/644.png","name":"644"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1836.png","name":"1836"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1360.png","name":"1360"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":569.766571436741,"rotation_z_degrees":48.98952966240864,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01455354239433022,-0.009656043342707879,-0.0012215062634125355]},{"name":"camera_2","offset_m":[-0.019283276786287575,-0.010132905747791581,-0.002021169556463708]},{"name":"camera_3","offset_m":[0.011847159771902777,0.011349031821650608,-0.007195208128169655]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021197083514029776,-0.0012027845827432566,-0.00038488859745590843],"end_effector_yaw_offset_degrees":-0.24684439518650625},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019650499169467975,0.0003305007844838369,0.0013952586197024607],"end_effector_yaw_offset_degrees":0.0769250689757166},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010957801211078286,0.0005990296746029174,0.0003103699477280393],"end_effector_yaw_offset_degrees":-0.1270280365626586}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004734024363155784,6.420219348460526e-05],"position_m":[0.24373402436315578,-0.0561357978065154,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003911421022170817,-0.0034549610063202407],"position_m":[0.20069114210221708,-0.38915496100632024,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005519027317470726,0.0007043243815726477],"position_m":[0.20084809726825292,0.32020432438157265,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025904815421791748,0.0015698010743731396],"position_m":[0.33850951845782085,0.16956980107437314,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3a8d62b8729b3c89a243c98721e6c252d1fe8450a5f6f9d84f1a674a9a435a97","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8716/tex_ceiling_textures_1360/tex_floor_textures_1836/tex_table_textures_5635/tex_wall_textures_644","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3876528201920738532,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3876528201920738532,"visual_seed":3876528201920738532,"scene_id":"lab_003","finished_at":"2026-09-03T22:14:21"} +{"episode_id":"ep_000079","started_at":"2026-09-03T22:14:25","dimensions":{"distractor":{"count":31,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.36659395560504615,-2.4919362366001305,0.71338606911949],"aabb_xy":[[0.3539671683178497,-2.5014823103017036],[0.3792207428922424,-2.4823901628985574]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.2928876144284189,-1.8205406514689013,0.71338606911949],"aabb_xy":[[-0.31740123852542473,-1.8448052447709378],[-0.268373990331413,-1.7962760581668649]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[0.05433791063281623,-1.5232955658310108,0.71338606911949],"aabb_xy":[[0.050202054300116046,-1.5607955652753678],[0.058473766965516434,-1.4857955663866538]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.4326444822382461,-1.9205854266183744,0.71338606911949],"aabb_xy":[[-0.47872957349297757,-1.9845854238709295],[-0.3865593909835146,-1.8565854293658193]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.39107101867004446,0.6323987193209257,0.71338606911949],"aabb_xy":[[-0.39877420934412144,0.6246893486221876],[-0.38336782799596736,0.6401080900196636]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.2243204391573046,-1.997743485377208,0.71338606911949],"aabb_xy":[[0.20140472627225472,-2.020647782513632],[0.24723615204235452,-1.9748391882407847]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[0.2800564247119832,-1.225686421885773,0.71338606911949],"aabb_xy":[[0.2766157484719261,-1.2295478548601375],[0.28349710095204045,-1.2218249889114086]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[0.10590565279919939,1.4550027006879866,0.71338606911949],"aabb_xy":[[0.09655864521690417,1.4406990784703426],[0.11525266038149463,1.4693063229056307]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.31878664798742895,-2.1921514066803907,0.71338606911949],"aabb_xy":[[-0.382786651277137,-2.2354863256843083],[-0.2547866446977208,-2.148816487676473]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[0.4292637549328375,-0.9572277904839082,0.71338606911949],"aabb_xy":[[0.3692637532899156,-1.0092279397758523],[0.4892637565757593,-0.9052276411919641]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.635961862810958,-0.5152045233253824,0.71338606911949],"aabb_xy":[[0.6014995154128161,-0.5496984057232049],[0.6704242102090997,-0.4807106409275596]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[0.5015727126923912,-0.6257057072221,0.71338606911949],"aabb_xy":[[0.4837792057574747,-0.6435054528178975],[0.5193662196273076,-0.6079059616263022]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.07362503475052806,0.5066089010973926,0.71338606911949],"aabb_xy":[[-0.12764063103242806,0.4426088982051355],[-0.01960943846862806,0.5706089039896498]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.32860044755214546,0.14984297744735553,0.71338606911949],"aabb_xy":[[-0.3926004507707833,0.10311986554834718],[-0.2646004443335076,0.19656608934636388]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.23648483399243647,0.8758579965738971,0.71338606911949],"aabb_xy":[[0.18650602548212056,0.8258579965681784],[0.28646364250275236,0.925857996579616]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.21465152758606965,-0.9712540656635287,0.71338606911949],"aabb_xy":[[0.20661519288478478,-0.9792921849679453],[0.22268786228735446,-0.9632159463591118]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[-0.6241600060297667,-2.459509397326875,0.71338606911949],"aabb_xy":[[-0.6333198849736433,-2.466040615370412],[-0.6150001270858901,-2.4529781792833383]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.4801640690802278,0.4586998818778767,0.71338606911949],"aabb_xy":[[0.4251640699036383,0.403710207102919],[0.5351640682568173,0.5136895566528343]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[-0.647075711093521,1.3682000291859198,0.71338606911949],"aabb_xy":[[-0.6524132867595256,1.34320002825678],[-0.6417381354275165,1.3932000301150596]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.35159467639303865,-1.587767807089838,0.71338606911949],"aabb_xy":[[-0.37348442398197945,-1.6777678043790873],[-0.32970492880409785,-1.497767809800589]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.2614521938747241,-0.5863956192006015,0.71338606911949],"aabb_xy":[[-0.323042953098717,-0.6503956173096485],[-0.19986143465073136,-0.5223956210915547]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[-0.12545458184036762,-1.9595186179717057,0.71338606911949],"aabb_xy":[[-0.16045458103318583,-1.970485663969368],[-0.0904545826475493,-1.9485515719740425]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[0.4085012002142221,0.7412141593677308,0.71338606911949],"aabb_xy":[[0.386592518074871,0.7193134925476399],[0.4304098823535731,0.7631148261878213]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[-0.6584613312182778,-1.544598264542502,0.71338606911949],"aabb_xy":[[-0.6834613307700161,-1.5547407484076365],[-0.6334613316665392,-1.534455780677367]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[-0.09574157958580398,-0.3641850696012514,0.71338606911949],"aabb_xy":[[-0.1369903906157187,-0.41918506911346887],[-0.05449276855588924,-0.30918507008903395]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[0.35145479315028383,-2.400729644525483,0.71338606911949],"aabb_xy":[[0.28645479499436477,-2.427025889075395],[0.4164547913062029,-2.3744333999755707]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_26","position":[-0.11817281961964066,-0.1246104933798513,0.71338606911949],"aabb_xy":[[-0.12312883980452186,-0.14711049358197295],[-0.11321679943475946,-0.10211049317772972]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[-0.6138630338788162,-0.020415629659884527,0.71338606911949],"aabb_xy":[[-0.6363594553126803,-0.042915629466631966],[-0.5913666124449521,0.0020843701468629128]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[0.23750972027377493,-1.5633048808508938,0.71338606911949],"aabb_xy":[[0.17350972168720247,-1.6103118442504025],[0.3015097188603474,-1.516297917451385]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_29","position":[-0.26508036968323456,-0.14154562849663765,0.71338606911949],"aabb_xy":[[-0.3150803706337673,-0.17309477550015906],[-0.2150803687327017,-0.10999648149311625]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_30","position":[-0.09278803330069596,0.2564733589765926,0.71338606911949],"aabb_xy":[[-0.10100257841637991,0.2477967686789513],[-0.08457348818501195,0.26514994927423385]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6485415701016172,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4295.png","name":"4295"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4295.png","name":"4295"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2261.png","name":"2261"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7518.png","name":"7518"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/248.png","name":"248"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7497.png","name":"7497"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":811.1401189386758,"rotation_z_degrees":182.8623017906334,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006561025145047203,0.01007531812388155,-0.006595663287566254]},{"name":"camera_2","offset_m":[-0.013041102455820455,0.01184212913176429,0.009533878600719189]},{"name":"camera_3","offset_m":[0.014980938194093196,-0.015454157616868521,0.0010419910136692072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006169772402928753,0.00012542937078662778,-0.0010196007704305176],"end_effector_yaw_offset_degrees":-0.331885653037546},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001058763785577923,0.0002762838115598809,-0.0015136472188539152],"end_effector_yaw_offset_degrees":-0.10250370918730467},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018490902703548339,-0.0005086586451785208,0.00043041199075207056],"end_effector_yaw_offset_degrees":0.43211951989698716}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00028098741766626606,0.00045616476855910113],"position_m":[0.23928098741766626,-0.0557438352314409,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033237007083463752,-0.0018018924230165313],"position_m":[0.19697629929165364,-0.3875018924230165,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00048577883567588534,0.0020722160633229658],"position_m":[0.2009142211643241,0.321572216063323,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019820371594545094,-0.0029525435329176685],"position_m":[0.3430820371594545,0.16504745646708235,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"13f199f5c960d0f7246a62a403025e99921be40af7b0ff133941dd64a970fba1","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0079.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4295/tex_ceiling_textures_7497/tex_floor_textures_248/tex_table_textures_2261/tex_wall_textures_7518","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4033626780930780440,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4033626780930780440,"visual_seed":4033626780930780440,"scene_id":"lab_003","finished_at":"2026-09-03T22:17:20"} +{"episode_id":"ep_000080","started_at":"2026-09-03T22:17:23","dimensions":{"distractor":{"count":29,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[0.6567952207129759,-2.5725341566138593,0.71338606911949],"aabb_xy":[[0.6192952191973442,-2.583760929630004],[0.6942952222286076,-2.561307383597714]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[-0.4313691989076272,-0.8331019520186396,0.71338606911949],"aabb_xy":[[-0.4726180099375419,-0.8881019515308569],[-0.3901203878777124,-0.778101952506422]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[0.05504643681498134,-1.2649675183938427,0.71338606911949],"aabb_xy":[[0.05134317548584246,-1.2686695367025604],[0.0587496981441202,-1.2612655000851245]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[-0.44944152069440735,-1.3465188212155337,0.71338606911949],"aabb_xy":[[-0.513441522102398,-1.3983077727394582],[-0.3854415192864167,-1.2947298696916087]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.23465568554189875,-1.329938815495068,0.71338606911949],"aabb_xy":[[0.197155685193671,-1.3417302110761515],[0.2721556858901265,-1.3181474199139844]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.6161523637356884,-1.9737046620027212,0.71338606911949],"aabb_xy":[[-0.6801523629054583,-2.0204713491216832],[-0.5521523645659184,-1.9269379748837587]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[-0.4583047672348285,-1.517748925584709,0.71338606911949],"aabb_xy":[[-0.5198955264588214,-1.5817489236937559],[-0.39671400801083573,-1.453748927475662]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.0669891616990963,1.0568790641659183,0.71338606911949],"aabb_xy":[[-0.11698916127543103,1.0068984852138123],[-0.016989162122761595,1.1068596431180242]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[-0.20932367265491109,0.7136768825359336,0.71338606911949],"aabb_xy":[[-0.2893236740850383,0.6341597275233241],[-0.1293236712247839,0.793194037548543]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.44644099029302065,0.3842104695432118,0.71338606911949],"aabb_xy":[[-0.4503548634884431,0.37546145413665505],[-0.44252711709759807,0.39295948494976857]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[-0.15037973668144933,1.3486475892970722,0.71338606911949],"aabb_xy":[[-0.17492595230420005,1.318398692748035],[-0.1258335210586986,1.378896485846109]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[0.3955627501385093,-2.480444134002943,0.71338606911949],"aabb_xy":[[0.35806274984633446,-2.4844856094035466],[0.4330627504306841,-2.476402658602339]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.05425697434863064,1.4737179749404823,0.71338606911949],"aabb_xy":[[-0.03574302238697957,1.420534511623188],[0.14425697108424085,1.526901438257777]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[-0.5017373573417914,-1.7081529047543862,0.71338606911949],"aabb_xy":[[-0.5657373546441378,-1.7525193317222427],[-0.43773736003944497,-1.6637864777865292]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[-0.17122716063601284,-0.9524321783973679,0.71338606911949],"aabb_xy":[[-0.26122716431293097,-1.013864584974472],[-0.08122715695909465,-0.8909997718202634]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.05632865750278426,-0.7127366424586123,0.71338606911949],"aabb_xy":[[0.046175641948634875,-0.7488061840313526],[0.06648167305693363,-0.6766671008858719]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[0.650885600051381,-1.438804937375855,0.71338606911949],"aabb_xy":[[0.600885598767541,-1.4887837917664768],[0.7008856013352209,-1.3888260829852326]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.14780978039557657,-0.9361763878109095,0.71338606911949],"aabb_xy":[[0.13457883486089525,-0.9494038068329088],[0.16104072593025784,-0.92294896878891]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.4862626843548379,-2.272944948323636,0.71338606911949],"aabb_xy":[[0.4262626827119161,-2.32494509761558],[0.5462626859977597,-2.2209447990316917]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[0.5266905533685331,-0.4848547960590732,0.71338606911949],"aabb_xy":[[0.46269055145619076,-0.5407659453170837],[0.5906905552808754,-0.4289436468010628]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.4939144444104211,-2.5346700503161923,0.71338606911949],"aabb_xy":[[-0.5438877384136815,-2.5846700508707396],[-0.4439411504071606,-2.484670049761645]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[-0.13924367289466677,1.203478048581808,0.71338606911949],"aabb_xy":[[-0.1472376614723701,1.1954779684867174],[-0.13124968431696332,1.211478128676898]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.7023308379526452,-1.6817727738026258,0.71338606911949],"aabb_xy":[[0.6969932622866407,-1.7067727747317654],[0.7076684136186498,-1.6567727728734858]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[0.5226466069185227,-1.910048722034864,0.71338606911949],"aabb_xy":[[0.506584679460005,-1.995048723847456],[0.5387085343770402,-1.8250487202222723]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[-0.36504172935544205,1.262696986881107,0.71338606911949],"aabb_xy":[[-0.3900417286274043,1.246351623284945],[-0.34004173008347977,1.2790423504772697]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[0.3705507245797044,-0.20901498322820844,0.71338606911949],"aabb_xy":[[0.3530507243346549,-0.22651477106777523],[0.38805072482475367,-0.19151519538864153]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_26","position":[0.18182907964790507,-2.5061775591376465,0.71338606911949],"aabb_xy":[[0.12781348336600504,-2.5701775620299037],[0.23584467592980504,-2.4421775562453893]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[0.6096961976292934,1.472047710953627,0.71338606911949],"aabb_xy":[[0.5597173891189775,1.4220477109479082],[0.6596750061396093,1.5220477109593458]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[-0.6851609376693436,-0.7952184141670071,0.71338606911949],"aabb_xy":[[-0.6932886258626568,-0.8041320225777149],[-0.6770332494760304,-0.7863048057562996]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6507843688106131,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1746.png","name":"1746"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1746.png","name":"1746"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2818.png","name":"2818"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8309.png","name":"8309"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/816.png","name":"816"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7901.png","name":"7901"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":626.7122684501823,"rotation_z_degrees":235.71730462701976,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001334304345941565,0.008577880018995045,0.01554353992920823]},{"name":"camera_2","offset_m":[0.004053890209520138,0.005517048113479493,-0.016409213352164068]},{"name":"camera_3","offset_m":[-0.018264069913916083,-0.010198741699444916,0.01921753439593479]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014584419141240113,0.0002529429325931025,-0.0016987508045421126],"end_effector_yaw_offset_degrees":0.15944613184389222},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-7.143741152541242e-05,-0.0004762495483434698,-0.0010151204630186035],"end_effector_yaw_offset_degrees":0.4624932709034628},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001745065245513752,1.4173534227428057e-05,0.000996349415658309],"end_effector_yaw_offset_degrees":0.9771961220161627}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00298516320593823,0.0031553768772094757],"position_m":[0.24198516320593821,-0.05304462312279053,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.135344460216906e-05,-0.0009629785099973887],"position_m":[0.20039135344460218,-0.38666297850999737,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00048689156274410103,0.0007471919734285968],"position_m":[0.2018868915627441,0.3202471919734286,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004191355615748879,0.004848390039265296],"position_m":[0.3369086443842511,0.1728483900392653,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"938b6fe3d1dc38064552247477c5f4a2e4dcfa1772ccefe4994c69e7287d47a5","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1746/tex_ceiling_textures_7901/tex_floor_textures_816/tex_table_textures_2818/tex_wall_textures_8309","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":5269090227402140649,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":5269090227402140649,"visual_seed":5269090227402140649,"scene_id":"lab_003","finished_at":"2026-09-03T22:19:58"} +{"episode_id":"ep_000081","started_at":"2026-09-03T22:20:01","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[0.619013768537745,-0.19047509903496662,0.71338606911949],"aabb_xy":[[0.6015137682926956,-0.20797488687453347],[0.6365137687827944,-0.17297531119539977]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[-0.40264616270702003,0.9946356302658099,0.71338606911949],"aabb_xy":[[-0.4401461630552478,0.9828442346847261],[-0.36514616235879227,1.0064270258468933]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.45570250417237945,-2.490108376659302,0.71338606911949],"aabb_xy":[[0.40570250315324424,-2.52657459239713],[0.5057025051915147,-2.4536421609214742]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.4402907942064154,-1.9157598741406074,0.71338606911949],"aabb_xy":[[-0.47708542733132164,-1.95266574923719],[-0.4034961610815091,-1.8788539990440254]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[-0.20127975388088437,1.7057141441153676,0.71338606911949],"aabb_xy":[[-0.21252480945150223,1.694472346391272],[-0.19003469831026656,1.7169559418394627]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.1483802727486101,1.6117667498790458,0.71338606911949],"aabb_xy":[[-0.15249622286068273,1.6076511948462],[-0.1442643226365374,1.615882304911891]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.5882915009707221,-1.8089707846197887,0.71338606911949],"aabb_xy":[[-0.6482915012221232,-1.8632521096562529],[-0.5282915007193209,-1.7546894595833236]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[-0.6075093143643461,1.0300814115658175,0.71338606911949],"aabb_xy":[[-0.6715093136585143,0.9660952711969633],[-0.5435093150701779,1.0940675519346716]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[-0.657938191484102,0.524624519816598,0.71338606911949],"aabb_xy":[[-0.6903998923660293,0.49449168770169516],[-0.6254764906021744,0.5547573519315003]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.3635059424763509,-2.409462482447835,0.71338606911949],"aabb_xy":[[-0.42850594063227,-2.435758726997747],[-0.29850594432043187,-2.383166237897923]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.25712850774301754,-0.19054970527599702,0.71338606911949],"aabb_xy":[[-0.32112850996342457,-0.2349227894012853],[-0.19312850552261052,-0.14617662115070873]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[0.3188615656579734,1.428080619375701,0.71338606911949],"aabb_xy":[[0.2832324097580136,1.392447952618848],[0.3544907215579331,1.463713286132554]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.2089730941888832,-1.8384101304929197,0.71338606911949],"aabb_xy":[[-0.21601340412242023,-1.9184101298925913],[-0.20193278425534625,-1.7584101310932485]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[-0.20298044595801468,-2.341960431595955,0.71338606911949],"aabb_xy":[[-0.2529804446039359,-2.3918799752554167],[-0.15298044731209345,-2.292040887936492]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.33420390211674,0.6557306139756287,0.71338606911949],"aabb_xy":[[0.2792039024949942,0.6007469211881559],[0.3892039017384859,0.7107143067631013]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.055937270392252825,-1.4716170710832603,0.71338606911949],"aabb_xy":[[-0.10591056439551327,-1.5216170716378075],[-0.005963976388992369,-1.4216170705287128]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.33048804687727373,-0.8534831030239116,0.71338606911949],"aabb_xy":[[0.28048804521577897,-0.9034815452796142],[0.3804880485387685,-0.8034846607682088]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.13340767168012335,-2.0099121560286477,0.71338606911949],"aabb_xy":[[0.1047583393197071,-2.038557715305723],[0.16205700404053955,-1.9812665967515715]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[-0.6548331580402723,-0.669293697886439,0.71338606911949],"aabb_xy":[[-0.6723331582996089,-0.6833852400752117],[-0.6373331577809357,-0.6552021556976665]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[0.5105274740588952,0.7621476276385928,0.71338606911949],"aabb_xy":[[0.4880310526250311,0.7396476278318453],[0.5330238954927593,0.7846476274453402]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[0.5469065235904449,-1.8577358120839476,0.71338606911949],"aabb_xy":[[0.4970238267127488,-1.9077358113302225],[0.5967892204681412,-1.807735812837673]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.16372257733894113,-0.8228051741961098,0.71338606911949],"aabb_xy":[[0.15215359659200456,-0.8478051743130416],[0.1752915580858777,-0.7978051740791782]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[-0.5049699159744321,1.5170235245085162,0.71338606911949],"aabb_xy":[[-0.5174372740841677,1.504558199875193],[-0.49250255786469643,1.52948884914184]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[-0.0507409272002628,0.7729094293958259,0.71338606911949],"aabb_xy":[[-0.11474092747424103,0.7228433291985379],[0.013259073073715426,0.8229755295931138]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[0.3813763917896593,1.75899244536448,0.71338606911949],"aabb_xy":[[0.3463763904381776,1.7386327094076592],[0.41637639314114105,1.779352181321301]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[-0.015785201943195215,1.17097539285793,0.71338606911949],"aabb_xy":[[-0.07978520232072883,1.1212301260071178],[0.0482147984343384,1.2207206597087423]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_26","position":[0.02293413306801262,-0.9851711054886603,0.71338606911949],"aabb_xy":[[-0.011362777949728006,-1.0194679916986014],[0.05723104408575323,-0.9508742192787187]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6514125858052131,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9525.png","name":"9525"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9525.png","name":"9525"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3477.png","name":"3477"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3901.png","name":"3901"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/688.png","name":"688"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5990.png","name":"5990"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":610.8889237462281,"rotation_z_degrees":293.7747108568591,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013057275902114758,0.0070228699442107315,-0.010083785393812269]},{"name":"camera_2","offset_m":[0.001197484254534812,0.018420642990741667,0.019615738260811016]},{"name":"camera_3","offset_m":[-0.0015893883328537348,0.006993790675808964,0.006006093534005656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008514682943437362,0.0003697883725152819,0.0014744398373458356],"end_effector_yaw_offset_degrees":-0.8528891226813817},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012961189504617334,0.001510727372431899,-0.0016806511809667529],"end_effector_yaw_offset_degrees":-0.9306414157211969},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018406221485431857,0.001235399881234201,-0.0009945505472966146],"end_effector_yaw_offset_degrees":0.5089440627543687}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003034321045285361,-0.00243602946565481],"position_m":[0.23596567895471462,-0.05863602946565481,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029190615674311764,0.0018276144936685557],"position_m":[0.2032190615674312,-0.3838723855063314,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008335583916117351,0.00086615307265885],"position_m":[0.20223355839161172,0.32036615307265887,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009878524513124562,-0.0032364263121071536],"position_m":[0.34011214754868757,0.16476357368789285,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ffeabab38505f7e9e1cd405e6992474a935ef1d60481e40083f206cf8a09b08e","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9525/tex_ceiling_textures_5990/tex_floor_textures_688/tex_table_textures_3477/tex_wall_textures_3901","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7838490866733526219,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7838490866733526219,"visual_seed":7838490866733526219,"scene_id":"lab_003","finished_at":"2026-09-03T22:22:52"} +{"episode_id":"ep_000082","started_at":"2026-09-03T22:22:55","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[-0.09121837518021436,0.5734562080309988,0.71338606911949],"aabb_xy":[[-0.15521837722994636,0.5333617249416909],[-0.027218373130482365,0.6135506911203068]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.5880892116729569,-0.8392521416733554,0.71338606911949],"aabb_xy":[[-0.6009611151738969,-0.9192521420871915],[-0.5752173081720167,-0.7592521412595192]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[-0.4509909066563385,-0.018463329539180062,0.71338606911949],"aabb_xy":[[-0.5059646286926713,-0.07346332910341324],[-0.3960171846200056,0.03653667002505312]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.21038448244042895,0.7401129772380091,0.71338606911949],"aabb_xy":[[0.19259097550551252,0.7223132316422113],[0.2281779893753454,0.7579127228338066]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[0.3330314794355367,-0.8145406313797581,0.71338606911949],"aabb_xy":[[0.3155314801574498,-0.831878731446104],[0.35053147871362356,-0.7972025313134121]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.3768931576368137,-1.0428522625702166,0.71338606911949],"aabb_xy":[[-0.43201836326640447,-1.1028522640115037],[-0.3217679520072229,-0.9828522611289295]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.10066076358725884,-1.5206946988930847,0.71338606911949],"aabb_xy":[[-0.1306283204970845,-1.5506946991909707],[-0.07069320667743317,-1.4906946985951992]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[-0.2861278442819066,1.6300778447047217,0.71338606911949],"aabb_xy":[[-0.30971296774580137,1.5650778424592902],[-0.26254272081801167,1.6950778469501537]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[0.40711314226040196,1.5121695892863332,0.71338606911949],"aabb_xy":[[0.3171131385834837,1.4507371827092286],[0.49711314593732003,1.573601995863437]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.5134106464123152,-0.201689680673252,0.71338606911949],"aabb_xy":[[0.448410645455188,-0.2536378926069575],[0.5784106473694424,-0.14974146873954639]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[0.06742701150345187,-1.1847254887962715,0.71338606911949],"aabb_xy":[[-0.012572988770155098,-1.257675036621988],[0.14742701177705886,-1.1117759409705545]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[-0.24753666293784765,-2.331499471636751,0.71338606911949],"aabb_xy":[[-0.2843312960627539,-2.3684053467333332],[-0.21074202981294138,-2.2945935965401687]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.2768711270190586,-1.8221518810573962,0.71338606911949],"aabb_xy":[[-0.31250028291901827,-1.857784547814249],[-0.24124197111909879,-1.786519214300543]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.5668652080995096,-1.324012125980082,0.71338606911949],"aabb_xy":[[-0.6568652046003812,-1.3699237683985401],[-0.47686521159863776,-1.2781004835616236]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[-0.0053222413022222526,1.1818041244739788,0.71338606911949],"aabb_xy":[[-0.02860408350035359,1.0968041231767507],[0.017959600895909086,1.2668041257712068]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.07409823727372011,-2.175039176075223,0.71338606911949],"aabb_xy":[[0.06324663102484451,-2.185898466802874],[0.08494984352259571,-2.1641798853475724]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[-0.1565475915578135,-0.41711846232051064,0.71338606911949],"aabb_xy":[[-0.19154758986850895,-0.4248334772440563],[-0.12154759324711806,-0.409403447396965]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.14696421400615944,-2.3300863825706717,0.71338606911949],"aabb_xy":[[-0.15139484336099962,-2.3355347543053546],[-0.14253358465131927,-2.3246380108359896]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.006420799863687154,1.566286050046489,0.71338606911949],"aabb_xy":[[-0.02892080037572775,1.5437941916810902],[0.016079200648353442,1.588777908411887]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[-0.24576697855956053,-2.0919343263987846,0.71338606911949],"aabb_xy":[[-0.25660745678607544,-2.1091206076894333],[-0.23492650033304566,-2.074748045108136]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[-0.18735324182265234,0.31899169753723644,0.71338606911949],"aabb_xy":[[-0.23733205033296823,0.2689916975315176],[-0.13737443331233645,0.3689916975429552]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[-0.38065637438457733,-1.7255036322255441,0.71338606911949],"aabb_xy":[[-0.4606563776485904,-1.7390636645344575],[-0.30065637112056415,-1.7119435999166308]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[0.6063205152224611,1.4530675514528544,0.71338606911949],"aabb_xy":[[0.5975184599134883,1.445256225297925],[0.6151225705314337,1.4608788776077832]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[-0.6008971121848385,0.20266358683035124,0.71338606911949],"aabb_xy":[[-0.6858971106022618,0.11778929136806626],[-0.5158971137674153,0.2875378822926362]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[0.39800806458584925,0.9588385453983843,0.71338606911949],"aabb_xy":[[0.36050806392127044,0.943151487398162],[0.43550806525042784,0.9745256033986064]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[0.6301805432021157,-2.3173986897316783,0.71338606911949],"aabb_xy":[[0.6126338482859969,-2.3548986912959293],[0.6477272381182347,-2.2798986881674272]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_26","position":[0.530126599020438,1.2771929960188282,0.71338606911949],"aabb_xy":[[0.5076265994967305,1.2546970485682072],[0.5526265985441453,1.2996889434694487]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6544249144717655,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7181.png","name":"7181"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7181.png","name":"7181"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2409.png","name":"2409"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5497.png","name":"5497"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8987.png","name":"8987"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9573.png","name":"9573"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":528.9838290653423,"rotation_z_degrees":292.3898106480343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013714779285825172,-0.002043328946017716,-0.019333967560920727]},{"name":"camera_2","offset_m":[-0.0015835467558690218,-0.015894104627151226,0.003492249952601778]},{"name":"camera_3","offset_m":[0.014031760493608384,0.011072541982283218,0.009662900274416228]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006952164063182505,0.0013012370468387302,0.0016374082868414268],"end_effector_yaw_offset_degrees":0.3834693830805005},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001459022301923895,-0.0019769421882150683,-0.001169264748013195],"end_effector_yaw_offset_degrees":-0.35747859047287234},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005150254868169376,-0.0016270802425322488,0.0016927717745917402],"end_effector_yaw_offset_degrees":0.22199976280992617}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028411953582006154,-0.0024812994766202],"position_m":[0.24184119535820062,-0.0586812994766202,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003000360359932488,-0.0031521097078312777],"position_m":[0.20330036035993249,-0.38885210970783124,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009220630880631851,-0.004435455572882909],"position_m":[0.2023220630880632,0.3150645444271171,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002023073449125179,0.00032504325866500403],"position_m":[0.33907692655087485,0.168325043258665,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b2d9955bc5cb1404b4f05552d802696fe96028ca7b6d93cc450b5e8f6242786d","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0082.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7181/tex_ceiling_textures_9573/tex_floor_textures_8987/tex_table_textures_2409/tex_wall_textures_5497","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":3855071175981952773,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":3855071175981952773,"visual_seed":3855071175981952773,"scene_id":"lab_003","finished_at":"2026-09-03T22:25:37"} +{"episode_id":"ep_000083","started_at":"2026-09-03T22:25:41","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.6992077357830258,1.2734447590554305,0.71338606911949],"aabb_xy":[[0.6813386280285703,1.2596118510782195],[0.7170768435374812,1.2872776670326416]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[-0.2317783081856571,-1.3468980177954244,0.71338606911949],"aabb_xy":[[-0.2812587293996159,-1.4108980157082762],[-0.1822978869716983,-1.2828980198825726]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[-0.07995737180111862,1.6186382911718105,0.71338606911949],"aabb_xy":[[-0.14995737519268057,1.5833225174683794],[-0.009957368409556631,1.653954064875241]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.004467507737733856,-1.1108193884016933,0.71338606911949],"aabb_xy":[[-0.010049179371862614,-1.1233193882194685],[0.0011141638963949039,-1.0983193885839175]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[0.47078423232690425,0.14676787313397854,0.71338606911949],"aabb_xy":[[0.42953542129698946,0.09176787362176107],[0.5120330433568189,0.20176787264619597]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.16333921878388813,-2.3326836094658208,0.71338606911949],"aabb_xy":[[0.1584399264773246,-2.3603605287683895],[0.1682385110904516,-2.305006690163252]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.5308000741014168,-0.07393305970780872,0.71338606911949],"aabb_xy":[[-0.5947957714965133,-0.1379330580085174],[-0.46680437670632013,-0.009933061407100041]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[0.3347320888631409,-1.0091982470843357,0.71338606911949],"aabb_xy":[[0.27073208956897266,-1.07318438745319],[0.3987320881573091,-0.9452121067154815]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[0.12392321926033789,-2.007545431567753,0.71338606911949],"aabb_xy":[[0.10634491707139106,-2.025119921141858],[0.14150152144928474,-1.989970941993648]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[-0.35500081834328795,-1.9726743775401983,0.71338606911949],"aabb_xy":[[-0.4350008153063271,-2.0497500191839717],[-0.2750008213802488,-1.8955987358964248]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[0.18610415987132545,-0.8569974035121568,0.71338606911949],"aabb_xy":[[0.17818087963257712,-0.8794974037501602],[0.19402744011007378,-0.8344974032741534]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.3660199234160886,-2.2313881628906174,0.71338606911949],"aabb_xy":[[0.34858920833708196,-2.248660277554468],[0.383450638495095,-2.214116048226766]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.04217335027249847,-1.932349149000137,0.71338606911949],"aabb_xy":[[-0.07920745970055817,-1.9667263563338464],[-0.005139240844438744,-1.8979719416664276]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[-0.34967146994909315,0.3119308874268141,0.71338606911949],"aabb_xy":[[-0.38821716277429424,0.2733851163706254],[-0.31112577712389217,0.35047665848300275]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.5172912022768852,-1.7159544122779014,0.71338606911949],"aabb_xy":[[-0.5672686191421387,-1.76595441376715],[-0.46731378541163154,-1.6659544107886528]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.2937118192646046,-1.6629821062374792,0.71338606911949],"aabb_xy":[[-0.3112118183989718,-1.672861733275067],[-0.27621182013023743,-1.6531024791998914]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[-0.5126280877149184,-0.9975920781437841,0.71338606911949],"aabb_xy":[[-0.5227097947934918,-1.0775920760358986],[-0.5025463806363448,-0.9175920802516693]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.3376153496397929,-1.1633051560576864,0.71338606911949],"aabb_xy":[[-0.3551153498848422,-1.180804943897253],[-0.32011534939474345,-1.1458053682181193]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[0.7161315350498259,-0.04271113657072778,0.71338606911949],"aabb_xy":[[0.708849218673162,-0.13271114018023675],[0.7234138514264893,0.04728886703878121]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.5835457590205017,-0.9194279184130407,0.71338606911949],"aabb_xy":[[-0.590789525066747,-0.9994279166166432],[-0.5763019929742563,-0.8394279202094385]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.10763451862134665,-0.6889472680534843,0.71338606911949],"aabb_xy":[[-0.12584034228259436,-0.699972668635476],[-0.089428694960099,-0.6779218674714927]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.5855685581455534,1.494732407149574,0.71338606911949],"aabb_xy":[[-0.6002119636995863,1.4800736874927898],[-0.5709251525915203,1.5093911268063582]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[0.3888246697503863,-0.09898839951313132,0.71338606911949],"aabb_xy":[[0.3800226144414136,-0.10679972566806038],[0.39762672505935903,-0.09117707335820223]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_23","position":[-0.08738750426813935,-1.6679024803609068,0.71338606911949],"aabb_xy":[[-0.13255882211630834,-1.7319024775054457],[-0.04221618641997039,-1.6039024832163689]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[0.1507375977701072,-1.0689889001545323,0.71338606911949],"aabb_xy":[[0.08673759455146937,-1.1157120120535404],[0.2147376009887451,-1.0222657882555237]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[0.539460251293769,-0.9548264896624763,0.71338606911949],"aabb_xy":[[0.4844680006582581,-1.0098264914057893],[0.59445250192928,-0.8998264879191638]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_26","position":[0.01797730262785835,-1.3108478657443674,0.71338606911949],"aabb_xy":[[0.012644787973245364,-1.316172193989603],[0.023309817282471335,-1.3055235374991319]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.199068452410122,0.2954614751073388,0.71338606911949],"aabb_xy":[[-0.23406845072081747,0.28774646018379313],[-0.16406845409942658,0.3031764900308844]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_28","position":[-0.517713968133005,-0.5810688931363606,0.71338606911949],"aabb_xy":[[-0.5827139666900777,-0.6108214265502432],[-0.452713969575932,-0.5513163597224779]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[0.24983915736552575,1.4429835562581013,0.71338606911949],"aabb_xy":[[0.22655731516739444,1.3579835549608732],[0.2731209995636571,1.5279835575553293]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_30","position":[-0.5005854225206714,0.9308427713098801,0.71338606911949],"aabb_xy":[[-0.5555591445570044,0.875842771745647],[-0.4456117004843386,0.9858427708741133]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_31","position":[0.30515189169546164,-1.9955696170688868,0.71338606911949],"aabb_xy":[[0.2251518942918682,-2.075562188267069],[0.385151889099055,-1.9155770458707038]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_32","position":[-0.6145226908733117,-0.2746674673916387,0.71338606911949],"aabb_xy":[[-0.6258844255265977,-0.28603593379792674],[-0.6031609562200254,-0.2632990009853506]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_33","position":[0.19947112694230795,0.48613622924174926,0.71338606911949],"aabb_xy":[[0.18179549635370962,0.46845601296234646],[0.2171467575309063,0.5038164455211519]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_34","position":[0.3904381577706353,-2.4190006970378866,0.71338606911949],"aabb_xy":[[0.3454381563044065,-2.4640005538993677],[0.43543815923686424,-2.3740008401764063]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6483457890350249,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1431.png","name":"1431"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1431.png","name":"1431"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4793.png","name":"4793"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2257.png","name":"2257"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3499.png","name":"3499"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5381.png","name":"5381"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":522.7946610101751,"rotation_z_degrees":174.70774453964162,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004953611671207567,-0.014052124359149789,-0.015953664815186057]},{"name":"camera_2","offset_m":[0.007277729598043365,0.01664268485272122,0.018371994163553274]},{"name":"camera_3","offset_m":[-0.015918761904817617,-0.00716393491349589,-0.008290864917071912]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00038961377308773405,-0.00010151220408929299,-0.0013204817558972598],"end_effector_yaw_offset_degrees":-0.7501097337030735},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017589823912328344,-0.001100946194944366,-0.0008338072171875867],"end_effector_yaw_offset_degrees":0.9671825125151039},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009089209962448237,0.00027459131680473113,0.0019560297285208467],"end_effector_yaw_offset_degrees":0.3656536987883878}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004841169939690539,0.002219229040215886],"position_m":[0.24384116993969052,-0.05398077095978411,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00030965860752668606,0.0026073929272604768],"position_m":[0.19999034139247332,-0.3830926070727395,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0045901736309832825,0.0033614473627283014],"position_m":[0.19680982636901673,0.3228614473627283,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003904889455235097,-0.001263436461658246],"position_m":[0.3450048894552351,0.16673656353834176,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"96aca3a42522ccabfef7b4d57cf1f48cdf9de01fd3c20ca5c6265833c6a0ed58","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0083.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1431/tex_ceiling_textures_5381/tex_floor_textures_3499/tex_table_textures_4793/tex_wall_textures_2257","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4800713585924410525,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4800713585924410525,"visual_seed":4800713585924410525,"scene_id":"lab_003","finished_at":"2026-09-03T22:28:21"} +{"episode_id":"ep_000084","started_at":"2026-09-03T22:28:23","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.36117362574183587,-0.8275084077915078,0.71338606911949],"aabb_xy":[[0.31117362445799585,-0.8774872621821298],[0.4111736270256758,-0.7775295534008856]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[-0.5976499181885484,1.1362344036126624,0.71338606911949],"aabb_xy":[[-0.6201499187005889,1.1137425452472638],[-0.5751499176765077,1.1587262619780605]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[0.595724087190507,-1.2389341881714262,0.71338606911949],"aabb_xy":[[0.5912934578356668,-1.244382559906109],[0.6001547165453471,-1.2334858164367435]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.3698998603907584,-1.3459537368665715,0.71338606911949],"aabb_xy":[[0.36263861282035104,-1.358740747130081],[0.37716110796116586,-1.333166726603062]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.14578698243015142,1.0338413771305093,0.71338606911949],"aabb_xy":[[-0.20978697971580004,0.9923346581776653],[-0.08178698514450275,1.0753480960833532]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[-0.1452639538225683,-1.4624986012782264,0.71338606911949],"aabb_xy":[[-0.18026395295252395,-1.4682438223538905],[-0.11026395469261263,-1.4567533802025623]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.39602709633390315,-1.6312598195567052,0.71338606911949],"aabb_xy":[[-0.4860271000108213,-1.692692226133809],[-0.30602709265698497,-1.5698274129796004]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[0.4425944573996592,0.9819392990016,0.71338606911949],"aabb_xy":[[0.36259446024008385,0.9703916980437829],[0.5225944545592345,0.993486899959417]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[0.3831416110870023,-2.0294992345402854,0.71338606911949],"aabb_xy":[[0.35814161115448445,-2.0363819027612085],[0.40814161101952023,-2.0226165663193623]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[-0.572047760460984,0.3174947688108096,0.71338606911949],"aabb_xy":[[-0.6220477600373188,0.2675141898587037],[-0.5220477608846493,0.36747534776291557]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.4845028009152701,1.0952244317423712,0.71338606911949],"aabb_xy":[[0.4432539898853553,1.0402244322301535],[0.5257516119451847,1.1502244312545884]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[0.3237592173088417,1.3185500242881987,0.71338606911949],"aabb_xy":[[0.30621252239272273,1.2810500227239476],[0.3413059122249606,1.3560500258524502]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[-0.21459496749804907,-0.8211436511964811,0.71338606911949],"aabb_xy":[[-0.2795949684551763,-0.8730918631301867],[-0.14959496654092186,-0.7691954392627756]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[-0.14961421982110046,0.8831589434740765,0.71338606911949],"aabb_xy":[[-0.1576077096163825,0.875160811533601],[-0.14162073002581846,0.8911570754145522]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[-0.3869229465579828,-0.9181504191651249,0.71338606911949],"aabb_xy":[[-0.43692294750851557,-0.949699566168646],[-0.33692294560744995,-0.8866012721616032]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[-0.3990115615575873,0.47327310076269136,0.71338606911949],"aabb_xy":[[-0.424232398417427,0.44804934990980455],[-0.37379072469774766,0.49849685161557805]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.6007456886998841,-2.334751534359802,0.71338606911949],"aabb_xy":[[0.5837355914098334,-2.3508860228580755],[0.6177557859899347,-2.3186170458615276]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[-0.06387550004718101,-1.0630767733903739,0.71338606911949],"aabb_xy":[[-0.07363148955635489,-1.0728393074496083],[-0.05411951053800711,-1.0533142393311394]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.6449149936859099,-1.3053115057301297,0.71338606911949],"aabb_xy":[[-0.6947976905636062,-1.3553115049764044],[-0.5950322968082138,-1.255311506483855]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.4583259545914695,-0.6867775004210956,0.71338606911949],"aabb_xy":[[0.36832595517309863,-0.7201529972652853],[0.5483259540098404,-0.6534020035769058]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.39232323849101736,-0.6144704971859221,0.71338606911949],"aabb_xy":[[-0.403892219237954,-0.6394704973028538],[-0.38075425774408084,-0.5894704970689904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6496201291756225,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4216.png","name":"4216"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4216.png","name":"4216"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/439.png","name":"439"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6697.png","name":"6697"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2065.png","name":"2065"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4698.png","name":"4698"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":564.4785089200694,"rotation_z_degrees":91.97256625873351,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018568173775256634,-0.0041777319784343965,-0.009915286865262418]},{"name":"camera_2","offset_m":[-0.01809405883589284,0.01071166243486097,-0.01366539181386845]},{"name":"camera_3","offset_m":[-0.014598232335321027,-0.00441686031909788,3.635036804406841e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019242705795169566,0.0009077010270915988,-0.00037323411134426894],"end_effector_yaw_offset_degrees":-0.2540929084921104},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014329733864547577,-0.0007836788467481873,-0.0007358369663279553],"end_effector_yaw_offset_degrees":0.11431895906168732},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013115139536376418,0.0016302618897677808,-0.0017331310734717475],"end_effector_yaw_offset_degrees":0.47053647882185623}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011546698050663622,0.003912714923164026],"position_m":[0.24015466980506636,-0.05228728507683597,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002109457971835401,-0.001977020405632545],"position_m":[0.1981905420281646,-0.3876770204056325,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003114606575182032,-0.002028088363247271],"position_m":[0.20451460657518203,0.31747191163675276,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00028471148533295784,-0.0004016789259524787],"position_m":[0.34138471148533295,0.16759832107404754,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"da1615b4aeed2a28cda6ef2c59190d31abef61cb5f19c2ce1395265addee5355","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0084.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4216/tex_ceiling_textures_4698/tex_floor_textures_2065/tex_table_textures_439/tex_wall_textures_6697","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":9081166510903181366,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":9081166510903181366,"visual_seed":9081166510903181366,"scene_id":"lab_003","finished_at":"2026-09-03T22:30:58"} +{"episode_id":"ep_000085","started_at":"2026-09-03T22:31:01","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.5425877270157227,-0.15185458645095062,0.71338606911949],"aabb_xy":[[-0.5507154152090359,-0.16076819486165828],[-0.5344600388224094,-0.14294097804024297]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.5148560405219622,1.1066414726854354,0.71338606911949],"aabb_xy":[[0.5084422268787772,1.1002316524377669],[0.521269854165147,1.1130512929331036]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.3732400628931496,1.1060050086374846,0.71338606911949],"aabb_xy":[[0.3092400612151522,1.0574876171581702],[0.4372400645711469,1.1545224001167986]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.26001294901350036,1.5598296491397474,0.71338606911949],"aabb_xy":[[0.24844396826656379,1.534829649022816],[0.27158192976043694,1.5848296492566794]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[-0.5703584569072918,-1.012109459747286,0.71338606911949],"aabb_xy":[[-0.5855306261889252,-1.027278316675489],[-0.5551862876256585,-0.9969406028190824]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.14200580177822475,-1.9250923236978776,0.71338606911949],"aabb_xy":[[-0.14614165811092494,-1.9625923231422344],[-0.13786994544552456,-1.8875923242535204]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.07960455560148438,-2.2992733335652686,0.71338606911949],"aabb_xy":[[-0.10957211251131006,-2.3292733338631546],[-0.04963699869165873,-2.2692733332673827]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.39076432505369496,1.046063283507248,0.71338606911949],"aabb_xy":[[-0.42420450024971446,1.0126196576763178],[-0.35732414985767524,1.079506909338178]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.4567616344104854,-1.9999902591086425,0.71338606911949],"aabb_xy":[[-0.49135271726453056,-2.064990259393673],[-0.4221705515564401,-1.9349902588236112]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[-0.13373284528086304,-1.1618599178145137,0.71338606911949],"aabb_xy":[[-0.14620020339059867,-1.1743252424478372],[-0.12126548717112737,-1.1493945931811902]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[0.43249131485945713,-2.1899937314603055,0.71338606911949],"aabb_xy":[[0.4254510049259202,-2.269993730859977],[0.4395316247929942,-2.109993732060634]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.08234332424196689,1.6245914954526168,0.71338606911949],"aabb_xy":[[-0.11734332337192255,1.6188462743769525],[-0.047343325112011225,1.6303367165282807]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[-0.17209095038911437,1.2839960214326487,0.71338606911949],"aabb_xy":[[-0.222188414370188,1.2199960209228369],[-0.12199348640804075,1.3479960219424605]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.6133401361809292,-1.5350592486814496,0.71338606911949],"aabb_xy":[[-0.6773401382306612,-1.5751537317707576],[-0.5493401341311972,-1.4949647655921416]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[0.041411681955752955,-1.0846154212448842,0.71338606911949],"aabb_xy":[[0.03225180301187636,-1.0911466392884213],[0.05057156089962955,-1.0780842032013471]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.24436031517047996,-0.6735609949119954,0.71338606911949],"aabb_xy":[[0.16436031815623198,-0.6936955465854066],[0.32436031218472794,-0.653426443238584]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[0.3501217342608296,-2.484258019278434,0.71338606911949],"aabb_xy":[[0.29512173463908375,-2.5392417120659068],[0.40512173388257544,-2.4292743264909613]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.11600638878222158,-2.5111776126003185,0.71338606911949],"aabb_xy":[[-0.12422093389790555,-2.5198542028979594],[-0.10779184366653759,-2.5025010223026767]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[0.5937851891461752,0.17340517725726112,0.71338606911949],"aabb_xy":[[0.5712851891360269,0.15930895761765784],[0.6162851891563235,0.1875013968968644]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[-0.4342381067554923,1.4393646713408317,0.71338606911949],"aabb_xy":[[-0.4555161148989645,1.3743646690147588],[-0.41296009861202,1.504364673666905]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.23524517823027585,-2.183099340417036,0.71338606911949],"aabb_xy":[[-0.31524517681759523,-2.2624149423551967],[-0.15524517964295642,-2.103783738478875]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[0.2547009295228281,-1.741501612033203,0.71338606911949],"aabb_xy":[[0.2466575695968729,-1.8265016131285692],[0.26274428944878325,-1.6565016109378363]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[0.010080356465804186,1.2274982600797988,0.71338606911949],"aabb_xy":[[-0.011809391123136613,1.1374982627905497],[0.03197010405474498,1.317498257369048]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[0.1755335536411523,-1.6569185723668844,0.71338606911949],"aabb_xy":[[0.17019597797514774,-1.681918573296024],[0.18087112930715687,-1.6319185714377444]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.49874281051322455,-2.16922325003608,0.71338606911949],"aabb_xy":[[-0.5487428121747193,-2.219221692291782],[-0.4487428088517298,-2.1192248077803764]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6432439968179029,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7855.png","name":"7855"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7855.png","name":"7855"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9487.png","name":"9487"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1974.png","name":"1974"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1550.png","name":"1550"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8667.png","name":"8667"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":680.6265693234778,"rotation_z_degrees":36.965799595780226,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012057921239259906,-0.014214811824538893,0.018294083824152558]},{"name":"camera_2","offset_m":[-0.014259476138125046,0.01124199312428846,0.010103737845111632]},{"name":"camera_3","offset_m":[-0.0030671137023649576,0.0036973026540551984,0.01549469923430968]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006300839899593029,-0.0008751739927792012,0.0019540146093399687],"end_effector_yaw_offset_degrees":-0.41498448354245276},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018585293316265386,0.00013661997065244963,-0.0019529043935781899],"end_effector_yaw_offset_degrees":-0.8420058278465652},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010971662230672954,-0.0018398769681573519,-0.0005064975509932804],"end_effector_yaw_offset_degrees":-0.4685416846202324}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004502964507807114,-0.002788455082202871],"position_m":[0.23449703549219286,-0.05898845508220287,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049365911263470055,0.004925225137404266],"position_m":[0.195363408873653,-0.3807747748625957,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001634490349631994,0.0039489180768371495],"position_m":[0.203034490349632,0.3234489180768372,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004110111621511217,-0.0013866712682582306],"position_m":[0.3369898883784888,0.16661332873174178,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4773145d2eeb96f6990b7d9bc1a6eac01f1b8fa8bc0c9e3f0cb6f92c71e70494","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7855/tex_ceiling_textures_8667/tex_floor_textures_1550/tex_table_textures_9487/tex_wall_textures_1974","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4571754498430482362,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4571754498430482362,"visual_seed":4571754498430482362,"scene_id":"lab_003","finished_at":"2026-09-03T22:33:37"} +{"episode_id":"ep_000086","started_at":"2026-09-03T22:33:41","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[0.05009152397832095,0.6132987109585017,0.71338606911949],"aabb_xy":[[0.02557789988131509,0.5890341176564653],[0.07460514807532681,0.6375633042605382]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.6051354014915984,-2.3996994537364382,0.71338606911949],"aabb_xy":[[0.5899725285146613,-2.414864911031557],[0.6202982744685355,-2.3845339964413195]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[-0.4967447916262131,0.8454246683926256,0.71338606911949],"aabb_xy":[[-0.5317447908190313,0.834457622394963],[-0.4617447924333947,0.8563917143902883]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.5444785535459031,-0.581440840089746,0.71338606911949],"aabb_xy":[[-0.5994785531676491,-0.6364245328772187],[-0.4894785539241574,-0.5264571473022732]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[-0.11614466498397824,-1.8091462966170955,0.71338606911949],"aabb_xy":[[-0.1360357048643185,-1.8218021079017923],[-0.09625362510363802,-1.7964904853323986]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[0.12678620813330232,1.323624066193816,0.71338606911949],"aabb_xy":[[0.07898004051953365,1.258624063486757],[0.17459237574707095,1.3886240689008749]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.558954311063985,0.6425637315311956,0.71338606911949],"aabb_xy":[[0.4752320855639025,0.5525637279964996],[0.6426765365640674,0.7325637350658915]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.6295962563356201,-0.27196270646924336,0.71338606911949],"aabb_xy":[[0.5795962546741252,-0.321961148724946],[0.6795962579971148,-0.22196426421354062]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.24135184687679673,-1.6725643594505533,0.71338606911949],"aabb_xy":[[-0.24897611496697503,-1.6801975829870972],[-0.23372757878661854,-1.6649311359140098]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.34556078833323434,1.2036006885433297,0.71338606911949],"aabb_xy":[[-0.37595889943237787,1.17319378654166],[-0.3151626772340907,1.234007590544999]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[0.6074466344857017,-1.748036103157073,0.71338606911949],"aabb_xy":[[0.5524534231485649,-1.8030361034958668],[0.6624398458228384,-1.6930361028182797]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[-0.2380404375457955,-1.4009663838128237,0.71338606911949],"aabb_xy":[[-0.24288403230702546,-1.4058180362918078],[-0.2331968427845655,-1.3961147313338396]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[-0.06839521776691537,-1.2299921483006293,0.71338606911949],"aabb_xy":[[-0.14839521992967786,-1.309947331926773],[0.011604784395847126,-1.1500369646744857]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[0.39773267902162,0.46120256582339136,0.71338606911949],"aabb_xy":[[0.3725118421617803,0.4359788149705046],[0.42295351588145963,0.4864263166762781]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[0.6035590162928326,-1.08309193696126,0.71338606911949],"aabb_xy":[[0.5385590151868894,-1.1080573100293882],[0.668559017398776,-1.0581265638931316]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.27104135597295886,-0.7411943213602108,0.71338606911949],"aabb_xy":[[0.23354135547560062,-0.7451630049083291],[0.3085413564703171,-0.7372256378120923]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.13881679505893496,-2.0427156795188153,0.71338606911949],"aabb_xy":[[0.11632037362507086,-2.0652156793255627],[0.16131321649279906,-2.020215679712068]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.5924506078131269,1.2756827640063402,0.71338606911949],"aabb_xy":[[-0.6540413670371197,1.2116827658972935],[-0.530859848589134,1.3396827621153873]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.24959880588990707,-0.29012916498011077,0.71338606911949],"aabb_xy":[[-0.2734350235305122,-0.38012916578859735],[-0.22576258824930207,-0.20012916417162435]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.5786091784728118,-0.09569386398154522,0.71338606911949],"aabb_xy":[[-0.6286022905820038,-0.14569386465574086],[-0.52861606636362,-0.045693863307349585]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[-0.33576476693296764,1.5853264694720681,0.71338606911949],"aabb_xy":[[-0.38586223091404126,1.5213264689622563],[-0.285667302951894,1.64932646998188]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.5282724152288836,-0.5615692065158946,0.71338606911949],"aabb_xy":[[0.4385853389207681,-0.6515692067703451],[0.617959491536999,-0.47156920626144405]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[0.0137970457733666,-1.578905520061896,0.71338606911949],"aabb_xy":[[-0.04132815985622417,-1.6389055215031831],[0.06892225140295737,-1.5189055186206089]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[0.614647372898167,-1.9312045579417165,0.71338606911949],"aabb_xy":[[0.5446473707667374,-1.9539665235674117],[0.6846473750295965,-1.9084425923160204]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_24","position":[0.4773786579489905,0.21742739826827417,0.71338606911949],"aabb_xy":[[0.3973786609859513,0.1403517566245007],[0.5573786549120296,0.2945030399120476]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[-0.3345747078655548,-1.3318225647779052,0.71338606911949],"aabb_xy":[[-0.3459364425188409,-1.343191031184193],[-0.3232129732122686,-1.3204540983716169]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[0.2625720335950179,1.3375285331479736,0.71338606911949],"aabb_xy":[[0.2470162641847527,1.3219780999035666],[0.2781278030052832,1.353078966392381]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_27","position":[0.25481712762410147,-1.3330361429598239,0.71338606911949],"aabb_xy":[[0.24777567667335387,-1.340062894697618],[0.26185857857484907,-1.3260093912220292]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[-0.42258085033638804,-0.263151105543431,0.71338606911949],"aabb_xy":[[-0.48658085061036627,-0.313217205740719],[-0.3585808500624098,-0.21308500534614305]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_29","position":[0.29590104373125603,-1.1710067946566944,0.71338606911949],"aabb_xy":[[0.27340104321921543,-1.1934986530220928],[0.3184010442432966,-1.148514936291296]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_30","position":[0.07020932002951308,-2.230387679804215,0.71338606911949],"aabb_xy":[[0.05353218403641756,-2.2470876037781453],[0.08688645602260857,-2.2136877558302848]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6489937568687396,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1732.png","name":"1732"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1732.png","name":"1732"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6365.png","name":"6365"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9181.png","name":"9181"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5299.png","name":"5299"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4157.png","name":"4157"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":581.9185101029419,"rotation_z_degrees":147.32815667339605,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017339679734572414,-0.007295943165796612,0.007749535678624429]},{"name":"camera_2","offset_m":[0.01092031507889574,-0.010302306588640606,-0.007017460706643108]},{"name":"camera_3","offset_m":[0.014105122669413727,-0.012341181599947557,0.017126622173697214]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008404858763827422,-0.00018189048743787683,-0.0006154968586236395],"end_effector_yaw_offset_degrees":-0.9537259355262848},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[8.002116240747419e-05,-0.0014226838530867023,-0.0011043259963865785],"end_effector_yaw_offset_degrees":-0.2499585948253511},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009479987659285994,0.00105224941623959,-0.0011045841021669256],"end_effector_yaw_offset_degrees":0.5343531816795379}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002440146442806027,-0.003534776870588491],"position_m":[0.241440146442806,-0.059734776870588494,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016930492500058158,-0.00036449968731239093],"position_m":[0.19860695074999418,-0.3860644996873124,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00316750782926471,0.004629705102262159],"position_m":[0.2045675078292647,0.3241297051022622,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004975175131101101,-0.0018676412163662849],"position_m":[0.34607517513110114,0.16613235878363372,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4e998f5ccb37c2350ef498b27a6d97f9de121590d4a559faba470acd1b761314","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1732/tex_ceiling_textures_4157/tex_floor_textures_5299/tex_table_textures_6365/tex_wall_textures_9181","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":1716215066605376076,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":1716215066605376076,"visual_seed":1716215066605376076,"scene_id":"lab_003","finished_at":"2026-09-03T22:36:23"} +{"episode_id":"ep_000087","started_at":"2026-09-03T22:36:25","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.15488367157084193,-0.10380293471558977,0.71338606911949],"aabb_xy":[[-0.16833019820488523,-0.11727278636868099],[-0.14143714493679857,-0.09033308306249854]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[0.5265738755181846,0.3394477281963906,0.71338606911949],"aabb_xy":[[0.48802818269298354,0.30090195714020196],[0.5651195683433856,0.3779934992525793]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.23451366853854821,-0.07485635486483666,0.71338606911949],"aabb_xy":[[-0.24393114310841094,-0.0842725320025557],[-0.22509619396868544,-0.06544017772711765]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[-0.40413635059999997,-1.020629711840608,0.71338606911949],"aabb_xy":[[-0.4741363539915619,-1.0559454855440387],[-0.33413634720843793,-0.985313938137177]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.6512544722083253,-0.6623378472985326,0.71338606911949],"aabb_xy":[[0.6404139939818104,-0.6795241285891813],[0.6620949504348402,-0.6451515660078837]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[0.3099111653831441,-0.805143846291428,0.71338606911949],"aabb_xy":[[0.297978431021316,-0.8175259990992874],[0.32184389974497213,-0.7927616934835686]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.18481946605698774,0.9854236699471404,0.71338606911949],"aabb_xy":[[0.1503571186588459,0.9509297875493177],[0.2192818134551295,1.019917552344963]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[0.6611017695055759,-2.5572179851665373,0.71338606911949],"aabb_xy":[[0.6519418905616993,-2.5637492032100737],[0.6702616484494525,-2.550686767123]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[0.4830286114409337,0.21471815446016418,0.71338606911949],"aabb_xy":[[0.43802860997470494,0.16971829759868348],[0.5280286129071626,0.25971801132164485]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.3892619883341817,-1.5300873141616742,0.71338606911949],"aabb_xy":[[0.33944520886934687,-1.5800873126459773],[0.4390787677990164,-1.4800873156773706]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.27945848839814313,-1.2701797250111668,0.71338606911949],"aabb_xy":[[-0.3594584916559861,-1.3501762328031506],[-0.19945848514030018,-1.1901832172191826]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.2727942932307013,-2.1801105116162436,0.71338606911949],"aabb_xy":[[-0.276910243342774,-2.1842260666490887],[-0.26867834311862865,-2.1759949565833976]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[-0.4386797294422821,-1.497398444518306,0.71338606911949],"aabb_xy":[[-0.46119342126573926,-1.5673984451193133],[-0.41616603761882487,-1.4273984439172982]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[0.22159629811572013,-1.0578776412133901,0.71338606911949],"aabb_xy":[[0.18029175505198414,-1.1218776407815074],[0.2629008411794561,-0.9938776416452733]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[-0.51020865403586,-0.6592861301802337,0.71338606911949],"aabb_xy":[[-0.5742086533300282,-0.723272270549088],[-0.4462086547416918,-0.5952999898113797]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.4513816571319371,0.6638842288585032,0.71338606911949],"aabb_xy":[[0.44053005088306146,0.6530249381308522],[0.46223326338081266,0.6747435195861542]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[-0.2989202213314901,0.5908230124447615,0.71338606911949],"aabb_xy":[[-0.31409239061312344,0.5756541555165583],[-0.28374805204985676,0.605991869372965]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.08239386922504466,-2.0554765521405347,0.71338606911949],"aabb_xy":[[-0.13738611986055563,-2.1104765538838475],[-0.027401618589533723,-2.000476550397222]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.26267953795306076,0.7254364195574206,0.71338606911949],"aabb_xy":[[-0.3526795416299789,0.6640040129803161],[-0.17267953427614255,0.7868688261345247]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.43805293383601684,-0.21654152211410294,0.71338606911949],"aabb_xy":[[0.39196784258128536,-0.28054151936665805],[0.4841380250907483,-0.15254152486154782]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[-0.18022520251787555,1.5065723360350156,0.71338606911949],"aabb_xy":[[-0.20239772949452633,1.4843966688788925],[-0.15805267554122468,1.5287480031911385]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[0.47634113965412506,-1.9981110627572751,0.71338606911949],"aabb_xy":[[0.4726378783249861,-2.0018130810659924],[0.4800444009832639,-1.9944090444485572]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[0.2567709450235234,1.6501321424640376,0.71338606911949],"aabb_xy":[[0.23922425010740445,1.6126321408997863],[0.2743176399396423,1.6876321440282889]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[-0.5001795527555368,0.6339807807036775,0.71338606911949],"aabb_xy":[[-0.5839017782556193,0.5439807771689814],[-0.41645732725545437,0.7239807842383733]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[0.5147517704064066,-0.7039621666310807,0.71338606911949],"aabb_xy":[[0.4934737622629344,-0.7689621689571537],[0.5360297785498789,-0.6389621643050076]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.18892554775478965,-2.2221805500129017,0.71338606911949],"aabb_xy":[[-0.20155233504198597,-2.2317266237144744],[-0.17629876046759327,-2.212634476311328]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[-0.02362498619166975,0.7093490988063293,0.71338606911949],"aabb_xy":[[-0.04612498600557213,0.7048744824358486],[-0.0011249863777673674,0.7138237151768101]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[-0.16624451536776086,-0.9825450138869254,0.71338606911949],"aabb_xy":[[-0.17435817004113796,-0.9906508303409545],[-0.15813086069438376,-0.9744391974328963]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_28","position":[0.05432528013917348,1.396023137732462,0.71338606911949],"aabb_xy":[[0.05088460389911631,1.3921617047580976],[0.057765956379230654,1.3998845707068266]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_29","position":[0.33512033865807056,-1.2021866080673274,0.71338606911949],"aabb_xy":[[0.32709406802744456,-1.21093810304468],[0.34314660928869656,-1.1934351130899747]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_30","position":[-0.4667294988344358,1.2873744665116869,0.71338606911949],"aabb_xy":[[-0.47648548834360965,1.2776119324524522],[-0.4569735093252619,1.297137000570921]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_31","position":[-0.27275373539740677,1.7157806107113989,0.71338606911949],"aabb_xy":[[-0.3102537369130385,1.7045538376952536],[-0.23525373388177506,1.7270073837275437]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6520280305111545,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2033.png","name":"2033"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2033.png","name":"2033"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/287.png","name":"287"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7961.png","name":"7961"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2767.png","name":"2767"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":533.680843441569,"rotation_z_degrees":82.72209081091722,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0004015967073622388,-0.0032475955378330618,-0.005937939950338599]},{"name":"camera_2","offset_m":[0.011828339328586745,-0.016888328310134912,0.0003354613414178892]},{"name":"camera_3","offset_m":[-0.01220138398674404,0.018358517473059773,-0.004259470245074667]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019852202893275717,-0.0013183384164873425,0.001304926795877107],"end_effector_yaw_offset_degrees":-0.8277194500778235},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002416485577852517,-0.0016075826114897033,-6.819301027402688e-05],"end_effector_yaw_offset_degrees":0.049203019805208026},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016885540382581081,-0.0017736265947104956,-0.001962462410295402],"end_effector_yaw_offset_degrees":-0.5635590654839975}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003774371427289761,-0.0017773644355812],"position_m":[0.23522562857271023,-0.0579773644355812,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012186975936675348,-0.004810240770914778],"position_m":[0.19908130240633248,-0.3905102407709148,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004484011887708399,-0.00010155170011569292],"position_m":[0.1969159881122916,0.3193984482998843,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008933676393794851,0.0020390850511699957],"position_m":[0.34020663236062054,0.17003908505117002,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dee4003426491fd2c556260c07b6b17d85bf5881670769e29116b1b95ac5fc0c","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2033/tex_ceiling_textures_2767/tex_floor_textures_7157/tex_table_textures_287/tex_wall_textures_7961","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":2900222572076689784,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":2900222572076689784,"visual_seed":2900222572076689784,"scene_id":"lab_003","finished_at":"2026-09-03T22:39:07"} +{"episode_id":"ep_000088","started_at":"2026-09-03T22:39:11","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[-0.4869367111621707,-0.5247199189152996,0.71338606911949],"aabb_xy":[[-0.5072210138855695,-0.5450025440580084],[-0.4666524084387719,-0.5044372937725907]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[0.5928387843352882,-1.5210370882840905,0.71338606911949],"aabb_xy":[[0.5288387870329418,-1.565403515251947],[0.6568387816376346,-1.4766706613162335]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.6764086525471463,0.8352493680731081,0.71338606911949],"aabb_xy":[[-0.6939086518252332,0.8179112680067622],[-0.6589086532690595,0.8525874681394541]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[0.45248410946318174,1.7118145619002596,0.71338606911949],"aabb_xy":[[0.4444906196678997,1.7038164299597844],[0.46047759925846377,1.7198126938407357]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.30988820377166204,0.32671737854207494,0.71338606911949],"aabb_xy":[[-0.32045568342976105,0.3161723484290664],[-0.29932072411356303,0.3372624086550835]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[0.6492245664018814,0.5577826707158993,0.71338606911949],"aabb_xy":[[0.642912466865543,0.5520157314626805],[0.6555366659382198,0.5635496099691181]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.11649551455989315,1.0462794426566395,0.71338606911949],"aabb_xy":[[-0.12836759757139427,0.9612794429629892],[-0.10462343154839204,1.1312794423502899]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[-0.34754190495528453,0.41976422147517845,0.71338606911949],"aabb_xy":[[-0.3521770201075179,0.41589688639802974],[-0.34290678980305106,0.42363155655232704]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.17866522321071387,-2.318286100168762,0.71338606911949],"aabb_xy":[[0.08897814690259842,-2.4082861004232123],[0.26835229951882933,-2.2282860999143113]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[-0.4880462523582099,-0.9174840831696325,0.71338606911949],"aabb_xy":[[-0.5530462509152827,-0.9472366165835151],[-0.4230462538011371,-0.8877315497557499]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[0.18097994796857353,-0.9406601540139556,0.71338606911949],"aabb_xy":[[0.14347994717657808,-0.9470279949721456],[0.21847994876056898,-0.9342923130557654]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[0.5186630709702875,-0.29940288102398194,0.71338606911949],"aabb_xy":[[0.4827495665452977,-0.3353163892407365],[0.554576575395277,-0.2634893728072273]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[-0.2662854386656173,-2.1628286936750936,0.71338606911949],"aabb_xy":[[-0.32128543686736216,-2.2033506603015307],[-0.21128544046387251,-2.1223067270486555]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.2223121171479065,-1.7742789593345067,0.71338606911949],"aabb_xy":[[-0.27228541115116695,-1.8242789598890536],[-0.17233882314464605,-1.724278958779959]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.2559938342597944,-0.5416993462339197,0.71338606911949],"aabb_xy":[[-0.2668996103473571,-0.6216993426327488],[-0.24508805817223167,-0.46169934983509053]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[0.6357485414160375,-0.36451890235071716,0.71338606911949],"aabb_xy":[[0.6007485422860819,-0.37026412342638126],[0.6707485405459932,-0.35877368127505305]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.5990866807696107,0.06153681854689097,0.71338606911949],"aabb_xy":[[-0.65408215859027,0.006536817112984025],[-0.5440912029489512,0.11653681998079789]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.04841835640706782,0.7944158695806403,0.71338606911949],"aabb_xy":[[-0.054455369407732546,0.7883891685116922],[-0.04238134340640309,0.8004425706495886]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.4404929118844748,-2.2236446307323896,0.71338606911949],"aabb_xy":[[-0.4954929110610643,-2.278634305507347],[-0.3854929127078853,-2.1686549559574315]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.12204526373222957,0.6594188263100658,0.71338606911949],"aabb_xy":[[0.11047628298529301,0.634418826193134],[0.13361424447916614,0.6844188264269974]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.10073056510963074,1.070075313408676,0.71338606911949],"aabb_xy":[[0.09273657653192734,1.0620752333135854],[0.10872455368733412,1.0780753935037661]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.4918289939442014,1.0469084138236613,0.71338606911949],"aabb_xy":[[-0.5064723994982343,1.0322496941668768],[-0.47718558839016834,1.0615671334804453]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.13215585927289464,1.3142226605197411,0.71338606911949],"aabb_xy":[[0.052155858802678715,1.3059119529053926],[0.21215585974311063,1.3225333681340892]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[0.6671629551055884,-0.6044281751830436,0.71338606911949],"aabb_xy":[[0.617180004918109,-0.6544281748256039],[0.7171459052930677,-0.5544281755404831]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.5644321077622478,-1.9969510446460683,0.71338606911949],"aabb_xy":[[-0.6284321099826549,-2.0413241287713566],[-0.5004321055418408,-1.95257796052078]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[0.008020751772488177,1.207042259582353,0.71338606911949],"aabb_xy":[[-0.028475068854790564,1.170558317155595],[0.04451657239976692,1.2435262020091102]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[-0.43318329109155357,-1.8203413558572938,0.71338606911949],"aabb_xy":[[-0.48318329211068883,-1.8568075715951222],[-0.3831832900724183,-1.7838751401194664]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[0.2031897431268036,-0.8473660168599277,0.71338606911949],"aabb_xy":[[0.166339195189816,-0.8848660176829615],[0.2400402910637912,-0.809866016036894]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_28","position":[-0.09975451105689159,-0.22354201690841524,0.71338606911949],"aabb_xy":[[-0.12225451087079396,-0.2280166332788959],[-0.0772545112429892,-0.21906740053793453]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_29","position":[0.5940073731327078,0.9783236380046434,0.71338606911949],"aabb_xy":[[0.5565073716170761,0.9670968649884983],[0.6315073746483395,0.9895504110207884]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_30","position":[-0.052829738536750326,1.5334888091531051,0.71338606911949],"aabb_xy":[[-0.06871423180207548,1.519135868854281],[-0.036945245271425176,1.5478417494519292]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.654588230782765,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1577.png","name":"1577"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1577.png","name":"1577"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3633.png","name":"3633"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3116.png","name":"3116"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2376.png","name":"2376"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/572.png","name":"572"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":824.6101402907163,"rotation_z_degrees":1.6651784359845045,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010076623195145351,-0.01847828532897279,-0.007034819935058674]},{"name":"camera_2","offset_m":[0.01926090944791731,0.0035492115641758866,-0.006255481243173549]},{"name":"camera_3","offset_m":[-0.016346964144012398,-0.005378567359924426,0.0021789366669895047]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000855864868531495,-0.0018682516149337532,-0.001271696074881872],"end_effector_yaw_offset_degrees":-0.8410552949392078},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014040381485213244,-0.0015701699127644046,0.0018143089391419276],"end_effector_yaw_offset_degrees":-0.7763963610148168},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018863734428569922,0.001122088776058522,0.0014591820450979352],"end_effector_yaw_offset_degrees":0.044671379688024926}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019597457958553752,0.0035265668357128974],"position_m":[0.24095974579585536,-0.0526734331642871,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00466126152885359,-0.0011701835249608452],"position_m":[0.2049612615288536,-0.38687018352496083,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003806737345868739,0.0019195726060602589],"position_m":[0.19759326265413127,0.32141957260606024,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038269766118795333,-0.0008784702172132961],"position_m":[0.34492697661187954,0.16712152978278672,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"445c8cf8b017390bfc8f4c56a1e3c23138f0bd3058e8c0ff52e2eda0aa1aefc8","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1577/tex_ceiling_textures_572/tex_floor_textures_2376/tex_table_textures_3633/tex_wall_textures_3116","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":8430065316850175326,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":8430065316850175326,"visual_seed":8430065316850175326,"scene_id":"lab_003","finished_at":"2026-09-03T22:41:58"} +{"episode_id":"ep_000089","started_at":"2026-09-03T22:42:01","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.7011078635251538,-1.625291985947273,0.71338606911949],"aabb_xy":[[0.6970297056181041,-1.6293729661955363],[0.7051860214322034,-1.6212110056990097]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[0.4641370826312201,-0.1762215992948586,0.71338606911949],"aabb_xy":[[0.44085524043308877,-0.2612216005920866],[0.48741892482935145,-0.09122159799763051]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[0.0719588285261119,-0.975739530218197,0.71338606911949],"aabb_xy":[[0.06326086623539662,-0.9878645045256719],[0.0806567908168272,-0.9636145559107224]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.3498821074478111,-1.2781672130573736,0.71338606911949],"aabb_xy":[[-0.35584864638854685,-1.2841283577167375],[-0.3439155685070753,-1.2722060683980096]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[-0.2724520874910697,0.9390859237215459,0.71338606911949],"aabb_xy":[[-0.3275772931206604,0.8790859222802587],[-0.2173268818614789,0.999085925162833]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[0.5984394638932216,0.29639190178397623,0.71338606911949],"aabb_xy":[[0.5910270083518332,0.2905406913623483],[0.6058519194346101,0.3022431122056042]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.34322666401185165,-0.7566755804438483,0.71338606911949],"aabb_xy":[[-0.37768901140999334,-0.7911694628416709],[-0.30876431661370973,-0.7221816980460255]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.35592117781849186,1.2477253717023915,0.71338606911949],"aabb_xy":[[0.34036540840822666,1.2321749384579843],[0.3714769472287572,1.2632758049467987]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.4857644923406871,-1.260320805072536,0.71338606911949],"aabb_xy":[[-0.5457644939836089,-1.3123209543644803],[-0.42576449069776523,-1.208320655780592]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[-0.6128121139800522,1.4027567663919678,0.71338606911949],"aabb_xy":[[-0.657812115446281,1.3577569095304873],[-0.5678121125138234,1.4477566232534487]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[0.04022027021959518,1.1974825516940206,0.71338606911949],"aabb_xy":[[-0.049779729503579,1.1744091991588406],[0.13022026994276933,1.2205559042292002]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[0.37706004100701507,-0.33609498536836613,0.71338606911949],"aabb_xy":[[0.36894638633363797,-0.34420080182239526],[0.38517369568039217,-0.3279891689143371]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[0.5715507670770323,0.885969826262214,0.71338606911949],"aabb_xy":[[0.5563785977953991,0.8708009693340107],[0.5867229363586658,0.9011386831904175]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[0.21515407743303883,-1.292705373131978,0.71338606911949],"aabb_xy":[[0.1601540782564493,-1.3476950479069356],[0.2701540766096283,-1.2377156983570203]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.5759038543721471,-0.7371743909120172,0.71338606911949],"aabb_xy":[[0.5694022178641426,-0.746942212938327],[0.5824054908801518,-0.7274065688857074]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[-0.42108050340909586,-2.455771535389241,0.71338606911949],"aabb_xy":[[-0.5107675797172113,-2.5457715356436914],[-0.33139342710098035,-2.3657715351347903]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[-0.3829460273512181,-1.4165564349081483,0.71338606911949],"aabb_xy":[[-0.4479460283517186,-1.4673428000628232],[-0.31794602635071756,-1.3657700697534734]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[0.4962400866621688,0.998431588628125,0.71338606911949],"aabb_xy":[[0.43124008850624973,0.9721353440782127],[0.5612400848180878,1.0247278331780372]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[0.17191064398582712,-1.6658515729751484,0.71338606911949],"aabb_xy":[[0.13441064348846887,-1.6698202565232667],[0.20941064448318536,-1.66188288942703]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[-0.018463298077817436,1.5227796481195992,0.71338606911949],"aabb_xy":[[-0.026489568708443434,1.5140281531422466],[-0.010437027447191438,1.5315311430969518]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.4133721646886811,1.4823758521594486,0.71338606911949],"aabb_xy":[[-0.46836764250934043,1.4273758507255414],[-0.35837668686802165,1.5373758535933553]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.4134382138700663,-1.801641225678983,0.71338606911949],"aabb_xy":[[0.39556910611561075,-1.8154741336561941],[0.43130732162452173,-1.787808317701772]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.46511419654649994,-0.8934390053908532,0.71338606911949],"aabb_xy":[[-0.5019088296714063,-0.9303448804874354],[-0.42831956342159366,-0.8565331302942708]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_23","position":[-0.2261372919114672,0.6271537931860425,0.71338606911949],"aabb_xy":[[-0.29113729194576987,0.5804531165057152],[-0.16113729187716444,0.6738544698663698]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.04046994857537567,0.7532170327189149,0.71338606911949],"aabb_xy":[[0.027598045074435525,0.6732170323050787],[0.0533418520763158,0.833217033132751]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[-0.33327334479862497,0.380136247402199,0.71338606911949],"aabb_xy":[[-0.42327334847554304,0.3187038408250945],[-0.24327334112170673,0.44156865397930317]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_26","position":[-0.22386601537114037,-1.837394604843868,0.71338606911949],"aabb_xy":[[-0.2624117081963414,-1.8759403759000568],[-0.1853203225459393,-1.7988488337876793]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_27","position":[0.4136078295097425,-2.1517652012257162,0.71338606911949],"aabb_xy":[[0.3635103655286689,-2.2157652017355285],[0.46370529349081613,-2.087765200715905]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_28","position":[-0.11327304859236831,-1.7248248457032873,0.71338606911949],"aabb_xy":[[-0.12463478324565445,-1.7361933121095752],[-0.10191131393908213,-1.713456379296999]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6548052269999413,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2920.png","name":"2920"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2920.png","name":"2920"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8380.png","name":"8380"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2.png","name":"2"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6249.png","name":"6249"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9444.png","name":"9444"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":618.4985752020957,"rotation_z_degrees":290.68559068015793,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010282787766276943,0.008971338378492611,0.010717281237677831]},{"name":"camera_2","offset_m":[-0.009652002807579439,-0.010369806777483746,0.003116803031741132]},{"name":"camera_3","offset_m":[0.017766755057661034,-0.003797847663741371,-0.0017382240847808698]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001726694963372789,-0.0012845934735534244,-0.0019048529343442954],"end_effector_yaw_offset_degrees":-0.9665110761760516},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009653698917826631,-0.0011023523036541518,-0.0006018293845459776],"end_effector_yaw_offset_degrees":0.47694300829832925},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.88958517853311e-05,0.0007200723056328844,-0.0007956613212368583],"end_effector_yaw_offset_degrees":-0.6290024073484464}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006763685486222779,0.0003094644847965308],"position_m":[0.23967636854862226,-0.05589053551520347,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026844027235718897,-0.004218429067414509],"position_m":[0.2029844027235719,-0.3899184290674145,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002901482588365755,-0.0008560135415602091],"position_m":[0.19849851741163424,0.3186439864584398,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003464517595634705,-0.00034571359906753526],"position_m":[0.3407535482404365,0.16765428640093247,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7949d756552ea8d9eddb1f30f1d7a67c2bacc83125ee72ef9a86f34ebda7e853","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0089.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2920/tex_ceiling_textures_9444/tex_floor_textures_6249/tex_table_textures_8380/tex_wall_textures_2","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":945922592229572864,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":945922592229572864,"visual_seed":945922592229572864,"scene_id":"lab_003","finished_at":"2026-09-03T22:44:11"} +{"episode_id":"ep_000090","started_at":"2026-09-03T22:44:14","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.26468557375323876,-0.5538274471340863,0.71338606911949],"aabb_xy":[[0.21470815688798514,-0.6038274486233347],[0.3146629906184923,-0.5038274456448376]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[0.01796484488021366,1.2923248582924933,0.71338606911949],"aabb_xy":[[-0.05203515672206582,1.2788920650908358],[0.08796484648249314,1.305757651494151]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.41372196842096826,1.0973865440929003,0.71338606911949],"aabb_xy":[[-0.42250319556820454,1.0886067968043702],[-0.4049407412737321,1.1061662913814307]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[0.6551495385790667,-1.269099243989889,0.71338606911949],"aabb_xy":[[0.6123828316996465,-1.3330992474116914],[0.6979162454584869,-1.2050992405680865]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[0.05744461009256763,0.9404606632608643,0.71338606911949],"aabb_xy":[[0.034944610278665245,0.9359860468903836],[0.07994460990647001,0.944935279631345]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[0.6015297774726274,-0.862749434148179,0.71338606911949],"aabb_xy":[[0.5375297741829191,-0.9060843531520965],[0.6655297807623354,-0.8194145151442612]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.25265156865778615,0.5585181628939244,0.71338606911949],"aabb_xy":[[0.2026686184703068,0.5085181632513639],[0.30263451884526543,0.6085181625364847]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.16320707465212902,-2.200711613675349,0.71338606911949],"aabb_xy":[[0.15263959499403001,-2.2112566437883574],[0.17377455431022804,-2.1901665835623403]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.6587144487613028,-1.555819931479352,0.71338606911949],"aabb_xy":[[0.603714449139557,-1.6108036242668247],[0.7137144483830486,-1.5008362386918792]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[0.005002907782060029,0.7088382228556971,0.71338606911949],"aabb_xy":[[-0.041082183472671445,0.644838225603142],[0.0510879990367915,0.7728382201082522]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[0.5666168397712947,0.3132054268247604,0.71338606911949],"aabb_xy":[[0.5617175474647311,0.2855285075221916],[0.5715161320778581,0.34088234612732915]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.5669896731410717,-1.8542230528607437,0.71338606911949],"aabb_xy":[[0.5169948402131301,-1.9042230517559873],[0.6169845060690133,-1.8042230539655002]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.405526196832756,-2.3692801253190767,0.71338606911949],"aabb_xy":[[-0.48552619710636297,-2.442229673144793],[-0.325526196559149,-2.2963305774933596]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[0.19827798681718112,-1.1956503601495523,0.71338606911949],"aabb_xy":[[0.1757779868070328,-1.2097465797891556],[0.22077798682732938,-1.181554140509949]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.46237303471625557,-0.2019662533915061,0.71338606911949],"aabb_xy":[[0.4497462474290591,-0.21151232709307896],[0.4749998220034518,-0.19242017968993316]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[-0.4502731063856271,-0.21898056166340618,0.71338606911949],"aabb_xy":[[-0.5152731090234206,-0.27046016036285314],[-0.3852731037478336,-0.16750096296395922]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[-0.5083130004711045,-0.805883776076479,0.71338606911949],"aabb_xy":[[-0.5723130021491017,-0.8544011675557932],[-0.44431299879310704,-0.7573663845971648]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.3880770090914787,-1.1700466728971863,0.71338606911949],"aabb_xy":[[0.3330770099148892,-1.225036347672144],[0.4430770082680682,-1.1150569981222287]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.6107125215731883,-2.3001137006368975,0.71338606911949],"aabb_xy":[[-0.6385575583537955,-2.330898199375209],[-0.5828674847925812,-2.269329201898586]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.3215405805608502,-1.0138176329864887,0.71338606911949],"aabb_xy":[[0.24154058354660224,-1.0339521846599],[0.4015405775750982,-0.9936830813130775]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.41885973988464503,-0.6810748978687979,0.71338606911949],"aabb_xy":[[-0.4304287206315816,-0.7060748979857298],[-0.40729075913770846,-0.6560748977518663]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.47487609324470514,0.2141962418847445,0.71338606911949],"aabb_xy":[[0.40487609143595965,0.19284247312055716],[0.5448760950534506,0.2355500106489319]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.5581180310666094,1.515147369215447,0.71338606911949],"aabb_xy":[[-0.5655304866079979,1.509296158793819],[-0.5507055755252209,1.5209985796370749]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[0.421757874639632,-0.5470951376791597,0.71338606911949],"aabb_xy":[[0.38425787397505323,-0.5627821956793818],[0.45925787530421064,-0.5314080796789374]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.5818148074136207,1.3872516015577427,0.71338606911949],"aabb_xy":[[-0.6063284315106267,1.3629870082557063],[-0.5573011833166149,1.4115161948597792]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[-0.371044462932356,0.33418989866260196,0.71338606911949],"aabb_xy":[[-0.38145602161283965,0.3288441653267034],[-0.3606329042518722,0.3395356319985004]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_26","position":[0.2917383437131319,0.7005770170061072,0.71338606911949],"aabb_xy":[[0.24173834427293628,0.6506090925217909],[0.3417383431533275,0.7505449414904235]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6519878710045487,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6418.png","name":"6418"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6418.png","name":"6418"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5915.png","name":"5915"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9000.png","name":"9000"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6515.png","name":"6515"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4166.png","name":"4166"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":849.8011005321753,"rotation_z_degrees":41.7319693339928,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010332471105049512,-0.002673084676844302,-0.018015616116658854]},{"name":"camera_2","offset_m":[-0.01760937673598492,-0.009466630662333095,0.009514192749458118]},{"name":"camera_3","offset_m":[0.0036987489732437893,0.004062854286455,0.004159556520460447]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018444285230302113,0.0009695850122960078,0.0008860633772087624],"end_effector_yaw_offset_degrees":0.36039928688457645},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001909859558984114,-0.000766452990504523,0.0018057552605867493],"end_effector_yaw_offset_degrees":-0.7886545435713042},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014025768120617824,-0.0015374022714814998,-0.00039633832356917903],"end_effector_yaw_offset_degrees":0.1493596116620548}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003482948032111687,-0.0005398164472546867],"position_m":[0.24248294803211168,-0.05673981644725469,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011988596759445283,-0.0047166543723902565],"position_m":[0.1991011403240555,-0.39041665437239026,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004697170498704615,-0.0012354524799903389],"position_m":[0.1967028295012954,0.31826454752000966,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003012396359905698,0.0009032560453588016],"position_m":[0.3380876036400943,0.1689032560453588,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5689e07b98782d21cbf92567669bd474c689625a7214b172f8d44300addb62fd","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0090.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6418/tex_ceiling_textures_4166/tex_floor_textures_6515/tex_table_textures_5915/tex_wall_textures_9000","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":923747106917535055,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":923747106917535055,"visual_seed":923747106917535055,"scene_id":"lab_003","finished_at":"2026-09-03T22:46:59"} +{"episode_id":"ep_000091","started_at":"2026-09-03T22:47:01","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[-0.25057189024690557,-1.024698678710093,0.71338606911949],"aabb_xy":[[-0.2708561929703043,-1.0449813038528015],[-0.23028758752350678,-1.0044160535673838]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[0.5465043660581714,0.319784417174493,0.71338606911949],"aabb_xy":[[0.5428011047290324,0.31608239886577516],[0.5502076273873102,0.3234864354832109]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.20544814989535454,1.7876913598389916,0.71338606911949],"aabb_xy":[[0.17548059298552887,1.7576913595411061],[0.2354157068051802,1.8176913601368776]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.5792159421963615,0.36377543932080325,0.71338606911949],"aabb_xy":[[-0.5872522768976464,0.3557373200163864],[-0.5711796074950767,0.37181355862522]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[0.2292655720294029,0.9930496509362463,0.71338606911949],"aabb_xy":[[0.19176557185753093,0.960348915553339],[0.26676557220127484,1.0257503863191535]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.4803217650449094,-1.9539217905384023,0.71338606911949],"aabb_xy":[[0.4709747574626142,-1.9682254127560463],[0.48966877262720465,-1.9396181683207583]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.5505643824205853,1.5839258312922513,0.71338606911949],"aabb_xy":[[-0.5664488756859104,1.5695728909934272],[-0.5346798891552601,1.5982787715910753]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.11130097271804207,-2.2468694712553354,0.71338606911949],"aabb_xy":[[-0.12594437827207505,-2.2615281909121197],[-0.09665756716400907,-2.232210751598551]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[-0.5656616023374934,1.2513470986297004,0.71338606911949],"aabb_xy":[[-0.6156348963407537,1.201347098075153],[-0.5156883083342328,1.3013470991842477]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[-0.4808828396859268,0.214707225331352,0.71338606911949],"aabb_xy":[[-0.5221316507158416,0.15970722581913452],[-0.4396340286560121,0.2697072248435694]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.21951153842620386,-2.3407507030072847,0.71338606911949],"aabb_xy":[[0.20942983134763035,-2.420750700899399],[0.2295932455047773,-2.2607507051151696]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.6189528895581744,-0.1316474889132926,0.71338606911949],"aabb_xy":[[0.5970442074188232,-0.15354815573338332],[0.6408615716975253,-0.10974682209320186]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.4075457382582466,-2.0758454270898588,0.71338606911949],"aabb_xy":[[0.3475457373974337,-2.127271857096345],[0.46754573911905933,-2.0244189970833717]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[0.06503546970645135,-1.1803325799937605,0.71338606911949],"aabb_xy":[[-0.018686755793631105,-1.2703325835284565],[0.1487576952065338,-1.0903325764590646]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.3442465405379837,1.7802575532062934,0.71338606911949],"aabb_xy":[[-0.35294450282869894,1.7681325788988191],[-0.33554857824726836,1.7923825275137686]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[0.36001498007184907,-0.6624365438058093,0.71338606911949],"aabb_xy":[[0.3387369719283768,-0.7274365461318822],[0.3812929882153213,-0.5974365414797361]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.18306335475509805,0.22970099371316266,0.71338606911949],"aabb_xy":[[-0.21683891394579102,0.21566249849999763],[-0.14928779556440508,0.24373948892632769]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.3965131191615156,1.338205631809652,0.71338606911949],"aabb_xy":[[-0.40741889524907826,1.2582056354108226],[-0.38560734307395284,1.418205628208481]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.4443564575368759,-0.30651225123051695,0.71338606911949],"aabb_xy":[[0.4394004373519948,-0.3290122514326386],[0.44931247772175714,-0.2840122510283954]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[0.44211041998835077,0.11979580509133436,0.71338606911949],"aabb_xy":[[0.43398273179503755,0.11088219668062672],[0.450238108181664,0.128709413502042]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[0.1345247817736276,1.0961355506647936,0.71338606911949],"aabb_xy":[[0.1264814218476724,1.0111355495694272],[0.14256814169958273,1.18113555176016]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[-0.5284023094805543,1.438412901655084,0.71338606911949],"aabb_xy":[[-0.6084023116433168,1.35845771802894],[-0.44840230731779185,1.5183680852812274]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_22","position":[-0.3401404321565236,-0.3441150180596666,0.71338606911949],"aabb_xy":[[-0.35358695879056695,-0.3575848697127578],[-0.3266939055224803,-0.3306451664065754]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.6524560228523757,0.27636458659814434,0.71338606911949],"aabb_xy":[[-0.6749551585786027,0.25386458581988136],[-0.6299568871261487,0.2988645873764073]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[0.20572967528779396,1.367328838318242,0.71338606911949],"aabb_xy":[[0.2003920996217894,1.3423288373891022],[0.21106725095379852,1.3923288392473818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6482229004498355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/100.png","name":"100"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/100.png","name":"100"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9961.png","name":"9961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1470.png","name":"1470"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9229.png","name":"9229"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7095.png","name":"7095"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":567.9745574032095,"rotation_z_degrees":233.7873364845735,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018328254168321168,-0.019107029680819773,-0.003362740275833293]},{"name":"camera_2","offset_m":[0.006281926968902091,-0.018483915359870335,0.0025734748270882825]},{"name":"camera_3","offset_m":[0.014229489568431748,0.016173941470740128,0.006122784039959323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018382355311031629,0.0009543101912486292,0.0004347227760609011],"end_effector_yaw_offset_degrees":-0.7085885416779967},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00019204237209829696,-0.0014838333824139709,0.0008903688060129104],"end_effector_yaw_offset_degrees":0.5966491994442045},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012112240692862758,-0.0018211615628217328,0.0007010599768747573],"end_effector_yaw_offset_degrees":-0.8470483638580897}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002060310789371106,-0.004074270330927414],"position_m":[0.2410603107893711,-0.060274270330927415,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004694060740932796,0.0038819307198727513],"position_m":[0.2007694060740933,-0.38181806928012724,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004789417792744436,0.004375691214866347],"position_m":[0.20618941779274444,0.32387569121486637,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004676580065110415,-0.0036468523803350143],"position_m":[0.3364234199348896,0.164353147619665,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e421f82a55c6ed8afb046adf29b50620a33a6f9eb089aef338fd11ce6b0d6c7f","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0091.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_100/tex_ceiling_textures_7095/tex_floor_textures_9229/tex_table_textures_9961/tex_wall_textures_1470","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":660450722989895731,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":660450722989895731,"visual_seed":660450722989895731,"scene_id":"lab_003","finished_at":"2026-09-03T22:49:38"} +{"episode_id":"ep_000092","started_at":"2026-09-03T22:49:41","dimensions":{"distractor":{"count":31,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[0.6155781984181412,-0.3187132340700618,0.71338606911949],"aabb_xy":[[0.6054964913395677,-0.3987132319621764],[0.6256599054967147,-0.2387132361779471]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.3802063634942371,-1.6182039072525418,0.71338606911949],"aabb_xy":[[-0.3882003520719404,-1.626203987347632],[-0.37221237491653364,-1.6102038271574513]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.6234606616270219,0.44374153194269006,0.71338606911949],"aabb_xy":[[-0.6784606608036112,0.3887518571677323],[-0.5684606624504323,0.4987312067176476]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.2689013809628086,-0.9906349311743248,0.71338606911949],"aabb_xy":[[0.2464366109914034,-1.0131349320531853],[0.29136615093421364,-0.9681349302954642]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[0.10502002446914604,-0.8811687186443071,0.71338606911949],"aabb_xy":[[0.04002002351201884,-0.9331169305780127],[0.17002002542627326,-0.8292205067106015]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[0.08573093430642686,1.6364350370988325,0.71338606911949],"aabb_xy":[[0.005730934032819878,1.5634854892731158],[0.16573093458003382,1.7093845849245493]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[0.54068180939879,-1.4783961273750252,0.71338606911949],"aabb_xy":[[0.483051340511519,-1.5383961263017352],[0.5983122782860607,-1.4183961284483142]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.25332863430322694,1.258339424891743,0.71338606911949],"aabb_xy":[[0.2183286344072081,1.2499651893798027],[0.2883286341992458,1.2667136604036828]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.3657250992110457,-1.9175612185846278,0.71338606911949],"aabb_xy":[[0.3057250975681239,-1.969561367876572],[0.4257251008539676,-1.8655610692926836]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[0.43306637083010235,0.6006421983149663,0.71338606911949],"aabb_xy":[[0.4159642928717342,0.5835353927836965],[0.4501684487884705,0.617749003846236]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.09254861656388336,0.9279765969931835,0.71338606911949],"aabb_xy":[[-0.14254861600407898,0.8780086725088672],[-0.04254861712368774,0.9779445214774998]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.24602258948977174,1.695806119044549,0.71338606911949],"aabb_xy":[[-0.2960225911512665,1.645807676788846],[-0.19602258782827697,1.7458045613002515]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[-0.032680135210522154,-1.2539880348246648,0.71338606911949],"aabb_xy":[[-0.07544684208994235,-1.317988038246467],[0.010086571668898037,-1.1899880314028621]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.6309593423629922,1.6462530253275873,0.71338606911949],"aabb_xy":[[-0.6949593415327622,1.5994863382086248],[-0.5669593431932223,1.6930197124465498]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[-0.6299510175761962,1.0523752908950859,0.71338606911949],"aabb_xy":[[-0.6939510207948341,1.0056521789960773],[-0.5659510143575583,1.099098402794094]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[0.4924323911023005,0.995027690302138,0.71338606911949],"aabb_xy":[[0.4842178459866165,0.9863511000044966],[0.5006469362179844,1.0037042805997791]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.28786067524413095,-1.294671193378716,0.71338606911949],"aabb_xy":[[-0.36786067240370623,-1.3062187943365329],[-0.20786067808455566,-1.2831235924208988]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.07301462553202331,-2.0434612582888967,0.71338606911949],"aabb_xy":[[0.02301961457257128,-2.0934612573244884],[0.12300963649147535,-1.993461259253305]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[0.18606591102748404,-1.7525441890868376,0.71338606911949],"aabb_xy":[[0.12106590838969056,-1.8040237877862846],[0.25106591366527753,-1.7010645903873907]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[-0.4718989969761921,1.4210572581043768,0.71338606911949],"aabb_xy":[[-0.48939899722124136,1.4035574702648097],[-0.4543989967311426,1.4385570459439434]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[0.43749982977613056,1.53192020478583,0.71338606911949],"aabb_xy":[[0.4199998963421471,1.5144202048655953],[0.4549997632101139,1.5494202047060643]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.1972506671227081,-0.36108914469003617,0.71338606911949],"aabb_xy":[[-0.26225066715701084,-0.40778982137036346],[-0.13225066708840538,-0.3143884680097089]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[-0.07850846390762645,0.564555492598581,0.71338606911949],"aabb_xy":[[-0.14350846490812696,0.5137691274439059],[-0.013508462907125929,0.6153418577532558]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[0.6755977066039933,-1.6665279462019242,0.71338606911949],"aabb_xy":[[0.6531012851701292,-1.6890279460086717],[0.6980941280378574,-1.6440279463951768]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[-0.6193857123024513,-2.434584469621806,0.71338606911949],"aabb_xy":[[-0.6368164273814577,-2.4518565842856566],[-0.6019549972234447,-2.4173123549579554]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[-0.388085639944424,1.4311346380814887,0.71338606911949],"aabb_xy":[[-0.41025816692107475,1.4089589709253656],[-0.3659131129677731,1.4533103052376117]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_26","position":[-0.4674048510794983,0.7799102340472182,0.71338606911949],"aabb_xy":[[-0.504255399016486,0.7424102332241844],[-0.4305543031425107,0.8174102348702519]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[-0.35296011845387837,0.13855696080569357,0.71338606911949],"aabb_xy":[[-0.36812299143081545,0.12339150351057485],[-0.3377972454769413,0.15372241810081236]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_28","position":[0.5620464779008465,-0.0444222166939765,0.71338606911949],"aabb_xy":[[0.5070727558645136,-0.09942221625820968],[0.6170201999371794,0.010577782870256687]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_29","position":[-0.46063292216077734,-1.2743098960508752,0.71338606911949],"aabb_xy":[[-0.4917798410043605,-1.3443098947376821],[-0.4294860033171943,-1.2043098973640678]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_30","position":[0.19332108831835992,0.9104028801008872,0.71338606911949],"aabb_xy":[[0.11332108615559744,0.8304476964747435],[0.2733210904811224,0.9903580637270307]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6518169801953528,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9936.png","name":"9936"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9936.png","name":"9936"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8416.png","name":"8416"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4128.png","name":"4128"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3023.png","name":"3023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8078.png","name":"8078"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":804.1430557611291,"rotation_z_degrees":2.654682498786607,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01219886994568364,0.00799053643589501,0.01570504251732122]},{"name":"camera_2","offset_m":[-0.002725570894346066,0.004984938033920989,0.019785936322079634]},{"name":"camera_3","offset_m":[0.006658196643541822,-0.016967739229720506,-0.00720451043175252]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001378340657787407,-3.901058341256383e-05,0.00021516068994696007],"end_effector_yaw_offset_degrees":-0.7049239645544261},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.3628718716148132e-06,0.00044339741239403114,0.0009249123176144078],"end_effector_yaw_offset_degrees":0.5931930768254161},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00043329817720862964,-0.0012438176932530744,0.0018758418067328338],"end_effector_yaw_offset_degrees":0.5228113875113392}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034866333811361056,-0.004529112846126073],"position_m":[0.2424866333811361,-0.060729112846126074,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000991183440756221,-0.0014827470633959105],"position_m":[0.20129118344075622,-0.3871827470633959,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001330998231918578,0.004075460697454589],"position_m":[0.20273099823191856,0.3235754606974546,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004303095972633549,-0.0032388876498487566],"position_m":[0.3454030959726336,0.16476111235015126,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a41cced0efe78e5bd67320c9da1712fcd91a72faf2a9acaac61565f70b2e4565","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9936/tex_ceiling_textures_8078/tex_floor_textures_3023/tex_table_textures_8416/tex_wall_textures_4128","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":118198933835080524,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":118198933835080524,"visual_seed":118198933835080524,"scene_id":"lab_003","finished_at":"2026-09-03T22:52:14"} +{"episode_id":"ep_000093","started_at":"2026-09-03T22:52:17","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.06482895403826228,-2.0905414858468556,0.71338606911949],"aabb_xy":[[-0.106077765068177,-2.1455414853590726],[-0.02358014300834754,-2.0355414863346377]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[0.7093455073122927,0.35883975743434826,0.71338606911949],"aabb_xy":[[0.7040079316462882,0.33383975650520853],[0.7146830829782973,0.3838397583634881]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.42865552324523826,1.3187298921630402,0.71338606911949],"aabb_xy":[[0.4050703997813434,1.2537298899176081],[0.4522406467091331,1.3837298944084717]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.48166964206403257,1.7554944743692489,0.71338606911949],"aabb_xy":[[-0.5244363489434527,1.6914944709474466],[-0.4389029351846124,1.8194944777910516]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.5926854957763035,0.16639818780222404,0.71338606911949],"aabb_xy":[[-0.6301854941997037,0.15323397383439338],[-0.555185497352903,0.17956240177005464]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.06161593502523044,0.9623620123453867,0.71338606911949],"aabb_xy":[[-0.11661593322697528,0.9218400457189491],[-0.006615936823485608,1.0028839789718242]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.10721795826799008,-2.1886381696870023,0.71338606911949],"aabb_xy":[[0.05941179065422142,-2.2536381723940613],[0.15502412588175873,-2.1236381669799433]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.3514318391488234,-1.3884470074961959,0.71338606911949],"aabb_xy":[[-0.43143183961903947,-1.3967577151105444],[-0.27143183867860754,-1.3801362998818478]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.5443737556835291,1.3266452651927114,0.71338606911949],"aabb_xy":[[0.505828062858328,1.2880994941365227],[0.5829194485087301,1.3651910362489001]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[0.6667367490722085,-0.35670924661941106,0.71338606911949],"aabb_xy":[[0.616741916144267,-0.4067092455146546],[0.7167315820001502,-0.3067092477241675]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.5954791346231055,0.42062689017974275,0.71338606911949],"aabb_xy":[[-0.6187609768212368,0.3356268888825147],[-0.5721972924249741,0.5056268914769708]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[-0.42635712989109736,-1.5706025093019191,0.71338606911949],"aabb_xy":[[-0.48635713014249854,-1.6248838343383836],[-0.3663571296396962,-1.5163211842654543]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[0.5188867115313793,1.7149582074172707,0.71338606911949],"aabb_xy":[[0.4548867151040574,1.6677885835951747],[0.5828867079587012,1.7621278312393676]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.31938294271595735,-1.9736040719700352,0.71338606911949],"aabb_xy":[[-0.34438294264847524,-1.9804867401909583],[-0.29438294278343946,-1.9667214037491116]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.5806066020024059,0.25421223462577913,0.71338606911949],"aabb_xy":[[0.5393020589386699,0.190212235057662],[0.6219111450661419,0.31821223419389616]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[-0.2516236095306552,0.8328712682893396,0.71338606911949],"aabb_xy":[[-0.25553748272607774,0.8241222528827827],[-0.2477097363352327,0.8416202836958964]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[0.20571412308858372,0.6265625484305204,0.71338606911949],"aabb_xy":[[0.19446906751796583,0.615320750706425],[0.2169591786592015,0.6378043461546156]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.2765278801478478,0.47187424982882353,0.71338606911949],"aabb_xy":[[-0.3140278816634795,0.4606474768126785],[-0.23902787863221608,0.4831010228449686]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.2099645908926014,-1.3366723277376944,0.71338606911949],"aabb_xy":[[-0.22004629797117486,-1.416672325629809],[-0.1998828838140279,-1.2566723298455797]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[0.2911808052765158,-2.196509903242681,0.71338606911949],"aabb_xy":[[0.24120338841126218,-2.246509904731929],[0.34115822214176933,-2.146509901753432]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[-0.3226175802101912,-0.3004610063123945,0.71338606911949],"aabb_xy":[[-0.3352202793472677,-0.31305640253726],[-0.3100148810731148,-0.28786561008752903]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[-0.48057628421533555,-2.046099041223509,0.71338606911949],"aabb_xy":[[-0.5505762860240812,-2.0674528099876963],[-0.4105762824065902,-2.0247452724593216]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[0.46048331794764596,-0.3594003451042762,0.71338606911949],"aabb_xy":[[0.45344186699689837,-0.36642709684207075],[0.46752476889839356,-0.35237359336648166]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[0.2730885266704164,-2.3303443182058263,0.71338606911949],"aabb_xy":[[0.259937280699127,-2.355344317962513],[0.28623977264170575,-2.30534431844914]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[0.4983250352240878,-0.5421740189952118,0.71338606911949],"aabb_xy":[[0.443331823886951,-0.5971740193340054],[0.5533182465612245,-0.4871740186564182]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[0.27668384525999634,-0.605483813111634,0.71338606911949],"aabb_xy":[[0.1966838419959832,-0.6190438454205474],[0.3566838485240095,-0.5919237808027207]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[0.5736312112224469,-2.030245863481766,0.71338606911949],"aabb_xy":[[0.5096312090020398,-2.0746189476070542],[0.6376312134428539,-1.9858727793564777]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[-0.6515316201916186,-0.96828748101938,0.71338606911949],"aabb_xy":[[-0.6888628967168612,-1.0029405358142323],[-0.614200343666376,-0.9336344262245276]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_28","position":[-0.18245678405926058,0.6853674239862544,0.71338606911949],"aabb_xy":[[-0.23242984959177607,0.6353674241737216],[-0.13248371852674512,0.7353674237987874]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_29","position":[0.19929848939600903,-1.239644184439803,0.71338606911949],"aabb_xy":[[0.19486786004116888,-1.2450925561744857],[0.20372911875084923,-1.2341958127051202]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_30","position":[-0.4399330209198867,-2.3011419728217537,0.71338606911949],"aabb_xy":[[-0.5039330232626882,-2.346082824065886],[-0.3759330185770851,-2.256201121577621]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.653068970877659,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6370.png","name":"6370"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6370.png","name":"6370"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2664.png","name":"2664"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7222.png","name":"7222"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7299.png","name":"7299"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7762.png","name":"7762"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":575.2846851109342,"rotation_z_degrees":262.45566337661677,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011604202944851368,-0.0046078589703655755,-0.015167100879327294]},{"name":"camera_2","offset_m":[0.00021410054026605937,-0.002038339175513021,-0.0020440702473628336]},{"name":"camera_3","offset_m":[-0.0004820556950295811,0.011958595525682503,0.0008494784819501888]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010572526824115963,0.0014573062314401615,-0.0017902783794291341],"end_effector_yaw_offset_degrees":-0.11980554495500018},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000459792251474624,-0.0008519849712712079,0.0009022285241425004],"end_effector_yaw_offset_degrees":-0.45838382179547366},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019509437162391991,-0.0012861410469642894,-0.0007124062163371035],"end_effector_yaw_offset_degrees":-0.3790339046301576}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020843608284897945,-0.0032480976907342954],"position_m":[0.24108436082848977,-0.059448097690734295,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002848952360248778,-0.0010718662768947392],"position_m":[0.2031489523602488,-0.38677186627689475,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00017241892642281577,-0.004881026146622991],"position_m":[0.2012275810735772,0.314618973853377,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035221622579490247,-0.0038218745645471697],"position_m":[0.34462216225794906,0.16417812543545285,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"42062e50b813533225eb40fcff93af02d7b00c37ee4a43f24a92c2d22a1d332f","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0093.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6370/tex_ceiling_textures_7762/tex_floor_textures_7299/tex_table_textures_2664/tex_wall_textures_7222","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":7786542606562101260,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":7786542606562101260,"visual_seed":7786542606562101260,"scene_id":"lab_003","finished_at":"2026-09-03T22:54:55"} +{"episode_id":"ep_000094","started_at":"2026-09-03T22:54:57","dimensions":{"distractor":{"count":31,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[0.41195861371253617,-2.0042495681034165,0.71338606911949],"aabb_xy":[[0.39880736774124687,-2.029249567860103],[0.4251098596838256,-1.97924956834673]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.19196773214597562,-1.9306836125333953,0.71338606911949],"aabb_xy":[[-0.1999612219412577,-1.938681744473871],[-0.18397424235069362,-1.9226854805929199]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.10454888107347138,-2.1111600579508654,0.71338606911949],"aabb_xy":[[0.09131793553879008,-2.1243874769728643],[0.11777982660815267,-2.0979326389288655]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[0.07141642362311884,-1.7494264653598082,0.71338606911949],"aabb_xy":[[0.06413410724645516,-1.839426468969317],[0.07869873999978247,-1.659426461750299]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[-0.1662422723590422,0.16164059659766927,0.71338606911949],"aabb_xy":[[-0.19457198230758244,0.15717985440395224],[-0.13791256241050198,0.16610133879138636]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.4932449316513303,0.6988233233216299,0.71338606911949],"aabb_xy":[[-0.5088007010615956,0.6832728900772227],[-0.4776891622410651,0.7143737565660371]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_6","position":[-0.1899575105458563,0.2828714941739383,0.71338606911949],"aabb_xy":[[-0.27995750914032624,0.2666209078605173],[-0.09995751195138636,0.29912208048735933]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[-0.051912464291193894,0.43698617508693927,0.71338606911949],"aabb_xy":[[-0.06941246453624325,0.4194863872473724],[-0.034412464046144495,0.4544859629265061]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[0.5109541830801432,0.7668641902356921,0.71338606911949],"aabb_xy":[[0.5039138731466062,0.6868641908360208],[0.5179944930136802,0.8468641896353637]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[-0.6396295040336238,0.9753004812710371,0.71338606911949],"aabb_xy":[[-0.6646295039661417,0.968417813050114],[-0.614629504101106,0.9821831494919606]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.6105596189146714,-1.0447198869587895,0.71338606911949],"aabb_xy":[[0.5855596193629328,-1.0548623708239242],[0.6355596184664097,-1.0345774030936548]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[0.14941002983063978,-2.3886378609367687,0.71338606911949],"aabb_xy":[[0.1440724541646352,-2.4136378618659085],[0.15474760549664435,-2.363637860007629]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[0.26083087771586555,-2.014759876982895,0.71338606911949],"aabb_xy":[[0.1968308744261574,-2.058094795986812],[0.3248308810055736,-1.971424957978977]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[-0.0811209713535922,-1.0389526597708898,0.71338606911949],"aabb_xy":[[-0.11797151929057981,-1.0764526605939235],[-0.04427042341660459,-1.001452658947856]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[-0.38656741964881475,-0.8277915208877584,0.71338606911949],"aabb_xy":[[-0.4224809240738044,-0.863705029104513],[-0.350653915223825,-0.7918780126710037]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.27993062412807307,1.2605605273629532,0.71338606911949],"aabb_xy":[[-0.33993062463592594,1.203713793677032],[-0.21993062362022012,1.3174072610488745]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.6137443239751159,1.3421412777877437,0.71338606911949],"aabb_xy":[[0.5724955129452011,1.287141278275526],[0.6549931350050305,1.397141277299961]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[0.181893895780738,0.5468821771385151,0.71338606911949],"aabb_xy":[[0.16439389650265113,0.5295440770721691],[0.19939389505882488,0.564220277204861]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.2506348162668904,-2.221167093954591,0.71338606911949],"aabb_xy":[[-0.31063481790981223,-2.2731672432465353],[-0.19063481462396853,-2.169166944662647]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.4953096461420481,0.03715266608136947,0.71338606911949],"aabb_xy":[[0.4153096487384546,-0.04283990511681334],[0.5753096435456414,0.11714523727955227]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[0.5664601336457127,-2.1404643977501783,0.71338606911949],"aabb_xy":[[0.5164601326951798,-2.1720135447536997],[0.6164601345962454,-2.108915250746657]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.12348124995558041,0.9913124053377831,0.71338606911949],"aabb_xy":[[0.09299699982855024,0.9413124055562873],[0.15396550008261056,1.041312405119279]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[0.2595820316894232,1.4690624039573863,0.71338606911949],"aabb_xy":[[0.24208209825543975,1.4515624040371518],[0.2770819651234065,1.4865624038776208]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[-0.6429292818180143,-1.2923980574487697,0.71338606911949],"aabb_xy":[[-0.6508525620567628,-1.314898057686773],[-0.6350060015792661,-1.2698980572107663]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[-0.27582575488170225,-1.2668819213777132,0.71338606911949],"aabb_xy":[[-0.2932564699607087,-1.2841540360415635],[-0.2583950398026957,-1.249609806713862]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[-0.5569860182418156,-0.3154980056972203,0.71338606911949],"aabb_xy":[[-0.6209860202915476,-0.35559248878652827],[-0.4929860161920836,-0.27540352260791234]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[-0.15990446410690184,0.4064407987574943,0.71338606911949],"aabb_xy":[[-0.16716571167730926,0.3936537884939848],[-0.15264321653649443,0.41922780902100376]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[-0.30611274126781546,-0.6313019864470988,0.71338606911949],"aabb_xy":[[-0.3861127382308546,-0.7083776280908722],[-0.2261127443047763,-0.5542263448033253]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_28","position":[0.13580413131533786,-0.7421150952489945,0.71338606911949],"aabb_xy":[[0.05580413272801845,-0.8214306971871554],[0.2158041299026573,-0.6627994933108337]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_29","position":[0.008448161060599757,1.4059298023219697,0.71338606911949],"aabb_xy":[[-0.05554753633449683,1.3419298040212608],[0.07244385845569634,1.4699298006226782]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_30","position":[-0.3494962173964292,0.16622417570376502,0.71338606911949],"aabb_xy":[[-0.38379312841416985,0.13192728949382362],[-0.3151993063786886,0.20052106191370636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.64931399208442,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6965.png","name":"6965"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6965.png","name":"6965"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9748.png","name":"9748"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3711.png","name":"3711"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7163.png","name":"7163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1914.png","name":"1914"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":690.5185219787606,"rotation_z_degrees":66.95630967093521,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013610334913336502,-0.017447605558225842,0.011150144075496051]},{"name":"camera_2","offset_m":[0.0022162195638604568,0.0003202370687561337,-0.018979493308280145]},{"name":"camera_3","offset_m":[-0.013116295646590413,0.015166342802132079,0.0022659458830363334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001918124548223764,-0.0010702915679619506,0.0009356064762220256],"end_effector_yaw_offset_degrees":-0.4883573571676938},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00042350914361756215,0.00046400116824023936,-0.00015988105512098586],"end_effector_yaw_offset_degrees":0.5034487414968956},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000821987471607482,-0.0007900733521926221,-0.0010818802514669505],"end_effector_yaw_offset_degrees":0.2974728727597127}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002175691782885481,-0.0014160604057673943],"position_m":[0.24117569178288548,-0.057616060405767396,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011490634332856405,0.0029621807557142403],"position_m":[0.20144906343328564,-0.38273781924428574,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014955381975493651,-0.0023990992978320204],"position_m":[0.20289553819754935,0.317100900702168,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035959880199119857,-0.003891114647709171],"position_m":[0.344695988019912,0.16410888535229085,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d7cc98165e7b8c3fec6389c675dd797eb645b0350922e5568612f026de2899f","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6965/tex_ceiling_textures_1914/tex_floor_textures_7163/tex_table_textures_9748/tex_wall_textures_3711","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":4276125428340606129,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":4276125428340606129,"visual_seed":4276125428340606129,"scene_id":"lab_003","finished_at":"2026-09-03T22:57:33"} +{"episode_id":"ep_000095","started_at":"2026-09-03T22:57:36","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[0.17656813936347882,1.1235570251214968,0.71338606911949],"aabb_xy":[[0.15913742428447228,1.1062849104576458],[0.1939988544424853,1.1408291397853474]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[-0.25390201024947534,1.3939458475053383,0.71338606911949],"aabb_xy":[[-0.26306188919335194,1.3874146294618013],[-0.24474213130559874,1.4004770655488754]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.5443845080127963,-0.3620064120570752,0.71338606911949],"aabb_xy":[[0.4867540391255253,-0.42200641098378566],[0.602014976900067,-0.3020064131303645]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[0.49891203009292284,0.9790861677022082,0.71338606911949],"aabb_xy":[[0.49069748497723875,0.9704095774045667],[0.5071265752086067,0.9877627579998494]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.5459341149803045,-1.9965823527369628,0.71338606911949],"aabb_xy":[[-0.6099341141500745,-2.043349039855925],[-0.48193411581053464,-1.9498156656180003]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.5595319198352793,0.8031213623289739,0.71338606911949],"aabb_xy":[[-0.5970319182586796,0.7899571483611433],[-0.5220319214118789,0.8162855762968045]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[0.5966375210314945,0.17413315410439667,0.71338606911949],"aabb_xy":[[0.5514662031833256,0.11013315695985826],[0.6418088388796636,0.2381331512489351]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[0.5418614703124456,1.1648588998155232,0.71338606911949],"aabb_xy":[[0.5072703874584003,1.0998588995304919],[0.5764525531664907,1.229858900100554]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.28978716973166013,-1.7801262593922504,0.71338606911949],"aabb_xy":[[-0.29741143782183843,-1.7877594829287944],[-0.28216290164148194,-1.772493035855707]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[-0.34194983977754095,-1.8932638288847266,0.71338606911949],"aabb_xy":[[-0.3697948765581481,-1.924048327623038],[-0.31410480299693383,-1.8624793301464146]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.6347355177613487,0.7816172453603163,0.71338606911949],"aabb_xy":[[0.58692935014758,0.7166172426532572],[0.6825416853751173,0.846617248067375]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.391391144674762,1.6726412039586473,0.71338606911949],"aabb_xy":[[-0.4263911438675802,1.6616741579609848],[-0.35639114548194367,1.6836082499563099]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[0.37718847509309583,1.126657532061282,0.71338606911949],"aabb_xy":[[0.2971884780788479,1.1065229803878707],[0.45718847210734387,1.1467920837346932]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[-0.5244217751333391,-1.7670102348976824,0.71338606911949],"aabb_xy":[[-0.5352733813822147,-1.777869525625333],[-0.5135701688844635,-1.756150944170031]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[0.44655960083680357,-1.7819697032180442,0.71338606911949],"aabb_xy":[[0.41607535070977336,-1.83196970299954],[0.47704385096383367,-1.7319697034365482]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.07865397903191107,-1.6719363017872886,0.71338606911949],"aabb_xy":[[-0.08743520617914731,-1.6807160490758193],[-0.06987275188467486,-1.6631565544987588]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.02969125111885018,-2.4633672415799874,0.71338606911949],"aabb_xy":[[0.025555394786149987,-2.5008672410243444],[0.033827107451550376,-2.4258672421356304]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.20660396853344565,0.9941219694744032,0.71338606911949],"aabb_xy":[[-0.224103901967429,0.9766219695541687],[-0.18910403509946225,1.0116219693946378]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[0.5309549151207751,0.017787467933770174,0.71338606911949],"aabb_xy":[[0.48095491568057935,-0.03218045655054613],[0.5809549145609706,0.06775539241808648]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[-0.08350055643569954,0.8442213712970412,0.71338606911949],"aabb_xy":[[-0.14350055729651232,0.7927949412905547],[-0.023500555574886724,0.8956478013035275]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[-0.2727037510539433,-2.4207329960647366,0.71338606911949],"aabb_xy":[[-0.30716622906703106,-2.427396673247659],[-0.23824127304085552,-2.4140693188818134]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[-0.5677458421190176,-0.45071518041147884,0.71338606911949],"aabb_xy":[[-0.5852458423640668,-0.4682149682510457],[-0.5502458418739681,-0.433215392571912]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6521853837238476,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6708.png","name":"6708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6708.png","name":"6708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1146.png","name":"1146"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/458.png","name":"458"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9058.png","name":"9058"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8954.png","name":"8954"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":616.8552820579844,"rotation_z_degrees":249.03227983274698,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004825753683428354,-0.0036678684706497634,-0.011853676825334367]},{"name":"camera_2","offset_m":[0.009845006991622305,-0.007328234161937463,0.008760087877717659]},{"name":"camera_3","offset_m":[0.011528319196983352,0.008234683567185565,-0.0016560007789050007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008828590926580823,-0.0009634434261696688,0.0009609700283185882],"end_effector_yaw_offset_degrees":0.5625329158718593},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00012572245582415055,0.0009104219709018244,0.001250341436977694],"end_effector_yaw_offset_degrees":-0.6128628349676861},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019176223548311236,0.0005734970805592252,0.00023852264840227557],"end_effector_yaw_offset_degrees":0.9185381165808915}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00010623375612764732,-0.0028308410142481822],"position_m":[0.23889376624387235,-0.05903084101424818,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011185300850995237,-0.004939033111536587],"position_m":[0.1991814699149005,-0.3906390331115366,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013265017899255598,0.0013550889042980418],"position_m":[0.20272650178992555,0.32085508890429804,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003149346010231632,0.0007977271854274961],"position_m":[0.33795065398976837,0.16879772718542752,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b1373406b51000328d5d9a309962db0fbb65030d361a97410c6d364eceda4b63","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0095.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6708/tex_ceiling_textures_8954/tex_floor_textures_9058/tex_table_textures_1146/tex_wall_textures_458","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":1027065288381387028,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":1027065288381387028,"visual_seed":1027065288381387028,"scene_id":"lab_003","finished_at":"2026-09-03T23:00:28"} +{"episode_id":"ep_000096","started_at":"2026-09-03T23:00:31","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.19166329843277985,0.7335452373614286,0.71338606911949],"aabb_xy":[[0.14166329677128506,0.6835467951057258],[0.24166330009427459,0.7835436796171312]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.2343909724187367,1.0135439716890309,0.71338606911949],"aabb_xy":[[-0.31439097039952174,1.005942430727179],[-0.15439097443795166,1.0211455126508828]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.5312439466774763,-0.4764977859619641,0.71338606911949],"aabb_xy":[[-0.5724927577073909,-0.5314977854741815],[-0.48999513564756153,-0.4214977864497466]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.34780403397820625,-1.671953801173017,0.71338606911949],"aabb_xy":[[-0.35916576863149235,-1.6833222675793051],[-0.33644229932492004,-1.660585334766729]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[-0.42037158976854677,-1.4905539041357798,0.71338606911949],"aabb_xy":[[-0.48437159298718463,-1.5372770160347884],[-0.3563715865499089,-1.4438307922367717]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[-0.3928469630048136,-1.7862945730487838,0.71338606911949],"aabb_xy":[[-0.4180677998646532,-1.8115183239016701],[-0.36762612614497386,-1.7610708221958966]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[-0.24257174315897123,-0.9044454708317464,0.71338606911949],"aabb_xy":[[-0.3125717447612507,-0.917878264033404],[-0.17257174155669178,-0.8910126776300888]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[0.6547503096125642,0.22462531761154825,0.71338606911949],"aabb_xy":[[0.5997765875762313,0.1696253180473151],[0.7097240316488971,0.27962531717578143]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.375206442694334,-2.3386718175893986,0.71338606911949],"aabb_xy":[[0.3291213514396026,-2.4026718148419537],[0.42129153394906554,-2.2746718203368435]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.5552537341623782,-2.257065810764805,0.71338606911949],"aabb_xy":[[0.5252620714285079,-2.287065810101605],[0.5852453968962485,-2.227065811428004]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.3478513189785406,0.6396267998224419,0.71338606911949],"aabb_xy":[[0.33035131970045367,0.6222886997560958],[0.3653513182566274,0.6569648998887877]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.246804492084149,1.4084266908725889,0.71338606911949],"aabb_xy":[[-0.288109035147885,1.3444266913044716],[-0.205499949020413,1.4724266904407057]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.5838720061038061,0.9075722486509412,0.71338606911949],"aabb_xy":[[0.5712452188166096,0.8980261749493683],[0.5964987933910023,0.9171183223525141]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[-0.03427806503070152,1.4778227926888285,0.71338606911949],"aabb_xy":[[-0.11427806368758753,1.4633179337645654],[0.045721933626184486,1.4923276516130912]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[-0.1449279263631239,-1.2032118625819814,0.71338606911949],"aabb_xy":[[-0.19492792731365668,-1.2347610095855028],[-0.09492792541259107,-1.17166271557846]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.6308929111003204,0.2716682625260467,0.71338606911949],"aabb_xy":[[-0.6421379666709383,0.2604264648019514],[-0.6196478555297026,0.282910060250142]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[-0.08690085826464378,-2.023341475038156,0.71338606911949],"aabb_xy":[[-0.136900859625531,-2.073319379613572],[-0.03690085690375657,-1.9733635704627408]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.024425915778258256,-2.220267875651255,0.71338606911949],"aabb_xy":[[-0.04942591494389137,-2.227220121356612],[0.0005740833873748574,-2.2133156299458987]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[0.18019478883973628,-2.249431154348678,0.71338606911949],"aabb_xy":[[0.1566096653758414,-2.3144311565941096],[0.2037799123036311,-2.184431152103246]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.4258068477775556,1.367339364348167,0.71338606911949],"aabb_xy":[[-0.4376789307890567,1.2823393646545167],[-0.41393476476605445,1.4523393640418174]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[-0.5657760011619427,-1.5668849417738089,0.71338606911949],"aabb_xy":[[-0.5808783026229606,-1.5819864634048701],[-0.5506736997009244,-1.5517834201427467]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6557803591967319,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6731.png","name":"6731"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6731.png","name":"6731"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3864.png","name":"3864"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3865.png","name":"3865"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/628.png","name":"628"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/402.png","name":"402"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":529.034243490391,"rotation_z_degrees":306.54997448186697,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01349196619689323,0.012033478036069346,-0.016678086401756026]},{"name":"camera_2","offset_m":[-0.01903992285548855,0.011490630572370934,-0.004371040541692982]},{"name":"camera_3","offset_m":[0.00908080638109043,-0.003943009314542934,0.010319926259268399]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012773828286098904,-0.0017272126359510489,0.001904929238901138],"end_effector_yaw_offset_degrees":-0.10259314486404691},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016280419406820533,0.0008213136101148872,0.00030817595352268263],"end_effector_yaw_offset_degrees":-0.3011269264190275},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006655273453925418,0.0005293971519528661,0.0006153169156558917],"end_effector_yaw_offset_degrees":-0.08874032599598958}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004343330460949483,0.0033547327040065996],"position_m":[0.2346566695390505,-0.0528452672959934,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004475000166552741,-0.0034366058301683634],"position_m":[0.20477500016655276,-0.38913660583016835,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002919630938191433,0.004288945119275568],"position_m":[0.20431963093819142,0.3237889451192756,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003340104167972191,-0.00319970767725604],"position_m":[0.3377598958320278,0.16480029232274396,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7c13bfbaff7e8940d2c4f1229cede6d3d86899770a9d96c8a36aa5e7ff35e408","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6731/tex_ceiling_textures_402/tex_floor_textures_628/tex_table_textures_3864/tex_wall_textures_3865","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":8954274908927418004,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":8954274908927418004,"visual_seed":8954274908927418004,"scene_id":"lab_003","finished_at":"2026-09-03T23:03:07"} +{"episode_id":"ep_000097","started_at":"2026-09-03T23:03:11","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[-0.4539745294373023,1.4970707800720535,0.71338606911949],"aabb_xy":[[-0.5039745303878351,1.465521633068532],[-0.40397452848676946,1.5286199270755747]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.21598069103428363,0.576784943593756,0.71338606911949],"aabb_xy":[[0.16598069159408801,0.5268170191094397],[0.26598069047447925,0.6267528680780723]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.06437647309858796,-2.299514310225033,0.71338606911949],"aabb_xy":[[-0.12837647514831996,-2.3396087933143406],[-0.00037647104885596416,-2.2594198271357246]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[0.6912705454327439,-0.8147824372630244,0.71338606911949],"aabb_xy":[[0.6769361203065805,-0.8268426528175632],[0.7056049705589074,-0.8027222217084855]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[-0.47750376563826524,0.4053497858255124,0.71338606911949],"aabb_xy":[[-0.513132921538225,0.36971711906865945],[-0.44187460973830556,0.44098245258236535]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.061539712920680056,1.1733932023013889,0.71338606911949],"aabb_xy":[[0.05178372341150615,1.1636306682421542],[0.07129570242985393,1.183155736360623]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[0.39805233511842375,-1.956191550463441,0.71338606911949],"aabb_xy":[[0.32805233870846184,-1.9766294861151223],[0.46805233152838543,-1.935753614811759]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.49157569094133435,-1.87246833418143,0.71338606911949],"aabb_xy":[[-0.5290756912335093,-1.8765098095820336],[-0.4540756906491596,-1.8684268587808266]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.09005703239228258,1.5547872538839482,0.71338606911949],"aabb_xy":[[-0.14768750127955343,1.4947872549572374],[-0.032426563505011725,1.6147872528106584]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[-0.28378248165519915,1.7094174877827357,0.71338606911949],"aabb_xy":[[-0.36378248308532635,1.6299003327701258],[-0.20378248022507195,1.7889346427953448]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[-0.5253129708860353,-2.0486473578614923,0.71338606911949],"aabb_xy":[[-0.6153129706092094,-2.0717207103966713],[-0.4353129711628611,-2.0255740053263116]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[0.347174894918455,1.2903906808928234,0.71338606911949],"aabb_xy":[[0.3320725934574368,1.2752891592617608],[0.362277196379473,1.3054922025238846]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.4530942836060502,-0.7520168072599276,0.71338606911949],"aabb_xy":[[-0.5180942814876981,-0.8031404709664687],[-0.38809428572440247,-0.7008931435533868]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.17315235737355683,-2.1759798599220814,0.71338606911949],"aabb_xy":[[0.16385873913640622,-2.213479858410215],[0.18244597561070738,-2.138479861433947]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[0.010864640106788337,-1.8183696736342954,0.71338606911949],"aabb_xy":[[0.006728783774088143,-1.8558696730786526],[0.015000496439488531,-1.7808696741899386]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[0.23558604444184694,1.4387850464249001,0.71338606911949],"aabb_xy":[[0.15558604747880778,1.361709404781127],[0.3155860414048861,1.5158606880686738]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[0.5360625438398572,-1.6230000350249258,0.71338606911949],"aabb_xy":[[0.49956672321257845,-1.6594839774516832],[0.5725583644671359,-1.586516092598168]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.6070587623921222,-2.178324388627626,0.71338606911949],"aabb_xy":[[-0.6620510130276331,-2.2333243903709388],[-0.5520665117566113,-2.1233243868843132]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[-0.6297199673706492,-0.0541942120720913,0.71338606911949],"aabb_xy":[[-0.6377633272966043,-0.13919421316745773],[-0.621676607444694,0.03080578902327514]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[0.5642453795892075,-0.7511536383822484,0.71338606911949],"aabb_xy":[[0.5423556320002666,-0.8411536356714975],[0.5861351271781482,-0.6611536410929992]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[-0.38784223907814214,-1.4523968566480914,0.71338606911949],"aabb_xy":[[-0.4478422399389549,-1.5038232866545778],[-0.3278422382173293,-1.400970426641605]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[0.6390124047856134,1.4777195716233025,0.71338606911949],"aabb_xy":[[0.5690124026541838,1.4549576059976066],[0.7090124069170429,1.500481537248998]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6455778186835394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5733.png","name":"5733"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5733.png","name":"5733"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1067.png","name":"1067"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6883.png","name":"6883"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9606.png","name":"9606"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5106.png","name":"5106"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":726.973935829364,"rotation_z_degrees":130.50254868606288,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005569353836474899,0.0038364336607988533,0.01540620620021053]},{"name":"camera_2","offset_m":[-0.010741004826025425,0.0040346359215557605,0.009133190228348475]},{"name":"camera_3","offset_m":[-0.015381739682536054,-0.00713472357927627,0.005170681007341624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-2.675561480645081e-05,-0.00012868513048399288,0.0009301643616040022],"end_effector_yaw_offset_degrees":0.5693992736127718},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013380695125666336,0.0017885475613806808,-0.0016529866850928938],"end_effector_yaw_offset_degrees":0.7288974775406056},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002916448121689048,-0.00023603501309635852,-0.001981094588741737],"end_effector_yaw_offset_degrees":0.558486273090167}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017184945583855202,-0.004131789391366659],"position_m":[0.2407184945583855,-0.06033178939136666,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004785082267059959,0.0012001486325889975],"position_m":[0.19551491773294005,-0.384499851367411,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038459126771146425,0.0033261203805014456],"position_m":[0.19755408732288535,0.32282612038050146,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033090519782920267,-0.004735017980842717],"position_m":[0.337790948021708,0.1632649820191573,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"09e192db06fba980d82960aaa323cff856de7b90362b792ba0501b35a494fbcc","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5733/tex_ceiling_textures_5106/tex_floor_textures_9606/tex_table_textures_1067/tex_wall_textures_6883","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":6915682033286961406,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":6915682033286961406,"visual_seed":6915682033286961406,"scene_id":"lab_003","finished_at":"2026-09-03T23:05:54"} +{"episode_id":"ep_000098","started_at":"2026-09-03T23:05:57","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[-0.1426895796615405,0.33305913376576735,0.71338606911949],"aabb_xy":[[-0.2026895802575567,0.27824666122054387],[-0.08268957906552435,0.3878716063109908]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.3088687016421714,0.6646515138841873,0.71338606911949],"aabb_xy":[[0.3001707393514561,0.6525265395767125],[0.3175666639328867,0.6767764881916619]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.561718242068019,0.8133962321549806,0.71338606911949],"aabb_xy":[[-0.606889559916188,0.7493962350104422],[-0.51654692421985,0.8773962292995191]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.6593761863330108,0.45020074581922165,0.71338606911949],"aabb_xy":[[0.6521149387626034,0.4374137355557123],[0.6666374339034183,0.46298775608273124]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.17559874920688545,-1.6843725352561543,0.71338606911949],"aabb_xy":[[-0.2395987506148761,-1.736161486780079],[-0.11159874779889477,-1.6325835837322296]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.4290724246095666,0.6078621574279417,0.71338606911949],"aabb_xy":[[-0.493072426287564,0.5593447659486276],[-0.3650724229315693,0.656379548907256]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.41126080118935615,-2.2910878496354985,0.71338606911949],"aabb_xy":[[0.4016291649689266,-2.3007251624152074],[0.4208924374097858,-2.2814505368557896]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[0.5334564527129801,0.18636414639755028,0.71338606911949],"aabb_xy":[[0.4484564542955569,0.1014898509352653],[0.6184564511304034,0.27123844185983526]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.6105152262433718,1.1214259250960605,0.71338606911949],"aabb_xy":[[-0.615471246428253,1.0989259248939391],[-0.6055592060584907,1.1439259252981824]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.12124082264565028,1.323197926476615,0.71338606911949],"aabb_xy":[[0.0837408242222499,1.310033712508784],[0.1587408210690506,1.3363621404444455]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.017704051647003505,-1.9721039456000211,0.71338606911949],"aabb_xy":[[-0.0817040489493499,-2.0164703725678774],[0.046295945655342896,-1.927737518632164]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[-0.5093639264754928,-2.283061866499778,0.71338606911949],"aabb_xy":[[-0.5339101420982435,-2.3133107630488148],[-0.4848177108527421,-2.2528129699507407]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.6292709360851195,1.2363313720119535,0.71338606911949],"aabb_xy":[[-0.6542709360176374,1.2294487037910302],[-0.6042709361526016,1.2432140402328768]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[0.6275353963258434,-1.3564065222001835,0.71338606911949],"aabb_xy":[[0.5635353992137377,-1.405438891994594],[0.6915353934379491,-1.3073741524057727]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.028890182958847932,0.9190696415351636,0.71338606911949],"aabb_xy":[[-0.07416879783999719,0.8550696421869799],[0.016388431922301328,0.9830696408833473]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[0.5317316093902813,-0.8607068755235485,0.71338606911949],"aabb_xy":[[0.46673160935597846,-0.9074075522038758],[0.5967316094245839,-0.8140061988432212]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[-0.38912360771207494,-2.4245369200015796,0.71338606911949],"aabb_xy":[[-0.43912360866260775,-2.456086067005101],[-0.33912360676154213,-2.392987772998058]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[0.5684019608814568,-2.5143441350219877,0.71338606911949],"aabb_xy":[[0.5459019606379414,-2.5265487696817597],[0.5909019611249722,-2.5021395003622158]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.673854254027912,1.492044087676883,0.71338606911949],"aabb_xy":[[0.6569435215915701,1.4785718820842682],[0.6907649864642537,1.5055162932694974]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[0.0724609117308691,-2.502286494105276,0.71338606911949],"aabb_xy":[[0.06850042796113473,-2.509954358690797],[0.07642139550060348,-2.494618629519756]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[0.558538400725036,0.6302170711188668,0.71338606911949],"aabb_xy":[[0.5414363227666679,0.6131102655875971],[0.5756404786834042,0.6473238766501366]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[0.18782843942880922,-2.3009100562916798,0.71338606911949],"aabb_xy":[[0.10782843799868203,-2.380427211304289],[0.2678284408589364,-2.22139290127907]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[0.4559784903177424,-2.0051794586430836,0.71338606911949],"aabb_xy":[[0.4259868275838721,-2.0351794579798836],[0.48597015305161273,-1.9751794593062826]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[0.3183316683458923,-1.1373978624885375,0.71338606911949],"aabb_xy":[[0.30917178940201573,-1.1439290805320745],[0.3274915472897689,-1.1308666444450004]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[-0.5955995900190234,0.08306749248644207,0.71338606911949],"aabb_xy":[[-0.6805995887110979,0.051081629091563205],[-0.5105995913269487,0.11505335588132092]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[-0.2432852732373471,-0.23422681813837398,0.71338606911949],"aabb_xy":[[-0.2782852745888288,-0.25458655409519476],[-0.20828527188586535,-0.21386708218155312]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[0.3993570344694617,-0.2991135137028027,0.71338606911949],"aabb_xy":[[0.3818570342101252,-0.3132050558915753],[0.4168570347287984,-0.2850219715140301]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[-0.48473890676489495,1.116276534232262,0.71338606911949],"aabb_xy":[[-0.5220701832901375,1.08162347943741],[-0.4474076302396523,1.1509295890271145]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_28","position":[-0.43705950055956355,1.494411709345354,0.71338606911949],"aabb_xy":[[-0.4526152699698289,1.4788612761009468],[-0.4215037311492984,1.5099621425897614]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[0.23359186183147695,1.3328224562261104,0.71338606911949],"aabb_xy":[[0.22281888791010918,1.2978224580070714],[0.24436483575284473,1.3678224544451494]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[-0.27379642997075765,1.176903253364833,0.71338606911949],"aabb_xy":[[-0.35379643044097364,1.1685925457504849],[-0.19379642950054177,1.1852139609791814]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_31","position":[0.23931191297094856,-2.094900258130154,0.71338606911949],"aabb_xy":[[0.17531191226747925,-2.140918640603075],[0.30331191367441795,-2.048881875657233]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_32","position":[-0.3698962818418516,-0.34710090014248607,0.71338606911949],"aabb_xy":[[-0.40104320068543464,-0.4171008988292932],[-0.3387493629982684,-0.27710090145567884]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6523361071702688,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7756.png","name":"7756"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7756.png","name":"7756"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8883.png","name":"8883"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4933.png","name":"4933"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9524.png","name":"9524"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/994.png","name":"994"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":539.5030558881562,"rotation_z_degrees":209.34852870216554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008576627625267595,-0.00427823978752984,-0.012568613543617616]},{"name":"camera_2","offset_m":[0.012496448792987159,-0.01878061748886774,0.008202615472831534]},{"name":"camera_3","offset_m":[0.00315767765718351,-0.010812168492299544,0.0016815643695873815]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016256764013573176,0.0018654739430461259,-0.001993738952095633],"end_effector_yaw_offset_degrees":-0.2566478156974106},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009603825749467925,-0.0007550170781465654,0.0007678690731272122],"end_effector_yaw_offset_degrees":0.30631944893168184},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001158940735753081,2.9389355825127934e-05,-0.0015507994393660237],"end_effector_yaw_offset_degrees":-0.8980363578035455}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004937938881931733,-0.0044224854386967485],"position_m":[0.23406206111806827,-0.06062248543869675,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001043530351501635,-0.0022852942975783684],"position_m":[0.20134353035150165,-0.38798529429757833,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018741417438656906,0.002232756289895466],"position_m":[0.1995258582561343,0.32173275628989545,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036438054918818694,0.004596616503692059],"position_m":[0.3447438054918819,0.17259661650369207,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f133ec070b90ae090529581ed26b4e24a10fc3ec159ff251df287e23acab9680","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7756/tex_ceiling_textures_994/tex_floor_textures_9524/tex_table_textures_8883/tex_wall_textures_4933","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":8897598325919895530,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":8897598325919895530,"visual_seed":8897598325919895530,"scene_id":"lab_003","finished_at":"2026-09-03T23:08:35"} +{"episode_id":"ep_000099","started_at":"2026-09-03T23:08:39","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.024701324225464005,-2.405105623058164,0.71338606911949],"aabb_xy":[[-0.04687385120211485,-2.4272812902142866],[-0.002528797248813167,-2.3829299559020405]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.501029156793676,-1.801758284086887,0.71338606911949],"aabb_xy":[[0.4642345236687697,-1.8386641591834694],[0.5378237899185823,-1.7648524089903048]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.6855476280289479,-2.530521139017217,0.71338606911949],"aabb_xy":[[0.6721011013949045,-2.5439909906703084],[0.6989941546629912,-2.5170512873641258]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[0.6012023954685253,-1.006243013044618,0.71338606911949],"aabb_xy":[[0.5868679703423618,-1.018303228599157],[0.6155368205946887,-0.9941827974900792]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.4309810363865681,1.7177150993035455,0.71338606911949],"aabb_xy":[[-0.44855933857551494,1.7001406097294405],[-0.41340273419762125,1.7352895888776505]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.3169327696810238,0.9844662091379921,0.71338606911949],"aabb_xy":[[0.2669594756777633,0.9344662085834446],[0.3669060636842842,1.0344662096925394]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.31413006375059616,-1.0673257182283782,0.71338606911949],"aabb_xy":[[0.2663238961368275,-1.1323257209354372],[0.3619362313643648,-1.0023257155213192]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.05224106269174755,0.9161539905248519,0.71338606911949],"aabb_xy":[[-0.13223488627030577,0.8361539879320103],[0.027752760886810668,0.9961539931176935]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.5061628184988753,-2.1311789185539256,0.71338606911949],"aabb_xy":[[-0.5236628187439246,-2.148678706393492],[-0.4886628182538259,-2.1136791307143583]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[-0.4940421345314029,-0.7977207297423445,0.71338606911949],"aabb_xy":[[-0.5278176937220957,-0.8117592249555095],[-0.46026657534070986,-0.7836822345291794]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.4215850183064201,-2.271445551766252,0.71338606911949],"aabb_xy":[[-0.4333532051010777,-2.356445551671474],[-0.4098168315117627,-2.186445551861031]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.24308085301009896,-1.470916453062451,0.71338606911949],"aabb_xy":[[0.1930979028226196,-1.5209164527050112],[0.29306380319757824,-1.4209164534198904]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.4628212273274883,1.5280378707596634,0.71338606911949],"aabb_xy":[[0.4573632816904682,1.4480378674520038],[0.46827917296450833,1.608037874067322]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[-0.10408158562049519,1.2943534002686645,0.71338606911949],"aabb_xy":[[-0.1409321335574828,1.2568533994456308],[-0.06723103768350758,1.3318534010916983]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[0.2401552042328824,1.1744955767495795,0.71338606911949],"aabb_xy":[[0.23384310469654393,1.1687286374963606],[0.2464673037692208,1.1802625160027984]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.43844216106206035,-2.5523384417014774,0.71338606911949],"aabb_xy":[[0.4323475331739421,-2.5609078362531466],[0.44453678895017873,-2.543769047149809]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.07417240710838435,-1.6277980540867008,0.71338606911949],"aabb_xy":[[-0.13817240748591797,-1.677543320937513],[-0.010172406730850736,-1.5780527872358885]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.07227032110120402,-1.385320332944741,0.71338606911949],"aabb_xy":[[0.002270318464617657,-1.4054251979406063],[0.14227032373779036,-1.3652154679488753]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.5884086119886549,-2.3869397246451576,0.71338606911949],"aabb_xy":[[0.5737652064346218,-2.4015984443019414],[0.6030520175426878,-2.372281004988373]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[-0.42438569308843704,1.440594396031766,0.71338606911949],"aabb_xy":[[-0.43955786237007044,1.4254255391035626],[-0.40921352380680376,1.4557632529599693]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.5046633408471042,0.6720959538789923,0.71338606911949],"aabb_xy":[[-0.5421633411953318,0.6603045582979087],[-0.4671633404988763,0.6838873494600758]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[-0.30023971574232405,1.0382799271626837,0.71338606911949],"aabb_xy":[[-0.35023472670177613,0.9882799281270922],[-0.2502447047828721,1.0882799261982756]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.6696893817975157,-2.1223158932773054,0.71338606911949],"aabb_xy":[[-0.6946893813492542,-2.1324583771424406],[-0.6446893822457772,-2.112173409412171]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[0.35000202478970754,-1.5053043473725738,0.71338606911949],"aabb_xy":[[0.3387569692190897,-1.5165461450966693],[0.3612470803603254,-1.4940625496484787]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[-0.5375493570825499,-0.21716944470374866,0.71338606911949],"aabb_xy":[[-0.5925425684196867,-0.27216944504254226],[-0.48255614574541317,-0.16216944436495503]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[0.2557280887717964,-1.2692782093527335,0.71338606911949],"aabb_xy":[[0.1917280880683272,-1.3152965918256543],[0.3197280894752659,-1.2232598268798123]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[-0.5522965374709686,0.4875091458917673,0.71338606911949],"aabb_xy":[[-0.5689736734640641,0.4708092219178371],[-0.5356194014778731,0.5042090698656976]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_27","position":[0.0061491775933477655,-1.2022262395983951,0.71338606911949],"aabb_xy":[[-0.08385082182502313,-1.2356017364425846],[0.09614917701171866,-1.1688507427542052]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6495118148613742,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5695.png","name":"5695"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5695.png","name":"5695"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8352.png","name":"8352"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7646.png","name":"7646"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4813.png","name":"4813"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7695.png","name":"7695"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":675.901165405859,"rotation_z_degrees":5.40605430890186,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011250828760631135,0.017827682654222226,0.0052259099236277515]},{"name":"camera_2","offset_m":[-0.004979941836134465,0.015271127695138376,-0.009749414357648601]},{"name":"camera_3","offset_m":[-0.007035265798958426,-0.006402920671780627,0.007873978160742444]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006349073353130509,0.0009756173309632939,0.0010559059073152414],"end_effector_yaw_offset_degrees":0.637044019843287},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001443103085850426,-0.0006098360290933238,-0.0014496397793467676],"end_effector_yaw_offset_degrees":0.972253329403179},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009097488055230158,-0.0010426493364053275,-5.9135015308636176e-05],"end_effector_yaw_offset_degrees":0.0913000832634081}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00001","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00033060312902487635,-0.0004164470228823795],"position_m":[0.23933060312902488,-0.05661644702288238,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017839706072599023,0.0034975064649255374],"position_m":[0.2020839706072599,-0.38220249353507446,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009955202443021347,0.0011611930378052238],"position_m":[0.20239552024430213,0.3206611930378052,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002701961108213886,0.0010654166475409475],"position_m":[0.3438019611082139,0.16906541664754096,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b04eba8694e0924e6ffb02ba5d59d520829b5c1275df9a264255d511cf8df6cc","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5695/tex_ceiling_textures_7695/tex_floor_textures_4813/tex_table_textures_8352/tex_wall_textures_7646","seeds":{"action_seed":930985434780052157,"physical_seed":5460116499884012623,"visual_seed":2755578792843791679,"layout_id":"layout_00001","physical_randomization_enabled":true},"episode_seed":2755578792843791679,"visual_seed":2755578792843791679,"scene_id":"lab_003","finished_at":"2026-09-03T23:11:21"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8bbd38d270faad10892d4f1ec53fe8d922278c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00001 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00001 + reproducibility: + enabled: true + layout_id: layout_00001 + action_seed: 930985434780052157 + step_seeds: + - 4454205068413497318 + - 4415600845410333999 + - 4823626241943975924 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.239 + - 0.239 + 'y': + - -0.0562 + - -0.0562 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2014 + - 0.2014 + 'y': + - 0.3195 + - 0.3195 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3411 + - 0.3411 + 'y': + - 0.168 + - 0.168 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2003 + - 0.2003 + 'y': + - -0.3857 + - -0.3857 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e10395df512d8e46ab73afa721fe98e175e743b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2673831905432159, + -0.060191418717759654, + 1.165676785371458 + ], + "current_z": 1.165676785371458, + "required_z": 0.8611066699130852, + "initial_z": 0.7611066699130852, + "lift_margin": 0.30457011545837287, + "gripper_z": 1.1583732670457056, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2625343811410726, + -0.06490526923765133, + 1.1583732670457056 + ], + "object_minus_gripper": [ + 0.004848809402143328, + 0.004713850519891677, + 0.007303518325752378 + ], + "object_to_gripper_xy": 0.006762495053025663, + "object_to_gripper_z": 0.007303518325752378, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2673831905432159, + -0.08410755917210119, + 1.165676785371458 + ], + "finger_b": [ + 0.2566087860653714, + -0.060191418717759654, + 1.165676785371458 + ], + "finger_midpoint": [ + 0.26199598830429366, + -0.07214948894493042, + 1.165676785371458 + ], + "object_minus_finger_midpoint": [ + 0.005387202238922251, + 0.01195807022717077, + 0.0 + ], + "finger_gap": 0.02623108015473224, + "fingertip_max_gap": 0.09149503707716417, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01311554007736612, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165676785371458, + "object_top_z": 1.2158591648630082, + "finger_top_clearance": 0.05018237949155013, + "fingertip_min_top_clearance": 0.015054713847465005, + "object_projection_between_fingers": 0.831284803783887, + "object_to_finger_line_xy": 0.009823544028076472, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048247518538582085, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7510847099342614, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2574786605639475, + -0.3880399202166407, + 0.8515396078377147 + ], + "target_position": [ + 0.24923885191787665, + -0.3891111457988578, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008309149822446385, + "xy_threshold": 0.08, + "gripper_dist": 0.18339881864428412, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396078377147, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571587670956255, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08585569562387628, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1509517820915023, + "release_required_pad_clearance": 0.05292784781193814, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8934985771268764, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008058011531829834, + "max_z_decrease": 0.008058011531829834, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350700671308416, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008058011531829834, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021071873158158623, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008058011531829834, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008058020313352137, + "max_button_displacement": 0.12, + "button_start": [ + 0.1049387753009796, + -0.44537261128425604, + 0.7768088579177856 + ], + "button_final": [ + 0.1049387753009796, + -0.44537261128425604, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10483632845992127, + -0.4456414706255928, + 0.808059766801154 + ], + "closest_button": [ + 0.10494422912597655, + -0.4453667104244233, + 0.7729909420013428 + ], + "closest_ee_minus_button": [ + -0.00010790066605527449, + -0.0002747602011695105, + 0.035068824799811216 + ], + "button_min_z_position": [ + 0.10494027286767958, + -0.44536080956459045, + 0.7687508463859558 + ], + "min_active_finger_to_button": 0.14635915085577975, + "closest_active_finger": [ + -0.036425910890102386, + -0.42994093894958496, + 0.8109416961669922 + ], + "closest_active_finger_button": [ + 0.10494139790534972, + -0.44537064433097845, + 0.7763265371322632 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14136730879545212, + 0.015429705381393488, + 0.034615159034729004 + ], + "min_contact_pad_to_button": 0.021071873158158623, + "closest_contact_pad": [ + 0.10494027286767958, + -0.4465997373266244, + 0.7897862664291588 + ], + "closest_contact_pad_button": [ + 0.10494027286767958, + -0.44536080956459045, + 0.7687508463859558 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012389277620339367, + 0.021035420043203024 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f5ea1636e9dc9c02917c083673eb4f57f28bd014934d5e549b56fa7b90b7a971", + "visual_seed": 15604980687639140, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3b6581d73da51c5fdd0d3cb69ea089ec7b5622b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26668696985505425, + -0.05656594743059569, + 1.1655575818763513 + ], + "current_z": 1.1655575818763513, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30445119307087487, + "gripper_z": 1.1582987482954847, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2620882123438064, + -0.0612128918752758, + 1.1582987482954847 + ], + "object_minus_gripper": [ + 0.004598757511247831, + 0.004646944444680112, + 0.007258833580866542 + ], + "object_to_gripper_xy": 0.006537787341234166, + "object_to_gripper_z": 0.007258833580866542, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26668696985505425, + -0.08026707231888747, + 1.1655575818763513 + ], + "finger_b": [ + 0.25594575038705364, + -0.05656594743059569, + 1.1655575818763513 + ], + "finger_midpoint": [ + 0.26131636012105397, + -0.06841650987474157, + 1.1655575818763513 + ], + "object_minus_finger_midpoint": [ + 0.005370609734000276, + 0.011850562444145882, + 0.0 + ], + "finger_gap": 0.026021474144063382, + "fingertip_max_gap": 0.09207581651806648, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013010737072031674, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1655575818763513, + "object_top_z": 1.21566131542781, + "finger_top_clearance": 0.050103733551458696, + "fingertip_min_top_clearance": 0.015031120065437642, + "object_projection_between_fingers": 0.8296102803693082, + "object_to_finger_line_xy": 0.00978341898134596, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048537908259033244, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3018873805580362, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26632019591120415, + -0.3855476141257213, + 0.8515395479346987 + ], + "target_position": [ + 0.2582655517940783, + -0.38645211510426036, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00810527074647901, + "xy_threshold": 0.08, + "gripper_dist": 0.18626252934685888, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395479346987, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526179147683133, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523158867950907, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15480801098088742, + "release_required_pad_clearance": 0.05261579433975454, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2934196081070127, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008202910423278809, + "max_z_decrease": 0.008202910423278809, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034998942639583884, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008202910423278809, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02100447635209947, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008202910423278809, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008202933948729276, + "max_button_displacement": 0.12, + "button_start": [ + 0.11396548151969906, + -0.4427135586738587, + 0.7768088579177856 + ], + "button_final": [ + 0.11396548151969906, + -0.4427135586738587, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11405509845321607, + -0.4431597239568623, + 0.8036017007179161 + ], + "closest_button": [ + 0.11397116631269452, + -0.44269475340843206, + 0.7686059474945068 + ], + "closest_ee_minus_button": [ + 8.393214052154763e-05, + -0.00046497054843025465, + 0.03499575322340931 + ], + "button_min_z_position": [ + 0.11397116631269452, + -0.44269475340843206, + 0.7686059474945068 + ], + "min_active_finger_to_button": 0.145750485292772, + "closest_active_finger": [ + -0.02691373974084854, + -0.4285610318183899, + 0.8107134103775024 + ], + "closest_active_finger_button": [ + 0.11396779865026471, + -0.4427100718021393, + 0.7761388421058655 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14088153839111325, + 0.01414903998374939, + 0.03457456827163696 + ], + "min_contact_pad_to_button": 0.02100447635209947, + "closest_contact_pad": [ + 0.11397116631269452, + -0.444210660934989, + 0.7895556503849259 + ], + "closest_contact_pad_button": [ + 0.11397116631269452, + -0.44269475340843206, + 0.7686059474945068 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015159075265569477, + 0.020949702890419086 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e23e0a81e82a8897739661a7bf724a8a0f89db31e883f3beb3fb359cdd3dc2cb", + "visual_seed": 559104125456772217, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..149b17de51e91a6b201f88266c0b19e3a95b7d93 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26361787920544055, + -0.05818482771736772, + 1.1654804426611034 + ], + "current_z": 1.1654804426611034, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30437393464633755, + "gripper_z": 1.158336973044355, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2590101133650087, + -0.06290970805453837, + 1.158336973044355 + ], + "object_minus_gripper": [ + 0.004607765840431877, + 0.004724880337170646, + 0.007143469616748499 + ], + "object_to_gripper_xy": 0.0065996969809857696, + "object_to_gripper_z": 0.007143469616748499, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26361787920544055, + -0.08176457252556142, + 1.1654804426611034 + ], + "finger_b": [ + 0.25266303562075676, + -0.05818482771736772, + 1.1654804426611034 + ], + "finger_midpoint": [ + 0.25814045741309866, + -0.06997470012146458, + 1.1654804426611034 + ], + "object_minus_finger_midpoint": [ + 0.005477421792341897, + 0.011789872404096853, + 0.0 + ], + "finger_gap": 0.026000249290813068, + "fingertip_max_gap": 0.09208885904996478, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013000124645406536, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654804426611034, + "object_top_z": 1.2157069863088603, + "finger_top_clearance": 0.050226543647756916, + "fingertip_min_top_clearance": 0.015067963094327041, + "object_projection_between_fingers": 0.8224758924746421, + "object_to_finger_line_xy": 0.009934997670649032, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854442952498239, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.250257302208625, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2657695613922523, + -0.3882840061996038, + 0.8515395758909051 + ], + "target_position": [ + 0.25761839710974027, + -0.3892268931723125, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008205517351380302, + "xy_threshold": 0.08, + "gripper_dist": 0.18447117019883388, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395758909051, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532194150907778, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08534246512322759, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152944680083742, + "release_required_pad_clearance": 0.052671232561613796, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3995839018446792, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008202016353607178, + "max_z_decrease": 0.008202016353607178, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500905635384316, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008202016353607178, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02096219415906621, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008202016353607178, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008202057534114078, + "max_button_displacement": 0.12, + "button_start": [ + 0.11331832408905025, + -0.4454883635044098, + 0.7768088579177856 + ], + "button_final": [ + 0.11331832408905025, + -0.4454883635044098, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11202894446650735, + -0.44550927901662035, + 0.8035915128536817 + ], + "closest_button": [ + 0.11333474516868586, + -0.44546821713447576, + 0.7686068415641785 + ], + "closest_ee_minus_button": [ + -0.0013058007021785056, + -4.10618821445885e-05, + 0.03498467128950322 + ], + "button_min_z_position": [ + 0.11333474516868586, + -0.44546821713447576, + 0.7686068415641785 + ], + "min_active_finger_to_button": 0.14708454427627068, + "closest_active_finger": [ + -0.014788605272769928, + -0.5089976191520691, + 0.8106138110160828 + ], + "closest_active_finger_button": [ + 0.113318920135498, + -0.44548553228378296, + 0.7761386036872864 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12810752540826792, + -0.06351208686828613, + 0.03447520732879639 + ], + "min_contact_pad_to_button": 0.02096219415906621, + "closest_contact_pad": [ + 0.11333474516868586, + -0.44664529634359296, + 0.7895359616722445 + ], + "closest_contact_pad_button": [ + 0.11333474516868586, + -0.44546821713447576, + 0.7686068415641785 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011770792091171933, + 0.020929120108066024 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "592a3ab0cc4830cabe562484189634369ebc3ac1f4131f53edc49118f12290e8", + "visual_seed": 9081541803864580595, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8ab8a1e2af077f6ea4e12b7ae4790fd54a185279 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26968288556550923, + -0.05846559624362321, + 1.1629045259906023 + ], + "current_z": 1.1629045259906023, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.3017979583711916, + "gripper_z": 1.1556356552877807, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26484824458483186, + -0.06312118166795463, + 1.1556356552877807 + ], + "object_minus_gripper": [ + 0.004834640980677374, + 0.004655585424331428, + 0.007268870702821673 + ], + "object_to_gripper_xy": 0.006711797751369771, + "object_to_gripper_z": 0.007268870702821673, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26968288556550923, + -0.08261042390186116, + 1.1629045259906023 + ], + "finger_b": [ + 0.2592710117663307, + -0.05846559624362321, + 1.1629045259906023 + ], + "finger_midpoint": [ + 0.26447694866592, + -0.07053801007274219, + 1.1629045259906023 + ], + "object_minus_finger_midpoint": [ + 0.0052059368995892585, + 0.012072413829118979, + 0.0 + ], + "finger_gap": 0.026294102355015513, + "fingertip_max_gap": 0.0922671188930825, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01314705117750776, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1629045259906023, + "object_top_z": 1.212987404420334, + "finger_top_clearance": 0.05008287842973158, + "fingertip_min_top_clearance": 0.015024863528919474, + "object_projection_between_fingers": 0.8432017928716059, + "object_to_finger_line_xy": 0.009560809305685855, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048633559446541255, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5678161619410458, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2603741540945944, + -0.384022063726856, + 0.8515396099008044 + ], + "target_position": [ + 0.2543824089081718, + -0.3837501706909827, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005997910986499774, + "xy_threshold": 0.08, + "gripper_dist": 0.18361240241885485, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396099008044, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514340933091233, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873457420573331, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1522128744384603, + "release_required_pad_clearance": 0.05367287102866655, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3553864900961714, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008083879947662354, + "max_z_decrease": 0.008083879947662354, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035123121156083494, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008083879947662354, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021029374713630866, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008083879947662354, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008083894410222055, + "max_button_displacement": 0.12, + "button_start": [ + 0.11008233577013016, + -0.4400116205215454, + 0.7768088579177856 + ], + "button_final": [ + 0.11008233577013016, + -0.4400116205215454, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10954100944375708, + -0.4380809065507018, + 0.8037915398204507 + ], + "closest_button": [ + 0.11008705943822862, + -0.43999707698822016, + 0.7687249779701233 + ], + "closest_ee_minus_button": [ + -0.0005460499944715397, + 0.0019161704375183497, + 0.035066561850327416 + ], + "button_min_z_position": [ + 0.11008705943822862, + -0.43999707698822016, + 0.7687249779701233 + ], + "min_active_finger_to_button": 0.14561156207835696, + "closest_active_finger": [ + -0.01761145144701004, + -0.5008925199508667, + 0.8104966878890991 + ], + "closest_active_finger_button": [ + 0.11008530110120775, + -0.44000813364982605, + 0.7760096192359924 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12769675254821777, + -0.06088438630104065, + 0.03448706865310669 + ], + "min_contact_pad_to_button": 0.021029374713630866, + "closest_contact_pad": [ + 0.11008705943822862, + -0.43999707698822016, + 0.7897543526837542 + ], + "closest_contact_pad_button": [ + 0.11008705943822862, + -0.43999707698822016, + 0.7687249779701233 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021029374713630866 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e4d5f3907383fb7ec69a66d2bb0db0ff83e32d56be2927b0b586368494b1db6f", + "visual_seed": 2928432060961843630, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..491b80d9d51da291490f9dd168aca93e4de31e6e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26877409830994503, + -0.055082305191879524, + 1.165961618078446 + ], + "current_z": 1.165961618078446, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3048552292729696, + "gripper_z": 1.1586147562224611, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26411146363143334, + -0.05973939647683631, + 1.1586147562224611 + ], + "object_minus_gripper": [ + 0.00466263467851169, + 0.0046570912849567825, + 0.007346861855984876 + ], + "object_to_gripper_xy": 0.006590042593313053, + "object_to_gripper_z": 0.007346861855984876, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26877409830994503, + -0.07883089322403775, + 1.165961618078446 + ], + "finger_b": [ + 0.2580165662718992, + -0.055082305191879524, + 1.165961618078446 + ], + "finger_midpoint": [ + 0.2633953322909221, + -0.06695659920795863, + 1.165961618078446 + ], + "object_minus_finger_midpoint": [ + 0.005378766019022929, + 0.011874294016079104, + 0.0 + ], + "finger_gap": 0.026071438952822528, + "fingertip_max_gap": 0.09201278154581072, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013035719476411257, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165961618078446, + "object_top_z": 1.2160690314566551, + "finger_top_clearance": 0.05010741337820912, + "fingertip_min_top_clearance": 0.015032224013462702, + "object_projection_between_fingers": 0.8297467962903624, + "object_to_finger_line_xy": 0.00979908309152365, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850639077290536, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3400949848656272, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26026143874366336, + -0.3894670751642717, + 0.8515396017538923 + ], + "target_position": [ + 0.25156503804408203, + -0.3903948743848834, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00874575305628088, + "xy_threshold": 0.08, + "gripper_dist": 0.18407103921330528, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396017538923, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075146599734938, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08526090076336994, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1530318106694476, + "release_required_pad_clearance": 0.05263045038168497, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.32142509175134176, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00812673568725586, + "max_z_decrease": 0.00812673568725586, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034998563461755054, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00812673568725586, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020988463641415205, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00812673568725586, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008126796700598909, + "max_button_displacement": 0.12, + "button_start": [ + 0.10726496577262877, + -0.446656346321106, + 0.7768088579177856 + ], + "button_final": [ + 0.10726496577262877, + -0.446656346321106, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10732843560922928, + -0.4466301671743757, + 0.8036806577464066 + ], + "closest_button": [ + 0.1072842255234718, + -0.4466314315795899, + 0.7686821222305298 + ], + "closest_ee_minus_button": [ + 4.421008575747343e-05, + 1.2644052141963513e-06, + 0.03499853551587684 + ], + "button_min_z_position": [ + 0.1072842255234718, + -0.4466314315795899, + 0.7686821222305298 + ], + "min_active_finger_to_button": 0.1458368146665012, + "closest_active_finger": [ + -0.03356829285621643, + -0.4312900900840759, + 0.8108296990394592 + ], + "closest_active_finger_button": [ + 0.10726752132177352, + -0.44665271043777466, + 0.7762227654457092 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14083581417798996, + 0.01536262035369873, + 0.03460693359375 + ], + "min_contact_pad_to_button": 0.020988463641415205, + "closest_contact_pad": [ + 0.1072842255234718, + -0.4477504201757402, + 0.7896407355088145 + ], + "closest_contact_pad_button": [ + 0.1072842255234718, + -0.4466314315795899, + 0.7686821222305298 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011189885961502832, + 0.020958613278284743 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "752e20f86006972762e804bb2be9707e61545b8f764dd4d8b582233ad0c535f7", + "visual_seed": 7862989516906501657, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3a70d36d2d3ee15a7f5a05a794263a256d12efe5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27072788353485244, + -0.055404511832615855, + 1.1651961570612381 + ], + "current_z": 1.1651961570612381, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30408964904647207, + "gripper_z": 1.1576897661946621, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2660385757146031, + -0.06006766230503424, + 1.1576897661946621 + ], + "object_minus_gripper": [ + 0.004689307820249344, + 0.004663150472418387, + 0.007506390866576007 + ], + "object_to_gripper_xy": 0.006613212544706807, + "object_to_gripper_z": 0.007506390866576007, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27072788353485244, + -0.07920534513885197, + 1.1651961570612381 + ], + "finger_b": [ + 0.260016391654989, + -0.055404511832615855, + 1.1651961570612381 + ], + "finger_midpoint": [ + 0.26537213759492073, + -0.06730492848573391, + 1.1651961570612381 + ], + "object_minus_finger_midpoint": [ + 0.005355745939931711, + 0.011900416653118057, + 0.0 + ], + "finger_gap": 0.026100109661907903, + "fingertip_max_gap": 0.09197711608713643, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013050054830953952, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651961570612381, + "object_top_z": 1.21535097850349, + "finger_top_clearance": 0.05015482144225181, + "fingertip_min_top_clearance": 0.015046446432675541, + "object_projection_between_fingers": 0.8315716238060054, + "object_to_finger_line_xy": 0.009767868257879737, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04848855804356822, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.309974563563272, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2655386994407905, + -0.3852491121285382, + 0.8515395609446114 + ], + "target_position": [ + 0.2573674584306604, + -0.38597459921439503, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008203384128356863, + "xy_threshold": 0.08, + "gripper_dist": 0.18499311422640566, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395609446114, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513566558044045, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512298082662041, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15378213385877557, + "release_required_pad_clearance": 0.05256149041331021, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18974556860267042, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008124351501464844, + "max_z_decrease": 0.008124351501464844, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035002387640713124, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008124351501464844, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020999312382207282, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008124351501464844, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008124398663936596, + "max_button_displacement": 0.12, + "button_start": [ + 0.1130673810839653, + -0.442236065864563, + 0.7768088579177856 + ], + "button_final": [ + 0.1130673810839653, + -0.442236065864563, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11269273268622162, + -0.44256147431531107, + 0.8036829741729984 + ], + "closest_button": [ + 0.11308667808771133, + -0.4422162175178528, + 0.7686845064163208 + ], + "closest_ee_minus_button": [ + -0.00039394540148970925, + -0.0003452567974582821, + 0.03499846775667759 + ], + "button_min_z_position": [ + 0.11308667808771133, + -0.4422162175178528, + 0.7686845064163208 + ], + "min_active_finger_to_button": 0.14621015495890252, + "closest_active_finger": [ + -0.028252802789211273, + -0.4277343153953552, + 0.811388373374939 + ], + "closest_active_finger_button": [ + 0.11306736618280411, + -0.4422350823879242, + 0.7768087983131409 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14132016897201538, + 0.01450076699256897, + 0.034579575061798096 + ], + "min_contact_pad_to_button": 0.020999312382207282, + "closest_contact_pad": [ + 0.11308667808771133, + -0.4436347149724992, + 0.7896358544754956 + ], + "closest_contact_pad_button": [ + 0.11308667808771133, + -0.4422162175178528, + 0.7686845064163208 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014184974546463947, + 0.020951348059174757 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "be6c8324783349bb189139eccb4e23ced5350e73706cb982c02fa9a16731ab92", + "visual_seed": 7465169495830367901, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1240f68fe7ca0cec278ed1c11f0e47fe96e71874 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2662583558177653, + -0.06377268526412783, + 1.162300512920077 + ], + "current_z": 1.162300512920077, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3011940645099557, + "gripper_z": 1.1549874786296155, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.261743323981665, + -0.06847826309045049, + 1.1549874786296155 + ], + "object_minus_gripper": [ + 0.004515031836100303, + 0.0047055778263226655, + 0.007313034290461484 + ], + "object_to_gripper_xy": 0.006521347649112016, + "object_to_gripper_z": 0.007313034290461484, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2662583558177653, + -0.08729642735370949, + 1.162300512920077 + ], + "finger_b": [ + 0.255349310870981, + -0.06377268526412783, + 1.162300512920077 + ], + "finger_midpoint": [ + 0.2608038333443732, + -0.07553455630891866, + 1.162300512920077 + ], + "object_minus_finger_midpoint": [ + 0.0054545224733921205, + 0.011761871044790831, + 0.0 + ], + "finger_gap": 0.025930169755482044, + "fingertip_max_gap": 0.09215290763291578, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012965084877741012, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162300512920077, + "object_top_z": 1.2125315547825792, + "finger_top_clearance": 0.05023104186250227, + "fingertip_min_top_clearance": 0.015069312558750679, + "object_projection_between_fingers": 0.8230042890985196, + "object_to_finger_line_xy": 0.009896640175969312, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857645381645789, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2713862377842065, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2580787488023328, + -0.3810253591923475, + 0.8515395723417389 + ], + "target_position": [ + 0.24990510983573638, + -0.3819098298262664, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008221354040456354, + "xy_threshold": 0.08, + "gripper_dist": 0.1852436498831956, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395723417389, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754845260095075, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557655170291102, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15322802361618496, + "release_required_pad_clearance": 0.05278827585145551, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6243209212686698, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008040785789489746, + "max_z_decrease": 0.008040785789489746, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507301155273876, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008040785789489746, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021040656176613916, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008040785789489746, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00804079610515679, + "max_button_displacement": 0.12, + "button_start": [ + 0.10560503602027893, + -0.4381712973117828, + 0.7768088579177856 + ], + "button_final": [ + 0.10560503602027893, + -0.4381712973117828, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10408252550037386, + -0.43806435299192953, + 0.807027029202233 + ], + "closest_button": [ + 0.1055934950709343, + -0.43816459178924555, + 0.771986722946167 + ], + "closest_ee_minus_button": [ + -0.0015109695705604331, + 0.00010023879731602126, + 0.03504030625606602 + ], + "button_min_z_position": [ + 0.10559389740228653, + -0.43816483020782465, + 0.7687680721282959 + ], + "min_active_finger_to_button": 0.147497670163755, + "closest_active_finger": [ + -0.02210235595703125, + -0.5033493041992188, + 0.808401346206665 + ], + "closest_active_finger_button": [ + 0.10561131685972214, + -0.43816551566123957, + 0.7738202214241028 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277136728167534, + -0.06518378853797918, + 0.034581124782562256 + ], + "min_contact_pad_to_button": 0.021040656176613916, + "closest_contact_pad": [ + 0.10559389740228653, + -0.4389247201382138, + 0.7897950019954014 + ], + "closest_contact_pad_button": [ + 0.10559389740228653, + -0.43816483020782465, + 0.7687680721282959 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007598899303891682, + 0.021026929867105526 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a1f9c6dd4f450271b032117b8db9325b284ba7245906354eba0c8d30b3a27721", + "visual_seed": 3284213217810588970, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..08a359b28bb8475b8b6a89e59214d8f4e68242d5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27147272783041854, + -0.0581942223883942, + 1.1636268555831597 + ], + "current_z": 1.1636268555831597, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30252034756839374, + "gripper_z": 1.1561153438648188, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26684079611073525, + -0.06278366881942984, + 1.1561153438648188 + ], + "object_minus_gripper": [ + 0.004631931719683291, + 0.004589446431035642, + 0.0075115117183408575 + ], + "object_to_gripper_xy": 0.0065205682267080066, + "object_to_gripper_z": 0.0075115117183408575, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27147272783041854, + -0.08198930120685356, + 1.1636268555831597 + ], + "finger_b": [ + 0.26089569203125745, + -0.0581942223883942, + 1.1636268555831597 + ], + "finger_midpoint": [ + 0.266184209930838, + -0.07009176179762389, + 1.1636268555831597 + ], + "object_minus_finger_midpoint": [ + 0.005288517899580514, + 0.011897539409229684, + 0.0 + ], + "finger_gap": 0.02603995895299047, + "fingertip_max_gap": 0.09201046872446605, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013019979476495226, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636268555831597, + "object_top_z": 1.2136924026400204, + "finger_top_clearance": 0.050065547056860726, + "fingertip_min_top_clearance": 0.01501966411705825, + "object_projection_between_fingers": 0.8350138995190165, + "object_to_finger_line_xy": 0.009665199586568488, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850523436223303, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4174861589904593, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.262721590081311, + -0.3844103677411229, + 0.8515395549223567 + ], + "target_position": [ + 0.2548421191808628, + -0.3851113090603716, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007910586603030163, + "xy_threshold": 0.08, + "gripper_dist": 0.1861512009912389, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395549223567, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527281967418348, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08516233378059139, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15453633632963096, + "release_required_pad_clearance": 0.0525811668902957, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2272818274500574, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007891416549682617, + "max_z_decrease": 0.007891416549682617, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509175183924694, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007891416549682617, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02108770246202574, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007891416549682617, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00789144069048125, + "max_button_displacement": 0.12, + "button_start": [ + 0.11054204404354097, + -0.4413727819919586, + 0.7768088579177856 + ], + "button_final": [ + 0.11054204404354097, + -0.4413727819919586, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10973360703027821, + -0.44113487021371195, + 0.8076402014581336 + ], + "closest_button": [ + 0.11053339391946793, + -0.4413667917251587, + 0.772558331489563 + ], + "closest_ee_minus_button": [ + -0.0007997868891897186, + 0.0002319215114467421, + 0.035081869968570656 + ], + "button_min_z_position": [ + 0.11052332818508148, + -0.4413672387599945, + 0.768917441368103 + ], + "min_active_finger_to_button": 0.14681845230322618, + "closest_active_finger": [ + -0.01859811693429947, + -0.5021360516548157, + 0.8108513951301575 + ], + "closest_active_finger_button": [ + 0.11054348945617677, + -0.4413708150386811, + 0.7764175534248352 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12914160639047623, + -0.06076523661613459, + 0.034433841705322266 + ], + "min_contact_pad_to_button": 0.02108770246202574, + "closest_contact_pad": [ + 0.11052332818508148, + -0.44241082235429796, + 0.7899793056827507 + ], + "closest_contact_pad_button": [ + 0.11052332818508148, + -0.4413672387599945, + 0.768917441368103 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010435835943034544, + 0.021061864314647627 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6d7f1129caee8ce45469c40847a2181d838ca041d73641a84b557c362add80e2", + "visual_seed": 1986356314238560788, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e727b8a756939686d3ff60cb55fd5380674945 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2624296456523063, + -0.05585261068720538, + 1.162994316806741 + ], + "current_z": 1.162994316806741, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30188780879197497, + "gripper_z": 1.155940872747865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2578124360296419, + -0.0606497460698293, + 1.155940872747865 + ], + "object_minus_gripper": [ + 0.004617209622664431, + 0.00479713538262392, + 0.0070534440588758684 + ], + "object_to_gripper_xy": 0.006658162853133539, + "object_to_gripper_z": 0.0070534440588758684, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2624296456523063, + -0.07942213398331, + 1.162994316806741 + ], + "finger_b": [ + 0.25134679013620154, + -0.05585261068720538, + 1.162994316806741 + ], + "finger_midpoint": [ + 0.2568882178942539, + -0.06763737233525768, + 1.162994316806741 + ], + "object_minus_finger_midpoint": [ + 0.005541427758052386, + 0.011784761648052304, + 0.0 + ], + "finger_gap": 0.02604519369857848, + "fingertip_max_gap": 0.09210752327272545, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013022596849289237, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162994316806741, + "object_top_z": 1.213183813590178, + "finger_top_clearance": 0.05018949678343709, + "fingertip_min_top_clearance": 0.015056849035031128, + "object_projection_between_fingers": 0.818929308670753, + "object_to_finger_line_xy": 0.010029398295027856, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855376163636273, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2012527698361628, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26076789327613537, + -0.38351160660338945, + 0.8515395825115768 + ], + "target_position": [ + 0.2524919885689251, + -0.38438727350725255, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008322102573829922, + "xy_threshold": 0.08, + "gripper_dist": 0.1857201443268888, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395825115768, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752828065090325, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513161055564188, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15407486491890127, + "release_required_pad_clearance": 0.05256580527782094, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.19782339333718127, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008025407791137695, + "max_z_decrease": 0.008025407791137695, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508985313606802, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008025407791137695, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021174822268908332, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008025407791137695, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008025435244262535, + "max_button_displacement": 0.12, + "button_start": [ + 0.10819191485643387, + -0.44064873456954956, + 0.7768088579177856 + ], + "button_final": [ + 0.10819191485643387, + -0.44064873456954956, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1083908632232391, + -0.44180478678433305, + 0.8074141426951355 + ], + "closest_button": [ + 0.10818330198526381, + -0.4406420886516571, + 0.772344172000885 + ], + "closest_ee_minus_button": [ + 0.00020756123797528725, + -0.0011626981326759434, + 0.03506997069425044 + ], + "button_min_z_position": [ + 0.10817176103591919, + -0.4406428635120392, + 0.768783450126648 + ], + "min_active_finger_to_button": 0.14592643328591623, + "closest_active_finger": [ + -0.032936833798885345, + -0.4273051619529724, + 0.8109930753707886 + ], + "closest_active_finger_button": [ + 0.1081947460770607, + -0.44064566493034363, + 0.7763746976852417 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14113157987594604, + 0.013340502977371216, + 0.034618377685546875 + ], + "min_contact_pad_to_button": 0.021174822268908332, + "closest_contact_pad": [ + 0.10817176103591919, + -0.4427574842256157, + 0.789852419663803 + ], + "closest_contact_pad_button": [ + 0.10817176103591919, + -0.4406428635120392, + 0.768783450126648 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021146207135765427, + 0.02106896953715509 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5dd68b06b64edc58b73bade9767b0b320b5cda06569fe9d612d04777887d12d0", + "visual_seed": 3315047485363654281, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..63e10e0cd3ddd988a886eb6871ac070e74901e25 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26547141903055166, + -0.06055398807320413, + 1.1650318045887569 + ], + "current_z": 1.1650318045887569, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3039253561786355, + "gripper_z": 1.1577558833861576, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2608940789429316, + -0.06521879042970524, + 1.1577558833861576 + ], + "object_minus_gripper": [ + 0.004577340087620063, + 0.004664802356501109, + 0.007275921202599234 + ], + "object_to_gripper_xy": 0.006535474221734177, + "object_to_gripper_z": 0.007275921202599234, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26547141903055166, + -0.08418224004949515, + 1.1650318045887569 + ], + "finger_b": [ + 0.25466496177698406, + -0.06055398807320413, + 1.1650318045887569 + ], + "finger_midpoint": [ + 0.26006819040376783, + -0.07236811406134964, + 1.1650318045887569 + ], + "object_minus_finger_midpoint": [ + 0.005403228626783829, + 0.011814125988145512, + 0.0 + ], + "finger_gap": 0.025982182545511535, + "fingertip_max_gap": 0.09206920986964925, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012991091272755781, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650318045887569, + "object_top_z": 1.2151978069876164, + "finger_top_clearance": 0.05016600239885949, + "fingertip_min_top_clearance": 0.015049800719657846, + "object_projection_between_fingers": 0.8270122219629752, + "object_to_finger_line_xy": 0.009827415172341774, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853460493482463, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2328667633622588, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2579025763066409, + -0.38150281386127305, + 0.8515395756931646 + ], + "target_position": [ + 0.24952746498152079, + -0.382471587276933, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008430955559071827, + "xy_threshold": 0.08, + "gripper_dist": 0.18575250268083965, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395756931646, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755115298529183, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08572168497329126, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15366042932482196, + "release_required_pad_clearance": 0.05286084248664563, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7641223424069091, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008039891719818115, + "max_z_decrease": 0.008039891719818115, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035103356568598844, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008039891719818115, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021081464088175572, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008039891719818115, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008039905040453375, + "max_button_displacement": 0.12, + "button_start": [ + 0.10522738844156265, + -0.4387330412864685, + 0.7768088579177856 + ], + "button_final": [ + 0.10522738844156265, + -0.4387330412864685, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1050691534830745, + -0.43707922127395743, + 0.8078802146455242 + ], + "closest_button": [ + 0.1052354946732521, + -0.438725620508194, + 0.7728158831596375 + ], + "closest_ee_minus_button": [ + -0.00016634119017761018, + 0.0016463992342365952, + 0.035064331485886724 + ], + "button_min_z_position": [ + 0.10521421581506728, + -0.43872666358947754, + 0.7687689661979675 + ], + "min_active_finger_to_button": 0.14570600530708774, + "closest_active_finger": [ + -0.021391764283180237, + -0.501970112323761, + 0.8079071640968323 + ], + "closest_active_finger_button": [ + 0.10523463040590285, + -0.43872666358947754, + 0.7733201384544373 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1266263946890831, + -0.06324344873428345, + 0.03458702564239502 + ], + "min_contact_pad_to_button": 0.021081464088175572, + "closest_contact_pad": [ + 0.10521421581506728, + -0.43872666358947754, + 0.7898504302861431 + ], + "closest_contact_pad_button": [ + 0.10521421581506728, + -0.43872666358947754, + 0.7687689661979675 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021081464088175572 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ec5cf779c5d9a7d111104107e163a6191e8b17175e325a7d848f74e2691d0e2", + "visual_seed": 4879113582113605150, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d454d368741f48aa88e04e6b1be4538475c815d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2693229555490682, + -0.0627840619002915, + 1.1632042566235663 + ], + "current_z": 1.1632042566235663, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3020978082134451, + "gripper_z": 1.1557136173638949, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26460239134706603, + -0.06735565212660044, + 1.1557136173638949 + ], + "object_minus_gripper": [ + 0.004720564202002175, + 0.004571590226308944, + 0.007490639259671417 + ], + "object_to_gripper_xy": 0.006571389775573193, + "object_to_gripper_z": 0.007490639259671417, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2693229555490682, + -0.0867422999734113, + 1.1632042566235663 + ], + "finger_b": [ + 0.2589133522712731, + -0.0627840619002915, + 1.1632042566235663 + ], + "finger_midpoint": [ + 0.2641181539101707, + -0.0747631809368514, + 1.1632042566235663 + ], + "object_minus_finger_midpoint": [ + 0.005204801638897527, + 0.011979119036559904, + 0.0 + ], + "finger_gap": 0.02612196416752328, + "fingertip_max_gap": 0.09216407857975223, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013060982083761628, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1632042566235663, + "object_top_z": 1.213299128939295, + "finger_top_clearance": 0.05009487231572862, + "fingertip_min_top_clearance": 0.01502846169471862, + "object_projection_between_fingers": 0.8411977330043958, + "object_to_finger_line_xy": 0.009547358383035002, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858203928987612, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4607227641560367, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2575569084077328, + -0.38815406506810957, + 0.8515395008615648 + ], + "target_position": [ + 0.2502296590644498, + -0.3887442375927682, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0073509786115525475, + "xy_threshold": 0.08, + "gripper_dist": 0.1841237103462604, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395008615648, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527602542505653, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08659834924642544, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15270959153070227, + "release_required_pad_clearance": 0.05329917462321272, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6168491996144652, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007977485656738281, + "max_z_decrease": 0.007977485656738281, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035122759595807906, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007977485656738281, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02108401249813663, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007977485656738281, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007977513109111364, + "max_button_displacement": 0.12, + "button_start": [ + 0.10592958331108093, + -0.4450056850910186, + 0.7768088579177856 + ], + "button_final": [ + 0.10592958331108093, + -0.4450056850910186, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10704331820177224, + -0.4436562033419874, + 0.8075548171044242 + ], + "closest_button": [ + 0.10591945797204971, + -0.44499862194061274, + 0.7724757194519043 + ], + "closest_ee_minus_button": [ + 0.001123860229722523, + 0.0013424185986253279, + 0.03507909765251993 + ], + "button_min_z_position": [ + 0.10590936988592148, + -0.4450002610683441, + 0.7688313722610474 + ], + "min_active_finger_to_button": 0.14467830002810966, + "closest_active_finger": [ + -0.020309224724769592, + -0.5066760778427124, + 0.810955822467804 + ], + "closest_active_finger_button": [ + 0.10593241453170776, + -0.44500243663787836, + 0.776441752910614 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12624163925647736, + -0.06167364120483404, + 0.03451406955718994 + ], + "min_contact_pad_to_button": 0.02108401249813663, + "closest_contact_pad": [ + 0.10590936988592148, + -0.4450002610683441, + 0.789915384759184 + ], + "closest_contact_pad_button": [ + 0.10590936988592148, + -0.4450002610683441, + 0.7688313722610474 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02108401249813663 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8eb57ca06527c83b87e90b0920392ded15e10eafded47ffd8d9e2872276f0d89", + "visual_seed": 7328589369333359243, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bdbefd1f755149170c4105a789248522c619ac9c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2680366418638713, + -0.05549472968431214, + 1.163707260640768 + ], + "current_z": 1.163707260640768, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30260075262600195, + "gripper_z": 1.156522148109503, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2632380324813879, + -0.060296920294965625, + 1.156522148109503 + ], + "object_minus_gripper": [ + 0.004798609382483443, + 0.004802190610653484, + 0.00718511253126497 + ], + "object_to_gripper_xy": 0.006788791252255928, + "object_to_gripper_z": 0.00718511253126497, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2680366418638713, + -0.07923560321352187, + 1.163707260640768 + ], + "finger_b": [ + 0.2569501857966713, + -0.05549472968431214, + 1.163707260640768 + ], + "finger_midpoint": [ + 0.2624934138302713, + -0.067365166448917, + 1.163707260640768 + ], + "object_minus_finger_midpoint": [ + 0.005543228033600023, + 0.011870436764604864, + 0.0 + ], + "finger_gap": 0.02620188130764445, + "fingertip_max_gap": 0.09210907980109445, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013100940653822226, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163707260640768, + "object_top_z": 1.2138486370713741, + "finger_top_clearance": 0.05014137643060623, + "fingertip_min_top_clearance": 0.015042412929181868, + "object_projection_between_fingers": 0.8209721769705589, + "object_to_finger_line_xy": 0.010045162341138678, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855453990054723, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3228189505490497, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2661799217117563, + -0.3822779210619578, + 0.8515395736531812 + ], + "target_position": [ + 0.25784012826442637, + -0.38354548067295574, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008435571238011128, + "xy_threshold": 0.08, + "gripper_dist": 0.1844079387855007, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395736531812, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758879194937024, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08615480021691706, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15171253007975904, + "release_required_pad_clearance": 0.05307740010845853, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.183644068922649, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008087396621704102, + "max_z_decrease": 0.008087396621704102, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035101858972065754, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008087396621704102, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02118607199363209, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008087396621704102, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008087415821296629, + "max_button_displacement": 0.12, + "button_start": [ + 0.1135400533676147, + -0.4398069381713867, + 0.7768088579177856 + ], + "button_final": [ + 0.1135400533676147, + -0.4398069381713867, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11382272916649616, + -0.4413110923149436, + 0.8037892797350608 + ], + "closest_button": [ + 0.1135463714599609, + -0.43979048728942877, + 0.7687214612960815 + ], + "closest_ee_minus_button": [ + 0.0002763577065352657, + -0.0015206050255148207, + 0.035067818438979215 + ], + "button_min_z_position": [ + 0.1135463714599609, + -0.43979048728942877, + 0.7687214612960815 + ], + "min_active_finger_to_button": 0.14539535212886742, + "closest_active_finger": [ + -0.02687649428844452, + -0.4245946407318115, + 0.8107559680938721 + ], + "closest_active_finger_button": [ + 0.11354117840528484, + -0.43980386853218084, + 0.776239812374115 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14041767269372935, + 0.015209227800369318, + 0.03451615571975708 + ], + "min_contact_pad_to_button": 0.02118607199363209, + "closest_contact_pad": [ + 0.1135463714599609, + -0.4425522936144901, + 0.7897267480673259 + ], + "closest_contact_pad_button": [ + 0.1135463714599609, + -0.43979048728942877, + 0.7687214612960815 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027618063250613445, + 0.021005286771244358 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eddda1213ab4123e0634fdc98c21c8a0863bee71702d5314a033d9cf4edf7b4c", + "visual_seed": 3885434235415191642, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..292502ecf6d9437ef246fa73872140e36a07ffe9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26872751029966035, + -0.05605949678630222, + 1.1635103949206402 + ], + "current_z": 1.1635103949206402, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.3024038273012296, + "gripper_z": 1.156135430711748, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2640393885401055, + -0.06078370876669274, + 1.156135430711748 + ], + "object_minus_gripper": [ + 0.004688121759554853, + 0.004724211980390525, + 0.007374964208892276 + ], + "object_to_gripper_xy": 0.006655573939794904, + "object_to_gripper_z": 0.007374964208892276, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26872751029966035, + -0.07983462952252564, + 1.1635103949206402 + ], + "finger_b": [ + 0.2578835630257684, + -0.05605949678630222, + 1.1635103949206402 + ], + "finger_midpoint": [ + 0.2633055366627144, + -0.06794706315441393, + 1.1635103949206402 + ], + "object_minus_finger_midpoint": [ + 0.005421973636945965, + 0.01188756636811171, + 0.0 + ], + "finger_gap": 0.026131362940037987, + "fingertip_max_gap": 0.09204938269538476, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013065681470018993, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635103949206402, + "object_top_z": 1.2136472107102096, + "finger_top_clearance": 0.05013681578956941, + "fingertip_min_top_clearance": 0.015041044736870856, + "object_projection_between_fingers": 0.8277930516801045, + "object_to_finger_line_xy": 0.009866162986331169, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048524691347692384, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1826010571898797, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2599568620850412, + -0.38872149946341195, + 0.8515395700113196 + ], + "target_position": [ + 0.2525856661529171, + -0.38967950392284306, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0074331892222687795, + "xy_threshold": 0.08, + "gripper_dist": 0.18433814875525825, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395700113196, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757894841688585, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08639152297259271, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1517487055792205, + "release_required_pad_clearance": 0.05319576148629636, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4144117702671184, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008108079433441162, + "max_z_decrease": 0.008108079433441162, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507346941885544, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008108079433441162, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02107505939398146, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008108079433441162, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008108111663710043, + "max_button_displacement": 0.12, + "button_start": [ + 0.108285591006279, + -0.4459409713745116, + 0.7768088579177856 + ], + "button_final": [ + 0.108285591006279, + -0.4459409713745116, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10616565901862646, + -0.44701479840209685, + 0.8036922417198293 + ], + "closest_button": [ + 0.10829953104257584, + -0.4459228515624999, + 0.7687007784843445 + ], + "closest_ee_minus_button": [ + -0.002133872023949379, + -0.0010919468395969578, + 0.034991463235484854 + ], + "button_min_z_position": [ + 0.10829953104257584, + -0.4459228515624999, + 0.7687007784843445 + ], + "min_active_finger_to_button": 0.14776586781942794, + "closest_active_finger": [ + -0.0345180481672287, + -0.4302709102630615, + 0.8113652467727661 + ], + "closest_active_finger_button": [ + 0.10828849673271179, + -0.44594123959541315, + 0.7767894864082336 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1428065448999405, + 0.01567032933235163, + 0.03457576036453247 + ], + "min_contact_pad_to_button": 0.02107505939398146, + "closest_contact_pad": [ + 0.10829953104257584, + -0.44826398806563694, + 0.7896454009047541 + ], + "closest_contact_pad_button": [ + 0.10829953104257584, + -0.4459228515624999, + 0.7687007784843445 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023411365031370535, + 0.02094462242040962 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1c834555b1cb9b84bdbc6acc003f92d1d68d3a3f0a84bdbe6b830ac13efe3226", + "visual_seed": 7680466422769864224, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25e56e0774478690edc7558c2baf8e086303bd21 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2713575258722249, + -0.05993935409305128, + 1.1635064537491135 + ], + "current_z": 1.1635064537491135, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30240000533899225, + "gripper_z": 1.1560026361889457, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26663601797577063, + -0.064514637921397, + 1.1560026361889457 + ], + "object_minus_gripper": [ + 0.004721507896454258, + 0.004575283828345718, + 0.007503817560167825 + ], + "object_to_gripper_xy": 0.006574637550937828, + "object_to_gripper_z": 0.007503817560167825, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2713575258722249, + -0.08389008327275374, + 1.1635064537491135 + ], + "finger_b": [ + 0.26092563847067674, + -0.05993935409305128, + 1.1635064537491135 + ], + "finger_midpoint": [ + 0.2661415821714508, + -0.07191471868290251, + 1.1635064537491135 + ], + "object_minus_finger_midpoint": [ + 0.005215943700774106, + 0.011975364589851233, + 0.0 + ], + "finger_gap": 0.026123967979578257, + "fingertip_max_gap": 0.0920694545395433, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01306198398978914, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635064537491135, + "object_top_z": 1.213650930549993, + "finger_top_clearance": 0.05014447680087941, + "fingertip_min_top_clearance": 0.015043343040263822, + "object_projection_between_fingers": 0.840541565511269, + "object_to_finger_line_xy": 0.009564064317600771, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853472726977165, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2743887959181488, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2559548231600535, + -0.3881565037469564, + 0.8515395953901581 + ], + "target_position": [ + 0.2487270581452356, + -0.38888943865375847, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007264831772796589, + "xy_threshold": 0.08, + "gripper_dist": 0.1856869607024261, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395953901581, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579925300367597, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0876484718777334, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15285242837407337, + "release_required_pad_clearance": 0.053824235938866705, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.657675524058116, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008021295070648193, + "max_z_decrease": 0.008021295070648193, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507974543486501, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008021295070648193, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021105052174032357, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008021295070648193, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008021330852621845, + "max_button_displacement": 0.12, + "button_start": [ + 0.10442698746919629, + -0.44515091180801386, + 0.7768088579177856 + ], + "button_final": [ + 0.10442698746919629, + -0.44515091180801386, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10494861927190718, + -0.4449529921078094, + 0.8073637386703385 + ], + "closest_button": [ + 0.10441592335700986, + -0.44514450430870056, + 0.7722885608673096 + ], + "closest_ee_minus_button": [ + 0.0005326959148973243, + 0.00019151220089114185, + 0.035075177803028934 + ], + "button_min_z_position": [ + 0.10440338402986524, + -0.44514679908752436, + 0.7687875628471375 + ], + "min_active_finger_to_button": 0.14568559042436185, + "closest_active_finger": [ + -0.022389613091945648, + -0.5079718828201294, + 0.8086416721343994 + ], + "closest_active_finger_button": [ + 0.10443286597728728, + -0.4451446235179901, + 0.7741006016731262 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12682247906923294, + -0.06282725930213928, + 0.03454107046127319 + ], + "min_contact_pad_to_button": 0.021105052174032357, + "closest_contact_pad": [ + 0.10440338402986524, + -0.4460137525200791, + 0.7898748011446104 + ], + "closest_contact_pad_button": [ + 0.10440338402986524, + -0.44514679908752436, + 0.7687875628471375 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008669534325547179, + 0.021087238297472943 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dca9664ed108b220ba09988f2894e7eb68fbd7784011b4f0f0ad5a13920944cb", + "visual_seed": 7279905681444939578, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..957542c6d3e3f83174a3976bd739875573eb054f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2623833386728711, + -0.05519802129023358, + 1.1647542280115153 + ], + "current_z": 1.1647542280115153, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3036477199967492, + "gripper_z": 1.1578023984128796, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25759785757676956, + -0.05997761988600919, + 1.1578023984128796 + ], + "object_minus_gripper": [ + 0.0047854810961015515, + 0.004779598595775612, + 0.006951829598635717 + ], + "object_to_gripper_xy": 0.006763533991774235, + "object_to_gripper_z": 0.006951829598635717, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2623833386728711, + -0.0789312008031659, + 1.1647542280115153 + ], + "finger_b": [ + 0.2513645243292323, + -0.05519802129023358, + 1.1647542280115153 + ], + "finger_midpoint": [ + 0.2568739315010517, + -0.06706461104669974, + 1.1647542280115153 + ], + "object_minus_finger_midpoint": [ + 0.005509407171819414, + 0.011866589756466157, + 0.0 + ], + "finger_gap": 0.026166353955655558, + "fingertip_max_gap": 0.09191568054571508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013083176977827776, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647542280115153, + "object_top_z": 1.21488415945051, + "finger_top_clearance": 0.05012993143899469, + "fingertip_min_top_clearance": 0.015038979431698407, + "object_projection_between_fingers": 0.8226695534667591, + "object_to_finger_line_xy": 0.00999418945721059, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048457840272857544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2056466447999614, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2659098422884101, + -0.3833203264627625, + 0.8515395663084775 + ], + "target_position": [ + 0.25714998207418, + -0.38459600673700745, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008852260227475742, + "xy_threshold": 0.08, + "gripper_dist": 0.1854088015353841, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395663084775, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576336279235878, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08655149494894314, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15279090409920335, + "release_required_pad_clearance": 0.05327574747447157, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.570685309001663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00811755657196045, + "max_z_decrease": 0.00811755657196045, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035113399628497584, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00811755657196045, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02123263792775574, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00811755657196045, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008117598116281155, + "max_button_displacement": 0.12, + "button_start": [ + 0.11284990608692168, + -0.44085747003555303, + 0.7768088579177856 + ], + "button_final": [ + 0.11284990608692168, + -0.44085747003555303, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11424535222290844, + -0.4428904691461418, + 0.8037171023673312 + ], + "closest_button": [ + 0.11286130547523497, + -0.44083413481712347, + 0.7686913013458252 + ], + "closest_ee_minus_button": [ + 0.0013840467476734647, + -0.0020563343290183056, + 0.03502580102150599 + ], + "button_min_z_position": [ + 0.11286130547523497, + -0.44083413481712347, + 0.7686913013458252 + ], + "min_active_finger_to_button": 0.1442461068027848, + "closest_active_finger": [ + -0.02632998675107956, + -0.42514854669570923, + 0.8112629055976868 + ], + "closest_active_finger_button": [ + 0.11285142600536345, + -0.440855085849762, + 0.7767842411994934 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13918141275644302, + 0.01570653915405279, + 0.03447866439819336 + ], + "min_contact_pad_to_button": 0.02123263792775574, + "closest_contact_pad": [ + 0.11286130547523497, + -0.4442239349334101, + 0.7896516011657895 + ], + "closest_contact_pad_button": [ + 0.11286130547523497, + -0.44083413481712347, + 0.7686913013458252 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0033898001162866453, + 0.02096029981996428 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c172985b564188eb88fbd0f45713c57823a10af8345cb45efdd24d5d018adbed", + "visual_seed": 3082501646321712620, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d2070150912f697a523d325b0f5b9ca4327cf4a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26939441779327034, + -0.055985803877290456, + 1.164797933938778 + ], + "current_z": 1.164797933938778, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30369154513330154, + "gripper_z": 1.1575777952023774, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2645894615643647, + -0.060677253952934926, + 1.1575777952023774 + ], + "object_minus_gripper": [ + 0.0048049562289056436, + 0.00469145007564447, + 0.007220138736400594 + ], + "object_to_gripper_xy": 0.006715452938854061, + "object_to_gripper_z": 0.007220138736400594, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26939441779327034, + -0.0801065141647758, + 1.164797933938778 + ], + "finger_b": [ + 0.2589101184500613, + -0.055985803877290456, + 1.164797933938778 + ], + "finger_midpoint": [ + 0.2641522681216658, + -0.06804615902103313, + 1.164797933938778 + ], + "object_minus_finger_midpoint": [ + 0.0052421496716045235, + 0.012060355143742672, + 0.0 + ], + "finger_gap": 0.02630074518888799, + "fingertip_max_gap": 0.09233494334974027, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013150372594443998, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164797933938778, + "object_top_z": 1.2148571560398387, + "finger_top_clearance": 0.05005922210106073, + "fingertip_min_top_clearance": 0.015017766630318218, + "object_projection_between_fingers": 0.8410931140152237, + "object_to_finger_line_xy": 0.009615269271216816, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048667471674870136, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5282029704861062, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2585068962286602, + -0.3903824947904749, + 0.8515396016602127 + ], + "target_position": [ + 0.25285415606848743, + -0.39031654857043985, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005653124819280642, + "xy_threshold": 0.08, + "gripper_dist": 0.18356218906797514, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396016602127, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580398152148356, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08888094155167407, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1506737411434382, + "release_required_pad_clearance": 0.05444047077583704, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9086914685220218, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008246004581451416, + "max_z_decrease": 0.008246004581451416, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499320370834385, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008246004581451416, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020971500139338618, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008246004581451416, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008246082947593898, + "max_button_displacement": 0.12, + "button_start": [ + 0.10855408012866971, + -0.44657799601554865, + 0.7768088579177856 + ], + "button_final": [ + 0.10855408012866971, + -0.44657799601554865, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10870741729371536, + -0.44627005114765367, + 0.8036228003312906 + ], + "closest_button": [ + 0.10857678949832915, + -0.4465526342391968, + 0.7686309814453125 + ], + "closest_ee_minus_button": [ + 0.0001306277953862095, + 0.00028258309154310934, + 0.03499181888597813 + ], + "button_min_z_position": [ + 0.10857863724231717, + -0.4465517401695251, + 0.7685628533363342 + ], + "min_active_finger_to_button": 0.14571655416472748, + "closest_active_finger": [ + -0.01758357137441635, + -0.5108334422111511, + 0.8106368184089661 + ], + "closest_active_finger_button": [ + 0.10855724662542342, + -0.44657430052757263, + 0.7761031985282898 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12614081799983978, + -0.06425914168357849, + 0.03453361988067627 + ], + "min_contact_pad_to_button": 0.020971500139338618, + "closest_contact_pad": [ + 0.10857863724231717, + -0.4473093332140897, + 0.7895206650272791 + ], + "closest_contact_pad_button": [ + 0.10857863724231717, + -0.4465517401695251, + 0.7685628533363342 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007575930445646306, + 0.020957811690944905 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "758e2a1f4d657f916b00c25d070d02e99cfe431995e81aeaac720768649301a2", + "visual_seed": 5443118325726595, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6f1a9c57984991affbf76d47b73961fb35203434 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2642548349139857, + -0.05861973863343723, + 1.1651299267330817 + ], + "current_z": 1.1651299267330817, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3040234783229605, + "gripper_z": 1.15809728710914, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25944152259036635, + -0.06334891127093335, + 1.15809728710914 + ], + "object_minus_gripper": [ + 0.0048133123236193676, + 0.004729172637496122, + 0.007032639623941739 + ], + "object_to_gripper_xy": 0.006747818118469711, + "object_to_gripper_z": 0.007032639623941739, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2642548349139857, + -0.0825236323884417, + 1.1651299267330817 + ], + "finger_b": [ + 0.2534780746449565, + -0.05861973863343723, + 1.1651299267330817 + ], + "finger_midpoint": [ + 0.2588664547794711, + -0.07057168551093947, + 1.1651299267330817 + ], + "object_minus_finger_midpoint": [ + 0.005388380134514592, + 0.011951946877502236, + 0.0 + ], + "finger_gap": 0.026220882871228205, + "fingertip_max_gap": 0.0921365347936218, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013110441435614094, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651299267330817, + "object_top_z": 1.2152728234010093, + "finger_top_clearance": 0.050142896667927594, + "fingertip_min_top_clearance": 0.015042869000378245, + "object_projection_between_fingers": 0.831079708207274, + "object_to_finger_line_xy": 0.00982447973850248, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0485682673968109, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3321692713126034, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2644690601079619, + -0.38388171057860887, + 0.8515395685433051 + ], + "target_position": [ + 0.25662527280374925, + -0.38472980200187357, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00788950304746393, + "xy_threshold": 0.08, + "gripper_dist": 0.18581022959001503, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395685433051, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569329911447133, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08670249163790637, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1532276869054499, + "release_required_pad_clearance": 0.05335124581895319, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7191459391399955, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007868528366088867, + "max_z_decrease": 0.007868528366088867, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512146974621297, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007868528366088867, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0210717798675768, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007868528366088867, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007868556537484566, + "max_button_displacement": 0.12, + "button_start": [ + 0.1123251989483833, + -0.44099125266075134, + 0.7768088579177856 + ], + "button_final": [ + 0.1123251989483833, + -0.44099125266075134, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1123382299602893, + -0.43951735676188, + 0.8082208214907611 + ], + "closest_button": [ + 0.11232897639274596, + -0.44098424911499023, + 0.7731299996376038 + ], + "closest_ee_minus_button": [ + 9.253567543346386e-06, + 0.0014668923531102607, + 0.03509082185315737 + ], + "button_min_z_position": [ + 0.11230477690696714, + -0.44098612666130066, + 0.7689403295516968 + ], + "min_active_finger_to_button": 0.14562036874326784, + "closest_active_finger": [ + -0.015713535249233246, + -0.5011971592903137, + 0.810912013053894 + ], + "closest_active_finger_button": [ + 0.11232715100049971, + -0.44098857045173645, + 0.7764765620231628 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12804068624973297, + -0.06020858883857727, + 0.0344354510307312 + ], + "min_contact_pad_to_button": 0.0210717798675768, + "closest_contact_pad": [ + 0.11230477690696714, + -0.44098612666130066, + 0.7900121094192736 + ], + "closest_contact_pad_button": [ + 0.11230477690696714, + -0.44098612666130066, + 0.7689403295516968 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0210717798675768 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1bf2c2cb7a9dad5677e896471f07a5ea5a5cbdb55769c5b6f3d6eb36c888651", + "visual_seed": 3103009936270586449, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8e53f01b6193a4bbe552efbf2f84a9ed496e50d8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2715695984034713, + -0.06026620336525811, + 1.1624537107729522 + ], + "current_z": 1.1624537107729522, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30134726236283116, + "gripper_z": 1.1550581524278216, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26693852389974976, + -0.06499583256468675, + 1.1550581524278216 + ], + "object_minus_gripper": [ + 0.004631074503721522, + 0.004729629199428632, + 0.007395558345130615 + ], + "object_to_gripper_xy": 0.006619383915675799, + "object_to_gripper_z": 0.007395558345130615, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2715695984034713, + -0.08392301633954481, + 1.1624537107729522 + ], + "finger_b": [ + 0.2606321452688164, + -0.06026620336525811, + 1.1624537107729522 + ], + "finger_midpoint": [ + 0.26610087183614384, + -0.07209460985240146, + 1.1624537107729522 + ], + "object_minus_finger_midpoint": [ + 0.005468726567327442, + 0.011828406487143346, + 0.0 + ], + "finger_gap": 0.026062860187883286, + "fingertip_max_gap": 0.09213006761294443, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01303143009394164, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624537107729522, + "object_top_z": 1.2126490138758235, + "finger_top_clearance": 0.050195303102871236, + "fingertip_min_top_clearance": 0.015058590930861404, + "object_projection_between_fingers": 0.8238882787599138, + "object_to_finger_line_xy": 0.009927739371515662, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048565033806472216, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2430968546238212, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2653571786439707, + -0.38780305534039794, + 0.8515395351300902 + ], + "target_position": [ + 0.2573988642877084, + -0.3888329843736322, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008024682000340502, + "xy_threshold": 0.08, + "gripper_dist": 0.18459666082375015, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395351300902, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560331142508984, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08542102033157546, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15225046377243476, + "release_required_pad_clearance": 0.05271051016578773, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.47477651276653804, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008127808570861816, + "max_z_decrease": 0.008127808570861816, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035005248705107385, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008127808570861816, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020982178297625918, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008127808570861816, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008127859088749637, + "max_button_displacement": 0.12, + "button_start": [ + 0.11309879273176192, + -0.44509443640708923, + 0.7768088579177856 + ], + "button_final": [ + 0.11309879273176192, + -0.44509443640708923, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11231918271066793, + -0.4452090590657827, + 0.8036768817024385 + ], + "closest_button": [ + 0.11311993747949599, + -0.4450750946998596, + 0.7686810493469238 + ], + "closest_ee_minus_button": [ + -0.0008007547688280575, + -0.00013396436592305605, + 0.03499583235551462 + ], + "button_min_z_position": [ + 0.11311993747949599, + -0.4450750946998596, + 0.7686810493469238 + ], + "min_active_finger_to_button": 0.14658611049713763, + "closest_active_finger": [ + -0.02836209535598755, + -0.428221195936203, + 0.8113219738006592 + ], + "closest_active_finger_button": [ + 0.11309943348169324, + -0.44509318470954895, + 0.7768044471740723 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1414615288376808, + 0.016871988773345947, + 0.034517526626586914 + ], + "min_contact_pad_to_button": 0.020982178297625918, + "closest_contact_pad": [ + 0.11311993747949599, + -0.44647430133993055, + 0.789616522279049 + ], + "closest_contact_pad_button": [ + 0.11311993747949599, + -0.4450750946998596, + 0.7686810493469238 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013992066400709269, + 0.020935472932125165 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09774ee5b389cfb4e219678dae2fd5fb41d59915ac807462e6702b067d885ec8", + "visual_seed": 5826991314514516871, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..647ca132a41dbe3ec56791992d066641faa56a7b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2692431014377, + -0.062196335429116394, + 1.1647502191479364 + ], + "current_z": 1.1647502191479364, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30364371113317046, + "gripper_z": 1.1573887475363829, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26457453640190376, + -0.06690177740915204, + 1.1573887475363829 + ], + "object_minus_gripper": [ + 0.004668565035796268, + 0.0047054419800356476, + 0.007361471611553538 + ], + "object_to_gripper_xy": 0.00662847521839987, + "object_to_gripper_z": 0.007361471611553538, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2692431014377, + -0.08586483864970869, + 1.1647502191479364 + ], + "finger_b": [ + 0.2583398098819646, + -0.062196335429116394, + 1.1647502191479364 + ], + "finger_midpoint": [ + 0.2637914556598323, + -0.07403058703941254, + 1.1647502191479364 + ], + "object_minus_finger_midpoint": [ + 0.00545164577786772, + 0.011834251610296144, + 0.0 + ], + "finger_gap": 0.026059159837810573, + "fingertip_max_gap": 0.09202585439023839, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013029579918905283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647502191479364, + "object_top_z": 1.214889320899327, + "finger_top_clearance": 0.05013910175139058, + "fingertip_min_top_clearance": 0.015041730525417206, + "object_projection_between_fingers": 0.8249369739102062, + "object_to_finger_line_xy": 0.009903028067986364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048512927195119196, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3284864722917562, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26642611085665957, + -0.38674756538399785, + 0.8515395707323637 + ], + "target_position": [ + 0.25791350035719723, + -0.3880436755460454, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008610716524640639, + "xy_threshold": 0.08, + "gripper_dist": 0.18608600612161041, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395707323637, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573845025847188, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569794329308043, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15347421893326788, + "release_required_pad_clearance": 0.05284897164654022, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7412453693984986, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00828331708908081, + "max_z_decrease": 0.00828331708908081, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499866954700311, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00828331708908081, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021023649583890625, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00828331708908081, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008283397619895237, + "max_button_displacement": 0.12, + "button_start": [ + 0.11361342668533328, + -0.44430512189865107, + 0.7768088579177856 + ], + "button_final": [ + 0.11361342668533328, + -0.44430512189865107, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11402774833120277, + -0.4449179784888809, + 0.8036552793405862 + ], + "closest_button": [ + 0.1136341691017151, + -0.4442789256572723, + 0.7686646580696106 + ], + "closest_ee_minus_button": [ + 0.00039357922948767, + -0.0006390528316086441, + 0.03499062127097563 + ], + "button_min_z_position": [ + 0.11363586783409121, + -0.44427630305290217, + 0.7685255408287048 + ], + "min_active_finger_to_button": 0.14545511560927546, + "closest_active_finger": [ + -0.027036085724830627, + -0.4309767782688141, + 0.8112103939056396 + ], + "closest_active_finger_button": [ + 0.11361669003963472, + -0.4443016350269317, + 0.7766208648681641 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14065277576446533, + 0.01332485675811762, + 0.034589529037475586 + ], + "min_contact_pad_to_button": 0.021023649583890625, + "closest_contact_pad": [ + 0.11363586783409121, + -0.4459291950455879, + 0.7894841140121718 + ], + "closest_contact_pad_button": [ + 0.11363586783409121, + -0.44427630305290217, + 0.7685255408287048 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016528919926857566, + 0.020958573183466944 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "907e99804291630aa549c31fa5b54848ee8acfe65e4ccb0dd862796753374421", + "visual_seed": 4831805699875740956, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..65fb5a0fae1b7c0afe9fa02df724e827a14609c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2693208461377957, + -0.06463498891727076, + 1.1625345378955352 + ], + "current_z": 1.1625345378955352, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3014280894854138, + "gripper_z": 1.155130493376456, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26475130568405536, + -0.06933237791246304, + 1.155130493376456 + ], + "object_minus_gripper": [ + 0.004569540453740362, + 0.004697388995192273, + 0.007404044519079278 + ], + "object_to_gripper_xy": 0.006553332231050333, + "object_to_gripper_z": 0.007404044519079278, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2693208461377957, + -0.08819738037612106, + 1.1625345378955352 + ], + "finger_b": [ + 0.2583955421157486, + -0.06463498891727076, + 1.1625345378955352 + ], + "finger_midpoint": [ + 0.26385819412677214, + -0.07641618464669592, + 1.1625345378955352 + ], + "object_minus_finger_midpoint": [ + 0.005462652011023583, + 0.011781195729425153, + 0.0 + ], + "finger_gap": 0.02597207267882677, + "fingertip_max_gap": 0.09205961087421724, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012986036339413403, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1625345378955352, + "object_top_z": 1.2127378059298015, + "finger_top_clearance": 0.050203268034266335, + "fingertip_min_top_clearance": 0.0150609804102799, + "object_projection_between_fingers": 0.8230486651551707, + "object_to_finger_line_xy": 0.009911657546849837, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852980543710862, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1843589861392134, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2626520278930784, + -0.3858601765398887, + 0.8515395628102932 + ], + "target_position": [ + 0.2543842651248271, + -0.3869333821416032, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008337126090904106, + "xy_threshold": 0.08, + "gripper_dist": 0.18345052997114644, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395628102932, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549286396706635, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08547155466323476, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15151186938690944, + "release_required_pad_clearance": 0.052735777331617384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5233919991921301, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008201777935028076, + "max_z_decrease": 0.008201777935028076, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503410490315641, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008201777935028076, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021033670136686052, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008201777935028076, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008201840252967331, + "max_button_displacement": 0.12, + "button_start": [ + 0.11008419096469878, + -0.44319483637809753, + 0.7768088579177856 + ], + "button_final": [ + 0.11008419096469878, + -0.44319483637809753, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11153406899150084, + -0.44390015204251293, + 0.8036752942649183 + ], + "closest_button": [ + 0.11010150611400603, + -0.44316893815994257, + 0.7686781287193298 + ], + "closest_ee_minus_button": [ + 0.0014325628774948113, + -0.0007312138825703585, + 0.034997165545588516 + ], + "button_min_z_position": [ + 0.11010145395994185, + -0.44316792488098145, + 0.7686070799827576 + ], + "min_active_finger_to_button": 0.14443235692841977, + "closest_active_finger": [ + -0.029490642249584198, + -0.4297114610671997, + 0.8107482194900513 + ], + "closest_active_finger_button": [ + 0.11008637398481368, + -0.4431920647621154, + 0.7761471271514893 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1395770162343979, + 0.013480603694915716, + 0.03460109233856201 + ], + "min_contact_pad_to_button": 0.021033670136686052, + "closest_contact_pad": [ + 0.11010145395994185, + -0.444927272209298, + 0.7895670412517405 + ], + "closest_contact_pad_button": [ + 0.11010145395994185, + -0.44316792488098145, + 0.7686070799827576 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017593473283165628, + 0.02095996126898292 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "98d609d06d54d263ae2aa2ab7f09e16be58e5b3035a4471894e1479cdc908f98", + "visual_seed": 5541495359031417263, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8cd86d113ee0c1dcbc4aa23eeddb987e61ebc3ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27089455182264144, + -0.0628544702065035, + 1.1630057699970024 + ], + "current_z": 1.1630057699970024, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30189932158688126, + "gripper_z": 1.1556094609992589, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2661724872942264, + -0.06749534547328549, + 1.1556094609992589 + ], + "object_minus_gripper": [ + 0.00472206452841506, + 0.004640875266781988, + 0.0073963089977435725 + ], + "object_to_gripper_xy": 0.006620847124979139, + "object_to_gripper_z": 0.0073963089977435725, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27089455182264144, + -0.08663800780217887, + 1.1630057699970024 + ], + "finger_b": [ + 0.2601716595040404, + -0.0628544702065035, + 1.1630057699970024 + ], + "finger_midpoint": [ + 0.26553310566334093, + -0.07474623900434119, + 1.1630057699970024 + ], + "object_minus_finger_midpoint": [ + 0.005361446159300509, + 0.011891768797837682, + 0.0 + ], + "finger_gap": 0.02608902221704018, + "fingertip_max_gap": 0.09208771880340455, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01304451110852009, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1630057699970024, + "object_top_z": 1.2131138975840075, + "finger_top_clearance": 0.050108127587005, + "fingertip_min_top_clearance": 0.0150324382761015, + "object_projection_between_fingers": 0.8310694156780821, + "object_to_finger_line_xy": 0.009775311258206257, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854385940170228, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.501654470310956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26287747833600716, + -0.38939540561500163, + 0.8515395861352051 + ], + "target_position": [ + 0.25463425089198194, + -0.39044019695620147, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008309174907328453, + "xy_threshold": 0.08, + "gripper_dist": 0.18450975403176628, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395861352051, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571015576699132, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08720590209304781, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15203235733149187, + "release_required_pad_clearance": 0.053602951046523906, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.216363129879693, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008237183094024658, + "max_z_decrease": 0.008237183094024658, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035029604997751984, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008237183094024658, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021001329617001494, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008237183094024658, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008237263779090322, + "max_button_displacement": 0.12, + "button_start": [ + 0.11033418029546738, + -0.4467016458511352, + 0.7768088579177856 + ], + "button_final": [ + 0.11033418029546738, + -0.4467016458511352, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11181265751299266, + -0.44683856509507325, + 0.8036397679237237 + ], + "closest_button": [ + 0.1103580594062805, + -0.44667553901672363, + 0.7686407566070557 + ], + "closest_ee_minus_button": [ + 0.0014545981067121544, + -0.00016302607834961513, + 0.03499901131666805 + ], + "button_min_z_position": [ + 0.11035851389169693, + -0.44667449593544006, + 0.768571674823761 + ], + "min_active_finger_to_button": 0.14445075401209462, + "closest_active_finger": [ + -0.029047831892967224, + -0.4311036467552185, + 0.8112146854400635 + ], + "closest_active_finger_button": [ + 0.11033754050731659, + -0.4466979503631592, + 0.7766523361206055 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1393853724002838, + 0.015594303607940674, + 0.03456234931945801 + ], + "min_contact_pad_to_button": 0.021001329617001494, + "closest_contact_pad": [ + 0.11035851389169693, + -0.4480023594290422, + 0.7895309835963399 + ], + "closest_contact_pad_button": [ + 0.11035851389169693, + -0.44667449593544006, + 0.768571674823761 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013278634936021438, + 0.0209593087725789 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b3bda8672f38c5cbd56d27acd6d11cc5181971a8d4e5ae7b274aa7a5bb357217", + "visual_seed": 1324769993306074997, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..82876b07488864839fa54328188f35dc38cea28f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27032768080485614, + -0.05608554452179159, + 1.164468257638707 + ], + "current_z": 1.164468257638707, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30336174962394113, + "gripper_z": 1.1572269924637064, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2655424095626836, + -0.06088279205677484, + 1.1572269924637064 + ], + "object_minus_gripper": [ + 0.00478527124217254, + 0.00479724753498325, + 0.007241265175000677 + ], + "object_to_gripper_xy": 0.0067758693001759105, + "object_to_gripper_z": 0.007241265175000677, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27032768080485614, + -0.07985779083293669, + 1.164468257638707 + ], + "finger_b": [ + 0.25929436682784635, + -0.05608554452179159, + 1.164468257638707 + ], + "finger_midpoint": [ + 0.26481102381635124, + -0.06797166767736414, + 1.164468257638707 + ], + "object_minus_finger_midpoint": [ + 0.005516656988504898, + 0.011886123155572546, + 0.0 + ], + "finger_gap": 0.026207894077797087, + "fingertip_max_gap": 0.09206430614509764, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01310394703889854, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164468257638707, + "object_top_z": 1.214619505387653, + "finger_top_clearance": 0.05015124774894586, + "fingertip_min_top_clearance": 0.015045374324683758, + "object_projection_between_fingers": 0.8227657284372152, + "object_to_finger_line_xy": 0.010007925730739338, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853215307254882, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1958603587545331, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2621948054612795, + -0.38490564143899386, + 0.8515395639350887 + ], + "target_position": [ + 0.2544423671111012, + -0.38587064949424027, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007812268615453884, + "xy_threshold": 0.08, + "gripper_dist": 0.18442019715941815, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395639350887, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579506966876487, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08620017195091391, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15167417053310336, + "release_required_pad_clearance": 0.053100085975456957, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2277866272462035, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008050382137298584, + "max_z_decrease": 0.008050382137298584, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515719234056818, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008050382137298584, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02121346980517241, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008050382137298584, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008050396481903444, + "max_button_displacement": 0.12, + "button_start": [ + 0.11014229059219358, + -0.44213211536407465, + 0.7768088579177856 + ], + "button_final": [ + 0.11014229059219358, + -0.44213211536407465, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11174732151283606, + -0.44351797703945356, + 0.8073284042702938 + ], + "closest_button": [ + 0.11013100296258924, + -0.4421273171901703, + 0.7722359299659729 + ], + "closest_ee_minus_button": [ + 0.0016163185502468258, + -0.0013906598492832711, + 0.03509247430432094 + ], + "button_min_z_position": [ + 0.11013101786375043, + -0.4421219229698181, + 0.7687584757804871 + ], + "min_active_finger_to_button": 0.1444729579719661, + "closest_active_finger": [ + -0.029192008078098297, + -0.4258060157299042, + 0.8108553886413574 + ], + "closest_active_finger_button": [ + 0.11014422029256819, + -0.44212877750396723, + 0.7763384580612183 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1393362283706665, + 0.016322761774063055, + 0.03451693058013916 + ], + "min_contact_pad_to_button": 0.02121346980517241, + "closest_contact_pad": [ + 0.11013101786375043, + -0.4447424941277241, + 0.7898094593200111 + ], + "closest_contact_pad_button": [ + 0.11013101786375043, + -0.4421219229698181, + 0.7687584757804871 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002620571157905982, + 0.02105098353952406 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "00c74dae5c8a80b20a4e35f996dccd782bd483256d73f9c7af8f83f4ca9e4882", + "visual_seed": 6468072673748169710, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d737c40ac6979accfa5b1c388772eb03289d4598 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2625900131199742, + -0.058155053806173224, + 1.1636738140029608 + ], + "current_z": 1.1636738140029608, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3025673655928396, + "gripper_z": 1.156867815822489, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2576865808288574, + -0.06299565469467017, + 1.156867815822489 + ], + "object_minus_gripper": [ + 0.004903432291116783, + 0.004840600888496943, + 0.006805998180471784 + ], + "object_to_gripper_xy": 0.006890215177720082, + "object_to_gripper_z": 0.006805998180471784, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2625900131199742, + -0.0820065292354189, + 1.1636738140029608 + ], + "finger_b": [ + 0.2515243214794575, + -0.058155053806173224, + 1.1636738140029608 + ], + "finger_midpoint": [ + 0.25705716729971584, + -0.07008079152079606, + 1.1636738140029608 + ], + "object_minus_finger_midpoint": [ + 0.00553284582025837, + 0.011925737714622839, + 0.0 + ], + "finger_gap": 0.02629339102578652, + "fingertip_max_gap": 0.09195379535389892, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013146695512893271, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636738140029608, + "object_top_z": 1.2138209970782667, + "finger_top_clearance": 0.05014718307530597, + "fingertip_min_top_clearance": 0.01504415492259179, + "object_projection_between_fingers": 0.8228814992075666, + "object_to_finger_line_xy": 0.010038000500298646, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04847689767694946, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0851954833432125, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2645958137030281, + -0.38358221799788184, + 0.8515395772438892 + ], + "target_position": [ + 0.25618028318065866, + -0.38449164105978695, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008464526228824407, + "xy_threshold": 0.08, + "gripper_dist": 0.18301671628103994, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395772438892, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513373549862094, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853739865813631, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15200733438962363, + "release_required_pad_clearance": 0.05268699329068155, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4297827055945775, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00796961784362793, + "max_z_decrease": 0.00796961784362793, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514072686970818, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00796961784362793, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021082121931803366, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00796961784362793, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007969645543203323, + "max_button_displacement": 0.12, + "button_start": [ + 0.11188020557165147, + -0.4407531023025512, + 0.7768088579177856 + ], + "button_final": [ + 0.11188020557165147, + -0.4407531023025512, + 0.7768088579177856 + ], + "closest_ee": [ + 0.113060032204951, + -0.43914719668156826, + 0.8077012675776326 + ], + "closest_button": [ + 0.11187104135751726, + -0.4407453536987304, + 0.7726170420646667 + ], + "closest_ee_minus_button": [ + 0.001188990847433749, + 0.0015981570171621495, + 0.03508422551296586 + ], + "button_min_z_position": [ + 0.11185982078313829, + -0.4407480061054229, + 0.7688392400741577 + ], + "min_active_finger_to_button": 0.1445050242801285, + "closest_active_finger": [ + -0.014078252017498016, + -0.5026100873947144, + 0.8109067678451538 + ], + "closest_active_finger_button": [ + 0.11188224703073503, + -0.44075006246566767, + 0.7764250040054321 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12596049904823303, + -0.061860024929046686, + 0.03448176383972168 + ], + "min_contact_pad_to_button": 0.021082121931803366, + "closest_contact_pad": [ + 0.11185982078313829, + -0.4407480061054229, + 0.7899213620059611 + ], + "closest_contact_pad_button": [ + 0.11185982078313829, + -0.4407480061054229, + 0.7688392400741577 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021082121931803366 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fec3eb27004c8953cd42edcc18c8899cbea109dffbbc9bb18b05cf2cfb6c826b", + "visual_seed": 438559777447447575, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..022b177e59f3eb7effd59bdb628a9e21ae5a32be --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2692674597043824, + -0.06152953543706925, + 1.1646945167241634 + ], + "current_z": 1.1646945167241634, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3035880087093972, + "gripper_z": 1.1572757318761977, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2645182838322348, + -0.0661185332705949, + 1.1572757318761977 + ], + "object_minus_gripper": [ + 0.004749175872147571, + 0.004588997833525649, + 0.007418784847965654 + ], + "object_to_gripper_xy": 0.0066040572817542805, + "object_to_gripper_z": 0.007418784847965654, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2692674597043824, + -0.08546056479516288, + 1.1646945167241634 + ], + "finger_b": [ + 0.25877895027651154, + -0.06152953543706925, + 1.1646945167241634 + ], + "finger_midpoint": [ + 0.26402320499044696, + -0.07349505011611607, + 1.1646945167241634 + ], + "object_minus_finger_midpoint": [ + 0.0052442547139354145, + 0.011965514679046815, + 0.0 + ], + "finger_gap": 0.026128585804755574, + "fingertip_max_gap": 0.09202521911763614, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013064292902377787, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646945167241634, + "object_top_z": 1.2147885803643168, + "finger_top_clearance": 0.05009406364015345, + "fingertip_min_top_clearance": 0.015028219092046035, + "object_projection_between_fingers": 0.8388628281436143, + "object_to_finger_line_xy": 0.00960636863076359, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851260955881807, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.394668136304387, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25787853477078804, + -0.3817339522699182, + 0.851539595418601 + ], + "target_position": [ + 0.2503549509955086, + -0.38232553123016666, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007546805846837248, + "xy_threshold": 0.08, + "gripper_dist": 0.18461213628815393, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539595418601, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567984817483198, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874543353139867, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15216331824681384, + "release_required_pad_clearance": 0.053727167656993355, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4635645257778793, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007758498191833496, + "max_z_decrease": 0.007758498191833496, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511542734015519, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007758498191833496, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02109114897598463, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007758498191833496, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007758518764532718, + "max_button_displacement": 0.12, + "button_start": [ + 0.10605487972497941, + -0.4385869801044463, + 0.7768088579177856 + ], + "button_final": [ + 0.10605487972497941, + -0.4385869801044463, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10642457058503407, + -0.4368188354761243, + 0.8082671319576888 + ], + "closest_button": [ + 0.10606211423873903, + -0.43858000636100763, + 0.7731977701187134 + ], + "closest_ee_minus_button": [ + 0.0003624563462950453, + 0.0017611708848833119, + 0.035069361838975466 + ], + "button_min_z_position": [ + 0.10603743791580202, + -0.43858310580253596, + 0.7690503597259521 + ], + "min_active_finger_to_button": 0.14519442714130007, + "closest_active_finger": [ + -0.020082660019397736, + -0.5016180872917175, + 0.8082905411720276 + ], + "closest_active_finger_button": [ + 0.10606125742197038, + -0.43858096003532404, + 0.7737151980400085 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1261439174413681, + -0.06303712725639349, + 0.03457534313201904 + ], + "min_contact_pad_to_button": 0.02109114897598463, + "closest_contact_pad": [ + 0.10603743791580202, + -0.43858310580253596, + 0.7901415087019368 + ], + "closest_contact_pad_button": [ + 0.10603743791580202, + -0.43858310580253596, + 0.7690503597259521 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02109114897598463 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b7788dde089ad2eb1d5a2be3daa21ec82a531c2e3ed49bf81dfb8be5b8a15e6", + "visual_seed": 7571795544095679249, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..98c8a2a6fb47003e108611ff126afabfd024312f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.267564059200291, + -0.0564840406674792, + 1.1654189539829258 + ], + "current_z": 1.1654189539829258, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30431244596815965, + "gripper_z": 1.1581913847818992, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2627615641629776, + -0.06114231801137837, + 1.1581913847818992 + ], + "object_minus_gripper": [ + 0.004802495037313448, + 0.004658277343899168, + 0.007227569201026629 + ], + "object_to_gripper_xy": 0.0066905535194111245, + "object_to_gripper_z": 0.007227569201026629, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.267564059200291, + -0.08038946668535363, + 1.1654189539829258 + ], + "finger_b": [ + 0.25689176061920554, + -0.0564840406674792, + 1.1654189539829258 + ], + "finger_midpoint": [ + 0.2622279099097483, + -0.06843675367641641, + 1.1654189539829258 + ], + "object_minus_finger_midpoint": [ + 0.005336149290542713, + 0.011952713008937209, + 0.0 + ], + "finger_gap": 0.026179521578896484, + "fingertip_max_gap": 0.09217007935447566, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013089760789448228, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654189539829258, + "object_top_z": 1.2155972930258323, + "finger_top_clearance": 0.05017833904290647, + "fingertip_min_top_clearance": 0.01505350171287194, + "object_projection_between_fingers": 0.8338147316366381, + "object_to_finger_line_xy": 0.00974524470976063, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858503967723783, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4116860068748853, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26137909102441803, + -0.38028231160292303, + 0.8515396094561871 + ], + "target_position": [ + 0.2536830165662839, + -0.3811508374746985, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007744927324067545, + "xy_threshold": 0.08, + "gripper_dist": 0.1831601793103527, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396094561871, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589989224918683, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08751989921306048, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15031921342031632, + "release_required_pad_clearance": 0.053759949606530244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5290980897465762, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008094370365142822, + "max_z_decrease": 0.008094370365142822, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504599069051298, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008094370365142822, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02103832288045071, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008094370365142822, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008094394221616997, + "max_button_displacement": 0.12, + "button_start": [ + 0.10938294231891627, + -0.437412291765213, + 0.7768088579177856 + ], + "button_final": [ + 0.10938294231891627, + -0.437412291765213, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10907726517409133, + -0.43725116401626996, + 0.8037587734951119 + ], + "closest_button": [ + 0.10939171910285946, + -0.4373947083950043, + 0.7687144875526428 + ], + "closest_ee_minus_button": [ + -0.00031445392876812417, + 0.00014354437873431714, + 0.03504428594246911 + ], + "button_min_z_position": [ + 0.10939171910285946, + -0.4373947083950043, + 0.7687144875526428 + ], + "min_active_finger_to_button": 0.1461614477049938, + "closest_active_finger": [ + -0.017321668565273285, + -0.5015698671340942, + 0.8111198544502258 + ], + "closest_active_finger_button": [ + 0.10938563942909237, + -0.43740925192832947, + 0.7765967845916748 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12670730799436564, + -0.06416061520576477, + 0.034523069858551025 + ], + "min_contact_pad_to_button": 0.02103832288045071, + "closest_contact_pad": [ + 0.10939171910285946, + -0.4383104551929987, + 0.7897328708735374 + ], + "closest_contact_pad_button": [ + 0.10939171910285946, + -0.4373947083950043, + 0.7687144875526428 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009157467979944434, + 0.021018383320894563 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bf64a0e2d9141fd2d53a835031d25b7c99db46216ed07fb680e29872b7b58c8b", + "visual_seed": 4792428935008969880, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..82821b3af369bc1c32dfd7d6c77c96fadc991de0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26659781180650965, + -0.06250808799239538, + 1.165929248524113 + ], + "current_z": 1.165929248524113, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.3048226809047022, + "gripper_z": 1.1587525025941146, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.262049825698621, + -0.06724375624597392, + 1.1587525025941146 + ], + "object_minus_gripper": [ + 0.004547986107888646, + 0.0047356682535785455, + 0.007176745929998507 + ], + "object_to_gripper_xy": 0.006565876289232062, + "object_to_gripper_z": 0.007176745929998507, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26659781180650965, + -0.08603364410692521, + 1.165929248524113 + ], + "finger_b": [ + 0.25560634412596783, + -0.06250808799239538, + 1.165929248524113 + ], + "finger_midpoint": [ + 0.26110207796623874, + -0.0742708660496603, + 1.165929248524113 + ], + "object_minus_finger_midpoint": [ + 0.005495733840270911, + 0.011762778057264917, + 0.0 + ], + "finger_gap": 0.025966596855773908, + "fingertip_max_gap": 0.09211538572561628, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012983298427886954, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165929248524113, + "object_top_z": 1.2160767777561512, + "finger_top_clearance": 0.050147529232038135, + "fingertip_min_top_clearance": 0.015044258769611407, + "object_projection_between_fingers": 0.8208233948585091, + "object_to_finger_line_xy": 0.009958193256353911, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048557692862808144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.275332696410212, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2645697928890359, + -0.38610753258852293, + 0.851539605536533 + ], + "target_position": [ + 0.2564225872350327, + -0.38713395037978243, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008211607239197224, + "xy_threshold": 0.08, + "gripper_dist": 0.1845869067848881, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539605536533, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754766839828146, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512732240678116, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15268726464832308, + "release_required_pad_clearance": 0.05256366120339058, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1938265773951587, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008188962936401367, + "max_z_decrease": 0.008188962936401367, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502653963303011, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008188962936401367, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021073903329236286, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008188962936401367, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008188992637205164, + "max_button_displacement": 0.12, + "button_start": [ + 0.1121225133538246, + -0.44339540600776667, + 0.7768088579177856 + ], + "button_final": [ + 0.1121225133538246, + -0.44339540600776667, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11296802635192904, + -0.44449027096465277, + 0.8036184038848537 + ], + "closest_button": [ + 0.11212224513292311, + -0.4433733522891998, + 0.7686198949813843 + ], + "closest_ee_minus_button": [ + 0.0008457812190059283, + -0.0011169186754529936, + 0.03499850890346945 + ], + "button_min_z_position": [ + 0.11212224513292311, + -0.4433733522891998, + 0.7686198949813843 + ], + "min_active_finger_to_button": 0.1449731225089682, + "closest_active_finger": [ + -0.02799927443265915, + -0.42973199486732483, + 0.810669481754303 + ], + "closest_active_finger_button": [ + 0.11212514340877532, + -0.44339179992675776, + 0.7760896682739258 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14012441784143448, + 0.013659805059432928, + 0.0345798134803772 + ], + "min_contact_pad_to_button": 0.021073903329236286, + "closest_contact_pad": [ + 0.11212224513292311, + -0.4455591242253256, + 0.7895801383619665 + ], + "closest_contact_pad_button": [ + 0.11212224513292311, + -0.4433733522891998, + 0.7686198949813843 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021857719361258465, + 0.020960243380582222 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c9278176804c763193966bf631499200f947a499e14e1007103c5d5f1dc213a", + "visual_seed": 8172936452889103940, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6c120846edea8aae5459af6052b36c23780b3423 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2703800750995515, + -0.06259166463452748, + 1.1640049855193368 + ], + "current_z": 1.1640049855193368, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3028984775045708, + "gripper_z": 1.156688948767326, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2656678760517722, + -0.06727543467613992, + 1.156688948767326 + ], + "object_minus_gripper": [ + 0.004712199047779253, + 0.0046837700416124395, + 0.007316036752010868 + ], + "object_to_gripper_xy": 0.006643983870284296, + "object_to_gripper_z": 0.007316036752010868, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2703800750995515, + -0.08636162260489193, + 1.1640049855193368 + ], + "finger_b": [ + 0.2595839412482539, + -0.06259166463452748, + 1.1640049855193368 + ], + "finger_midpoint": [ + 0.2649820081739027, + -0.07447664361970971, + 1.1640049855193368 + ], + "object_minus_finger_midpoint": [ + 0.005398066925648759, + 0.011884978985182232, + 0.0 + ], + "finger_gap": 0.02610684599962289, + "fingertip_max_gap": 0.09209990380296512, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01305342299981144, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1640049855193368, + "object_top_z": 1.2141601459648146, + "finger_top_clearance": 0.05015516044547774, + "fingertip_min_top_clearance": 0.015046548133643322, + "object_projection_between_fingers": 0.8289875590311085, + "object_to_finger_line_xy": 0.009829745343098082, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854995190148256, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.359627541246431, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2613975671750747, + -0.3850950422869518, + 0.8515395702513376 + ], + "target_position": [ + 0.2530118996206102, + -0.3861041725109077, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008446168607297582, + "xy_threshold": 0.08, + "gripper_dist": 0.18490294786242265, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395702513376, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555597746807459, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08572719998789637, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15273500539298338, + "release_required_pad_clearance": 0.052863599993948185, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7692267594502777, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008049368858337402, + "max_z_decrease": 0.008049368858337402, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514301434242635, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008049368858337402, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021300212588502274, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008049368858337402, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00804938109347619, + "max_button_displacement": 0.12, + "button_start": [ + 0.10871182382106778, + -0.44236561655998224, + 0.7768088579177856 + ], + "button_final": [ + 0.10871182382106778, + -0.44236561655998224, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10898382144047497, + -0.4443845196082808, + 0.8072131306195935 + ], + "closest_button": [ + 0.10870128124952314, + -0.44236037135124207, + 0.7721295952796936 + ], + "closest_ee_minus_button": [ + 0.00028254019095183547, + -0.002024148257038727, + 0.03508353533989994 + ], + "button_min_z_position": [ + 0.10870288312435147, + -0.4423547983169555, + 0.7687594890594482 + ], + "min_active_finger_to_button": 0.14567540100268958, + "closest_active_finger": [ + -0.03187514841556549, + -0.4261018633842468, + 0.8108074069023132 + ], + "closest_active_finger_button": [ + 0.10871344059705733, + -0.4423629641532898, + 0.776285707950592 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14058858901262283, + 0.01626110076904297, + 0.03452169895172119 + ], + "min_contact_pad_to_button": 0.021300212588502274, + "closest_contact_pad": [ + 0.10870288312435147, + -0.4456779113938947, + 0.7897988801103619 + ], + "closest_contact_pad_button": [ + 0.10870288312435147, + -0.4423547983169555, + 0.7687594890594482 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003323113076939166, + 0.02103939105091368 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c175af95f5003b09f6e5c360f7df96f78fcae8ad9db209f70e63a62bac840505", + "visual_seed": 1088174118181421099, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aa930e28b0e5d58de2a2c2a8973db325746eb22a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2642926247672712, + -0.05418663114808119, + 1.1654973599937373 + ], + "current_z": 1.1654973599937373, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3043908519789711, + "gripper_z": 1.1584116324278437, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25966335841563626, + -0.0589645729178003, + 1.1584116324278437 + ], + "object_minus_gripper": [ + 0.004629266351634964, + 0.004777941769719109, + 0.00708572756589354 + ], + "object_to_gripper_xy": 0.006652731357059765, + "object_to_gripper_z": 0.00708572756589354, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2642926247672712, + -0.0777495501764218, + 1.1654973599937373 + ], + "finger_b": [ + 0.2531950658411879, + -0.05418663114808119, + 1.1654973599937373 + ], + "finger_midpoint": [ + 0.25874384530422956, + -0.0659680906622515, + 1.1654973599937373 + ], + "object_minus_finger_midpoint": [ + 0.005548779463041664, + 0.011781459514170305, + 0.0 + ], + "finger_gap": 0.026045478825585593, + "fingertip_max_gap": 0.09187103702446603, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013022739412792798, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654973599937373, + "object_top_z": 1.2156172216159962, + "finger_top_clearance": 0.0501198616222589, + "fingertip_min_top_clearance": 0.015035958486677636, + "object_projection_between_fingers": 0.8184525189715292, + "object_to_finger_line_xy": 0.010039780191357664, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843551851223302, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.173388443248043, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25777152795452685, + -0.381021255655437, + 0.8515395691376605 + ], + "target_position": [ + 0.2491806528557004, + -0.38200255454622195, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008646738256515695, + "xy_threshold": 0.08, + "gripper_dist": 0.18461545179891875, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691376605, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752303197959595, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1532875524980897, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0080910325050354, + "max_z_decrease": 0.0080910325050354, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504872898003198, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0080910325050354, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021091269347078584, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0080910325050354, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008091055385522279, + "max_button_displacement": 0.12, + "button_start": [ + 0.104880578815937, + -0.43826401233673096, + 0.7768088579177856 + ], + "button_final": [ + 0.104880578815937, + -0.43826401233673096, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10535881082755635, + -0.4389836417705818, + 0.8037555803348734 + ], + "closest_button": [ + 0.10488540679216382, + -0.43824538588523865, + 0.7687178254127502 + ], + "closest_ee_minus_button": [ + 0.00047340403539253284, + -0.0007382558853431531, + 0.03503775492212313 + ], + "button_min_z_position": [ + 0.10488540679216382, + -0.43824538588523865, + 0.7687178254127502 + ], + "min_active_finger_to_button": 0.1453879392802748, + "closest_active_finger": [ + -0.035683125257492065, + -0.4249090850353241, + 0.8106588125228882 + ], + "closest_active_finger_button": [ + 0.10488433390855785, + -0.438260018825531, + 0.7760149836540222 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1405674591660499, + 0.01335093379020691, + 0.03464382886886597 + ], + "min_contact_pad_to_button": 0.021091269347078584, + "closest_contact_pad": [ + 0.10488540679216382, + -0.43999357644221576, + 0.7897365188176104 + ], + "closest_contact_pad_button": [ + 0.10488540679216382, + -0.43824538588523865, + 0.7687178254127502 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001748190556977114, + 0.021018693404860178 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3018634ea2d3e6d4885ad72e99c26f6ff5468611f691249a146ec24e2a69866d", + "visual_seed": 4017670411540730766, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..500e3adb9e121fabd7fbf23be7797a714aa2faf5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26913256818086595, + -0.054253610938691486, + 1.1621090284407094 + ], + "current_z": 1.1621090284407094, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30100258003058833, + "gripper_z": 1.154912832150499, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26429216415702794, + -0.05909654629510179, + 1.154912832150499 + ], + "object_minus_gripper": [ + 0.0048404040238380075, + 0.004842935356410304, + 0.00719619629021051 + ], + "object_to_gripper_xy": 0.006847155174257129, + "object_to_gripper_z": 0.00719619629021051, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26913256818086595, + -0.07807201051692059, + 1.1621090284407094 + ], + "finger_b": [ + 0.25803678890892606, + -0.054253610938691486, + 1.1621090284407094 + ], + "finger_midpoint": [ + 0.263584678544896, + -0.06616281072780604, + 1.1621090284407094 + ], + "object_minus_finger_midpoint": [ + 0.005547889635969971, + 0.011909199789114554, + 0.0 + ], + "finger_gap": 0.026276081825869605, + "fingertip_max_gap": 0.0920044883240412, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013138040912934818, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621090284407094, + "object_top_z": 1.2122486584952847, + "finger_top_clearance": 0.050139630054575335, + "fingertip_min_top_clearance": 0.015041889016372633, + "object_projection_between_fingers": 0.8216823195462648, + "object_to_finger_line_xy": 0.010057957121700725, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048502244162020605, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1334001206566438, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2607176683938348, + -0.38032751463143155, + 0.8515396054757469 + ], + "target_position": [ + 0.25281974174507466, + -0.38135332366479896, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007964265786758627, + "xy_threshold": 0.08, + "gripper_dist": 0.18458534692668074, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396054757469, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570103902196272, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856097230766439, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1521357034702974, + "release_required_pad_clearance": 0.05280486153832195, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.656106912117726, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007806897163391113, + "max_z_decrease": 0.007806897163391113, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035110763899931174, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007806897163391113, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021181817268811506, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007806897163391113, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007806925189055422, + "max_button_displacement": 0.12, + "button_start": [ + 0.10851966589689253, + -0.437614768743515, + 0.7768088579177856 + ], + "button_final": [ + 0.10851966589689253, + -0.437614768743515, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10950707601175544, + -0.4385741908059805, + 0.8076421221025782 + ], + "closest_button": [ + 0.10850958526134491, + -0.43760886788368225, + 0.7725588083267212 + ], + "closest_ee_minus_button": [ + 0.000997490750410529, + -0.0009653229222982285, + 0.03508331377585705 + ], + "button_min_z_position": [ + 0.10849934071302414, + -0.4376098215579987, + 0.7690019607543945 + ], + "min_active_finger_to_button": 0.1451542341560703, + "closest_active_finger": [ + -0.03157753497362137, + -0.42188072204589844, + 0.8110671043395996 + ], + "closest_active_finger_button": [ + 0.10852199047803877, + -0.43761128187179565, + 0.7765066623687744 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14009952545166016, + 0.015730559825897217, + 0.034560441970825195 + ], + "min_contact_pad_to_button": 0.021181817268811506, + "closest_contact_pad": [ + 0.10849934071302414, + -0.43968628120335446, + 0.7900817543527799 + ], + "closest_contact_pad_button": [ + 0.10849934071302414, + -0.4376098215579987, + 0.7690019607543945 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002076459645355744, + 0.02107979359838541 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0242b79d6e4da54b4bd1990026f41e94299ff84bec190e75d4324b4939fb199f", + "visual_seed": 997665394705372512, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d01b30dc988e9d2ba2cba631fa0545635a3ffdbf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26805089193771847, + -0.05371661302200288, + 1.1625671860031956 + ], + "current_z": 1.1625671860031956, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30146067798842946, + "gripper_z": 1.1551804318957903, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2634981725201774, + -0.05837851799597889, + 1.1551804318957903 + ], + "object_minus_gripper": [ + 0.004552719417541096, + 0.0046619049739760055, + 0.007386754107405302 + ], + "object_to_gripper_xy": 0.006516180789483818, + "object_to_gripper_z": 0.007386754107405302, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26805089193771847, + -0.07728868227216797, + 1.1625671860031956 + ], + "finger_b": [ + 0.25717141867567117, + -0.05371661302200288, + 1.1625671860031956 + ], + "finger_midpoint": [ + 0.2626111553066948, + -0.06550264764708542, + 1.1625671860031956 + ], + "object_minus_finger_midpoint": [ + 0.005439736631023651, + 0.011786034625082542, + 0.0 + ], + "finger_gap": 0.025961613724770276, + "fingertip_max_gap": 0.0920979942453008, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012980806862385138, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1625671860031956, + "object_top_z": 1.212746891694696, + "finger_top_clearance": 0.05017970569150032, + "fingertip_min_top_clearance": 0.015053911707450062, + "object_projection_between_fingers": 0.8243887353002687, + "object_to_finger_line_xy": 0.009878110808405388, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0485489971226504, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3414964244318277, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2608134457861876, + -0.3835597771043553, + 0.8515395694739911 + ], + "target_position": [ + 0.25239193693478634, + -0.38470542210281355, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008499077232071845, + "xy_threshold": 0.08, + "gripper_dist": 0.18647879252208766, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395694739911, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757575718228173, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858167298668477, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15379510912003494, + "release_required_pad_clearance": 0.05290836493342385, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8559169245630527, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007801949977874756, + "max_z_decrease": 0.007801949977874756, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035079708366174904, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007801949977874756, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021085256589384746, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007801949977874756, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0078019740405035716, + "max_button_displacement": 0.12, + "button_start": [ + 0.10809186100959776, + -0.4409668743610382, + 0.7768088579177856 + ], + "button_final": [ + 0.10809186100959776, + -0.4409668743610382, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10724760450286042, + -0.44071433500394064, + 0.8076583833985831 + ], + "closest_button": [ + 0.10808369517326352, + -0.44096058607101435, + 0.7725895047187805 + ], + "closest_ee_minus_button": [ + -0.0008360906704031057, + 0.0002462510670737106, + 0.03506887867980257 + ], + "button_min_z_position": [ + 0.10807333886623381, + -0.4409611821174621, + 0.7690069079399109 + ], + "min_active_finger_to_button": 0.14685354518310667, + "closest_active_finger": [ + -0.020048901438713074, + -0.5038497447967529, + 0.8110599517822266 + ], + "closest_active_finger_button": [ + 0.10809407383203505, + -0.4409646093845367, + 0.7765519618988037 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12814297527074814, + -0.06288513541221624, + 0.03450798988342285 + ], + "min_contact_pad_to_button": 0.021085256589384746, + "closest_contact_pad": [ + 0.10807333886623381, + -0.441796236506256, + 0.7900756224144095 + ], + "closest_contact_pad_button": [ + 0.10807333886623381, + -0.4409611821174621, + 0.7690069079399109 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008350543887938877, + 0.02106871447449865 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6da7ee5b58427d8a97e99582762de20c0b150fc8f04f6ca3beae14929a60fed8", + "visual_seed": 6826844395188562253, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..246771a8002d027193a8afe2fbad57b672154e86 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2672970471510376, + -0.06243371593856928, + 1.1653029258932772 + ], + "current_z": 1.1653029258932772, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30419647748315604, + "gripper_z": 1.1580254979635074, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26274977671010197, + -0.06708613011290099, + 1.1580254979635074 + ], + "object_minus_gripper": [ + 0.0045472704409356135, + 0.004652414174331709, + 0.00727742792976982 + ], + "object_to_gripper_xy": 0.006505584225304394, + "object_to_gripper_z": 0.00727742792976982, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2672970471510376, + -0.08594954719346813, + 1.1653029258932772 + ], + "finger_b": [ + 0.25641443553875887, + -0.06243371593856928, + 1.1653029258932772 + ], + "finger_midpoint": [ + 0.2618557413448982, + -0.07419163156601871, + 1.1653029258932772 + ], + "object_minus_finger_midpoint": [ + 0.005441305806139385, + 0.011757915627449433, + 0.0 + ], + "finger_gap": 0.02591188057846403, + "fingertip_max_gap": 0.09220370879784773, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012955940289232032, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1653029258932772, + "object_top_z": 1.2154861862975805, + "finger_top_clearance": 0.05018326040430332, + "fingertip_min_top_clearance": 0.015054978121290995, + "object_projection_between_fingers": 0.8236122611033989, + "object_to_finger_line_xy": 0.009876305871046839, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048601854398923866, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4644471895916156, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25969018107272274, + -0.38092878385161233, + 0.8515395096834688 + ], + "target_position": [ + 0.2518175771929352, + -0.3818424914392455, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007925449728800533, + "xy_threshold": 0.08, + "gripper_dist": 0.18384329990654102, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395096834688, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584018952893296, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08677282491421796, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15108255279010632, + "release_required_pad_clearance": 0.053386412457108984, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7883242612567558, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00807875394821167, + "max_z_decrease": 0.00807875394821167, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507737299406333, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00807875394821167, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021028253727792753, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00807875394821167, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008078770342575406, + "max_button_displacement": 0.12, + "button_start": [ + 0.10751750320196155, + -0.43810394406318665, + 0.7768088579177856 + ], + "button_final": [ + 0.10751750320196155, + -0.43810394406318665, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10647182493903229, + -0.43743227946493135, + 0.8069206606949725 + ], + "closest_button": [ + 0.10750738531351091, + -0.43809765577316284, + 0.7718648910522461 + ], + "closest_ee_minus_button": [ + -0.0010355603744786196, + 0.0006653763082314912, + 0.035055769642726387 + ], + "button_min_z_position": [ + 0.10751993209123611, + -0.4380878508090973, + 0.768730103969574 + ], + "min_active_finger_to_button": 0.1468461425922877, + "closest_active_finger": [ + -0.019785791635513306, + -0.5026618242263794, + 0.8067410588264465 + ], + "closest_active_finger_button": [ + 0.10750878602266313, + -0.4380957782268524, + 0.7722286581993103 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12729457765817642, + -0.06456604599952698, + 0.03451240062713623 + ], + "min_contact_pad_to_button": 0.021028253727792753, + "closest_contact_pad": [ + 0.10751993209123611, + -0.43833040646199833, + 0.7897569587414051 + ], + "closest_contact_pad_button": [ + 0.10751993209123611, + -0.4380878508090973, + 0.768730103969574 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002425556529010442, + 0.021026854771831083 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4859fd2bebb846a93e7a5f50f43e4658e3bfba13ad625f09730af7880b795ba0", + "visual_seed": 1786205422084204163, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e312d83597b5aa064a54cc54baa03b9ec3b30573 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26912333984974657, + -0.06022437326710937, + 1.16405134274525 + ], + "current_z": 1.16405134274525, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30294483473048395, + "gripper_z": 1.156754641162102, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2643207737771748, + -0.06486238606664319, + 1.156754641162102 + ], + "object_minus_gripper": [ + 0.00480256607257179, + 0.004638012799533818, + 0.007296701583147991 + ], + "object_to_gripper_xy": 0.006676511335275119, + "object_to_gripper_z": 0.007296701583147991, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26912333984974657, + -0.08434563398180171, + 1.16405134274525 + ], + "finger_b": [ + 0.25873575671221294, + -0.06022437326710937, + 1.16405134274525 + ], + "finger_midpoint": [ + 0.26392954828097975, + -0.07228500362445554, + 1.16405134274525 + ], + "object_minus_finger_midpoint": [ + 0.005193791568766815, + 0.012060630357346176, + 0.0 + ], + "finger_gap": 0.026262846416664994, + "fingertip_max_gap": 0.09215432488082109, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0131314232083325, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16405134274525, + "object_top_z": 1.214031690709347, + "finger_top_clearance": 0.049980347964097005, + "fingertip_min_top_clearance": 0.014994104389229101, + "object_projection_between_fingers": 0.8435608536337913, + "object_to_finger_line_xy": 0.009540534833154932, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857716244041055, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.553282546703093, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2570769096267219, + -0.3878224025755268, + 0.8515396074309836 + ], + "target_position": [ + 0.2511413924507516, + -0.3877673344211733, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005935772624339842, + "xy_threshold": 0.08, + "gripper_dist": 0.1831895812466856, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396074309836, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542679126382847, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08788210993775054, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15125310914370999, + "release_required_pad_clearance": 0.053941054968875274, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8923605616208286, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00806128978729248, + "max_z_decrease": 0.00806128978729248, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510142341259058, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00806128978729248, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02109411075668216, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00806128978729248, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008061301522860102, + "max_button_displacement": 0.12, + "button_start": [ + 0.10684131830930711, + -0.4440287947654724, + 0.7768088579177856 + ], + "button_final": [ + 0.10684131830930711, + -0.4440287947654724, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10804848772160253, + -0.44432376212232577, + 0.8074584644767164 + ], + "closest_button": [ + 0.10683121532201767, + -0.4440213143825531, + 0.772379457950592 + ], + "closest_ee_minus_button": [ + 0.0012172723995848567, + -0.00030244773977267103, + 0.03507900652612439 + ], + "button_min_z_position": [ + 0.10683529824018478, + -0.4440164268016815, + 0.7687475681304932 + ], + "min_active_finger_to_button": 0.1450279166133309, + "closest_active_finger": [ + -0.033117182552814484, + -0.42829594016075134, + 0.8109242916107178 + ], + "closest_active_finger_button": [ + 0.10684418678283693, + -0.4440252184867859, + 0.7763338088989258 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1399613693356514, + 0.015729278326034546, + 0.03459048271179199 + ], + "min_contact_pad_to_button": 0.02109411075668216, + "closest_contact_pad": [ + 0.10683529824018478, + -0.4453849473928698, + 0.7897972393869919 + ], + "closest_contact_pad_button": [ + 0.10683529824018478, + -0.4440164268016815, + 0.7687475681304932 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013685205911883047, + 0.021049671256498703 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ed2ef6af0446bd6521e760974c8db58df38f94f8f1cc3bd2fc59b61d0d2874ad", + "visual_seed": 4600513546423184379, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b6324bd4cb4f31a9c9eae0e639ac093dd7d8c17 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26604195251301593, + -0.0645518343588804, + 1.1634955777057225 + ], + "current_z": 1.1634955777057225, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3023890696909566, + "gripper_z": 1.1562034655919793, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2612635830405776, + -0.06916180427478277, + 1.1562034655919793 + ], + "object_minus_gripper": [ + 0.004778369472438315, + 0.004609969915902373, + 0.007292112113743254 + ], + "object_to_gripper_xy": 0.006639626302786577, + "object_to_gripper_z": 0.007292112113743254, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26604195251301593, + -0.08848566310289176, + 1.1634955777057225 + ], + "finger_b": [ + 0.2555185539999058, + -0.0645518343588804, + 1.1634955777057225 + ], + "finger_midpoint": [ + 0.26078025325646087, + -0.07651874873088607, + 1.1634955777057225 + ], + "object_minus_finger_midpoint": [ + 0.0052616992565550635, + 0.011966914372005671, + 0.0 + ], + "finger_gap": 0.026145173065279043, + "fingertip_max_gap": 0.09184689909537744, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013072586532639515, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634955777057225, + "object_top_z": 1.2136098887046556, + "finger_top_clearance": 0.05011431099893304, + "fingertip_min_top_clearance": 0.015034293299679879, + "object_projection_between_fingers": 0.8379947859356469, + "object_to_finger_line_xy": 0.009633335269531655, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842344954768872, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2101504580826543, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2653776407880694, + -0.3839038213778869, + 0.8515395981847143 + ], + "target_position": [ + 0.25748404242215656, + -0.3845609059894825, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007920899907784332, + "xy_threshold": 0.08, + "gripper_dist": 0.18523062658069217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395981847143, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752785946859222, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863682282207703, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15360295185761016, + "release_required_pad_clearance": 0.05318411411038515, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3915384004850058, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007919788360595703, + "max_z_decrease": 0.007919788360595703, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509171662595114, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007919788360595703, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021110467833042636, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007919788360595703, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007919810250276707, + "max_button_displacement": 0.12, + "button_start": [ + 0.11318396776914595, + -0.4408223628997803, + 0.7768088579177856 + ], + "button_final": [ + 0.11318396776914595, + -0.4408223628997803, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11261754321384221, + -0.4410219925736427, + 0.8076509300411226 + ], + "closest_button": [ + 0.11317447572946547, + -0.4408169388771057, + 0.7725642323493958 + ], + "closest_ee_minus_button": [ + -0.0005569325156232624, + -0.00020505369653700534, + 0.0350866976917269 + ], + "button_min_z_position": [ + 0.11316610127687454, + -0.44081711769104, + 0.7688890695571899 + ], + "min_active_finger_to_button": 0.1467138693831668, + "closest_active_finger": [ + -0.028287865221500397, + -0.4229154884815216, + 0.8109294772148132 + ], + "closest_active_finger_button": [ + 0.11318514496088027, + -0.44082063436508173, + 0.7764366865158081 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14147301018238068, + 0.017905145883560125, + 0.03449279069900513 + ], + "min_contact_pad_to_button": 0.021110467833042636, + "closest_contact_pad": [ + 0.11316610127687454, + -0.4422900307602088, + 0.7899480908834672 + ], + "closest_contact_pad_button": [ + 0.11316610127687454, + -0.44081711769104, + 0.7688890695571899 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001472913069168802, + 0.02105902132627724 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0325b812ce5687e6e37d70d974e3d63eba752d9ec505f0444140c98950c084ab", + "visual_seed": 6563171916343595270, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c17afcf756ee41278d64532361f7147e1432b472 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26900363366315644, + -0.06130148842425016, + 1.165469609152773 + ], + "current_z": 1.165469609152773, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.30436298192871725, + "gripper_z": 1.1580790516620443, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26444625656438525, + -0.06596266518236775, + 1.1580790516620443 + ], + "object_minus_gripper": [ + 0.004557377098771187, + 0.0046611767581175925, + 0.0073905574907287 + ], + "object_to_gripper_xy": 0.006518915154442471, + "object_to_gripper_z": 0.0073905574907287, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26900363366315644, + -0.08489935840704772, + 1.165469609152773 + ], + "finger_b": [ + 0.25817885625556636, + -0.06130148842425016, + 1.165469609152773 + ], + "finger_midpoint": [ + 0.26359124495936137, + -0.07310042341564894, + 1.165469609152773 + ], + "object_minus_finger_midpoint": [ + 0.005412388703795068, + 0.011798934991398786, + 0.0 + ], + "finger_gap": 0.025962189307700747, + "fingertip_max_gap": 0.09217407627236193, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012981094653850389, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165469609152773, + "object_top_z": 1.21567583955808, + "finger_top_clearance": 0.05020623040530703, + "fingertip_min_top_clearance": 0.015061869121592141, + "object_projection_between_fingers": 0.8261577538968529, + "object_to_finger_line_xy": 0.009838988801351476, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858703813618097, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3228602904833349, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2651486917297178, + -0.3892274894998652, + 0.851539587626457 + ], + "target_position": [ + 0.2574343410003875, + -0.38999445835235197, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007752383400980876, + "xy_threshold": 0.08, + "gripper_dist": 0.18659066647538422, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539587626457, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518920845599712, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528303925299587, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15533973688022595, + "release_required_pad_clearance": 0.052641519626497935, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3426403197401349, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008247196674346924, + "max_z_decrease": 0.008247196674346924, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350448346775577, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008247196674346924, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020950590374203326, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008247196674346924, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008247278353621245, + "max_button_displacement": 0.12, + "button_start": [ + 0.11313426494598387, + -0.4462559223175049, + 0.7768088579177856 + ], + "button_final": [ + 0.11313426494598387, + -0.4462559223175049, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11303065497360229, + -0.44431754343008345, + 0.8035538820349066 + ], + "closest_button": [ + 0.11316262185573578, + -0.44623261690139776, + 0.7685616612434387 + ], + "closest_ee_minus_button": [ + -0.0001319668821334885, + 0.0019150734713143103, + 0.03499222079146791 + ], + "button_min_z_position": [ + 0.11316262185573578, + -0.44623261690139776, + 0.7685616612434387 + ], + "min_active_finger_to_button": 0.14521008314580172, + "closest_active_finger": [ + -0.013077408075332642, + -0.5092188119888306, + 0.8106333017349243 + ], + "closest_active_finger_button": [ + 0.11313703656196594, + -0.4462527334690094, + 0.7761201858520508 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12621444463729858, + -0.06296607851982117, + 0.034513115882873535 + ], + "min_contact_pad_to_button": 0.020950590374203326, + "closest_contact_pad": [ + 0.11316262185573578, + -0.44623261690139776, + 0.789512251617642 + ], + "closest_contact_pad_button": [ + 0.11316262185573578, + -0.44623261690139776, + 0.7685616612434387 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020950590374203326 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dd89098ff49cfeae8e2b0ec8a2c18d405117bfff43ea33e92ad1ed74f1a86a0a", + "visual_seed": 277204346651540160, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..183ac7a65ecfab2a496df56bf486af5311bdb87b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2672077306848746, + -0.058555821812714764, + 1.1654105374404629 + ], + "current_z": 1.1654105374404629, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.304304029425697, + "gripper_z": 1.1582191405815032, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2625727801060717, + -0.06332656992275566, + 1.1582191405815032 + ], + "object_minus_gripper": [ + 0.0046349505788028655, + 0.004770748110040898, + 0.007191396858959642 + ], + "object_to_gripper_xy": 0.006651526471224769, + "object_to_gripper_z": 0.007191396858959642, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2672077306848746, + -0.08212252170314692, + 1.1654105374404629 + ], + "finger_b": [ + 0.25612852027526145, + -0.058555821812714764, + 1.1654105374404629 + ], + "finger_midpoint": [ + 0.261668125480068, + -0.07033917175793084, + 1.1654105374404629 + ], + "object_minus_finger_midpoint": [ + 0.005539605204806564, + 0.01178334994521607, + 0.0 + ], + "finger_gap": 0.02604108766979933, + "fingertip_max_gap": 0.092157037356532, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01302054383489966, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654105374404629, + "object_top_z": 1.2156146980907427, + "finger_top_clearance": 0.05020416065027988, + "fingertip_min_top_clearance": 0.015061248195083964, + "object_projection_between_fingers": 0.8189913283334659, + "object_to_finger_line_xy": 0.010026479310582388, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048578518678266, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3127469650264036, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2655958297048219, + -0.3838536865250939, + 0.8515395742315198 + ], + "target_position": [ + 0.2576310712028709, + -0.3848799626380968, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008030605248330982, + "xy_threshold": 0.08, + "gripper_dist": 0.1838232634424463, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395742315198, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583067245978574, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08608857486119052, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15098916243564175, + "release_required_pad_clearance": 0.05304428743059526, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1190626302095805, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008126139640808105, + "max_z_decrease": 0.008126139640808105, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503449264529294, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008126139640808105, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021051570285270837, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008126139640808105, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00812619246957026, + "max_button_displacement": 0.12, + "button_start": [ + 0.11333099752664565, + -0.4411414265632629, + 0.7768088579177856 + ], + "button_final": [ + 0.11333099752664565, + -0.4411414265632629, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11437378784696353, + -0.44199873029187076, + 0.8036910490980612 + ], + "closest_button": [ + 0.1133468449115753, + -0.4411167800426483, + 0.7686827182769775 + ], + "closest_ee_minus_button": [ + 0.0010269429353882281, + -0.0008819502492224407, + 0.03500833082108368 + ], + "button_min_z_position": [ + 0.1133468449115753, + -0.4411167800426483, + 0.7686827182769775 + ], + "min_active_finger_to_button": 0.14478261692991243, + "closest_active_finger": [ + -0.026546820998191833, + -0.4269607365131378, + 0.8113793134689331 + ], + "closest_active_finger_button": [ + 0.113331101834774, + -0.44114017486572266, + 0.7768088579177856 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13987792283296585, + 0.014179438352584839, + 0.03457045555114746 + ], + "min_contact_pad_to_button": 0.021051570285270837, + "closest_contact_pad": [ + 0.1133468449115753, + -0.4430922111856472, + 0.7896413986570723 + ], + "closest_contact_pad_button": [ + 0.1133468449115753, + -0.4411167800426483, + 0.7686827182769775 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019754311429988625, + 0.02095868038009474 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "957a4311e7abd9f3b68b815e37f998f2bf6aa228a29f01898cf19a10cf9f2cce", + "visual_seed": 997228292926022182, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1566654c26c3260ae265bf669e94f4743e7224e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2699066975048118, + -0.05322825681708022, + 1.1622891294774682 + ], + "current_z": 1.1622891294774682, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3011826810673469, + "gripper_z": 1.1549748745025512, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26508553248978084, + -0.05790415411883486, + 1.1549748745025512 + ], + "object_minus_gripper": [ + 0.004821165015030937, + 0.00467589730175464, + 0.0073142549749170005 + ], + "object_to_gripper_xy": 0.006716222724025357, + "object_to_gripper_z": 0.0073142549749170005, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2699066975048118, + -0.07722864036726029, + 1.1622891294774682 + ], + "finger_b": [ + 0.25931891207162155, + -0.05322825681708022, + 1.1622891294774682 + ], + "finger_midpoint": [ + 0.2646128047882167, + -0.06522844859217025, + 1.1622891294774682 + ], + "object_minus_finger_midpoint": [ + 0.005293892716595083, + 0.012000191775090034, + 0.0 + ], + "finger_gap": 0.026232034060191166, + "fingertip_max_gap": 0.09228261100069651, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013116017030095569, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1622891294774682, + "object_top_z": 1.2124972965080096, + "finger_top_clearance": 0.05020816703054143, + "fingertip_min_top_clearance": 0.015062450109162462, + "object_projection_between_fingers": 0.8370905310677749, + "object_to_finger_line_xy": 0.009687045646574724, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864130550034826, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5364106712218355, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 333, + "max_stable_success_frames": 333, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2584023143269394, + -0.38412245272286627, + 0.8515395578333615 + ], + "target_position": [ + 0.2509705769613811, + -0.3844857215005274, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007440610490776871, + "xy_threshold": 0.08, + "gripper_dist": 0.186248623364441, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395578333615, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537100040948827, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08659638439374594, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15434129082366038, + "release_required_pad_clearance": 0.05329819219687297, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6149116601805498, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007931888103485107, + "max_z_decrease": 0.007931888103485107, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510719695466174, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007931888103485107, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02121626985714374, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007931888103485107, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007931909585374366, + "max_button_displacement": 0.12, + "button_start": [ + 0.10667050629854202, + -0.44074717164039606, + 0.7768088579177856 + ], + "button_final": [ + 0.10667050629854202, + -0.44074717164039606, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10722579508592164, + -0.44220905705500835, + 0.8075002190663007 + ], + "closest_button": [ + 0.10666173696517944, + -0.4407407939434051, + 0.7724282741546631 + ], + "closest_ee_minus_button": [ + 0.0005640581207422002, + -0.0014682631116032518, + 0.035071944911637565 + ], + "button_min_z_position": [ + 0.10665303468704225, + -0.4407412111759185, + 0.7688769698143005 + ], + "min_active_finger_to_button": 0.14554913443761935, + "closest_active_finger": [ + -0.034054629504680634, + -0.42725449800491333, + 0.811089277267456 + ], + "closest_active_finger_button": [ + 0.1066729724407196, + -0.44074404239654535, + 0.7764724493026733 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14072760194540024, + 0.013489544391632025, + 0.034616827964782715 + ], + "min_contact_pad_to_button": 0.02121626985714374, + "closest_contact_pad": [ + 0.10665303468704225, + -0.44320928600100057, + 0.7899491959261508 + ], + "closest_contact_pad_button": [ + 0.10665303468704225, + -0.4407412111759185, + 0.7688769698143005 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002468074825082045, + 0.021072226111850223 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "04187dd8d7194aef35786646ffc9f36d5dc3a4580699a19913361e0d06d018c1", + "visual_seed": 6791207428721465152, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3a3a53e00ab26ebb84165febb77aea92670b0f8b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26820528640447994, + -0.05865997053002896, + 1.1621642995925587 + ], + "current_z": 1.1621642995925587, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30105791078708233, + "gripper_z": 1.1547214115905116, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26345773701869335, + -0.06330479253678647, + 1.1547214115905116 + ], + "object_minus_gripper": [ + 0.004747549385786587, + 0.004644822006757518, + 0.007442888002047177 + ], + "object_to_gripper_xy": 0.006641806730471878, + "object_to_gripper_z": 0.007442888002047177, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26820528640447994, + -0.0825970029158419, + 1.1621642995925587 + ], + "finger_b": [ + 0.25766340203708094, + -0.05865997053002896, + 1.1621642995925587 + ], + "finger_midpoint": [ + 0.26293434422078044, + -0.07062848672293542, + 1.1621642995925587 + ], + "object_minus_finger_midpoint": [ + 0.005270942183699501, + 0.011968516192906467, + 0.0 + ], + "finger_gap": 0.026155550949178444, + "fingertip_max_gap": 0.0919980573323178, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013077775474589215, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621642995925587, + "object_top_z": 1.212344831343096, + "finger_top_clearance": 0.05018053175053727, + "fingertip_min_top_clearance": 0.015054159525161181, + "object_projection_between_fingers": 0.8375541012657242, + "object_to_finger_line_xy": 0.009647719828201562, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048499028666158905, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4597405795475127, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 331, + "max_stable_success_frames": 331, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26115319357472255, + -0.3878125057590883, + 0.851539556654045 + ], + "target_position": [ + 0.25387548816054983, + -0.38832462878731433, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007295701891628954, + "xy_threshold": 0.08, + "gripper_dist": 0.18552396203342666, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539556654045, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530444167103424, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08646175474887409, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15384262934634974, + "release_required_pad_clearance": 0.05323087737443705, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.48302636117272, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008184373378753662, + "max_z_decrease": 0.008184373378753662, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503645831898299, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008184373378753662, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021141203706341247, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008184373378753662, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008184398878996284, + "max_button_displacement": 0.12, + "button_start": [ + 0.10957541316747665, + -0.4445860981941223, + 0.7768088579177856 + ], + "button_final": [ + 0.10957541316747665, + -0.4445860981941223, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10992018853893012, + -0.4462396880853077, + 0.8036192857867263 + ], + "closest_button": [ + 0.10957930237054823, + -0.4445660412311554, + 0.768624484539032 + ], + "closest_ee_minus_button": [ + 0.00034088616838189034, + -0.0016736468541522775, + 0.034994801247694274 + ], + "button_min_z_position": [ + 0.10957930237054823, + -0.4445660412311554, + 0.768624484539032 + ], + "min_active_finger_to_button": 0.14537796340743828, + "closest_active_finger": [ + -0.030903011560440063, + -0.4302780330181122, + 0.8107198476791382 + ], + "closest_active_finger_button": [ + 0.10957778990268706, + -0.44458284974098206, + 0.776147186756134 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14048080146312714, + 0.014304816722869873, + 0.03457266092300415 + ], + "min_contact_pad_to_button": 0.021141203706341247, + "closest_contact_pad": [ + 0.10957930237054823, + -0.4474122503586027, + 0.7895732216789135 + ], + "closest_contact_pad_button": [ + 0.10957930237054823, + -0.4445660412311554, + 0.768624484539032 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002846209127447319, + 0.020948737139881546 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "73255b6a5169d7f3db8829d49762987b6dbc8fb0072dff558fd93ed53a7a4e4d", + "visual_seed": 6640051521358841857, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..37496e25ebc138c0216eaaac02b66f0886c7a3b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2685275957941703, + -0.06491776014094448, + 1.1638246324572985 + ], + "current_z": 1.1638246324572985, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.30271806483788777, + "gripper_z": 1.1564459832956548, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2639101044550537, + -0.06963176022882003, + 1.1564459832956548 + ], + "object_minus_gripper": [ + 0.004617491339116597, + 0.00471400008787555, + 0.007378649161643658 + ], + "object_to_gripper_xy": 0.006598713745519461, + "object_to_gripper_z": 0.007378649161643658, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2685275957941703, + -0.08854340494992208, + 1.1638246324572985 + ], + "finger_b": [ + 0.2576131146120485, + -0.06491776014094448, + 1.1638246324572985 + ], + "finger_midpoint": [ + 0.2630703552031094, + -0.07673058254543327, + 1.1638246324572985 + ], + "object_minus_finger_midpoint": [ + 0.005457240591060897, + 0.01181282240448879, + 0.0 + ], + "finger_gap": 0.026024930203842254, + "fingertip_max_gap": 0.09211720035295773, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01301246510192112, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638246324572985, + "object_top_z": 1.2140027258627546, + "finger_top_clearance": 0.05017809340545609, + "fingertip_min_top_clearance": 0.01505342802163686, + "object_projection_between_fingers": 0.8241157116275978, + "object_to_finger_line_xy": 0.009908255417530732, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855860017647887, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.220610675067507, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25827457476472093, + -0.3807556314158647, + 0.851539646633674 + ], + "target_position": [ + 0.2500675176575467, + -0.38179853138894765, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008273054255489652, + "xy_threshold": 0.08, + "gripper_dist": 0.18519529047154137, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539646633674, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579099623290354, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08618307896511547, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15258147001523958, + "release_required_pad_clearance": 0.05309153948255774, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.211098578298526, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008056163787841797, + "max_z_decrease": 0.008056163787841797, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506436706007597, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008056163787841797, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02109285471649258, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008056163787841797, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00805617803976911, + "max_button_displacement": 0.12, + "button_start": [ + 0.10576744377613069, + -0.4380599856376648, + 0.7768088579177856 + ], + "button_final": [ + 0.10576744377613069, + -0.4380599856376648, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10564724827646663, + -0.43838286206867866, + 0.8071166659080966 + ], + "closest_button": [ + 0.1057564914226532, + -0.4380534291267395, + 0.7720540165901184 + ], + "closest_ee_minus_button": [ + -0.00010924314618657172, + -0.0003294329419391562, + 0.0350626493179782 + ], + "button_min_z_position": [ + 0.10575824230909348, + -0.4380479454994202, + 0.7687526941299438 + ], + "min_active_finger_to_button": 0.14631154539112948, + "closest_active_finger": [ + -0.035680584609508514, + -0.4239516854286194, + 0.8107114434242249 + ], + "closest_active_finger_button": [ + 0.1057708263397217, + -0.43805649876594543, + 0.7760758996009827 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1414514109492302, + 0.01410481333732605, + 0.03463554382324219 + ], + "min_contact_pad_to_button": 0.02109285471649258, + "closest_contact_pad": [ + 0.10575824230909348, + -0.4393389339470292, + 0.7898060042953122 + ], + "closest_contact_pad_button": [ + 0.10575824230909348, + -0.4380479454994202, + 0.7687526941299438 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012909884476089983, + 0.021053310165368377 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c091eb10ceade87095c4858ffe7fa90d454ce18e2adafbebc1aa5aa51627e0cc", + "visual_seed": 3195601825363789059, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c154c3ed19ceac2b67f2f5f64653267bfc4995e3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2707795149528598, + -0.06212430463175482, + 1.1635020406365058 + ], + "current_z": 1.1635020406365058, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3023955326217397, + "gripper_z": 1.1560285678124222, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2662154069204419, + -0.06678304757648695, + 1.1560285678124222 + ], + "object_minus_gripper": [ + 0.004564108032417913, + 0.004658742944732133, + 0.007473472824083505 + ], + "object_to_gripper_xy": 0.006521883773625005, + "object_to_gripper_z": 0.007473472824083505, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2707795149528598, + -0.08572766845494154, + 1.1635020406365058 + ], + "finger_b": [ + 0.25994263790742644, + -0.06212430463175482, + 1.1635020406365058 + ], + "finger_midpoint": [ + 0.2653610764301431, + -0.07392598654334817, + 1.1635020406365058 + ], + "object_minus_finger_midpoint": [ + 0.005418438522716673, + 0.01180168191159335, + 0.0 + ], + "finger_gap": 0.025972229166314538, + "fingertip_max_gap": 0.09207165275079907, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012986114583157262, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635020406365058, + "object_top_z": 1.2136608907843938, + "finger_top_clearance": 0.05015885014788801, + "fingertip_min_top_clearance": 0.015047655044366403, + "object_projection_between_fingers": 0.8259035805143516, + "object_to_finger_line_xy": 0.0098484712256526, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048535826375399535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3059109263048703, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2656993672972685, + -0.3825033341194566, + 0.8515395754248136 + ], + "target_position": [ + 0.2571820528506751, + -0.38345772061046435, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008570618353209249, + "xy_threshold": 0.08, + "gripper_dist": 0.18462947659093992, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395754248136, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528048094901936, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538728642998004, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15309855239903242, + "release_required_pad_clearance": 0.052693643214990024, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.44234684069083907, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007889389991760254, + "max_z_decrease": 0.007889389991760254, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511470463379772, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007889389991760254, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02107629187741278, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007889389991760254, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007889418534080232, + "max_button_displacement": 0.12, + "button_start": [ + 0.11288198083639144, + -0.43971917033195496, + 0.7768088579177856 + ], + "button_final": [ + 0.11288198083639144, + -0.43971917033195496, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11312376108654171, + -0.4382642385208573, + 0.808210341866441 + ], + "closest_button": [ + 0.11288633942604064, + -0.43971213698387146, + 0.7731263041496277 + ], + "closest_ee_minus_button": [ + 0.00023742166050107205, + 0.0014478984630141856, + 0.03508403771681334 + ], + "button_min_z_position": [ + 0.11286139488220213, + -0.4397140145301819, + 0.7689194679260254 + ], + "min_active_finger_to_button": 0.14542719760659956, + "closest_active_finger": [ + -0.014256492257118225, + -0.5013294219970703, + 0.8109459280967712 + ], + "closest_active_finger_button": [ + 0.11288402229547499, + -0.4397163987159729, + 0.776475727558136 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12714051455259323, + -0.06161302328109741, + 0.034470200538635254 + ], + "min_contact_pad_to_button": 0.02107629187741278, + "closest_contact_pad": [ + 0.11286139488220213, + -0.4397140145301819, + 0.7899957598034382 + ], + "closest_contact_pad_button": [ + 0.11286139488220213, + -0.4397140145301819, + 0.7689194679260254 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02107629187741278 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c625e62c1eb3f0cda9a4181fa072467a7bd4831efb5faabf1ed5b096802a4ecf", + "visual_seed": 633711826255988678, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4d8a3c8bf6fa1e18d214dffe5263ea217aec3e32 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26866690942467886, + -0.06192530278252836, + 1.163199274161482 + ], + "current_z": 1.163199274161482, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.302092825751361, + "gripper_z": 1.1559566406528499, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2637572617111271, + -0.06662250800473507, + 1.1559566406528499 + ], + "object_minus_gripper": [ + 0.004909647713551735, + 0.004697205222206707, + 0.00724263350863219 + ], + "object_to_gripper_xy": 0.006794731604023056, + "object_to_gripper_z": 0.00724263350863219, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26866690942467886, + -0.08592637925009199, + 1.163199274161482 + ], + "finger_b": [ + 0.257973481444441, + -0.06192530278252836, + 1.163199274161482 + ], + "finger_midpoint": [ + 0.2633201954345599, + -0.07392584101631017, + 1.163199274161482 + ], + "object_minus_finger_midpoint": [ + 0.005346713990118934, + 0.012000538233781805, + 0.0 + ], + "finger_gap": 0.026275484268998173, + "fingertip_max_gap": 0.09187676375457235, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013137742134499081, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163199274161482, + "object_top_z": 1.2133096669719623, + "finger_top_clearance": 0.05011039281048024, + "fingertip_min_top_clearance": 0.015033117843144105, + "object_projection_between_fingers": 0.8343725026712623, + "object_to_finger_line_xy": 0.009767804087892441, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843838187728618, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3059961319636435, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2639963014271373, + -0.38187769266189564, + 0.8515395577302703 + ], + "target_position": [ + 0.25572544787694784, + -0.3830316023762346, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00835095959022241, + "xy_threshold": 0.08, + "gripper_dist": 0.18394706983227685, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395577302703, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588653969465267, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08781621192793972, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15110363126379978, + "release_required_pad_clearance": 0.05390810596396986, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.826109022142316, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008106231689453125, + "max_z_decrease": 0.008106231689453125, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509352111660219, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008106231689453125, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02119248981406531, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008106231689453125, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008106268512963581, + "max_button_displacement": 0.12, + "button_start": [ + 0.11142537742853162, + -0.43929305672645574, + 0.7768088579177856 + ], + "button_final": [ + 0.11142537742853162, + -0.43929305672645574, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11214680729249099, + -0.44119486467421054, + 0.8037361786469066 + ], + "closest_button": [ + 0.11143626272678372, + -0.4392711818218231, + 0.7687026262283325 + ], + "closest_ee_minus_button": [ + 0.0007105445657072662, + -0.0019236828523874205, + 0.03503355241857409 + ], + "button_min_z_position": [ + 0.11143626272678372, + -0.4392711818218231, + 0.7687026262283325 + ], + "min_active_finger_to_button": 0.14503186284448924, + "closest_active_finger": [ + -0.028923049569129944, + -0.4275408387184143, + 0.8108640313148499 + ], + "closest_active_finger_button": [ + 0.1114280968904495, + -0.4392894208431244, + 0.7762552499771118 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14035114645957944, + 0.011748582124710083, + 0.03460878133773804 + ], + "min_contact_pad_to_button": 0.02119248981406531, + "closest_contact_pad": [ + 0.11143626272678372, + -0.44216482742708413, + 0.7896966358413249 + ], + "closest_contact_pad_button": [ + 0.11143626272678372, + -0.4392711818218231, + 0.7687026262283325 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028936456052610082, + 0.02099400961299236 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e45d51f6343b0972ea1991540ca1df4db8b666a66b6780580ee46fd34e4fe191", + "visual_seed": 3770594200367059381, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2231eedcd28f3bf31386b4f7089a296a6a2d0beb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2676625675427915, + -0.06298137434373219, + 1.162849204274635 + ], + "current_z": 1.162849204274635, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3017427558645136, + "gripper_z": 1.1554195422258249, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.262965648836644, + -0.06757444161577668, + 1.1554195422258249 + ], + "object_minus_gripper": [ + 0.004696918706147524, + 0.00459306727204449, + 0.007429662048810126 + ], + "object_to_gripper_xy": 0.0065694225239121854, + "object_to_gripper_z": 0.007429662048810126, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2676625675427915, + -0.08683426293680795, + 1.162849204274635 + ], + "finger_b": [ + 0.25712361633614145, + -0.06298137434373219, + 1.162849204274635 + ], + "finger_midpoint": [ + 0.26239309193946647, + -0.07490781864027007, + 1.162849204274635 + ], + "object_minus_finger_midpoint": [ + 0.0052694756033250245, + 0.011926444296537886, + 0.0 + ], + "finger_gap": 0.02607738074979606, + "fingertip_max_gap": 0.09209123964700011, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013038690374898037, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162849204274635, + "object_top_z": 1.21299061410042, + "finger_top_clearance": 0.05014140982578508, + "fingertip_min_top_clearance": 0.015042422947735522, + "object_projection_between_fingers": 0.836669665510191, + "object_to_finger_line_xy": 0.009639941657946242, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854561982350006, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3666874202338528, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2614406975423504, + -0.38011909315611214, + 0.8515395659639111 + ], + "target_position": [ + 0.2536674786013244, + -0.38083465492062313, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007806084892182222, + "xy_threshold": 0.08, + "gripper_dist": 0.18629273089486476, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395659639111, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551677947458377, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08681023387126795, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15417358212557558, + "release_required_pad_clearance": 0.053405116935633976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8251479724014175, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007945418357849121, + "max_z_decrease": 0.007945418357849121, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513614190294539, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007945418357849121, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0210430716345561, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007945418357849121, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00794543882190752, + "max_button_displacement": 0.12, + "button_start": [ + 0.1093674078583717, + -0.43709611892700195, + 0.7768088579177856 + ], + "button_final": [ + 0.1093674078583717, + -0.43709611892700195, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10798399847179962, + -0.4354758268841406, + 0.8074355774985573 + ], + "closest_button": [ + 0.10935755819082257, + -0.4370875060558319, + 0.7723633050918579 + ], + "closest_ee_minus_button": [ + -0.0013735597190229487, + 0.0016116791716913048, + 0.03507227240669941 + ], + "button_min_z_position": [ + 0.10935003310441968, + -0.4370912909507751, + 0.7688634395599365 + ], + "min_active_finger_to_button": 0.14678152199401878, + "closest_active_finger": [ + -0.020117774605751038, + -0.4970070719718933, + 0.8105988502502441 + ], + "closest_active_finger_button": [ + 0.10936880111694333, + -0.43709537386894226, + 0.7761223316192627 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12948657572269437, + -0.05991169810295105, + 0.034476518630981445 + ], + "min_contact_pad_to_button": 0.0210430716345561, + "closest_contact_pad": [ + 0.10935003310441968, + -0.4370912909507751, + 0.7899065111944926 + ], + "closest_contact_pad_button": [ + 0.10935003310441968, + -0.4370912909507751, + 0.7688634395599365 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0210430716345561 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0121d7473d9eef7c0e88c1c0ce79186509491dde25b5b01f5b13cfa5cfb5ac6d", + "visual_seed": 6635778186305584760, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cd7a7a66b13566dc966e099b1f859e8f32c12795 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26647993088984956, + -0.056662650523021926, + 1.1619579524848613 + ], + "current_z": 1.1619579524848613, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30085150407473993, + "gripper_z": 1.1547927946405983, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2616555452139119, + -0.06139816539053748, + 1.1547927946405983 + ], + "object_minus_gripper": [ + 0.004824385675937681, + 0.004735514867515556, + 0.0071651578442630814 + ], + "object_to_gripper_xy": 0.00676016258759015, + "object_to_gripper_z": 0.0071651578442630814, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26647993088984956, + -0.08049872433731693, + 1.1619579524848613 + ], + "finger_b": [ + 0.2555925299207449, + -0.056662650523021926, + 1.1619579524848613 + ], + "finger_midpoint": [ + 0.2610362304052972, + -0.06858068743016943, + 1.1619579524848613 + ], + "object_minus_finger_midpoint": [ + 0.0054437004845523385, + 0.011918036907147503, + 0.0 + ], + "finger_gap": 0.02620484525316991, + "fingertip_max_gap": 0.09186667601085619, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013102422626584955, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1619579524848613, + "object_top_z": 1.2120765499714112, + "finger_top_clearance": 0.0501185974865499, + "fingertip_min_top_clearance": 0.015035579245964936, + "object_projection_between_fingers": 0.8273823353939339, + "object_to_finger_line_xy": 0.009903240818184703, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048433338005428095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1825923903613598, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2595192537958566, + -0.3813337725906426, + 0.8515395054909741 + ], + "target_position": [ + 0.2512697285316911, + -0.382019859067963, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008278005903505192, + "xy_threshold": 0.08, + "gripper_dist": 0.18522045390610187, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395054909741, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517796123683265, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08503373354706521, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15397129888879033, + "release_required_pad_clearance": 0.05251686677353261, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.10467831187336443, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008022606372833252, + "max_z_decrease": 0.008022606372833252, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035088315135035596, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008022606372833252, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021087764079110068, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008022606372833252, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008022629822366914, + "max_button_displacement": 0.12, + "button_start": [ + 0.10696965456008911, + -0.4382813274860382, + 0.7768088579177856 + ], + "button_final": [ + 0.10696965456008911, + -0.4382813274860382, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10637670742671188, + -0.43757462334126074, + 0.8074137647903323 + ], + "closest_button": [ + 0.10695900022983551, + -0.43827423453330994, + 0.7723372578620911 + ], + "closest_ee_minus_button": [ + -0.0005822928031236352, + 0.0006996111920491987, + 0.03507650692824127 + ], + "button_min_z_position": [ + 0.10695043951272964, + -0.4382786750793457, + 0.7687862515449524 + ], + "min_active_finger_to_button": 0.14644035328797764, + "closest_active_finger": [ + -0.02191930264234543, + -0.4986421465873718, + 0.8105848431587219 + ], + "closest_active_finger_button": [ + 0.10697177797555923, + -0.4382782578468323, + 0.7761164903640747 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12889108061790466, + -0.06036388874053955, + 0.03446835279464722 + ], + "min_contact_pad_to_button": 0.021087764079110068, + "closest_contact_pad": [ + 0.10695159435272217, + -0.4388341805856825, + 0.7899452172401844 + ], + "closest_contact_pad_button": [ + 0.10695159435272217, + -0.4382771849632263, + 0.7688648104667664 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005569956224562023, + 0.021080406773418048 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0980689194d31994aee48534f1198ae8490445fde7ddd47a216e98e014e08df5", + "visual_seed": 7826709232062438394, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cc27cade48d1110c86d6295a9d8baf86efd2bb0a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2672404299600375, + -0.06284624716265567, + 1.1659150412910935 + ], + "current_z": 1.1659150412910935, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30480865248561717, + "gripper_z": 1.1587102572357861, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26266225638219864, + -0.06756127388199876, + 1.1587102572357861 + ], + "object_minus_gripper": [ + 0.004578173577838851, + 0.004715026719343082, + 0.007204784055307334 + ], + "object_to_gripper_xy": 0.006571997434033353, + "object_to_gripper_z": 0.007204784055307334, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2672404299600375, + -0.08637168745090334, + 1.1659150412910935 + ], + "finger_b": [ + 0.2562509107183447, + -0.06284624716265567, + 1.1659150412910935 + ], + "finger_midpoint": [ + 0.2617456703391911, + -0.07460896730677952, + 1.1659150412910935 + ], + "object_minus_finger_midpoint": [ + 0.00549475962084639, + 0.011762720144123842, + 0.0 + ], + "finger_gap": 0.025965667214986842, + "fingertip_max_gap": 0.09230975225080615, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012982833607493426, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1659150412910935, + "object_top_z": 1.2161172425288562, + "finger_top_clearance": 0.050202201237762756, + "fingertip_min_top_clearance": 0.015060660371328825, + "object_projection_between_fingers": 0.8208740882034382, + "object_to_finger_line_xy": 0.009956735429766765, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048654876125403076, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4426785089618575, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25782066171607776, + -0.38640883892445543, + 0.851539499529003 + ], + "target_position": [ + 0.24948559721932595, + -0.38754039129443146, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008411522509689365, + "xy_threshold": 0.08, + "gripper_dist": 0.1830991426288599, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539499529003, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586762330792012, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08651473728337837, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1502828394627278, + "release_required_pad_clearance": 0.05325736864168919, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5348967779064604, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007873237133026123, + "max_z_decrease": 0.007873237133026123, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035123578126266874, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007873237133026123, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021285358185893975, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007873237133026123, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007873259037277315, + "max_button_displacement": 0.12, + "button_start": [ + 0.10518552362918852, + -0.4438018500804901, + 0.7768088579177856 + ], + "button_final": [ + 0.10518552362918852, + -0.4438018500804901, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10437941741763282, + -0.4456422085549418, + 0.8075230740839658 + ], + "closest_button": [ + 0.10517644137144087, + -0.44379571080207825, + 0.7724571228027344 + ], + "closest_ee_minus_button": [ + -0.0007970239538080542, + -0.0018464977528635518, + 0.03506595128123147 + ], + "button_min_z_position": [ + 0.10516805946826935, + -0.4437955319881439, + 0.7689356207847595 + ], + "min_active_finger_to_button": 0.1467570251850249, + "closest_active_finger": [ + -0.03649773448705673, + -0.42737075686454773, + 0.8110333681106567 + ], + "closest_active_finger_button": [ + 0.10518615692853928, + -0.44380104541778564, + 0.7764885425567627 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.141683891415596, + 0.016430288553237915, + 0.03454482555389404 + ], + "min_contact_pad_to_button": 0.021285358185893975, + "closest_contact_pad": [ + 0.10516805946826935, + -0.44694713580605416, + 0.7899863658185282 + ], + "closest_contact_pad_button": [ + 0.10516805946826935, + -0.4437955319881439, + 0.7689356207847595 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0031516038179102424, + 0.021050745033768692 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb8d7fa7364976445dc26697e171adca5c6ff63e4ec2764f61f003ac904960dc", + "visual_seed": 3859692275093551937, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e661ff1a3f18b5b6900a3a830a27a01cfa9bea2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26296479754736124, + -0.06143581866783555, + 1.1613629500002656 + ], + "current_z": 1.1613629500002656, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3002564419854994, + "gripper_z": 1.1543080836123614, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25811291832580074, + -0.0661316548813933, + 1.1543080836123614 + ], + "object_minus_gripper": [ + 0.0048518792215604956, + 0.004695836213557757, + 0.007054866387904202 + ], + "object_to_gripper_xy": 0.006752155931639237, + "object_to_gripper_z": 0.007054866387904202, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26296479754736124, + -0.08545525901992232, + 1.1613629500002656 + ], + "finger_b": [ + 0.2523866834964692, + -0.06143581866783555, + 1.1613629500002656 + ], + "finger_midpoint": [ + 0.2576757405219152, + -0.07344553884387893, + 1.1613629500002656 + ], + "object_minus_finger_midpoint": [ + 0.00528905702544602, + 0.012009720176043383, + 0.0 + ], + "finger_gap": 0.026245571277858173, + "fingertip_max_gap": 0.092010432300588, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013122785638929085, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1613629500002656, + "object_top_z": 1.211608871879544, + "finger_top_clearance": 0.050245921879278344, + "fingertip_min_top_clearance": 0.015073776563783503, + "object_projection_between_fingers": 0.8375557177055336, + "object_to_finger_line_xy": 0.009680885845198738, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048505216150294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3506775604520185, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 329, + "max_stable_success_frames": 329, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2581974485158578, + -0.3855081635307536, + 0.8515396248734429 + ], + "target_position": [ + 0.2498632708932591, + -0.38638896635189457, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008380592476355992, + "xy_threshold": 0.08, + "gripper_dist": 0.1850417442692606, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396248734429, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559700800492525, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08700664187889055, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15273995256179762, + "release_required_pad_clearance": 0.05350332093944528, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0189882212910453, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007843255996704102, + "max_z_decrease": 0.007843255996704102, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510472301068802, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007843255996704102, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021065366886535562, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007843255996704102, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007843277866065219, + "max_button_displacement": 0.12, + "button_start": [ + 0.10556319355964656, + -0.4426504373550415, + 0.7768088579177856 + ], + "button_final": [ + 0.10556319355964656, + -0.4426504373550415, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10378163071528482, + -0.4419370604065645, + 0.8076621534144616 + ], + "closest_button": [ + 0.10555580258369443, + -0.4426436424255371, + 0.7726094126701355 + ], + "closest_ee_minus_button": [ + -0.001774171868409613, + 0.0007065820189726124, + 0.03505274074432607 + ], + "button_min_z_position": [ + 0.10554552078247068, + -0.4426448941230774, + 0.7689656019210815 + ], + "min_active_finger_to_button": 0.14748725847878177, + "closest_active_finger": [ + -0.02360251545906067, + -0.5049117803573608, + 0.8109959363937378 + ], + "closest_active_finger_button": [ + 0.10556525737047194, + -0.4426480531692505, + 0.776479184627533 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12916777282953262, + -0.06226372718811035, + 0.034516751766204834 + ], + "min_contact_pad_to_button": 0.021065366886535562, + "closest_contact_pad": [ + 0.10554552078247068, + -0.443022780577446, + 0.7900275791286457 + ], + "closest_contact_pad_button": [ + 0.10554552078247068, + -0.4426448941230774, + 0.7689656019210815 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00037788645436859225, + 0.021061977207564198 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c7845807796bc6cb2d1251ef7094133945c7074eecbb413d9e96ea3ff1383d6b", + "visual_seed": 4747568025212412968, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8b8902e5fa9019659f7ca2ecd3f5f4283884760c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26775825014489696, + -0.06398177247367512, + 1.1658752214663508 + ], + "current_z": 1.1658752214663508, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.30476871345158507, + "gripper_z": 1.1586345791916968, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2630456491309542, + -0.068688324531756, + 1.1586345791916968 + ], + "object_minus_gripper": [ + 0.004712601013942774, + 0.004706552058080876, + 0.007240642274654041 + ], + "object_to_gripper_xy": 0.0066603483836838295, + "object_to_gripper_z": 0.007240642274654041, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26775825014489696, + -0.08772063184467847, + 1.1658752214663508 + ], + "finger_b": [ + 0.2569103926289371, + -0.06398177247367512, + 1.1658752214663508 + ], + "finger_midpoint": [ + 0.26233432138691704, + -0.07585120215917679, + 1.1658752214663508 + ], + "object_minus_finger_midpoint": [ + 0.005423928757979923, + 0.01186942968550167, + 0.0 + ], + "finger_gap": 0.02609998959622092, + "fingertip_max_gap": 0.09205526142860143, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013049994798110453, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1658752214663508, + "object_top_z": 1.2160486643502737, + "finger_top_clearance": 0.05017344288392289, + "fingertip_min_top_clearance": 0.0150520328651769, + "object_projection_between_fingers": 0.8272542879569925, + "object_to_finger_line_xy": 0.00986650830256802, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852763071430072, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.275986450568701, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2650918004073981, + -0.38600475418118285, + 0.8515395676274234 + ], + "target_position": [ + 0.25693366436891196, + -0.3872033619936147, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00824571672509243, + "xy_threshold": 0.08, + "gripper_dist": 0.18448801080556823, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395676274234, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589339597451368, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08625273558729964, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15155551703655984, + "release_required_pad_clearance": 0.05312636779364982, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2789927345140204, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008103907108306885, + "max_z_decrease": 0.008103907108306885, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506559777699165, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008103907108306885, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020994898137829513, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008103907108306885, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00810393407532191, + "max_button_displacement": 0.12, + "button_start": [ + 0.11263359338045117, + -0.44346481561660767, + 0.7768088579177856 + ], + "button_final": [ + 0.11263359338045117, + -0.44346481561660767, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11332790291998585, + -0.4426514936545236, + 0.8037548346566186 + ], + "closest_button": [ + 0.11264115571975707, + -0.44344532489776606, + 0.7687049508094788 + ], + "closest_ee_minus_button": [ + 0.0006867472002287794, + 0.0007938312432424488, + 0.03504988384713981 + ], + "button_min_z_position": [ + 0.11264115571975707, + -0.44344532489776606, + 0.7687049508094788 + ], + "min_active_finger_to_button": 0.14497754539348143, + "closest_active_finger": [ + -0.014045096933841705, + -0.5049775242805481, + 0.8106656074523926 + ], + "closest_active_finger_button": [ + 0.11263568699359892, + -0.4434614777565002, + 0.7762237191200256 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12668078392744064, + -0.06151604652404791, + 0.03444188833236694 + ], + "min_contact_pad_to_button": 0.020994898137829513, + "closest_contact_pad": [ + 0.11264115571975707, + -0.44390455793473593, + 0.7896948258171007 + ], + "closest_contact_pad_button": [ + 0.11264115571975707, + -0.44344532489776606, + 0.7687049508094788 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00045923303696987494, + 0.02098987500762195 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc508b9aece63137017f2e31ac1d021eea45f5884407fa426252234bfae17a3b", + "visual_seed": 3835836563873674730, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..719be31f6e6a0c655e39ee11d2df7389598227e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26268186348057276, + -0.054126828632793146, + 1.162408455204475 + ], + "current_z": 1.162408455204475, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30130194718970904, + "gripper_z": 1.1555562027953208, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2577490305592818, + -0.0589227445051137, + 1.1555562027953208 + ], + "object_minus_gripper": [ + 0.004932832921290986, + 0.004795915872320554, + 0.006852252409154325 + ], + "object_to_gripper_xy": 0.006879945470986553, + "object_to_gripper_z": 0.006852252409154325, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26268186348057276, + -0.07802753103041961, + 1.162408455204475 + ], + "finger_b": [ + 0.25170363994803696, + -0.054126828632793146, + 1.162408455204475 + ], + "finger_midpoint": [ + 0.2571927517143049, + -0.06607717983160638, + 1.162408455204475 + ], + "object_minus_finger_midpoint": [ + 0.0054891117662678734, + 0.011950351198813235, + 0.0 + ], + "finger_gap": 0.02630142519009626, + "fingertip_max_gap": 0.09206380607104955, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013150712595048122, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162408455204475, + "object_top_z": 1.212581651990965, + "finger_top_clearance": 0.05017319678648979, + "fingertip_min_top_clearance": 0.015051959035946904, + "object_projection_between_fingers": 0.8257769651913348, + "object_to_finger_line_xy": 0.009976161048662842, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853190303552478, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2651988726317065, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25735095714513956, + -0.38874214918163563, + 0.8515396006811367 + ], + "target_position": [ + 0.24912342077159788, + -0.38960220462588224, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00827236665925354, + "xy_threshold": 0.08, + "gripper_dist": 0.18487770100760204, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396006811367, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533189783033689, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853759693584334, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15339145381284286, + "release_required_pad_clearance": 0.052687984679216704, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.43159997247950427, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008179247379302979, + "max_z_decrease": 0.008179247379302979, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504075619871368, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008179247379302979, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02116363085349664, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008179247379302979, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008179306431354592, + "max_button_displacement": 0.12, + "button_start": [ + 0.10482334345579149, + -0.44586366415023804, + 0.7768088579177856 + ], + "button_final": [ + 0.10482334345579149, + -0.44586366415023804, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1045149840394794, + -0.447850152066084, + 0.8036111222655823 + ], + "closest_button": [ + 0.10484356433153152, + -0.445840060710907, + 0.7686296105384827 + ], + "closest_ee_minus_button": [ + -0.00032858029205212747, + -0.0020100913551769906, + 0.03498151172709962 + ], + "button_min_z_position": [ + 0.10484356433153152, + -0.445840060710907, + 0.7686296105384827 + ], + "min_active_finger_to_button": 0.14603922050063953, + "closest_active_finger": [ + -0.03653756529092789, + -0.43385612964630127, + 0.8114450573921204 + ], + "closest_active_finger_button": [ + 0.1048249751329422, + -0.44586226344108576, + 0.7768049240112305 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1413625404238701, + 0.01200613379478449, + 0.03464013338088989 + ], + "min_contact_pad_to_button": 0.02116363085349664, + "closest_contact_pad": [ + 0.10484356433153152, + -0.4488506188499333, + 0.7895780188454309 + ], + "closest_contact_pad_button": [ + 0.10484356433153152, + -0.445840060710907, + 0.7686296105384827 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030105581390263425, + 0.02094840830694822 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1cae12aaf69c02a059b42cc1afc7c0e59bfe03ea044d40257c2a4a8406631d72", + "visual_seed": 269779053034898817, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..26d19b633b398929506c88a67022c57de38473de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27035241342927385, + -0.053583392148633016, + 1.1641797216272085 + ], + "current_z": 1.1641797216272085, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3030732136124423, + "gripper_z": 1.156777864752723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2656111056025947, + -0.058234921187417646, + 1.156777864752723 + ], + "object_minus_gripper": [ + 0.004741307826679142, + 0.00465152903878463, + 0.0074018568744855795 + ], + "object_to_gripper_xy": 0.006642042028321226, + "object_to_gripper_z": 0.0074018568744855795, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27035241342927385, + -0.07741828150401077, + 1.1641797216272085 + ], + "finger_b": [ + 0.2596405589789809, + -0.053583392148633016, + 1.1641797216272085 + ], + "finger_midpoint": [ + 0.2649964862041274, + -0.06550083682632189, + 1.1641797216272085 + ], + "object_minus_finger_midpoint": [ + 0.00535592722514644, + 0.011917444677688876, + 0.0 + ], + "finger_gap": 0.026131317922128618, + "fingertip_max_gap": 0.09198110059355924, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013065658961064297, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641797216272085, + "object_top_z": 1.2143320401873998, + "finger_top_clearance": 0.05015231856019131, + "fingertip_min_top_clearance": 0.015045695568057425, + "object_projection_between_fingers": 0.8319623116393255, + "object_to_finger_line_xy": 0.009770493259256378, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04849055029677962, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.275522222337302, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2602694571937958, + -0.3834779956029575, + 0.8515396078288733 + ], + "target_position": [ + 0.25221194609902925, + -0.3841252080051099, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0080834626822783, + "xy_threshold": 0.08, + "gripper_dist": 0.18538505655022153, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396078288733, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530264203757288, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08543284906986669, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1537928129117206, + "release_required_pad_clearance": 0.052716424534933345, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.48617931152142935, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008035898208618164, + "max_z_decrease": 0.008035898208618164, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514487833845721, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008035898208618164, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0212057204711889, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008035898208618164, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008035918689122916, + "max_button_displacement": 0.12, + "button_start": [ + 0.10791186988353732, + -0.44038665294647217, + 0.7768088579177856 + ], + "button_final": [ + 0.10791186988353732, + -0.44038665294647217, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10956974862879792, + -0.44179972702814696, + 0.8073529415805324 + ], + "closest_button": [ + 0.10790107399225236, + -0.4403804540634155, + 0.7722764015197754 + ], + "closest_ee_minus_button": [ + 0.0016686746365455613, + -0.0014192729647314328, + 0.035076540060757 + ], + "button_min_z_position": [ + 0.10789512097835544, + -0.44037967920303345, + 0.7687729597091675 + ], + "min_active_finger_to_button": 0.14448380287249601, + "closest_active_finger": [ + -0.03174934536218643, + -0.4272925853729248, + 0.8110072016716003 + ], + "closest_active_finger_button": [ + 0.10791486501693727, + -0.4403831660747528, + 0.7763934135437012 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1396642103791237, + 0.013090580701828003, + 0.03461378812789917 + ], + "min_contact_pad_to_button": 0.0212057204711889, + "closest_contact_pad": [ + 0.10789512097835544, + -0.4427278193228845, + 0.789848272724156 + ], + "closest_contact_pad_button": [ + 0.10789512097835544, + -0.44037967920303345, + 0.7687729597091675 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002348140119851072, + 0.02107531301498855 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69f887fb4168da2ff4504bdf219e5fa9e1df6275887521fa98b3457dcafe4d8f", + "visual_seed": 7682312198454712635, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dfaa8e27e33026e69ba5643805fa564ed431fedf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2658936818542357, + -0.058333026420680306, + 1.1661889815337938 + ], + "current_z": 1.1661889815337938, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3050824735190276, + "gripper_z": 1.1588781962823789, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26132145014100683, + -0.06297392895636038, + 1.1588781962823789 + ], + "object_minus_gripper": [ + 0.004572231713228847, + 0.004640902535680072, + 0.007310785251414931 + ], + "object_to_gripper_xy": 0.006514850664837785, + "object_to_gripper_z": 0.007310785251414931, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2658936818542357, + -0.08197294078394175, + 1.1661889815337938 + ], + "finger_b": [ + 0.25512766582615887, + -0.058333026420680306, + 1.1661889815337938 + ], + "finger_midpoint": [ + 0.26051067384019727, + -0.07015298360231104, + 1.1661889815337938 + ], + "object_minus_finger_midpoint": [ + 0.005383008014038404, + 0.01181995718163073, + 0.0 + ], + "finger_gap": 0.025976001467106935, + "fingertip_max_gap": 0.09215593493033314, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012988000733553473, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661889815337938, + "object_top_z": 1.2163422527642993, + "finger_top_clearance": 0.0501532712305055, + "fingertip_min_top_clearance": 0.015045981369151617, + "object_projection_between_fingers": 0.8282228298983207, + "object_to_finger_line_xy": 0.009797801145781253, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857796746516657, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3760777397337203, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2580840042827588, + -0.38617212598833894, + 0.8515395908254132 + ], + "target_position": [ + 0.24957592082697866, + -0.3871232148403396, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008561077858244231, + "xy_threshold": 0.08, + "gripper_dist": 0.1850624195018673, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395908254132, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540419796720817, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08590163703063507, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15319743740356392, + "release_required_pad_clearance": 0.052950818515317535, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9379442971965547, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007935762405395508, + "max_z_decrease": 0.007935762405395508, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509247696247486, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007935762405395508, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021203305067274327, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007935762405395508, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00793578649545762, + "max_button_displacement": 0.12, + "button_start": [ + 0.10527584701776505, + -0.4433846771717071, + 0.7768088579177856 + ], + "button_final": [ + 0.10527584701776505, + -0.4433846771717071, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10475574198504428, + -0.4447111125569907, + 0.807333457073285 + ], + "closest_button": [ + 0.10526513308286665, + -0.4433792233467102, + 0.7722699642181396 + ], + "closest_ee_minus_button": [ + -0.0005093910978223731, + -0.0013318892102804902, + 0.03506349285514532 + ], + "button_min_z_position": [ + 0.10525713115930557, + -0.44337901473045344, + 0.7688730955123901 + ], + "min_active_finger_to_button": 0.14656125137179674, + "closest_active_finger": [ + -0.036321885883808136, + -0.42811569571495056, + 0.8110429644584656 + ], + "closest_active_finger_button": [ + 0.10527779161930084, + -0.4433824419975281, + 0.7764502167701721 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14159967750310898, + 0.015266746282577515, + 0.03459274768829346 + ], + "min_contact_pad_to_button": 0.021203305067274327, + "closest_contact_pad": [ + 0.10525713115930557, + -0.44583768837314763, + 0.7899333678205684 + ], + "closest_contact_pad_button": [ + 0.10525713115930557, + -0.44337901473045344, + 0.7688730955123901 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002458673642694198, + 0.021060272308178307 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aa45a57e78b7c99ab0699c86f01d328ae4a7c396c8a03a4ebbd857befb171726", + "visual_seed": 6733671031729681819, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6a99eeed81f1ffed7b635240d87c79ea316a7cbc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2692265371447995, + -0.06059786001107806, + 1.1634904364107213 + ], + "current_z": 1.1634904364107213, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30238392839595507, + "gripper_z": 1.1562588800712914, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2643792871756253, + -0.06534399567726205, + 1.1562588800712914 + ], + "object_minus_gripper": [ + 0.004847249969174183, + 0.004746135666183995, + 0.0072315563394298454 + ], + "object_to_gripper_xy": 0.0067839248245748504, + "object_to_gripper_z": 0.0072315563394298454, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2692265371447995, + -0.0845202982385331, + 1.1634904364107213 + ], + "finger_b": [ + 0.2584059279098081, + -0.06059786001107806, + 1.1634904364107213 + ], + "finger_midpoint": [ + 0.2638162325273038, + -0.07255907912480558, + 1.1634904364107213 + ], + "object_minus_finger_midpoint": [ + 0.005410304617495698, + 0.011961219113727523, + 0.0 + ], + "finger_gap": 0.02625583049463078, + "fingertip_max_gap": 0.09199015304754302, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01312791524731539, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634904364107213, + "object_top_z": 1.2136483528081934, + "finger_top_clearance": 0.050157916397472135, + "fingertip_min_top_clearance": 0.01504737491924164, + "object_projection_between_fingers": 0.8301553359434432, + "object_to_finger_line_xy": 0.009858966604025198, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04849507652377151, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2241760496240628, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2634660852288019, + -0.38319866955745785, + 0.8515395926010804 + ], + "target_position": [ + 0.2550006495792883, + -0.38416710850158936, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00852064990036358, + "xy_threshold": 0.08, + "gripper_dist": 0.1853252317144729, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395926010804, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530570610471245, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524261863908912, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15374263112624173, + "release_required_pad_clearance": 0.05262130931954456, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3039021600130158, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00793910026550293, + "max_z_decrease": 0.00793910026550293, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510030062428438, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00793910026550293, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021078957536637022, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00793910026550293, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007939127770058271, + "max_button_displacement": 0.12, + "button_start": [ + 0.11070057749748229, + -0.44042855501174927, + 0.7768088579177856 + ], + "button_final": [ + 0.11070057749748229, + -0.44042855501174927, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11072591848593313, + -0.4391223687671974, + 0.8081705643438547 + ], + "closest_button": [ + 0.11070688068866728, + -0.44042089581489563, + 0.7730942964553833 + ], + "closest_ee_minus_button": [ + 1.9037797265850087e-05, + 0.001298527047698228, + 0.0350762678884714 + ], + "button_min_z_position": [ + 0.11068036407232283, + -0.44042325019836426, + 0.7688697576522827 + ], + "min_active_finger_to_button": 0.14568427638776246, + "closest_active_finger": [ + -0.01611284166574478, + -0.5032759308815002, + 0.8109591007232666 + ], + "closest_active_finger_button": [ + 0.11070333421230313, + -0.4404256343841553, + 0.7764423489570618 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12681617587804792, + -0.06285029649734497, + 0.034516751766204834 + ], + "min_contact_pad_to_button": 0.021078957536637022, + "closest_contact_pad": [ + 0.11068036407232283, + -0.44042325019836426, + 0.7899487151889197 + ], + "closest_contact_pad_button": [ + 0.11068036407232283, + -0.44042325019836426, + 0.7688697576522827 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021078957536637022 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3affcdca3f9b9575e74ad703e13572f090156e7a7ba2c25483ce8ef2f867da0f", + "visual_seed": 8772571897955504587, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..18277135d6012c28485a2e40404e6b111a9c0cfc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26487032488735596, + -0.05571232983872203, + 1.1620836421286387 + ], + "current_z": 1.1620836421286387, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.30097707450922784, + "gripper_z": 1.155052540440602, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2601412220846031, + -0.060438584922039004, + 1.155052540440602 + ], + "object_minus_gripper": [ + 0.004729102802752849, + 0.004726255083316977, + 0.007031101688036667 + ], + "object_to_gripper_xy": 0.006685947983015155, + "object_to_gripper_z": 0.007031101688036667, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26487032488735596, + -0.0794349421220695, + 1.1620836421286387 + ], + "finger_b": [ + 0.253948159758684, + -0.05571232983872203, + 1.1620836421286387 + ], + "finger_midpoint": [ + 0.25940924232302, + -0.06757363598039576, + 1.1620836421286387 + ], + "object_minus_finger_midpoint": [ + 0.005461082564335973, + 0.01186130614167373, + 0.0 + ], + "finger_gap": 0.02611620233962063, + "fingertip_max_gap": 0.09217215187404676, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013058101169810307, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1620836421286387, + "object_top_z": 1.2122501496918825, + "finger_top_clearance": 0.05016650756324381, + "fingertip_min_top_clearance": 0.015049952268973142, + "object_projection_between_fingers": 0.8250969322347942, + "object_to_finger_line_xy": 0.009921131919287568, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858607593702338, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4275214729955337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2654459404453786, + -0.38750204334232874, + 0.8515396102528907 + ], + "target_position": [ + 0.25701844309118116, + -0.38854246858624314, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008491477865670937, + "xy_threshold": 0.08, + "gripper_dist": 0.18618001849071006, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396102528907, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541189787130814, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506787255356181, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15425300118464022, + "release_required_pad_clearance": 0.05253393627678091, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.13705604010994568, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008221626281738281, + "max_z_decrease": 0.008221626281738281, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034999394282235995, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008221626281738281, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020966147071678477, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008221626281738281, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008221653179332182, + "max_button_displacement": 0.12, + "button_start": [ + 0.11271836608648299, + -0.4448039233684539, + 0.7768088579177856 + ], + "button_final": [ + 0.11271836608648299, + -0.4448039233684539, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11213042233200676, + -0.4444120775115827, + 0.8035795574763765 + ], + "closest_button": [ + 0.11272696405649185, + -0.4447847306728363, + 0.7685872316360474 + ], + "closest_ee_minus_button": [ + -0.000596541724485089, + 0.00037265316125362213, + 0.034992325840329186 + ], + "button_min_z_position": [ + 0.11272696405649185, + -0.4447847306728363, + 0.7685872316360474 + ], + "min_active_finger_to_button": 0.14632172099214974, + "closest_active_finger": [ + -0.01374441385269165, + -0.5097929239273071, + 0.8106010556221008 + ], + "closest_active_finger_button": [ + 0.11272171884775159, + -0.4448003768920898, + 0.7760708928108215 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12646613270044324, + -0.06499254703521734, + 0.0345301628112793 + ], + "min_contact_pad_to_button": 0.020966147071678477, + "closest_contact_pad": [ + 0.11272696405649185, + -0.4453627375828248, + 0.7895454097783206 + ], + "closest_contact_pad_button": [ + 0.11272696405649185, + -0.4447847306728363, + 0.7685872316360474 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005780069099884932, + 0.020958178142273187 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6412496ba2de3b71bdbf1d78822a7ddb5f9a77444fa716798f62b240178dba58", + "visual_seed": 6184329013488611075, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..22f0e7e55b4d99d493593f43d6e66fca110f2b6d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27160638894498046, + -0.06136890765240399, + 1.162760752205739 + ], + "current_z": 1.162760752205739, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.3016542441909733, + "gripper_z": 1.155272533492957, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2668692212198053, + -0.06605585063115017, + 1.155272533492957 + ], + "object_minus_gripper": [ + 0.004737167725175184, + 0.004686942978746181, + 0.0074882187127820465 + ], + "object_to_gripper_xy": 0.0066639472193632775, + "object_to_gripper_z": 0.0074882187127820465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27160638894498046, + -0.08520073964826747, + 1.162760752205739 + ], + "finger_b": [ + 0.2608589853824766, + -0.06136890765240399, + 1.162760752205739 + ], + "finger_midpoint": [ + 0.2662326871637285, + -0.07328482365033573, + 1.162760752205739 + ], + "object_minus_finger_midpoint": [ + 0.0053737017812519605, + 0.011915915997931736, + 0.0 + ], + "finger_gap": 0.026143123371440966, + "fingertip_max_gap": 0.0920281636692338, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013071561685720493, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162760752205739, + "object_top_z": 1.2128996653495745, + "finger_top_clearance": 0.05013891314383545, + "fingertip_min_top_clearance": 0.015041673943150634, + "object_projection_between_fingers": 0.8309978736219756, + "object_to_finger_line_xy": 0.009797234724185118, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048514081834616904, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2689955759553417, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2654501642077949, + -0.3849113409355919, + 0.8515396030458114 + ], + "target_position": [ + 0.2581772174921975, + -0.3856735470396641, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0073127773159726, + "xy_threshold": 0.08, + "gripper_dist": 0.1817248175703446, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396030458114, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571092065226279, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08655844071042369, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14924481489721142, + "release_required_pad_clearance": 0.05327922035521185, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5776463957767743, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 146, + "max_placed_release_frames": 146 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008070766925811768, + "max_z_decrease": 0.008070766925811768, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510693808287962, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008070766925811768, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021033494923497043, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008070766925811768, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00807077753025061, + "max_button_displacement": 0.12, + "button_start": [ + 0.11387713998556136, + -0.4419350028038025, + 0.7768088579177856 + ], + "button_final": [ + 0.11387713998556136, + -0.4419350028038025, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11422309644030568, + -0.44071047147100917, + 0.8075900718055969 + ], + "closest_button": [ + 0.11386691778898238, + -0.4419279396533966, + 0.772506058216095 + ], + "closest_ee_minus_button": [ + 0.0003561786513232995, + 0.0012174681823874378, + 0.03508401358950197 + ], + "button_min_z_position": [ + 0.11387561261653897, + -0.44192200899124146, + 0.7687380909919739 + ], + "min_active_finger_to_button": 0.14538652859376675, + "closest_active_finger": [ + -0.013092674314975739, + -0.5038023591041565, + 0.8107590079307556 + ], + "closest_active_finger_button": [ + 0.11387885361909865, + -0.4419318735599518, + 0.7762986421585083 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1269715279340744, + -0.06187048554420471, + 0.034460365772247314 + ], + "min_contact_pad_to_button": 0.021033494923497043, + "closest_contact_pad": [ + 0.11387561261653897, + -0.44192200899124146, + 0.7897715859154709 + ], + "closest_contact_pad_button": [ + 0.11387561261653897, + -0.44192200899124146, + 0.7687380909919739 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021033494923497043 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7e6fdd625fc453a0c0b697e876528bdacb3219c9f3d943b752c5118cc90add27", + "visual_seed": 3248136263275309113, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c773bd8fd21214e2a261e9efdf7a4b494fbe008a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26803921566138883, + -0.06281971601284453, + 1.163051209296766 + ], + "current_z": 1.163051209296766, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30194482049128957, + "gripper_z": 1.1555594424222488, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2633377824841352, + -0.06735374273779564, + 1.1555594424222488 + ], + "object_minus_gripper": [ + 0.004701433177253633, + 0.00453402672495111, + 0.007491766874517136 + ], + "object_to_gripper_xy": 0.00653152909070702, + "object_to_gripper_z": 0.007491766874517136, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26803921566138883, + -0.08677787455958574, + 1.163051209296766 + ], + "finger_b": [ + 0.25771388076427276, + -0.06281971601284453, + 1.163051209296766 + ], + "finger_midpoint": [ + 0.2628765482128308, + -0.07479879528621514, + 1.163051209296766 + ], + "object_minus_finger_midpoint": [ + 0.005162667448558034, + 0.011979079273370608, + 0.0 + ], + "finger_gap": 0.026088424668584187, + "fingertip_max_gap": 0.09215254445089058, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013044212334292093, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163051209296766, + "object_top_z": 1.2131844556379074, + "finger_top_clearance": 0.05013324634114147, + "fingertip_min_top_clearance": 0.01503997390234244, + "object_projection_between_fingers": 0.8433564262767527, + "object_to_finger_line_xy": 0.009482213420544245, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857627222544529, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4246391609153974, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2604253662253611, + -0.3880476481391201, + 0.8515395700523075 + ], + "target_position": [ + 0.2532714428543592, + -0.38859291301009274, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007174673050229119, + "xy_threshold": 0.08, + "gripper_dist": 0.18329865192969813, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395700523075, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753593099998986, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08709481900213102, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15155046246848558, + "release_required_pad_clearance": 0.05354740950106551, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1062684112913845, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008046507835388184, + "max_z_decrease": 0.008046507835388184, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350821608523363, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008046507835388184, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02106836377103179, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008046507835388184, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008046517570358543, + "max_button_displacement": 0.12, + "button_start": [ + 0.10897137224674223, + -0.44485437870025635, + 0.7768088579177856 + ], + "button_final": [ + 0.10897137224674223, + -0.44485437870025635, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10861778261936017, + -0.4446559100577953, + 0.8074693488860982 + ], + "closest_button": [ + 0.1089629903435707, + -0.4448479115962982, + 0.7723894119262695 + ], + "closest_ee_minus_button": [ + -0.00034520772421052504, + 0.00019200153850290613, + 0.035079936959828695 + ], + "button_min_z_position": [ + 0.10896316170692444, + -0.44484493136405945, + 0.7687623500823975 + ], + "min_active_finger_to_button": 0.14644236693642254, + "closest_active_finger": [ + -0.019106730818748474, + -0.506916344165802, + 0.8108212947845459 + ], + "closest_active_finger_button": [ + 0.10897333920001982, + -0.4448518455028534, + 0.776341438293457 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1280800700187683, + -0.06206449866294861, + 0.03447985649108887 + ], + "min_contact_pad_to_button": 0.02106836377103179, + "closest_contact_pad": [ + 0.10896316170692444, + -0.44581525078731055, + 0.7898083575946404 + ], + "closest_contact_pad_button": [ + 0.10896316170692444, + -0.44484493136405945, + 0.7687623500823975 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009703194232510981, + 0.021046007512242948 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "93bd9d52fc0a74a4ee41a88281c8489103a2c42ba8d844928b22d01b1bafe861", + "visual_seed": 4522249175452357146, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a049bc945d1f7afa60ab6b21de9ba2487478336e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26501480722011955, + -0.065310664888448, + 1.1628720643060695 + ], + "current_z": 1.1628720643060695, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3017656158959482, + "gripper_z": 1.1558088909229867, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2602970743876686, + -0.07004972595328375, + 1.1558088909229867 + ], + "object_minus_gripper": [ + 0.0047177328324509715, + 0.004739061064835751, + 0.007063173383082821 + ], + "object_to_gripper_xy": 0.0066869800997631235, + "object_to_gripper_z": 0.007063173383082821, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26501480722011955, + -0.0889940241195632, + 1.1628720643060695 + ], + "finger_b": [ + 0.2540808560632168, + -0.065310664888448, + 1.1628720643060695 + ], + "finger_midpoint": [ + 0.25954783164166817, + -0.0771523445040056, + 1.1628720643060695 + ], + "object_minus_finger_midpoint": [ + 0.005466975578451383, + 0.011841679615557599, + 0.0 + ], + "finger_gap": 0.02608549007344092, + "fingertip_max_gap": 0.09224278302235986, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01304274503672046, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1628720643060695, + "object_top_z": 1.213113833095571, + "finger_top_clearance": 0.050241768789501595, + "fingertip_min_top_clearance": 0.015072530636850478, + "object_projection_between_fingers": 0.8243062718798423, + "object_to_finger_line_xy": 0.00992707794008631, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04862139151117993, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.340719023374331, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25760413780124425, + -0.3877153541661966, + 0.851539594751741 + ], + "target_position": [ + 0.2495477606691267, + -0.3887684113159093, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008124908729054586, + "xy_threshold": 0.08, + "gripper_dist": 0.18476946564647967, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539594751741, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758798996348208, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08617782193905311, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15195492675151717, + "release_required_pad_clearance": 0.05308891096952656, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.205917333581, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008084475994110107, + "max_z_decrease": 0.008084475994110107, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511272002370101, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008084475994110107, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021139179651028694, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008084475994110107, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008084496235019839, + "max_button_displacement": 0.12, + "button_start": [ + 0.10524768382310866, + -0.44502988457679743, + 0.7768088579177856 + ], + "button_final": [ + 0.10524768382310866, + -0.44502988457679743, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10665432094531638, + -0.44603930100643074, + 0.8037939089458679 + ], + "closest_button": [ + 0.10524873435497283, + -0.44501182436943054, + 0.7687243819236755 + ], + "closest_ee_minus_button": [ + 0.0014055865903435522, + -0.001027476637000202, + 0.03506952702219235 + ], + "button_min_z_position": [ + 0.10524873435497283, + -0.44501182436943054, + 0.7687243819236755 + ], + "min_active_finger_to_button": 0.14442772303661736, + "closest_active_finger": [ + -0.03418844938278198, + -0.43022850155830383, + 0.8109174966812134 + ], + "closest_active_finger_button": [ + 0.10525054484605788, + -0.4450263679027557, + 0.7763175368309021 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13943899422883987, + 0.014797866344451849, + 0.03459995985031128 + ], + "min_contact_pad_to_button": 0.021139179651028694, + "closest_contact_pad": [ + 0.10524873435497283, + -0.4472007735293533, + 0.7897499239593458 + ], + "closest_contact_pad_button": [ + 0.10524873435497283, + -0.44501182436943054, + 0.7687243819236755 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021889491599227373, + 0.021025542035670308 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0feb09d7dd8887359f399a37b57092f48a8b01599a2f7a17e2e37f16544deb67", + "visual_seed": 1528053459773165321, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..99f94f073902d2122f740bce3a99762dcda53acf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26368861947196864, + -0.05627757517583117, + 1.165266669289215 + ], + "current_z": 1.165266669289215, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3041602208790939, + "gripper_z": 1.1581307796342533, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2589017295524101, + -0.06088203236198807, + 1.1581307796342533 + ], + "object_minus_gripper": [ + 0.004786889919558557, + 0.004604457186156895, + 0.007135889654961813 + ], + "object_to_gripper_xy": 0.006641938051587293, + "object_to_gripper_z": 0.007135889654961813, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26368861947196864, + -0.08025292985493296, + 1.165266669289215 + ], + "finger_b": [ + 0.2532033510406676, + -0.05627757517583117, + 1.165266669289215 + ], + "finger_midpoint": [ + 0.2584459852563181, + -0.06826525251538207, + 1.165266669289215 + ], + "object_minus_finger_midpoint": [ + 0.005242634215650521, + 0.011987677339550896, + 0.0 + ], + "finger_gap": 0.02616789036329001, + "fingertip_max_gap": 0.09191011643476302, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013083945181645008, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165266669289215, + "object_top_z": 1.215330534745001, + "finger_top_clearance": 0.050063865455785894, + "fingertip_min_top_clearance": 0.015019159636735767, + "object_projection_between_fingers": 0.8394457953954066, + "object_to_finger_line_xy": 0.00960673657891409, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04845505821738151, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3550457553636956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2613669952317389, + -0.3826130927201829, + 0.8515395138318551 + ], + "target_position": [ + 0.25379898288187536, + -0.38330884614536487, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007599926562562266, + "xy_threshold": 0.08, + "gripper_dist": 0.18592771561900157, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395138318551, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754225099222071, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08712462603279374, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15397054725994105, + "release_required_pad_clearance": 0.05356231301639687, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1357909297503737, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00794374942779541, + "max_z_decrease": 0.00794374942779541, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507131826744625, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00794374942779541, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021090782100633726, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00794374942779541, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007943771119114389, + "max_button_displacement": 0.12, + "button_start": [ + 0.10949891060590745, + -0.4395703077316284, + 0.7768088579177856 + ], + "button_final": [ + 0.10949891060590745, + -0.4395703077316284, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10939656117972499, + -0.439518892288616, + 0.8081598706073239 + ], + "closest_button": [ + 0.10950660705566408, + -0.4395633935928345, + 0.7730887532234192 + ], + "closest_ee_minus_button": [ + -0.00011004587593908821, + 4.4501304218458326e-05, + 0.03507111738390467 + ], + "button_min_z_position": [ + 0.10948126018047334, + -0.4395645558834076, + 0.7688651084899902 + ], + "min_active_finger_to_button": 0.14635159406399578, + "closest_active_finger": [ + -0.0171026811003685, + -0.5043372511863708, + 0.8086909055709839 + ], + "closest_active_finger_button": [ + 0.10950480401515962, + -0.43956512212753296, + 0.7741379737854004 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1266074851155281, + -0.06477212905883789, + 0.034552931785583496 + ], + "min_contact_pad_to_button": 0.021090782100633726, + "closest_contact_pad": [ + 0.10948126018047334, + -0.44041322958510926, + 0.7899388087480003 + ], + "closest_contact_pad_button": [ + 0.10948126018047334, + -0.4395645558834076, + 0.7688651084899902 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008486737017016632, + 0.02107370025801003 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "29c4ae7d2207c06c03a8695e2227c03a0ca3bba492d91f97348e5b414c83a74e", + "visual_seed": 2714479423951618931, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..69308d73d03e6108871885a565c71c5b099af568 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27030780358506795, + -0.05585666511495276, + 1.1646433179217337 + ], + "current_z": 1.1646433179217337, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.3035369291162575, + "gripper_z": 1.1573017859872257, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26552105014772853, + -0.06046866043879209, + 1.1573017859872257 + ], + "object_minus_gripper": [ + 0.004786753437339419, + 0.004611995323839331, + 0.007341531934508039 + ], + "object_to_gripper_xy": 0.0066470677247186674, + "object_to_gripper_z": 0.007341531934508039, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27030780358506795, + -0.07978592341659307, + 1.1646433179217337 + ], + "finger_b": [ + 0.2597414817317337, + -0.05585666511495276, + 1.1646433179217337 + ], + "finger_midpoint": [ + 0.26502464265840087, + -0.06782129426577292, + 1.1646433179217337 + ], + "object_minus_finger_midpoint": [ + 0.005283160926667085, + 0.01196462915082016, + 0.0 + ], + "finger_gap": 0.026158298116943125, + "fingertip_max_gap": 0.09194958653853524, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013079149058471554, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646433179217337, + "object_top_z": 1.2147316293510113, + "finger_top_clearance": 0.05008831142927761, + "fingertip_min_top_clearance": 0.015026493428783249, + "object_projection_between_fingers": 0.8368343630537023, + "object_to_finger_line_xy": 0.009665928715864351, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048474793269267624, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.418745738927492, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26581431458776583, + -0.38372537449493893, + 0.8515396139042514 + ], + "target_position": [ + 0.258263850179929, + -0.3847275573596132, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007616684532541565, + "xy_threshold": 0.08, + "gripper_dist": 0.18287531360265677, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396139042514, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757641597424274, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08731141701996757, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15032253789182976, + "release_required_pad_clearance": 0.05365570850998379, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3212426206385572, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00806516408920288, + "max_z_decrease": 0.00806516408920288, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508374412856357, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00806516408920288, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02106445744950293, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00806516408920288, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008065176486270963, + "max_button_displacement": 0.12, + "button_start": [ + 0.1139637753367424, + -0.44098901748657227, + 0.7768088579177856 + ], + "button_final": [ + 0.1139637753367424, + -0.44098901748657227, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1140617669258126, + -0.44101841519815754, + 0.8075273348120017 + ], + "closest_button": [ + 0.11395497620105745, + -0.44098272919654846, + 0.7724437713623047 + ], + "closest_ee_minus_button": [ + 0.00010679072475515416, + -3.5686001609080975e-05, + 0.035083563449696986 + ], + "button_min_z_position": [ + 0.11396127194166183, + -0.4409750998020172, + 0.7687436938285828 + ], + "min_active_finger_to_button": 0.14611289626855892, + "closest_active_finger": [ + -0.027133122086524963, + -0.42528390884399414, + 0.8108662962913513 + ], + "closest_active_finger_button": [ + 0.11396569758653641, + -0.44098636507987976, + 0.7763187289237976 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14109881967306137, + 0.01570245623588562, + 0.03454756736755371 + ], + "min_contact_pad_to_button": 0.02106445744950293, + "closest_contact_pad": [ + 0.11396127194166183, + -0.44207953513993825, + 0.7897791779025534 + ], + "closest_contact_pad_button": [ + 0.11396127194166183, + -0.4409750998020172, + 0.7687436938285828 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011044353379210392, + 0.0210354840739706 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "05f2d109ec667bb5a7597711e86189d4f52d75693a30e9e1f1c382a768e934f3", + "visual_seed": 5300104479417315275, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..59a0085eb8c5d8562458719b546cfff45e58c030 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26544203851374853, + -0.0602443573069346, + 1.163920524244284 + ], + "current_z": 1.163920524244284, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30281413543880775, + "gripper_z": 1.156688823868749, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26070527122467013, + -0.06488128952227845, + 1.156688823868749 + ], + "object_minus_gripper": [ + 0.004736767289078403, + 0.00463693221534385, + 0.007231700375535111 + ], + "object_to_gripper_xy": 0.00662858240656151, + "object_to_gripper_z": 0.007231700375535111, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26544203851374853, + -0.08416243633198095, + 1.163920524244284 + ], + "finger_b": [ + 0.25490955352977696, + -0.0602443573069346, + 1.163920524244284 + ], + "finger_midpoint": [ + 0.2601757960217628, + -0.07220339681945778, + 1.163920524244284 + ], + "object_minus_finger_midpoint": [ + 0.005266242491985762, + 0.011959039512523181, + 0.0 + ], + "finger_gap": 0.026134416851844023, + "fingertip_max_gap": 0.09203935818034564, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013067208425922006, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163920524244284, + "object_top_z": 1.214108835316332, + "finger_top_clearance": 0.05018831107204802, + "fingertip_min_top_clearance": 0.015056493321614406, + "object_projection_between_fingers": 0.8375812853047458, + "object_to_finger_line_xy": 0.009639274126714304, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048519679090172824, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3350458126443008, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 332, + "max_stable_success_frames": 332, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26236684920616904, + -0.3829026712853661, + 0.8515395972354715 + ], + "target_position": [ + 0.25445496204811285, + -0.3834443320275039, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007930406973250972, + "xy_threshold": 0.08, + "gripper_dist": 0.18473265773890765, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395972354715, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751396149751236, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581590305568433, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15359928695668817, + "release_required_pad_clearance": 0.05290795152784217, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8550019867188446, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007991135120391846, + "max_z_decrease": 0.007991135120391846, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509879477631171, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007991135120391846, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02108461424897451, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007991135120391846, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007991163684589547, + "max_button_displacement": 0.12, + "button_start": [ + 0.11015488952398302, + -0.4397057890892028, + 0.7768088579177856 + ], + "button_final": [ + 0.11015488952398302, + -0.4397057890892028, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11115070754579884, + -0.4388759942998169, + 0.807530849936788 + ], + "closest_button": [ + 0.11014505475759508, + -0.439698576927185, + 0.7724561095237732 + ], + "closest_ee_minus_button": [ + 0.001005652788203762, + 0.000822582627368118, + 0.03507474041301484 + ], + "button_min_z_position": [ + 0.11013416945934296, + -0.43970057368278503, + 0.7688177227973938 + ], + "min_active_finger_to_button": 0.14500576468784307, + "closest_active_finger": [ + -0.015180684626102448, + -0.5039230585098267, + 0.8109524846076965 + ], + "closest_active_finger_button": [ + 0.1101577952504158, + -0.4397026300430298, + 0.7764173746109009 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12533847987651825, + -0.06422042846679688, + 0.034535109996795654 + ], + "min_contact_pad_to_button": 0.02108461424897451, + "closest_contact_pad": [ + 0.11013416945934296, + -0.4397502100453221, + 0.7899022786205449 + ], + "closest_contact_pad_button": [ + 0.11013416945934296, + -0.43970057368278503, + 0.7688177227973938 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -4.9636362537075485e-05, + 0.021084555823151052 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3aede1ef716f088d205d420436494001a9e3748cb42a0e12d1f7758c11ebf143", + "visual_seed": 70729110474913726, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..246847d7bef1fa8af9fca1359702232bf19e4b56 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2659148071511329, + -0.05750361820960904, + 1.1655294471921245 + ], + "current_z": 1.1655294471921245, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.30442287957271374, + "gripper_z": 1.158256346903743, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2612474782380173, + -0.06216092677001825, + 1.158256346903743 + ], + "object_minus_gripper": [ + 0.004667328913115609, + 0.004657308560409211, + 0.007273100288381462 + ], + "object_to_gripper_xy": 0.006593518196688765, + "object_to_gripper_z": 0.007273100288381462, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2659148071511329, + -0.08119682579882598, + 1.1655294471921245 + ], + "finger_b": [ + 0.2551128716149006, + -0.05750361820960904, + 1.1655294471921245 + ], + "finger_midpoint": [ + 0.26051383938301675, + -0.0693502220042175, + 1.1655294471921245 + ], + "object_minus_finger_midpoint": [ + 0.0054009677681161605, + 0.011846603794608467, + 0.0 + ], + "finger_gap": 0.026039391260063008, + "fingertip_max_gap": 0.09200161527785664, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013019695630031502, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1655294471921245, + "object_top_z": 1.2156624906185742, + "finger_top_clearance": 0.05013304342644975, + "fingertip_min_top_clearance": 0.015039913027934892, + "object_projection_between_fingers": 0.8279155976401201, + "object_to_finger_line_xy": 0.00982866682516573, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850080763892832, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.373417729869614, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2650078379203997, + -0.3826976137118575, + 0.8515395561078563 + ], + "target_position": [ + 0.25649218879881586, + -0.3839832904483747, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008612156793321496, + "xy_threshold": 0.08, + "gripper_dist": 0.1837165259393622, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395561078563, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579465807065155, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08679057196282859, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15108809218356928, + "release_required_pad_clearance": 0.0533952859814143, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8057466020079647, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008051753044128418, + "max_z_decrease": 0.008051753044128418, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515652257351068, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008051753044128418, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021276633352927773, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008051753044128418, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008051764125291669, + "max_button_displacement": 0.12, + "button_start": [ + 0.11219211667776109, + -0.44024473428726196, + 0.7768088579177856 + ], + "button_final": [ + 0.11219211667776109, + -0.44024473428726196, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11321456386843254, + -0.4421660165546862, + 0.8075484929787726 + ], + "closest_button": [ + 0.11218310147523881, + -0.44023892283439636, + 0.7724599838256836 + ], + "closest_ee_minus_button": [ + 0.0010314623931937245, + -0.0019270937202898186, + 0.03508850915308903 + ], + "button_min_z_position": [ + 0.11218484491109851, + -0.4402335286140442, + 0.7687571048736572 + ], + "min_active_finger_to_button": 0.14500232171676788, + "closest_active_finger": [ + -0.02782660722732544, + -0.42513149976730347, + 0.8108545541763306 + ], + "closest_active_finger_button": [ + 0.11219357699155809, + -0.4402417242527008, + 0.7763335108757019 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14002018421888351, + 0.015110224485397339, + 0.03452104330062866 + ], + "min_contact_pad_to_button": 0.021276633352927773, + "closest_contact_pad": [ + 0.11218484491109851, + -0.44333681862920316, + 0.7898062074178688 + ], + "closest_contact_pad_button": [ + 0.11218484491109851, + -0.4402335286140442, + 0.7687571048736572 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003103290015158966, + 0.02104910254421155 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e43e9fc6bfd64bc744f4a246a121caebcb9a32359b55f8e69b973a0bcbe249a7", + "visual_seed": 7048960244489452721, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9724b61bba399fbf9fce3f1847d6bf73d842577b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27196237330442485, + -0.062282144435031266, + 1.1658560706622143 + ], + "current_z": 1.1658560706622143, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30474956264744835, + "gripper_z": 1.1584103205900662, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2673301743688822, + -0.06696966457466502, + 1.1584103205900662 + ], + "object_minus_gripper": [ + 0.004632198935542675, + 0.0046875201396337565, + 0.007445750072148094 + ], + "object_to_gripper_xy": 0.006590152656647246, + "object_to_gripper_z": 0.007445750072148094, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27196237330442485, + -0.08594830564244266, + 1.1658560706622143 + ], + "finger_b": [ + 0.2610959145359194, + -0.062282144435031266, + 1.1658560706622143 + ], + "finger_midpoint": [ + 0.26652914392017213, + -0.07411522503873696, + 1.1658560706622143 + ], + "object_minus_finger_midpoint": [ + 0.005433229384252725, + 0.0118330806037057, + 0.0 + ], + "finger_gap": 0.026041641892607555, + "fingertip_max_gap": 0.09207400755511472, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01302082094630378, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1658560706622143, + "object_top_z": 1.2159745982185892, + "finger_top_clearance": 0.050118527556374914, + "fingertip_min_top_clearance": 0.015035558266912474, + "object_projection_between_fingers": 0.8258837327884964, + "object_to_finger_line_xy": 0.009875236209362849, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853700377755736, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3546639137483771, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2603823053100587, + -0.3887687303440924, + 0.8515396203204526 + ], + "target_position": [ + 0.25215459559121683, + -0.38983992128491146, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008297147536907938, + "xy_threshold": 0.08, + "gripper_dist": 0.18589164030032693, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396203204526, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564173851750898, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864966539097294, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535458319376504, + "release_required_pad_clearance": 0.0532483269548647, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5169438763322614, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007965445518493652, + "max_z_decrease": 0.007965445518493652, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035116569173120636, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007965445518493652, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021072078959029072, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007965445518493652, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007965473619843823, + "max_button_displacement": 0.12, + "button_start": [ + 0.10785452276468277, + -0.4461013674736023, + 0.7768088579177856 + ], + "button_final": [ + 0.10785452276468277, + -0.4461013674736023, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10738982647491022, + -0.44462111776453256, + 0.8075542703574322 + ], + "closest_button": [ + 0.10784447193145752, + -0.4460953772068023, + 0.7724716067314148 + ], + "closest_ee_minus_button": [ + -0.0004546454565473035, + 0.0014742594422697541, + 0.03508266362601742 + ], + "button_min_z_position": [ + 0.10783406347036362, + -0.4460959732532501, + 0.768843412399292 + ], + "min_active_finger_to_button": 0.14600423127562492, + "closest_active_finger": [ + -0.020688995718955994, + -0.506139874458313, + 0.8108986020088196 + ], + "closest_active_finger_button": [ + 0.10785689204931259, + -0.44609832763671875, + 0.7764282822608948 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12854588776826859, + -0.06004154682159424, + 0.034470319747924805 + ], + "min_contact_pad_to_button": 0.021072078959029072, + "closest_contact_pad": [ + 0.10783406347036362, + -0.4460959732532501, + 0.7899154913583211 + ], + "closest_contact_pad_button": [ + 0.10783406347036362, + -0.4460959732532501, + 0.768843412399292 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021072078959029072 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "289a945f7004470138241ff9ab5a4aa12edd1ba6430e1da4e7dff8e30b16b016", + "visual_seed": 560172423955052621, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4e2043dfd6768e07fc325113229ac09f8465824b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27096302901776903, + -0.05533211878469297, + 1.1652019685761155 + ], + "current_z": 1.1652019685761155, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.30409546056134973, + "gripper_z": 1.157806382940691, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2663174130371072, + -0.06006128550870096, + 1.157806382940691 + ], + "object_minus_gripper": [ + 0.004645615980661821, + 0.004729166724007992, + 0.007395585635424418 + ], + "object_to_gripper_xy": 0.00662923568318739, + "object_to_gripper_z": 0.007395585635424418, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27096302901776903, + -0.0789075723556406, + 1.1652019685761155 + ], + "finger_b": [ + 0.25990933717321757, + -0.05533211878469297, + 1.1652019685761155 + ], + "finger_midpoint": [ + 0.2654361830954933, + -0.06711984557016679, + 1.1652019685761155 + ], + "object_minus_finger_midpoint": [ + 0.005526845922275703, + 0.011787726785473816, + 0.0 + ], + "finger_gap": 0.02603816649593843, + "fingertip_max_gap": 0.09201340307859943, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013019083247969207, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1652019685761155, + "object_top_z": 1.2153272899315801, + "finger_top_clearance": 0.05012532135546466, + "fingertip_min_top_clearance": 0.015037596406639396, + "object_projection_between_fingers": 0.8197837672681834, + "object_to_finger_line_xy": 0.010008223847460009, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048506701539299715, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3385982001113628, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26063545384769005, + -0.3897662868222468, + 0.8515395994907329 + ], + "target_position": [ + 0.2531747839936593, + -0.3906842397242479, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0075169297057465995, + "xy_threshold": 0.08, + "gripper_dist": 0.184017658480145, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395994907329, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587265439594984, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086510132809396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15126872378780667, + "release_required_pad_clearance": 0.053255066404698, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5303004333675072, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008123815059661865, + "max_z_decrease": 0.008123815059661865, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506647487742729, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008123815059661865, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02107535151718657, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008123815059661865, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008123864911529815, + "max_button_displacement": 0.12, + "button_start": [ + 0.10887470841407776, + -0.44694569706916815, + 0.7768088579177856 + ], + "button_final": [ + 0.10887470841407776, + -0.44694569706916815, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10675050309604428, + -0.4481827854418926, + 0.8036633277958272 + ], + "closest_button": [ + 0.10889403522014618, + -0.44692480564117437, + 0.7686850428581238 + ], + "closest_ee_minus_button": [ + -0.002143532124101899, + -0.0012579798007182341, + 0.034978284937703386 + ], + "button_min_z_position": [ + 0.10889403522014618, + -0.44692480564117437, + 0.7686850428581238 + ], + "min_active_finger_to_button": 0.1478024013030746, + "closest_active_finger": [ + -0.03405926376581192, + -0.43210792541503906, + 0.8108088374137878 + ], + "closest_active_finger_button": [ + 0.10887641459703447, + -0.446943461894989, + 0.7762422561645508 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14293567836284637, + 0.014835536479949951, + 0.03456658124923706 + ], + "min_contact_pad_to_button": 0.02107535151718657, + "closest_contact_pad": [ + 0.10889403522014618, + -0.44936490554615377, + 0.7896186606540686 + ], + "closest_contact_pad_button": [ + 0.10889403522014618, + -0.44692480564117437, + 0.7686850428581238 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002440099904979398, + 0.020933617795944826 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f9f8505a22a8f1abb8de786edb1e3db9267b181c52b41f23fad745666207f24d", + "visual_seed": 3168836215773276925, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6109c3710bc7f434582c15ea3a5c8a6580b095c0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26604066289447365, + -0.06020270195909412, + 1.1651948010645983 + ], + "current_z": 1.1651948010645983, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30408841225912187, + "gripper_z": 1.1580538312406534, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2613804659224849, + -0.06497559617706576, + 1.1580538312406534 + ], + "object_minus_gripper": [ + 0.004660196971988773, + 0.0047728942179716405, + 0.007140969823944854 + ], + "object_to_gripper_xy": 0.006670678753596252, + "object_to_gripper_z": 0.007140969823944854, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26604066289447365, + -0.0838172719257964, + 1.1651948010645983 + ], + "finger_b": [ + 0.2550040563554058, + -0.06020270195909412, + 1.1651948010645983 + ], + "finger_midpoint": [ + 0.26052235962493975, + -0.07200998694244526, + 1.1651948010645983 + ], + "object_minus_finger_midpoint": [ + 0.005518303269533897, + 0.011807284983351138, + 0.0 + ], + "finger_gap": 0.026066349928796556, + "fingertip_max_gap": 0.09214006931180815, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013033174964398268, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651948010645983, + "object_top_z": 1.2154163914542289, + "finger_top_clearance": 0.05022159038963059, + "fingertip_min_top_clearance": 0.015066477116889142, + "object_projection_between_fingers": 0.8207287372146755, + "object_to_finger_line_xy": 0.009998512182323598, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857003465590408, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2260946041271872, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25698009308607933, + -0.3804959958988092, + 0.851539881331707 + ], + "target_position": [ + 0.24917034191512538, + -0.3815244295031916, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007877175193610936, + "xy_threshold": 0.08, + "gripper_dist": 0.18370799187797113, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539881331707, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758460824771556, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601652602364572, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15092243186061283, + "release_required_pad_clearance": 0.05300826301182286, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0490274334637124, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008063256740570068, + "max_z_decrease": 0.008063256740570068, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510378100094828, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008063256740570068, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021192021618146897, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008063256740570068, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008063270636918893, + "max_button_displacement": 0.12, + "button_start": [ + 0.10487026721239091, + -0.4377858936786651, + 0.7768088579177856 + ], + "button_final": [ + 0.10487026721239091, + -0.4377858936786651, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10530366052583207, + -0.4390946417061481, + 0.8038217160285435 + ], + "closest_button": [ + 0.10486332327127458, + -0.43777263164520264, + 0.7687456011772156 + ], + "closest_ee_minus_button": [ + 0.0004403372545574852, + -0.0013220100609454555, + 0.03507611485132789 + ], + "button_min_z_position": [ + 0.10486332327127458, + -0.43777263164520264, + 0.7687456011772156 + ], + "min_active_finger_to_button": 0.1453259732162303, + "closest_active_finger": [ + -0.03547625243663788, + -0.4227873980998993, + 0.8107022643089294 + ], + "closest_active_finger_button": [ + 0.10487296432256701, + -0.4377822875976562, + 0.7761061787605286 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1403492167592049, + 0.014994889497756902, + 0.03459608554840088 + ], + "min_contact_pad_to_button": 0.021192021618146897, + "closest_contact_pad": [ + 0.10486332327127458, + -0.44030047879273804, + 0.7897863181104073 + ], + "closest_contact_pad_button": [ + 0.10486332327127458, + -0.43777263164520264, + 0.7687456011772156 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025278471475354003, + 0.02104071693319176 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "10a4c413c66baa05efb54fb528f8a5e1638c05f6facd4ea68858192858b67e81", + "visual_seed": 2095016993982968133, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e06c6bda7f6d6274c17244c2cb1430d9b25aa18d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_64_success.json @@ -0,0 +1,700 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26950781923242906, + -0.06486453450147511, + 1.164128182797723 + ], + "current_z": 1.164128182797723, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3030217343876018, + "gripper_z": 1.1566250580677415, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2648382750670507, + -0.06937154015088683, + 1.1566250580677415 + ], + "object_minus_gripper": [ + 0.004669544165378348, + 0.004507005649411713, + 0.007503124729981492 + ], + "object_to_gripper_xy": 0.006489818382377743, + "object_to_gripper_z": 0.007503124729981492, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26950781923242906, + -0.08882408497985209, + 1.164128182797723 + ], + "finger_b": [ + 0.2592524885786526, + -0.06486453450147511, + 1.164128182797723 + ], + "finger_midpoint": [ + 0.2643801539055408, + -0.0768443097406636, + 1.164128182797723 + ], + "object_minus_finger_midpoint": [ + 0.005127665326888242, + 0.011979775239188487, + 0.0 + ], + "finger_gap": 0.026062077160966698, + "fingertip_max_gap": 0.09212160978946302, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013031038580483349, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164128182797723, + "object_top_z": 1.214228597033117, + "finger_top_clearance": 0.05010041423539402, + "fingertip_min_top_clearance": 0.015030124270618173, + "object_projection_between_fingers": 0.8451606703226575, + "object_to_finger_line_xy": 0.009427994206064662, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856080489473151, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.501475980234052, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2594518964019078, + -0.38746563929693884, + 0.8515394997661327 + ], + "target_position": [ + 0.2526907489394154, + -0.38769056252066875, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006764887690578498, + "xy_threshold": 0.08, + "gripper_dist": 0.18278112442921743, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394997661327, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527053458952065, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671499171065992, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15130084387440013, + "release_required_pad_clearance": 0.053357495855329964, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7313951558075185, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00811082124710083, + "max_z_decrease": 0.00811082124710083, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506437165129265, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00811082124710083, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02116214073902308, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00811082124710083, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008110855426475591, + "max_button_displacement": 0.12, + "button_start": [ + 0.108390673995018, + -0.44395202398300165, + 0.7768088579177856 + ], + "button_final": [ + 0.108390673995018, + -0.44395202398300165, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10877282103375122, + -0.4455161590651261, + 0.8037246568931267 + ], + "closest_button": [ + 0.10840315371751784, + -0.44393205642700195, + 0.7686980366706848 + ], + "closest_ee_minus_button": [ + 0.0003696673162333769, + -0.0015841026381241408, + 0.03502662022244185 + ], + "button_min_z_position": [ + 0.10840315371751784, + -0.44393205642700195, + 0.7686980366706848 + ], + "min_active_finger_to_button": 0.1453508157407695, + "closest_active_finger": [ + -0.03203831613063812, + -0.4294503331184387, + 0.8108181953430176 + ], + "closest_active_finger_button": [ + 0.10839293152093886, + -0.44394853711128235, + 0.7762389183044434 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.140431247651577, + 0.014498203992843628, + 0.03457927703857422 + ], + "min_contact_pad_to_button": 0.02116214073902308, + "closest_contact_pad": [ + 0.10840315371751784, + -0.4466996329932986, + 0.7896784256234165 + ], + "closest_contact_pad_button": [ + 0.10840315371751784, + -0.44393205642700195, + 0.7686980366706848 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00276757656629667, + 0.020980388952731688 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2cb6f1a0fe105f5fb95081d079eb128e78f9452a4fbd271e3a2ab652faac86a3", + "visual_seed": 4771194184949016731, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c2332d7eef3642c07fbd8070827d2c221d4c44ab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_65_success.json @@ -0,0 +1,700 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26744716359458365, + -0.0545409640711112, + 1.1636754861354377 + ], + "current_z": 1.1636754861354377, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30256897812067185, + "gripper_z": 1.1565864473726448, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26263016597037137, + -0.05940873270465541, + 1.1565864473726448 + ], + "object_minus_gripper": [ + 0.0048169976242122825, + 0.004867768633544212, + 0.007089038762792876 + ], + "object_to_gripper_xy": 0.0068482579961172355, + "object_to_gripper_z": 0.007089038762792876, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26744716359458365, + -0.078281454815424, + 1.1636754861354377 + ], + "finger_b": [ + 0.25625320286371744, + -0.0545409640711112, + 1.1636754861354377 + ], + "finger_midpoint": [ + 0.26185018322915055, + -0.0664112094432676, + 1.1636754861354377 + ], + "object_minus_finger_midpoint": [ + 0.005596980365433102, + 0.011870245372156404, + 0.0 + ], + "finger_gap": 0.02624720285335138, + "fingertip_max_gap": 0.0920504885165209, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01312360142667569, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636754861354377, + "object_top_z": 1.2138184195772215, + "finger_top_clearance": 0.05014293344178378, + "fingertip_min_top_clearance": 0.015042880032535132, + "object_projection_between_fingers": 0.8181130658633012, + "object_to_finger_line_xy": 0.010124893026054314, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852524425826045, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.18070493364011, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26468683174435576, + -0.38466512222553323, + 0.8515395534442453 + ], + "target_position": [ + 0.25649257404086784, + -0.38554273338415945, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008241120109361125, + "xy_threshold": 0.08, + "gripper_dist": 0.18372382290777256, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395534442453, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532756844150677, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499582156915615, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1522264466746353, + "release_required_pad_clearance": 0.05249791078457808, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06852802654486259, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008057236671447754, + "max_z_decrease": 0.008057236671447754, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513453568221104, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008057236671447754, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021054276073264468, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008057236671447754, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008057247852712338, + "max_button_displacement": 0.12, + "button_start": [ + 0.1121924966573715, + -0.44180420041084284, + 0.7768088579177856 + ], + "button_final": [ + 0.1121924966573715, + -0.44180420041084284, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11376872531633209, + -0.4409208990124812, + 0.8074699054100575 + ], + "closest_button": [ + 0.1121818721294403, + -0.44179862737655634, + 0.7723821997642517 + ], + "closest_ee_minus_button": [ + 0.0015868531868917929, + 0.0008777283640751254, + 0.03508770564580577 + ], + "button_min_z_position": [ + 0.11218439042568203, + -0.44179350137710566, + 0.7687516212463379 + ], + "min_active_finger_to_button": 0.14445214945463725, + "closest_active_finger": [ + -0.013580292463302612, + -0.5039257407188416, + 0.8107982277870178 + ], + "closest_active_finger_button": [ + 0.11219424754381177, + -0.44180107116699213, + 0.7763350009918213 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12577454000711438, + -0.06212466955184942, + 0.03446322679519653 + ], + "min_contact_pad_to_button": 0.021054276073264468, + "closest_contact_pad": [ + 0.11218439042568203, + -0.44198430273351386, + 0.7898050327468912 + ], + "closest_contact_pad_button": [ + 0.11218439042568203, + -0.44179350137710566, + 0.7687516212463379 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00019080135640819895, + 0.021053411500553287 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1c86dab4dd886213537f16af77415bda40b1ca50f8b08c2a3a727671fd9a6b2a", + "visual_seed": 882450843730182154, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..361497ad6d563b4665f803608756998dd9fbf7d3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_66_success.json @@ -0,0 +1,700 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2692086264110264, + -0.058738051412267414, + 1.1644133299560755 + ], + "current_z": 1.1644133299560755, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3033068219413094, + "gripper_z": 1.1570068797719022, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2646208028943033, + -0.0633324099245892, + 1.1570068797719022 + ], + "object_minus_gripper": [ + 0.0045878235167231, + 0.004594358512321789, + 0.007406450184173297 + ], + "object_to_gripper_xy": 0.006492784823197299, + "object_to_gripper_z": 0.007406450184173297, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2692086264110264, + -0.08249438456415063, + 1.1644133299560755 + ], + "finger_b": [ + 0.2586316528175993, + -0.058738051412267414, + 1.1644133299560755 + ], + "finger_midpoint": [ + 0.2639201396143128, + -0.07061621798820902, + 1.1644133299560755 + ], + "object_minus_finger_midpoint": [ + 0.005288486796713565, + 0.01187816657594161, + 0.0 + ], + "finger_gap": 0.02600453297445119, + "fingertip_max_gap": 0.09219800065740752, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013002266487225607, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644133299560755, + "object_top_z": 1.2145339234600554, + "finger_top_clearance": 0.050120593503979904, + "fingertip_min_top_clearance": 0.015036178051193937, + "object_projection_between_fingers": 0.8345660180768608, + "object_to_finger_line_xy": 0.009662550320399572, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859900032870376, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4504072045856682, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26310062383156185, + -0.38719775534246237, + 0.8515395569297666 + ], + "target_position": [ + 0.2556984006446024, + -0.3877653500593937, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007423952577451465, + "xy_threshold": 0.08, + "gripper_dist": 0.18545629660590174, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395569297666, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514060799944632, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537778753111545, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.154327820055894, + "release_required_pad_clearance": 0.05268889376555773, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.43340963171946606, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008127927780151367, + "max_z_decrease": 0.008127927780151367, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035022444974213106, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008127927780151367, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02096203772668004, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008127927780151367, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008127980419911985, + "max_button_displacement": 0.12, + "button_start": [ + 0.11139832437038422, + -0.44402679800987244, + 0.7768088579177856 + ], + "button_final": [ + 0.11139832437038422, + -0.44402679800987244, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11142451973486764, + -0.44279672803988684, + 0.8036825802774445 + ], + "closest_button": [ + 0.11141588538885118, + -0.4440034031867981, + 0.7686809301376343 + ], + "closest_ee_minus_button": [ + 8.63434601645896e-06, + 0.0012066751469112513, + 0.03500165013981027 + ], + "button_min_z_position": [ + 0.11141588538885118, + -0.4440034031867981, + 0.7686809301376343 + ], + "min_active_finger_to_button": 0.14541170158931901, + "closest_active_finger": [ + -0.014586292207241058, + -0.5078893899917603, + 0.8101623058319092 + ], + "closest_active_finger_button": [ + 0.1114022508263588, + -0.4440224170684815, + 0.7756302952766418 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12598854303359985, + -0.06386697292327875, + 0.034532010555267334 + ], + "min_contact_pad_to_button": 0.02096203772668004, + "closest_contact_pad": [ + 0.11141588538885118, + -0.4440034031867981, + 0.7896429678643143 + ], + "closest_contact_pad_button": [ + 0.11141588538885118, + -0.4440034031867981, + 0.7686809301376343 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02096203772668004 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dba237446a980cdd31b533f849a3b9569744480a10f1b84f127ac532aad3ce54", + "visual_seed": 7505559139549353076, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..120aee39319fefed3f3c75b15645431e34d1383f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_67_success.json @@ -0,0 +1,700 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2640214540391901, + -0.05414476156441029, + 1.1634050402447542 + ], + "current_z": 1.1634050402447542, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.3022985322299885, + "gripper_z": 1.1564283474572599, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25919291041530934, + -0.05891463927395944, + 1.1564283474572599 + ], + "object_minus_gripper": [ + 0.004828543623880743, + 0.004769877709549154, + 0.006976692787494354 + ], + "object_to_gripper_xy": 0.006787235585403918, + "object_to_gripper_z": 0.006976692787494354, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2640214540391901, + -0.07799960577721576, + 1.1634050402447542 + ], + "finger_b": [ + 0.2531092016813279, + -0.05414476156441029, + 1.1634050402447542 + ], + "finger_midpoint": [ + 0.258565327860259, + -0.06607218367081302, + 1.1634050402447542 + ], + "object_minus_finger_midpoint": [ + 0.005456126178931098, + 0.011927422106402734, + 0.0 + ], + "finger_gap": 0.0262322481678351, + "fingertip_max_gap": 0.0921651611539599, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013116124083917546, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634050402447542, + "object_top_z": 1.2135747396281455, + "finger_top_clearance": 0.05016969938339133, + "fingertip_min_top_clearance": 0.015050909815017399, + "object_projection_between_fingers": 0.8269555091585981, + "object_to_finger_line_xy": 0.009923285200038757, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858258057697995, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.282459315062222, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2560517618498825, + -0.38369621691086486, + 0.8515395703020152 + ], + "target_position": [ + 0.2483686650199225, + -0.3843613194199842, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007711831056641353, + "xy_threshold": 0.08, + "gripper_dist": 0.18210597229113532, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395703020152, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568084876139218, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08647620284599407, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1496783133780767, + "release_required_pad_clearance": 0.053238101422997036, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4972084723850818, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 146, + "max_placed_release_frames": 146 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008050501346588135, + "max_z_decrease": 0.008050501346588135, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508498186885537, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008050501346588135, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021065149575989886, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008050501346588135, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008050509509869597, + "max_button_displacement": 0.12, + "button_start": [ + 0.10406859219074249, + -0.4406227767467499, + 0.7768088579177856 + ], + "button_final": [ + 0.10406859219074249, + -0.4406227767467499, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1031835453585708, + -0.4398333136804524, + 0.807228103674763 + ], + "closest_button": [ + 0.10405946522951126, + -0.4406161606311798, + 0.7721627950668335 + ], + "closest_ee_minus_button": [ + -0.0008759198709404614, + 0.0007828469507273894, + 0.03506530860792956 + ], + "button_min_z_position": [ + 0.10406260192394258, + -0.4406130015850067, + 0.7687583565711975 + ], + "min_active_finger_to_button": 0.1466651642331744, + "closest_active_finger": [ + -0.024671487510204315, + -0.5018161535263062, + 0.8105162382125854 + ], + "closest_active_finger_button": [ + 0.10407073050737381, + -0.4406194984912872, + 0.7760041952133179 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12874221801757812, + -0.061196655035018976, + 0.03451204299926758 + ], + "min_contact_pad_to_button": 0.021065149575989886, + "closest_contact_pad": [ + 0.10406260192394258, + -0.44103803552273574, + 0.7898192177314304 + ], + "closest_contact_pad_button": [ + 0.10406260192394258, + -0.4406130015850067, + 0.7687583565711975 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00042503393772902465, + 0.02106086116023287 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3052bb0fbfee2c8a1baeb572ae869d605121f602b4a67814f1f06dcac6e53901", + "visual_seed": 5705869035784006778, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f5fb370dfb693eb49b3e3aaa8705ddfdb91e98a7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_68_success.json @@ -0,0 +1,700 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2652966290775792, + -0.0606963592494421, + 1.164333669221247 + ], + "current_z": 1.164333669221247, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30322722081112563, + "gripper_z": 1.157299800804747, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2604438735062782, + -0.06539424987326947, + 1.157299800804747 + ], + "object_minus_gripper": [ + 0.004852755571301048, + 0.004697890623827375, + 0.007033868416499889 + ], + "object_to_gripper_xy": 0.006754214458265189, + "object_to_gripper_z": 0.007033868416499889, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2652966290775792, + -0.08481499187384041, + 1.164333669221247 + ], + "finger_b": [ + 0.25478033605278105, + -0.0606963592494421, + 1.164333669221247 + ], + "finger_midpoint": [ + 0.26003848256518014, + -0.07275567556164125, + 1.164333669221247 + ], + "object_minus_finger_midpoint": [ + 0.005258146512399087, + 0.012059316312199156, + 0.0 + ], + "finger_gap": 0.026311610719492437, + "fingertip_max_gap": 0.09212416064558474, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013155805359746219, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164333669221247, + "object_top_z": 1.2143627100035541, + "finger_top_clearance": 0.05002904078230719, + "fingertip_min_top_clearance": 0.01500871223469219, + "object_projection_between_fingers": 0.8402538179738508, + "object_to_finger_line_xy": 0.009639797834487037, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856208032279237, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.474232358599818, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26195304475120024, + -0.3901390500876821, + 0.8515395640307158 + ], + "target_position": [ + 0.2552623925995889, + -0.39061827897513657, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006707792970898286, + "xy_threshold": 0.08, + "gripper_dist": 0.1838326436418489, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395640307158, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554326183410849, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08778208094655555, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1515662763615925, + "release_required_pad_clearance": 0.05389104047327778, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7918332943084136, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008187651634216309, + "max_z_decrease": 0.008187651634216309, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349889395861653, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008187651634216309, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020972190436226976, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008187651634216309, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008187715512450695, + "max_button_displacement": 0.12, + "button_start": [ + 0.11096231639385223, + -0.4468797445297241, + 0.7768088579177856 + ], + "button_final": [ + 0.11096231639385223, + -0.4468797445297241, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11073119734789913, + -0.4467799710762086, + 0.803609122314342 + ], + "closest_button": [ + 0.11098695546388626, + -0.44685879349708557, + 0.7686212062835693 + ], + "closest_ee_minus_button": [ + -0.0002557581159871314, + 7.882242087697833e-05, + 0.03498791603077267 + ], + "button_min_z_position": [ + 0.11098695546388626, + -0.44685879349708557, + 0.7686212062835693 + ], + "min_active_finger_to_button": 0.14612274296021363, + "closest_active_finger": [ + -0.030129775404930115, + -0.43110308051109314, + 0.8106540441513062 + ], + "closest_active_finger_button": [ + 0.11096515506505966, + -0.44687619805336, + 0.7760811448097229 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14109493046998978, + 0.015773117542266846, + 0.03457289934158325 + ], + "min_contact_pad_to_button": 0.020972190436226976, + "closest_contact_pad": [ + 0.11098695546388626, + -0.44793025518446805, + 0.7895660085396385 + ], + "closest_contact_pad_button": [ + 0.11098695546388626, + -0.44685879349708557, + 0.7686212062835693 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00107146168738248, + 0.020944802256069206 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f6212260c23afc289754dab8f3fce2434df0e2ce622c65367dcff0babed57b44", + "visual_seed": 1080363754899172957, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8adf998825a8a39eb3338dd5c4e19c11806d214d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_69_success.json @@ -0,0 +1,700 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.262840108794398, + -0.05790528691537434, + 1.1626065629469273 + ], + "current_z": 1.1626065629469273, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30150011453680614, + "gripper_z": 1.1555288696666455, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2581986039841375, + -0.06263777575590679, + 1.1555288696666455 + ], + "object_minus_gripper": [ + 0.004641504810260488, + 0.004732488840532449, + 0.007077693280281849 + ], + "object_to_gripper_xy": 0.006628726689903229, + "object_to_gripper_z": 0.007077693280281849, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.262840108794398, + -0.0815540251262861, + 1.1626065629469273 + ], + "finger_b": [ + 0.2519179395548472, + -0.05790528691537434, + 1.1626065629469273 + ], + "finger_midpoint": [ + 0.2573790241746226, + -0.06972965602083021, + 1.1626065629469273 + ], + "object_minus_finger_midpoint": [ + 0.005461084619775403, + 0.011824369105455874, + 0.0 + ], + "finger_gap": 0.026049118984442208, + "fingertip_max_gap": 0.09209603003513467, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013024559492221102, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626065629469273, + "object_top_z": 1.2127611061085326, + "finger_top_clearance": 0.05015454316160528, + "fingertip_min_top_clearance": 0.015046362948481584, + "object_projection_between_fingers": 0.8241947968363831, + "object_to_finger_line_xy": 0.009915710439023942, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048548015017567336, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3029560415155135, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26431691627495224, + -0.3844554753094242, + 0.8515396541450526 + ], + "target_position": [ + 0.25580735838059554, + -0.38570133316030636, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00860027542245091, + "xy_threshold": 0.08, + "gripper_dist": 0.18727819585343874, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396541450526, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582188051805797, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08647474405333101, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15448386188252378, + "release_required_pad_clearance": 0.05323737202666551, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4956393199075004, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00810706615447998, + "max_z_decrease": 0.00810706615447998, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503082373021785, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00810706615447998, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02100433146759564, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00810706615447998, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008107101950786615, + "max_button_displacement": 0.12, + "button_start": [ + 0.11150728166103363, + -0.44196277856826793, + 0.7768088579177856 + ], + "button_final": [ + 0.11150728166103363, + -0.44196277856826793, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11163528503515088, + -0.4417174131728489, + 0.8037317037649285 + ], + "closest_button": [ + 0.11152007430791855, + -0.44194236397743236, + 0.7687017917633057 + ], + "closest_ee_minus_button": [ + 0.00011521072723233439, + 0.00022495080458345695, + 0.035029912001622865 + ], + "button_min_z_position": [ + 0.11152007430791855, + -0.44194236397743236, + 0.7687017917633057 + ], + "min_active_finger_to_button": 0.14574472282302128, + "closest_active_finger": [ + -0.01488853245973587, + -0.5057868957519531, + 0.8101239204406738 + ], + "closest_active_finger_button": [ + 0.11151091009378435, + -0.44195833802223217, + 0.7756185531616211 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1263994425535202, + -0.06382855772972096, + 0.034505367279052734 + ], + "min_contact_pad_to_button": 0.02100433146759564, + "closest_contact_pad": [ + 0.11152007430791855, + -0.4427992395356381, + 0.7896886377549829 + ], + "closest_contact_pad_button": [ + 0.11152007430791855, + -0.44194236397743236, + 0.7687017917633057 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008568755582057386, + 0.020986845991677217 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "83ff516c96068b3879f15f396eef6904c0fc8242eddd66b78de4aa14ae501933", + "visual_seed": 3063178164738278442, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0428134407bc2e38ae8012953b514584c55beeb3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_6_success.json @@ -0,0 +1,700 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2669844069161802, + -0.05939300876538928, + 1.1655117866021993 + ], + "current_z": 1.1655117866021993, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30440533819207816, + "gripper_z": 1.158191462439318, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2625278304488915, + -0.06402815304108395, + 1.158191462439318 + ], + "object_minus_gripper": [ + 0.004456576467288698, + 0.004635144275694669, + 0.00732032416288142 + ], + "object_to_gripper_xy": 0.006430057252100985, + "object_to_gripper_z": 0.00732032416288142, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2669844069161802, + -0.08294436444086836, + 1.1655117866021993 + ], + "finger_b": [ + 0.2562235756522956, + -0.05939300876538928, + 1.1655117866021993 + ], + "finger_midpoint": [ + 0.2616039912842379, + -0.07116868660312882, + 1.1655117866021993 + ], + "object_minus_finger_midpoint": [ + 0.0053804156319423035, + 0.011775677837739543, + 0.0 + ], + "finger_gap": 0.025893277962488977, + "fingertip_max_gap": 0.09212882546750051, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012946638981244488, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1655117866021993, + "object_top_z": 1.2156422182574578, + "finger_top_clearance": 0.050130431655258434, + "fingertip_min_top_clearance": 0.01503912949657753, + "object_projection_between_fingers": 0.8272899634964124, + "object_to_finger_line_xy": 0.009787565901339453, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048564412733750256, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4036210074452944, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26005845301881136, + -0.38329952928955247, + 0.8515394965114663 + ], + "target_position": [ + 0.2518669309871736, + -0.3843075920631824, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008253315924547247, + "xy_threshold": 0.08, + "gripper_dist": 0.18528335379164435, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394965114663, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756749884647066, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599918119906706, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15273151140161514, + "release_required_pad_clearance": 0.05299959059953353, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0324825079061108, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008098304271697998, + "max_z_decrease": 0.008098304271697998, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035030310531181816, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008098304271697998, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021045414828706154, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008098304271697998, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008098328688743958, + "max_button_displacement": 0.12, + "button_start": [ + 0.10756685584783549, + -0.4405690431594848, + 0.7768088579177856 + ], + "button_final": [ + 0.10756685584783549, + -0.4405690431594848, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10711607568664627, + -0.44081792049973195, + 0.8037368168628681 + ], + "closest_button": [ + 0.10757757723331447, + -0.4405522942543029, + 0.7687105536460876 + ], + "closest_ee_minus_button": [ + -0.00046150154666819987, + -0.00026562624542902924, + 0.035026263216780484 + ], + "button_min_z_position": [ + 0.10757757723331447, + -0.4405522942543029, + 0.7687105536460876 + ], + "min_active_finger_to_button": 0.14628924545032473, + "closest_active_finger": [ + -0.0336214080452919, + -0.424120157957077, + 0.8111448287963867 + ], + "closest_active_finger_button": [ + 0.10756941139698023, + -0.44056645035743713, + 0.7765729427337646 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14119081944227213, + 0.016446292400360107, + 0.03457188606262207 + ], + "min_contact_pad_to_button": 0.021045414828706154, + "closest_contact_pad": [ + 0.10757757723331447, + -0.44205886375744236, + 0.7897019741231429 + ], + "closest_contact_pad_button": [ + 0.10757757723331447, + -0.4405522942543029, + 0.7687105536460876 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015065695031394322, + 0.020991420477055267 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cdfaa82c493343ed0e0bb054430fc148f2859a77056db969ff5d3ea835ccf19c", + "visual_seed": 6319511643804652280, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ca8b93a02ded9550c1ab5a3dd1b51108ab62c7b1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_70_success.json @@ -0,0 +1,700 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27125408684701996, + -0.05799118894999744, + 1.1651305127075822 + ], + "current_z": 1.1651305127075822, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30402406429746076, + "gripper_z": 1.1577285896133263, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2665445222634105, + -0.0627042459304789, + 1.1577285896133263 + ], + "object_minus_gripper": [ + 0.004709564583609438, + 0.004713056980481453, + 0.007401923094255913 + ], + "object_to_gripper_xy": 0.0066628000621700555, + "object_to_gripper_z": 0.007401923094255913, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27125408684701996, + -0.08175367144782467, + 1.1651305127075822 + ], + "finger_b": [ + 0.26038864055242755, + -0.05799118894999744, + 1.1651305127075822 + ], + "finger_midpoint": [ + 0.26582136369972376, + -0.06987243019891105, + 1.1651305127075822 + ], + "object_minus_finger_midpoint": [ + 0.005432723147296203, + 0.011881241248913613, + 0.0 + ], + "finger_gap": 0.026128786761734978, + "fingertip_max_gap": 0.09208022210561187, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013064393380867489, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651305127075822, + "object_top_z": 1.2152873347559472, + "finger_top_clearance": 0.050156822048365024, + "fingertip_min_top_clearance": 0.015047046614509507, + "object_projection_between_fingers": 0.8270754517250116, + "object_to_finger_line_xy": 0.009881437655744778, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854011105280594, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.254761455868007, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2604576757434772, + -0.38275234153662296, + 0.8515395493441436 + ], + "target_position": [ + 0.25203456906912103, + -0.3837254681453677, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008479133295581033, + "xy_threshold": 0.08, + "gripper_dist": 0.18550603007021366, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395493441436, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544040997607768, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578008304136374, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15349605363624372, + "release_required_pad_clearance": 0.05289004152068187, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8204324556130057, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007764339447021484, + "max_z_decrease": 0.007764339447021484, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513715047906051, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007764339447021484, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02107029584755249, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007764339447021484, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007764364820615625, + "max_button_displacement": 0.12, + "button_start": [ + 0.1077344939112663, + -0.43998691439628596, + 0.7768088579177856 + ], + "button_final": [ + 0.1077344939112663, + -0.43998691439628596, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10595198841934458, + -0.43830955984041486, + 0.8077429493070997 + ], + "closest_button": [ + 0.10772684961557386, + -0.43997961282730097, + 0.7726904153823853 + ], + "closest_ee_minus_button": [ + -0.0017748611962292715, + 0.0016700529868861058, + 0.03505253392471441 + ], + "button_min_z_position": [ + 0.10771556943655011, + -0.4399809241294861, + 0.7690445184707642 + ], + "min_active_finger_to_button": 0.1470614552839008, + "closest_active_finger": [ + -0.020374909043312073, + -0.5033895969390869, + 0.8105314373970032 + ], + "closest_active_finger_button": [ + 0.10773747414350507, + -0.4399838149547577, + 0.7759771943092346 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12811238318681714, + -0.06340578198432922, + 0.034554243087768555 + ], + "min_contact_pad_to_button": 0.02107029584755249, + "closest_contact_pad": [ + 0.10771556943655011, + -0.4399809241294861, + 0.7901148143183166 + ], + "closest_contact_pad_button": [ + 0.10771556943655011, + -0.4399809241294861, + 0.7690445184707642 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02107029584755249 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "259a2cbc00e1b2640b68f2e1689d9d59dd464458e8aeae7d4211e015799a1d29", + "visual_seed": 1888894919124133567, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b517486d9f3988897035bc418f8c870f8ab37df --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2679340482485518, + -0.0644271881413176, + 1.1639022903699139 + ], + "current_z": 1.1639022903699139, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3027958419597927, + "gripper_z": 1.1565584446758366, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26328779920481343, + -0.06913393378619066, + 1.1565584446758366 + ], + "object_minus_gripper": [ + 0.004646249043738393, + 0.004706745644873056, + 0.007343845694077311 + ], + "object_to_gripper_xy": 0.006613704313164553, + "object_to_gripper_z": 0.007343845694077311, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2679340482485518, + -0.08810296532201593, + 1.1639022903699139 + ], + "finger_b": [ + 0.25707488687174, + -0.0644271881413176, + 1.1639022903699139 + ], + "finger_midpoint": [ + 0.2625044675601459, + -0.07626507673166677, + 1.1639022903699139 + ], + "object_minus_finger_midpoint": [ + 0.005429580688405933, + 0.011837888590349163, + 0.0 + ], + "finger_gap": 0.026047337885429234, + "fingertip_max_gap": 0.09222639042002592, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013023668942714627, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1639022903699139, + "object_top_z": 1.2141028791624269, + "finger_top_clearance": 0.05020058879251299, + "fingertip_min_top_clearance": 0.015060176637753896, + "object_projection_between_fingers": 0.826193550915949, + "object_to_finger_line_xy": 0.009870455332422376, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861319521001296, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3127015759152019, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26364439050616517, + -0.38543647113276625, + 0.8515395616915291 + ], + "target_position": [ + 0.2559954899740059, + -0.38608375066393097, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0076762393228931615, + "xy_threshold": 0.08, + "gripper_dist": 0.186576970352544, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395616915291, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513406597860676, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08553759654240219, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15544778688228522, + "release_required_pad_clearance": 0.052768798271201095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5868397084613668, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008062243461608887, + "max_z_decrease": 0.008062243461608887, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508267740244631, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008062243461608887, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02104047851180534, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008062243461608887, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008062253016076923, + "max_button_displacement": 0.12, + "button_start": [ + 0.11169541627168655, + -0.4423452019691468, + 0.7768088579177856 + ], + "button_final": [ + 0.11169541627168655, + -0.4423452019691468, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1106392633551461, + -0.44205167877328844, + 0.8073444580377022 + ], + "closest_button": [ + 0.11168499290943146, + -0.44233909249305725, + 0.7722785472869873 + ], + "closest_ee_minus_button": [ + -0.0010457295542853629, + 0.00028741371976881425, + 0.03506591075071486 + ], + "button_min_z_position": [ + 0.11169206351041792, + -0.44233325123786926, + 0.7687466144561768 + ], + "min_active_finger_to_button": 0.14700585022874849, + "closest_active_finger": [ + -0.01665620505809784, + -0.5051674842834473, + 0.8107693791389465 + ], + "closest_active_finger_button": [ + 0.11169749498367311, + -0.44234296679496765, + 0.7762856483459473 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12835370004177094, + -0.06282451748847961, + 0.03448373079299927 + ], + "min_contact_pad_to_button": 0.02104047851180534, + "closest_contact_pad": [ + 0.11169206351041792, + -0.44311345484790576, + 0.7897726225968731 + ], + "closest_contact_pad_button": [ + 0.11169206351041792, + -0.44233325123786926, + 0.7687466144561768 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007802036100365006, + 0.02102600814069633 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f67b394ac6a4f279913df9f517ec971775c7c7f56a67cd3e2c410ccd27d3a3c9", + "visual_seed": 1312960455842840016, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c72e673664c92535500301fc146d25a6c0b03c2c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27002149439364387, + -0.06421885766348198, + 1.1656294524544348 + ], + "current_z": 1.1656294524544348, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30452300404431365, + "gripper_z": 1.158408665666763, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26512058570908226, + -0.06895774271900364, + 1.158408665666763 + ], + "object_minus_gripper": [ + 0.004900908684561611, + 0.004738885055521655, + 0.007220786787671907 + ], + "object_to_gripper_xy": 0.006817326272363521, + "object_to_gripper_z": 0.007220786787671907, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27002149439364387, + -0.08839706191997104, + 1.1656294524544348 + ], + "finger_b": [ + 0.25949290323329555, + -0.06421885766348198, + 1.1656294524544348 + ], + "finger_midpoint": [ + 0.2647571988134697, + -0.07630795979172651, + 1.1656294524544348 + ], + "object_minus_finger_midpoint": [ + 0.005264295580174161, + 0.01208910212824453, + 0.0 + ], + "finger_gap": 0.02637113560107472, + "fingertip_max_gap": 0.09211334719233422, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318556780053736, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656294524544348, + "object_top_z": 1.2157557279306324, + "finger_top_clearance": 0.050126275476197524, + "fingertip_min_top_clearance": 0.015037882642859256, + "object_projection_between_fingers": 0.840602003007259, + "object_to_finger_line_xy": 0.009653070366738114, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855667359616711, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4118573040163143, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.257469724384798, + -0.38535404081020963, + 0.851539526151789 + ], + "target_position": [ + 0.2516583442368998, + -0.38502543405843614, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005820663331674156, + "xy_threshold": 0.08, + "gripper_dist": 0.18432036558763207, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539526151789, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542519204269352, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08766755614258907, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15221583272740782, + "release_required_pad_clearance": 0.05383377807129454, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6767512093534065, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00788259506225586, + "max_z_decrease": 0.00788259506225586, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507899727858351, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00788259506225586, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021088766521497774, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00788259506225586, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007882615518551357, + "max_button_displacement": 0.12, + "button_start": [ + 0.10735826939344403, + -0.44128689169883734, + 0.7768088579177856 + ], + "button_final": [ + 0.10735826939344403, + -0.44128689169883734, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10732879581952945, + -0.4406709546051052, + 0.8082147778293197 + ], + "closest_button": [ + 0.10736570507287975, + -0.44127991795539856, + 0.773141086101532 + ], + "closest_ee_minus_button": [ + -3.690925335030071e-05, + 0.0006089633502933678, + 0.03507369172778774 + ], + "button_min_z_position": [ + 0.10734120756387708, + -0.44128128886222845, + 0.7689262628555298 + ], + "min_active_finger_to_button": 0.1460421752419854, + "closest_active_finger": [ + -0.019585847854614258, + -0.504672646522522, + 0.8087412118911743 + ], + "closest_active_finger_button": [ + 0.10736403614282605, + -0.4412816464900971, + 0.7741923332214355 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1269498839974403, + -0.06339100003242487, + 0.03454887866973877 + ], + "min_contact_pad_to_button": 0.021088766521497774, + "closest_contact_pad": [ + 0.10734120756387708, + -0.4416565720832339, + 0.7900116899534635 + ], + "closest_contact_pad_button": [ + 0.10734120756387708, + -0.44128128886222845, + 0.7689262628555298 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003752832210054402, + 0.021085427097933707 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2812ba88f48babd67c988c3bb29708fe5d7795f102ff558ac14d1d0c315fbd46", + "visual_seed": 7644174327438384790, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..75ccb44c8a0cf0aba53e92d6ff2928ca43dc7b98 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2653010331037112, + -0.060267331436695486, + 1.1637601307550203 + ], + "current_z": 1.1637601307550203, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30265374194954386, + "gripper_z": 1.1565821254950865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26047042833776735, + -0.064901366011777, + 1.1565821254950865 + ], + "object_minus_gripper": [ + 0.00483060476594388, + 0.004634034575081512, + 0.0071780052599337285 + ], + "object_to_gripper_xy": 0.006693953902426474, + "object_to_gripper_z": 0.0071780052599337285, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2653010331037112, + -0.08429377652948053, + 1.1637601307550203 + ], + "finger_b": [ + 0.2547986496704866, + -0.060267331436695486, + 1.1637601307550203 + ], + "finger_midpoint": [ + 0.2600498413870989, + -0.07228055398308801, + 1.1637601307550203 + ], + "object_minus_finger_midpoint": [ + 0.005251191716612313, + 0.012013222546392525, + 0.0 + ], + "finger_gap": 0.02622155833613032, + "fingertip_max_gap": 0.09211331018465757, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013110779168065164, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637601307550203, + "object_top_z": 1.213849241046339, + "finger_top_clearance": 0.050089110291318795, + "fingertip_min_top_clearance": 0.015026733087395638, + "object_projection_between_fingers": 0.8395799143717942, + "object_to_finger_line_xy": 0.009623186222081158, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855665509232879, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4714480125054124, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26003531224200777, + -0.3837980610877153, + 0.8515395097322995 + ], + "target_position": [ + 0.2529266641901988, + -0.3844214733857173, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007135931615268408, + "xy_threshold": 0.08, + "gripper_dist": 0.18162997216079876, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395097322995, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566371997882697, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08715689209715992, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14926303314491352, + "release_required_pad_clearance": 0.05357844604857996, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.167801427370793, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 146, + "max_placed_release_frames": 146 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007745265960693359, + "max_z_decrease": 0.007745265960693359, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035114386395070994, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007745265960693359, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021138854518741264, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007745265960693359, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007745288382597343, + "max_button_displacement": 0.12, + "button_start": [ + 0.108626589179039, + -0.44068291783332825, + 0.7768088579177856 + ], + "button_final": [ + 0.108626589179039, + -0.44068291783332825, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1069161360748078, + -0.4413950410378252, + 0.807237783899581 + ], + "closest_button": [ + 0.10861515998840332, + -0.440675139427185, + 0.7721719145774841 + ], + "closest_ee_minus_button": [ + -0.0016990239135955265, + -0.0007199016106401723, + 0.035065869322096876 + ], + "button_min_z_position": [ + 0.10860893130302429, + -0.4406769573688507, + 0.7690635919570923 + ], + "min_active_finger_to_button": 0.14769074165136065, + "closest_active_finger": [ + -0.03395293653011322, + -0.4236929714679718, + 0.8111007213592529 + ], + "closest_active_finger_button": [ + 0.10862818360328674, + -0.4406827390193939, + 0.7765387892723083 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14258112013339996, + 0.01698976755142212, + 0.03456193208694458 + ], + "min_contact_pad_to_button": 0.021138854518741264, + "closest_contact_pad": [ + 0.10860893130302429, + -0.44264971072040216, + 0.7901101929790733 + ], + "closest_contact_pad_button": [ + 0.10860893130302429, + -0.4406769573688507, + 0.7690635919570923 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019727533515514484, + 0.02104660102198097 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ccd4a3051ce186695212fd608e47c84b4dea033ef973b73b09e2ece0cf467d1e", + "visual_seed": 2395831638028989291, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ea589d22086ea504a2dede704e760177ecfa6f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26528535603536607, + -0.05945431126488135, + 1.162811822159259 + ], + "current_z": 1.162811822159259, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30170531414449275, + "gripper_z": 1.1557345205004024, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26060470985489537, + -0.06423554924763396, + 1.1557345205004024 + ], + "object_minus_gripper": [ + 0.0046806461804707045, + 0.004781237982752609, + 0.007077301658856561 + ], + "object_to_gripper_xy": 0.006690940540347914, + "object_to_gripper_z": 0.007077301658856561, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26528535603536607, + -0.08308900162765853, + 1.162811822159259 + ], + "finger_b": [ + 0.2542375940093903, + -0.05945431126488135, + 1.162811822159259 + ], + "finger_midpoint": [ + 0.2597614750223782, + -0.07127165644626994, + 1.162811822159259 + ], + "object_minus_finger_midpoint": [ + 0.005523881012987897, + 0.011817345181388592, + 0.0 + ], + "finger_gap": 0.026089301146771743, + "fingertip_max_gap": 0.09216643503033084, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013044650573385871, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162811822159259, + "object_top_z": 1.2129857623719658, + "finger_top_clearance": 0.050173940212706825, + "fingertip_min_top_clearance": 0.01505218206381208, + "object_projection_between_fingers": 0.8206820646169702, + "object_to_finger_line_xy": 0.010008333807664888, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858321751516542, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3286923512087834, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26138039846319017, + -0.38716292752184367, + 0.8515396600806023 + ], + "target_position": [ + 0.2531374605398847, + -0.38817320900104924, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008304618851861515, + "xy_threshold": 0.08, + "gripper_dist": 0.18352054173563964, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396600806023, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546293455723709, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548548871450441, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15159426481469998, + "release_required_pad_clearance": 0.05274274435725221, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.536681941027975, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007982194423675537, + "max_z_decrease": 0.007982194423675537, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035091927722929794, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007982194423675537, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021077315457440664, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007982194423675537, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007982221616337336, + "max_button_displacement": 0.12, + "button_start": [ + 0.10883738845586775, + -0.4444346725940704, + 0.7768088579177856 + ], + "button_final": [ + 0.10883738845586775, + -0.4444346725940704, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10848553172470787, + -0.44379984377422255, + 0.8076702547679586 + ], + "closest_button": [ + 0.10882880538702008, + -0.4444280862808227, + 0.7725856304168701 + ], + "closest_ee_minus_button": [ + -0.0003432736623122101, + 0.0006282425066001518, + 0.0350846243510885 + ], + "button_min_z_position": [ + 0.10881745070219037, + -0.44442862272262573, + 0.7688266634941101 + ], + "min_active_finger_to_button": 0.14625940283102581, + "closest_active_finger": [ + -0.019761182367801666, + -0.5049878358840942, + 0.8108315467834473 + ], + "closest_active_finger_button": [ + 0.1088386997580528, + -0.44443228840827936, + 0.7763800024986267 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12859988212585446, + -0.060555547475814875, + 0.03445154428482056 + ], + "min_contact_pad_to_button": 0.021077315457440664, + "closest_contact_pad": [ + 0.10881745070219037, + -0.4450587736914823, + 0.7898945569969954 + ], + "closest_contact_pad_button": [ + 0.10881745070219037, + -0.44442862272262573, + 0.7688266634941101 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006301509688565465, + 0.021067893502885293 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "77c0a033a82ba021a88736150fb993f6928f5883b579988e17f47870a9aa989c", + "visual_seed": 2581398030919363017, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b5be68838b7f643b8264006fffd912bb3a065ced --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2644889824121597, + -0.058397933728632404, + 1.1627932300177575 + ], + "current_z": 1.1627932300177575, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.3016866623983465, + "gripper_z": 1.1555329022778376, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2599589333064162, + -0.06311638639703925, + 1.1555329022778376 + ], + "object_minus_gripper": [ + 0.0045300491057435055, + 0.004718452668406842, + 0.007260327739919914 + ], + "object_to_gripper_xy": 0.006541035123315206, + "object_to_gripper_z": 0.007260327739919914, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2644889824121597, + -0.08191264704828276, + 1.1627932300177575 + ], + "finger_b": [ + 0.25351977259275743, + -0.058397933728632404, + 1.1627932300177575 + ], + "finger_midpoint": [ + 0.2590043775024585, + -0.07015529038845758, + 1.1627932300177575 + ], + "object_minus_finger_midpoint": [ + 0.005484604909701152, + 0.011757356659825177, + 0.0 + ], + "finger_gap": 0.025947356446609594, + "fingertip_max_gap": 0.09191977754306177, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01297367822330481, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627932300177575, + "object_top_z": 1.2129921592244903, + "finger_top_clearance": 0.050198929206732856, + "fingertip_min_top_clearance": 0.015059678762019822, + "object_projection_between_fingers": 0.8212835818385913, + "object_to_finger_line_xy": 0.009940813229936615, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04845988877153089, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.088617879557543, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25780083435534595, + -0.38039120967339923, + 0.8515395078578948 + ], + "target_position": [ + 0.24948721372618554, + -0.3814217206905659, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00837724542568161, + "xy_threshold": 0.08, + "gripper_dist": 0.18384706531774123, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395078578948, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583780245773115, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086557832212745, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1511336700965634, + "release_required_pad_clearance": 0.053278916106372504, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5771501962614558, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008063137531280518, + "max_z_decrease": 0.008063137531280518, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035125704221106745, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008063137531280518, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021060782678831713, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008063137531280518, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008063149657349217, + "max_button_displacement": 0.12, + "button_start": [ + 0.10518714040517804, + -0.43768316507339483, + 0.7768088579177856 + ], + "button_final": [ + 0.10518714040517804, + -0.43768316507339483, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10672572590054122, + -0.43652364363733115, + 0.8072372627426775 + ], + "closest_button": [ + 0.10517589747905728, + -0.43767631053924566, + 0.7721647024154663 + ], + "closest_ee_minus_button": [ + 0.0015498284214839342, + 0.001152666901914512, + 0.03507256032721118 + ], + "button_min_z_position": [ + 0.10517992824316023, + -0.4376711845397949, + 0.7687457203865051 + ], + "min_active_finger_to_button": 0.14438717524714717, + "closest_active_finger": [ + -0.020116880536079407, + -0.5005506277084351, + 0.8106525540351868 + ], + "closest_active_finger_button": [ + 0.10519023239612578, + -0.4376796483993531, + 0.7761123776435852 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1253071129322052, + -0.06287097930908198, + 0.03454017639160156 + ], + "min_contact_pad_to_button": 0.021060782678831713, + "closest_contact_pad": [ + 0.10517992824316023, + -0.4376711845397949, + 0.7898065030653368 + ], + "closest_contact_pad_button": [ + 0.10517992824316023, + -0.4376711845397949, + 0.7687457203865051 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021060782678831713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "80d539101ff60681cc68142a8a94aec3bdb7b85a8449e5341175442418a13e55", + "visual_seed": 3310010386895143742, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fa405ff2169426daff5c8c32343027729d6d2cd6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26772778719519774, + -0.061704280626357154, + 1.1649985629814208 + ], + "current_z": 1.1649985629814208, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.3038919357573654, + "gripper_z": 1.1576273775666475, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.263091251164324, + -0.0662922128064818, + 1.1576273775666475 + ], + "object_minus_gripper": [ + 0.004636536030873717, + 0.004587932180124647, + 0.007371185414773329 + ], + "object_to_gripper_xy": 0.006522774567238507, + "object_to_gripper_z": 0.007371185414773329, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26772778719519774, + -0.08553636294813179, + 1.1649985629814208 + ], + "finger_b": [ + 0.25721179620187745, + -0.061704280626357154, + 1.1649985629814208 + ], + "finger_midpoint": [ + 0.26246979169853757, + -0.07362032178724447, + 1.1649985629814208 + ], + "object_minus_finger_midpoint": [ + 0.005257995496660173, + 0.011916041160887313, + 0.0 + ], + "finger_gap": 0.026049073195863158, + "fingertip_max_gap": 0.0921938411797103, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013024536597931586, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1649985629814208, + "object_top_z": 1.2151257534206288, + "finger_top_clearance": 0.05012719043920799, + "fingertip_min_top_clearance": 0.015038157131762396, + "object_projection_between_fingers": 0.8370269254383216, + "object_to_finger_line_xy": 0.009620993467347268, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859692058985515, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4093450613303398, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2639096007788553, + -0.3870104193380717, + 0.851539601424821 + ], + "target_position": [ + 0.2562369289571451, + -0.38761087569184943, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007696131542304695, + "xy_threshold": 0.08, + "gripper_dist": 0.18563095767080817, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539601424821, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530706071764433, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08607832831699079, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15403279611702017, + "release_required_pad_clearance": 0.0530391641584954, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1092275445075057, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008046090602874756, + "max_z_decrease": 0.008046090602874756, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508897920856439, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008046090602874756, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021064354885482674, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008046090602874756, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008046103857226556, + "max_button_displacement": 0.12, + "button_start": [ + 0.11193685233592988, + -0.443872332572937, + 0.7768088579177856 + ], + "button_final": [ + 0.11193685233592988, + -0.443872332572937, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11170046495667116, + -0.4435571952766456, + 0.8077035708036989 + ], + "closest_button": [ + 0.11192876845598221, + -0.44386500120162964, + 0.7726166844367981 + ], + "closest_ee_minus_button": [ + -0.00022830349931104998, + 0.00030780592498402815, + 0.03508688636690083 + ], + "button_min_z_position": [ + 0.11192576587200165, + -0.44386282563209534, + 0.7687627673149109 + ], + "min_active_finger_to_button": 0.14629122373658957, + "closest_active_finger": [ + -0.016331829130649567, + -0.5052041411399841, + 0.8107773661613464 + ], + "closest_active_finger_button": [ + 0.11193815618753435, + -0.4438698887825012, + 0.7763383984565735 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1282699853181839, + -0.06133425235748291, + 0.03443896770477295 + ], + "min_contact_pad_to_button": 0.021064354885482674, + "closest_contact_pad": [ + 0.11192576587200165, + -0.4447720803526605, + 0.7898074888049826 + ], + "closest_contact_pad_button": [ + 0.11192576587200165, + -0.44386282563209534, + 0.7687627673149109 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009092547205651891, + 0.02104472149007175 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a50820c2a176de15f290fc92550df098bf5d0194ddcc9da214f174effa61b898", + "visual_seed": 6072923049984425286, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7f2c310406aca7e081e3beaffec9508c1b9416aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26288700357633527, + -0.05781317733564104, + 1.1626181822919626 + ], + "current_z": 1.1626181822919626, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30151173388184116, + "gripper_z": 1.155474161594174, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2581790473232037, + -0.06236974127178646, + 1.155474161594174 + ], + "object_minus_gripper": [ + 0.004707956253131584, + 0.004556563936145418, + 0.007144020697788633 + ], + "object_to_gripper_xy": 0.006551879652861597, + "object_to_gripper_z": 0.007144020697788633, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26288700357633527, + -0.0817643227192288, + 1.1626181822919626 + ], + "finger_b": [ + 0.2525170279355423, + -0.05781317733564104, + 1.1626181822919626 + ], + "finger_midpoint": [ + 0.25770201575593876, + -0.06978875002743493, + 1.1626181822919626 + ], + "object_minus_finger_midpoint": [ + 0.005184987820396503, + 0.011975572691793883, + 0.0 + ], + "finger_gap": 0.026099688886582467, + "fingertip_max_gap": 0.09223634823467539, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013049844443291249, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626181822919626, + "object_top_z": 1.2127515550246533, + "finger_top_clearance": 0.050133372732690695, + "fingertip_min_top_clearance": 0.015040011819807174, + "object_projection_between_fingers": 0.8421353789348197, + "object_to_finger_line_xy": 0.0095163124463365, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048618174117337695, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5083282099283597, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2576984631622235, + -0.38590534457904535, + 0.8515395622243783 + ], + "target_position": [ + 0.25048714386971566, + -0.3866783807302114, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007252634750868504, + "xy_threshold": 0.08, + "gripper_dist": 0.18560430998962088, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395622243783, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757913316384099, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0879321240726313, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15286499206372745, + "release_required_pad_clearance": 0.053966062036315654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9427996641041743, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00801992416381836, + "max_z_decrease": 0.00801992416381836, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035148331424091295, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00801992416381836, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021033999915820223, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00801992416381836, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008019953225972785, + "max_button_displacement": 0.12, + "button_start": [ + 0.10618706792593002, + -0.44293984770774847, + 0.7768088579177856 + ], + "button_final": [ + 0.10618706792593002, + -0.44293984770774847, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1041220027821998, + -0.44131538440748824, + 0.8072078582587998 + ], + "closest_button": [ + 0.1061757281422615, + -0.442933201789856, + 0.7721568942070007 + ], + "closest_ee_minus_button": [ + -0.002053725360061709, + 0.00161781738236777, + 0.03505096405179908 + ], + "button_min_z_position": [ + 0.10616573691368103, + -0.44293650984764105, + 0.7687889337539673 + ], + "min_active_finger_to_button": 0.14734976322194357, + "closest_active_finger": [ + -0.02380194514989853, + -0.5031434297561646, + 0.810578465461731 + ], + "closest_active_finger_button": [ + 0.10618923604488373, + -0.4429366290569306, + 0.7760909795761108 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12999118119478226, + -0.06020680069923395, + 0.03448748588562012 + ], + "min_contact_pad_to_button": 0.021033999915820223, + "closest_contact_pad": [ + 0.10616791993379593, + -0.4429344534873963, + 0.7899054264981566 + ], + "closest_contact_pad_button": [ + 0.10616791993379593, + -0.4429344534873963, + 0.7688714265823364 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021033999915820223 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1c0a2b2e038d6cedd40781a721b7e56dcc8eb1cc3b772b6607d629a3560af00a", + "visual_seed": 8493344873047914016, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6f9163c2f4114b307f850e91f9629a10f6c52102 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27202021180501085, + -0.06033115644884127, + 1.1634522878535574 + ], + "current_z": 1.1634522878535574, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3023457798387913, + "gripper_z": 1.1561761186342394, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2670824898241956, + -0.06508873580636056, + 1.1561761186342394 + ], + "object_minus_gripper": [ + 0.004937721980815268, + 0.00475757935751929, + 0.007276169219317952 + ], + "object_to_gripper_xy": 0.006856796606500729, + "object_to_gripper_z": 0.007276169219317952, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27202021180501085, + -0.0843024442348358, + 1.1634522878535574 + ], + "finger_b": [ + 0.26115812650536047, + -0.06033115644884127, + 1.1634522878535574 + ], + "finger_midpoint": [ + 0.26658916915518566, + -0.07231680034183853, + 1.1634522878535574 + ], + "object_minus_finger_midpoint": [ + 0.005431042649825191, + 0.011985643892997264, + 0.0 + ], + "finger_gap": 0.026317437853557314, + "fingertip_max_gap": 0.09179680816075386, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013158718926778657, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634522878535574, + "object_top_z": 1.2135372463385485, + "finger_top_clearance": 0.05008495848499117, + "fingertip_min_top_clearance": 0.015025487545497351, + "object_projection_between_fingers": 0.8296511500890257, + "object_to_finger_line_xy": 0.009893750832539518, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04839840408037693, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1524810451530028, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2619577692343127, + -0.38824913623290996, + 0.8515396367326895 + ], + "target_position": [ + 0.2537555952269496, + -0.3891627753226391, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008252902206699369, + "xy_threshold": 0.08, + "gripper_dist": 0.18427283575077877, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396367326895, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552823466944171, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08612730177094595, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15232130551196973, + "release_required_pad_clearance": 0.05306365088547298, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1568913652317794, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00805652141571045, + "max_z_decrease": 0.00805652141571045, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350928780115236, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00805652141571045, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021037379416349845, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00805652141571045, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008056531265126576, + "max_button_displacement": 0.12, + "button_start": [ + 0.10945551842451097, + -0.4454242289066315, + 0.7768088579177856 + ], + "button_final": [ + 0.10945551842451097, + -0.4454242289066315, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10823653820531678, + -0.44484545441344886, + 0.8070810184720925 + ], + "closest_button": [ + 0.10944454371929169, + -0.4454175531864166, + 0.7720136046409607 + ], + "closest_ee_minus_button": [ + -0.0012080055139749024, + 0.0005720987729677662, + 0.035067413831131766 + ], + "button_min_z_position": [ + 0.1094496473670006, + -0.44541308283805847, + 0.7687523365020752 + ], + "min_active_finger_to_button": 0.14703567846118257, + "closest_active_finger": [ + -0.019160807132720947, + -0.5078040957450867, + 0.8069969415664673 + ], + "closest_active_finger_button": [ + 0.10944710671901706, + -0.44541695713996887, + 0.7725391387939453 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.128607913851738, + -0.0623871386051178, + 0.03445780277252197 + ], + "min_contact_pad_to_button": 0.021037379416349845, + "closest_contact_pad": [ + 0.1094496473670006, + -0.4459295353160558, + 0.7897833756952637 + ], + "closest_contact_pad_button": [ + 0.1094496473670006, + -0.44541308283805847, + 0.7687523365020752 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000516452477997309, + 0.021031039193188494 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3a8d62b8729b3c89a243c98721e6c252d1fe8450a5f6f9d84f1a674a9a435a97", + "visual_seed": 3876528201920738532, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..45bf820df8b06090abc0e8b10872cfd04c602b3a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26731447374643247, + -0.05877820916752608, + 1.162169861526311 + ], + "current_z": 1.162169861526311, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.301063353511545, + "gripper_z": 1.1548713149639176, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.262548474162982, + -0.06344943832428439, + 1.1548713149639176 + ], + "object_minus_gripper": [ + 0.004765999583450475, + 0.004671229156758307, + 0.007298546562393371 + ], + "object_to_gripper_xy": 0.006673464906957931, + "object_to_gripper_z": 0.007298546562393371, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26731447374643247, + -0.08267094064257312, + 1.162169861526311 + ], + "finger_b": [ + 0.2566607130193592, + -0.05877820916752608, + 1.162169861526311 + ], + "finger_midpoint": [ + 0.26198759338289584, + -0.0707245749050496, + 1.162169861526311 + ], + "object_minus_finger_midpoint": [ + 0.0053268803635366235, + 0.011946365737523522, + 0.0 + ], + "finger_gap": 0.026160375283402027, + "fingertip_max_gap": 0.0919520200985659, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013080187641701017, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162169861526311, + "object_top_z": 1.2123956290475915, + "finger_top_clearance": 0.050225767521280495, + "fingertip_min_top_clearance": 0.015067730256384148, + "object_projection_between_fingers": 0.834149059843807, + "object_to_finger_line_xy": 0.009730267302887872, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04847601004928295, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3059719053409142, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 331, + "max_stable_success_frames": 331, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25797800941427795, + -0.3866612058003064, + 0.851539509953142 + ], + "target_position": [ + 0.2500407524163862, + -0.3875097067393354, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007982480973614344, + "xy_threshold": 0.08, + "gripper_dist": 0.18286010991958973, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539509953142, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545257938126129, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0860045847465966, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15095668755622166, + "release_required_pad_clearance": 0.0530022923732983, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0377754226262625, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008102774620056152, + "max_z_decrease": 0.008102774620056152, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035070673145744254, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008102774620056152, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02106357177304493, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008102774620056152, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008102804778105837, + "max_button_displacement": 0.12, + "button_start": [ + 0.1057406812906265, + -0.4437711536884308, + 0.7768088579177856 + ], + "button_final": [ + 0.1057406812906265, + -0.4437711536884308, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10714519479206355, + -0.4443069430098935, + 0.8037444803325035 + ], + "closest_button": [ + 0.10574773699045178, + -0.44375020265579224, + 0.7687060832977295 + ], + "closest_ee_minus_button": [ + 0.0013974578016117678, + -0.0005567403541012483, + 0.03503839703477396 + ], + "button_min_z_position": [ + 0.10574773699045178, + -0.44375020265579224, + 0.7687060832977295 + ], + "min_active_finger_to_button": 0.14449153199038392, + "closest_active_finger": [ + -0.03382349759340286, + -0.4296225309371948, + 0.810875415802002 + ], + "closest_active_finger_button": [ + 0.10574375092983244, + -0.4437675476074219, + 0.7762531042098999 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13956724852323532, + 0.01414501667022705, + 0.03462231159210205 + ], + "min_contact_pad_to_button": 0.02106357177304493, + "closest_contact_pad": [ + 0.10574773699045178, + -0.4453692825149043, + 0.7897073365043368 + ], + "closest_contact_pad_button": [ + 0.10574773699045178, + -0.44375020265579224, + 0.7687060832977295 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016190798591120825, + 0.021001253206607284 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "13f199f5c960d0f7246a62a403025e99921be40af7b0ff133941dd64a970fba1", + "visual_seed": 4033626780930780440, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..44e1d7d3267bbc0069f609521fb5c811c0590608 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2624714747483541, + -0.06287063471598514, + 1.1647433072390996 + ], + "current_z": 1.1647433072390996, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3036368588289782, + "gripper_z": 1.1575917585883915, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25770274478485833, + -0.06745631760700024, + 1.1575917585883915 + ], + "object_minus_gripper": [ + 0.004768729963495755, + 0.004585682891015103, + 0.007151548650708106 + ], + "object_to_gripper_xy": 0.006615835022254625, + "object_to_gripper_z": 0.007151548650708106, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2624714747483541, + -0.0868642168767195, + 1.1647433072390996 + ], + "finger_b": [ + 0.25207044495937325, + -0.06287063471598514, + 1.1647433072390996 + ], + "finger_midpoint": [ + 0.25727095985386367, + -0.07486742579635232, + 1.1647433072390996 + ], + "object_minus_finger_midpoint": [ + 0.005200514894490416, + 0.011996791080367178, + 0.0 + ], + "finger_gap": 0.02615097331984369, + "fingertip_max_gap": 0.0919441576364751, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013075486659921845, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647433072390996, + "object_top_z": 1.2148264864196483, + "finger_top_clearance": 0.05008317918054872, + "fingertip_min_top_clearance": 0.015024953754164615, + "object_projection_between_fingers": 0.84181075066038, + "object_to_finger_line_xy": 0.009542970341711502, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04847207881823755, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2960105656608882, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2644199668498398, + -0.3812321189708153, + 0.8515395556572578 + ], + "target_position": [ + 0.25714652763946433, + -0.38193598364490416, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0073074170146815755, + "xy_threshold": 0.08, + "gripper_dist": 0.1831295971469081, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395556572578, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570091435740324, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08772711792873204, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15062099338854718, + "release_required_pad_clearance": 0.05386355896436602, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7366142482764086, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007937192916870117, + "max_z_decrease": 0.007937192916870117, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513018848971577, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007937192916870117, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021278616409036787, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007937192916870117, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007937218885822977, + "max_button_displacement": 0.12, + "button_start": [ + 0.11284645646810529, + -0.43819743394851685, + 0.7768088579177856 + ], + "button_final": [ + 0.11284645646810529, + -0.43819743394851685, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11231209653943938, + -0.44008005767558356, + 0.8073807241156166 + ], + "closest_button": [ + 0.11283473670482634, + -0.438192218542099, + 0.7723051905632019 + ], + "closest_ee_minus_button": [ + -0.0005226401653869589, + -0.001887839133484559, + 0.03507553355241466 + ], + "button_min_z_position": [ + 0.11282695829868315, + -0.4381917715072632, + 0.7688716650009155 + ], + "min_active_finger_to_button": 0.1464711960325534, + "closest_active_finger": [ + -0.028621740639209747, + -0.4223806858062744, + 0.8108841776847839 + ], + "closest_active_finger_button": [ + 0.11284709721803664, + -0.4381961524486542, + 0.776384174823761 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1414688378572464, + 0.01581546664237976, + 0.03450000286102295 + ], + "min_contact_pad_to_button": 0.021278616409036787, + "closest_contact_pad": [ + 0.11282695829868315, + -0.44132030404027583, + 0.7899190353942167 + ], + "closest_contact_pad_button": [ + 0.11282695829868315, + -0.4381917715072632, + 0.7688716650009155 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0031285325330126512, + 0.02104737039330118 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f83cd85f5d1c473ba64217d0975f4a53ab45893ef82d1f5e36508f071cfa9a1d", + "visual_seed": 5074350307395467226, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f760e9eb2147ebff7f4a1134b10fb4b93833278e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27027748108645033, + -0.05578500114984622, + 1.1621831739535544 + ], + "current_z": 1.1621831739535544, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.3010767851480781, + "gripper_z": 1.1548827835611457, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26539835703628256, + -0.06056854587062921, + 1.1548827835611457 + ], + "object_minus_gripper": [ + 0.004879124050167771, + 0.0047835447207829895, + 0.007300390392408707 + ], + "object_to_gripper_xy": 0.006832872865249021, + "object_to_gripper_z": 0.007300390392408707, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27027748108645033, + -0.07963684936565764, + 1.1621831739535544 + ], + "finger_b": [ + 0.2592780860615646, + -0.05578500114984622, + 1.1621831739535544 + ], + "finger_midpoint": [ + 0.2647777835740075, + -0.06771092525775194, + 1.1621831739535544 + ], + "object_minus_finger_midpoint": [ + 0.005499697512442836, + 0.011925924107905717, + 0.0 + ], + "finger_gap": 0.026265897171495727, + "fingertip_max_gap": 0.09199183671330205, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013132948585747858, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621831739535544, + "object_top_z": 1.2123067919867831, + "finger_top_clearance": 0.050123618033228734, + "fingertip_min_top_clearance": 0.015037085409968653, + "object_projection_between_fingers": 0.8246308814307024, + "object_to_finger_line_xy": 0.009988461421528707, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04849591835665103, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2704696357899934, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2616636819758666, + -0.38567477347009704, + 0.8515395529771375 + ], + "target_position": [ + 0.25345580656933475, + -0.3866707928263162, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008268087641475111, + "xy_threshold": 0.08, + "gripper_dist": 0.18454828115769217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395529771375, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568629057075002, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08625530553880896, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15206370209703168, + "release_required_pad_clearance": 0.05312765276940448, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2814382542320848, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008064329624176025, + "max_z_decrease": 0.008064329624176025, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509202881331912, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008064329624176025, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021037596391526543, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008064329624176025, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008064342373435559, + "max_button_displacement": 0.12, + "button_start": [ + 0.10915572941303252, + -0.44293224811553955, + 0.7768088579177856 + ], + "button_final": [ + 0.10915572941303252, + -0.44293224811553955, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10729079317360476, + -0.44303354418637214, + 0.8073517306177436 + ], + "closest_button": [ + 0.10914719849824904, + -0.4429256319999695, + 0.7723090052604675 + ], + "closest_ee_minus_button": [ + -0.0018564053246442752, + -0.00010791218640265887, + 0.03504272535727604 + ], + "button_min_z_position": [ + 0.10915252566337584, + -0.4429182708263398, + 0.7687445282936096 + ], + "min_active_finger_to_button": 0.14789391986003397, + "closest_active_finger": [ + -0.018857210874557495, + -0.508434534072876, + 0.8102862238883972 + ], + "closest_active_finger_button": [ + 0.10915921628475186, + -0.4429283440113068, + 0.7757413983345032 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12801642715930936, + -0.06550619006156916, + 0.03454482555389404 + ], + "min_contact_pad_to_button": 0.021037596391526543, + "closest_contact_pad": [ + 0.10915252566337584, + -0.4438921243760219, + 0.7897595722192488 + ], + "closest_contact_pad_button": [ + 0.10915252566337584, + -0.4429182708263398, + 0.7687445282936096 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009738535496821021, + 0.021015043925639132 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "938b6fe3d1dc38064552247477c5f4a2e4dcfa1772ccefe4994c69e7287d47a5", + "visual_seed": 5269090227402140649, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ba99d8acd65001dd47992c69dac2b48ec4301554 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2641096991974806, + -0.06143255597621751, + 1.1654993507231861 + ], + "current_z": 1.1654993507231861, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.3043930215223545, + "gripper_z": 1.1585281329625592, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25926971310201874, + -0.06611308180301692, + 1.1585281329625592 + ], + "object_minus_gripper": [ + 0.004839986095461879, + 0.0046805258267994115, + 0.006971217760626924 + ], + "object_to_gripper_xy": 0.006732962751983753, + "object_to_gripper_z": 0.006971217760626924, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2641096991974806, + -0.0855563080213576, + 1.1654993507231861 + ], + "finger_b": [ + 0.25364617728546013, + -0.06143255597621751, + 1.1654993507231861 + ], + "finger_midpoint": [ + 0.2588779382414704, + -0.07349443199878755, + 1.1654993507231861 + ], + "object_minus_finger_midpoint": [ + 0.005231760956010245, + 0.012061876022570042, + 0.0 + ], + "finger_gap": 0.026295260096426756, + "fingertip_max_gap": 0.09234091411296622, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013147630048213378, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654993507231861, + "object_top_z": 1.2155815130622234, + "finger_top_clearance": 0.050082162339037284, + "fingertip_min_top_clearance": 0.015024648701711184, + "object_projection_between_fingers": 0.8416562834050748, + "object_to_finger_line_xy": 0.00959942617790547, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867045705648311, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5800117439722148, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.262467779953379, + -0.383980425601087, + 0.8515394957106075 + ], + "target_position": [ + 0.25628351469216376, + -0.38388019982265026, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006185077366350144, + "xy_threshold": 0.08, + "gripper_dist": 0.18115257704787022, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394957106075, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514830928404388, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08712429577153875, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1499342044261025, + "release_required_pad_clearance": 0.05356214788576938, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1354244167471537, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 146, + "max_placed_release_frames": 146 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0079118013381958, + "max_z_decrease": 0.0079118013381958, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512384766819045, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0079118013381958, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021058019303402897, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0079118013381958, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007911828163398487, + "max_button_displacement": 0.12, + "button_start": [ + 0.11198344081640242, + -0.44014164805412287, + 0.7768088579177856 + ], + "button_final": [ + 0.11198344081640242, + -0.44014164805412287, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11005786183453353, + -0.43901728486571856, + 0.8075575141001676 + ], + "closest_button": [ + 0.1119749993085861, + -0.44013535976409907, + 0.7725038528442383 + ], + "closest_ee_minus_button": [ + -0.0019171374740525743, + 0.0011180748983805056, + 0.03505366125592935 + ], + "button_min_z_position": [ + 0.11196371912956236, + -0.44013568758964533, + 0.7688970565795898 + ], + "min_active_finger_to_button": 0.14741087723416307, + "closest_active_finger": [ + -0.016622111201286316, + -0.5033776760101318, + 0.8103649020195007 + ], + "closest_active_finger_button": [ + 0.1119854152202606, + -0.44013854861259455, + 0.7758557200431824 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12860752642154694, + -0.06323912739753729, + 0.03450918197631836 + ], + "min_contact_pad_to_button": 0.021058019303402897, + "closest_contact_pad": [ + 0.11196371912956236, + -0.44013568758964533, + 0.7899550758829927 + ], + "closest_contact_pad_button": [ + 0.11196371912956236, + -0.44013568758964533, + 0.7688970565795898 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021058019303402897 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ffeabab38505f7e9e1cd405e6992474a935ef1d60481e40083f206cf8a09b08e", + "visual_seed": 7838490866733526219, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..80769a484b929cdbb0cd64f3c4bd5cfc6061597f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2698447744853469, + -0.06049662689392034, + 1.165415703339794 + ], + "current_z": 1.165415703339794, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30430925492967287, + "gripper_z": 1.1580896701667251, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2651704108776884, + -0.06520772071335577, + 1.1580896701667251 + ], + "object_minus_gripper": [ + 0.004674363607658494, + 0.004711093819435436, + 0.007326033173068902 + ], + "object_to_gripper_xy": 0.006636571412418079, + "object_to_gripper_z": 0.007326033173068902, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2698447744853469, + -0.08418133415751705, + 1.165415703339794 + ], + "finger_b": [ + 0.25894815451148645, + -0.06049662689392034, + 1.165415703339794 + ], + "finger_midpoint": [ + 0.2643964644984167, + -0.07233898052571869, + 1.165415703339794 + ], + "object_minus_finger_midpoint": [ + 0.005448309986930189, + 0.01184235363179835, + 0.0 + ], + "finger_gap": 0.02607108906465177, + "fingertip_max_gap": 0.09202511295579824, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013035544532325867, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165415703339794, + "object_top_z": 1.2155971612930963, + "finger_top_clearance": 0.0501814579533022, + "fingertip_min_top_clearance": 0.01505443738599066, + "object_projection_between_fingers": 0.825311118874505, + "object_to_finger_line_xy": 0.00989921263371637, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851255647789912, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2598533754900036, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26400480771854645, + -0.38803495899556706, + 0.85153960673863 + ], + "target_position": [ + 0.25636481348466506, + -0.3888599240241501, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0076844049341589235, + "xy_threshold": 0.08, + "gripper_dist": 0.18528574788687266, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.85153960673863, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536017353094049, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537970939093233, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535027978583038, + "release_required_pad_clearance": 0.052689854695466165, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.435211757711496, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00824517011642456, + "max_z_decrease": 0.00824517011642456, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502569110303142, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00824517011642456, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02110524965692735, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00824517011642456, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008245236586298462, + "max_button_displacement": 0.12, + "button_start": [ + 0.11206474155187605, + -0.44512137770652777, + 0.7768088579177856 + ], + "button_final": [ + 0.11206474155187605, + -0.44512137770652777, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11113442218644859, + -0.44677105544271634, + 0.803604332347997 + ], + "closest_button": [ + 0.1120849624276161, + -0.4450996518135071, + 0.7686314582824707 + ], + "closest_ee_minus_button": [ + -0.0009505402411675162, + -0.001671403629209256, + 0.034972874065526294 + ], + "button_min_z_position": [ + 0.11208768188953398, + -0.4450975060462952, + 0.7685636878013611 + ], + "min_active_finger_to_button": 0.14662675515281126, + "closest_active_finger": [ + -0.02978142350912094, + -0.43156662583351135, + 0.8106794357299805 + ], + "closest_active_finger_button": [ + 0.11206543445587157, + -0.44511961936950684, + 0.776107907295227 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14184685796499252, + 0.013552993535995483, + 0.03457152843475342 + ], + "min_contact_pad_to_button": 0.02110524965692735, + "closest_contact_pad": [ + 0.11208768188953398, + -0.4478789695192325, + 0.7894848499112905 + ], + "closest_contact_pad_button": [ + 0.11208768188953398, + -0.4450975060462952, + 0.7685636878013611 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027814634729372845, + 0.020921162109929448 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b2d9955bc5cb1404b4f05552d802696fe96028ca7b6d93cc450b5e8f6242786d", + "visual_seed": 3855071175981952773, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..27e9d8c2534dcd7edf423a98853fb1cbc71efd67 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2718554951816138, + -0.057201521250783635, + 1.162248361049243 + ], + "current_z": 1.162248361049243, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30114185303447705, + "gripper_z": 1.1548051219152509, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2671349030999516, + -0.06182530518877308, + 1.1548051219152509 + ], + "object_minus_gripper": [ + 0.0047205920816622005, + 0.004623783937989442, + 0.00744323913399203 + ], + "object_to_gripper_xy": 0.0066078262315727564, + "object_to_gripper_z": 0.00744323913399203, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2718554951816138, + -0.08121067895635686, + 1.162248361049243 + ], + "finger_b": [ + 0.2614329873391136, + -0.057201521250783635, + 1.162248361049243 + ], + "finger_midpoint": [ + 0.2666442412603637, + -0.06920610010357026, + 1.162248361049243 + ], + "object_minus_finger_midpoint": [ + 0.005211253921250103, + 0.012004578852786621, + 0.0 + ], + "finger_gap": 0.02617380987663173, + "fingertip_max_gap": 0.09181586500456884, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013086904938315871, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162248361049243, + "object_top_z": 1.2123506651930045, + "finger_top_clearance": 0.0501023041437616, + "fingertip_min_top_clearance": 0.015030691243128447, + "object_projection_between_fingers": 0.8414338161504151, + "object_to_finger_line_xy": 0.009560535346502013, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840793250228442, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1674191131002238, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2605805058269879, + -0.38224001854997947, + 0.85153958511077 + ], + "target_position": [ + 0.25305479451720586, + -0.38310042138905837, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0075747358873875, + "xy_threshold": 0.08, + "gripper_dist": 0.18556625092451434, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.85153958511077, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590443375593763, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08743057715946319, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15249397518358604, + "release_required_pad_clearance": 0.053715288579731596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.439939425684297, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007858812808990479, + "max_z_decrease": 0.007858812808990479, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035087204075393987, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007858812808990479, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021099158616748052, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007858812808990479, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00785883992364371, + "max_button_displacement": 0.12, + "button_start": [ + 0.10875471681356431, + -0.4393618702888489, + 0.7768088579177856 + ], + "button_final": [ + 0.10875471681356431, + -0.4393618702888489, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10954496937839653, + -0.43921236280319187, + 0.8074841028801809 + ], + "closest_button": [ + 0.10874391347169877, + -0.4393563270568847, + 0.7724063396453857 + ], + "closest_ee_minus_button": [ + 0.0008010559066977535, + 0.00014396425369284094, + 0.03507776323479517 + ], + "button_min_z_position": [ + 0.10873472690582277, + -0.4393567144870758, + 0.7689500451087952 + ], + "min_active_finger_to_button": 0.1454679908514882, + "closest_active_finger": [ + -0.03172777593135834, + -0.42427873611450195, + 0.8111252188682556 + ], + "closest_active_finger_button": [ + 0.10875800997018815, + -0.43935850262641907, + 0.7765234708786011 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14048578590154648, + 0.015079766511917114, + 0.03460174798965454 + ], + "min_contact_pad_to_button": 0.021099158616748052, + "closest_contact_pad": [ + 0.10873472690582277, + -0.44017650474234293, + 0.7900332715761095 + ], + "closest_contact_pad_button": [ + 0.10873472690582277, + -0.4393567144870758, + 0.7689500451087952 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008197902552671277, + 0.02108322646731431 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "96aca3a42522ccabfef7b4d57cf1f48cdf9de01fd3c20ca5c6265833c6a0ed58", + "visual_seed": 4800713585924410525, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cbcfbc6cbee0a09fc4551ac5406d85947f821735 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.268207631948981, + -0.05445174900470549, + 1.1632944567801973 + ], + "current_z": 1.1632944567801973, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30218806797472086, + "gripper_z": 1.1559411201569723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26347414353484283, + -0.05908963692857945, + 1.1559411201569723 + ], + "object_minus_gripper": [ + 0.004733488414138176, + 0.004637887923873964, + 0.007353336623225015 + ], + "object_to_gripper_xy": 0.006626908552348998, + "object_to_gripper_z": 0.007353336623225015, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.268207631948981, + -0.07829728173496936, + 1.1632944567801973 + ], + "finger_b": [ + 0.2575499902551463, + -0.05445174900470549, + 1.1632944567801973 + ], + "finger_midpoint": [ + 0.2628788111020637, + -0.06637451536983742, + 1.1632944567801973 + ], + "object_minus_finger_midpoint": [ + 0.005328820846917326, + 0.011922766365131933, + 0.0 + ], + "finger_gap": 0.026118858276430262, + "fingertip_max_gap": 0.0920217187940639, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013059429138215117, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1632944567801973, + "object_top_z": 1.21348381403133, + "finger_top_clearance": 0.050189357251132716, + "fingertip_min_top_clearance": 0.015056807175339847, + "object_projection_between_fingers": 0.8335001475779937, + "object_to_finger_line_xy": 0.009730024993745411, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851085939703195, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3812113041357212, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.25898302344491797, + -0.38706715062253627, + 0.8515395305772214 + ], + "target_position": [ + 0.2512549951528972, + -0.38768483472195137, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007752674050219323, + "xy_threshold": 0.08, + "gripper_dist": 0.18307373284155096, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395305772214, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554281634680902, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08640289455778853, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15095379049141672, + "release_required_pad_clearance": 0.05320144727889427, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4254363313807188, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008050024509429932, + "max_z_decrease": 0.008050024509429932, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035128303665565234, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008050024509429932, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021065437913366236, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008050024509429932, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008050037432486551, + "max_button_displacement": 0.12, + "button_start": [ + 0.10695492476224898, + -0.44394630193710327, + 0.7768088579177856 + ], + "button_final": [ + 0.10695492476224898, + -0.44394630193710327, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10816266509922573, + -0.44244230245684313, + 0.8074726698262539 + ], + "closest_button": [ + 0.10694514214992522, + -0.44393920898437494, + 0.7723973989486694 + ], + "closest_ee_minus_button": [ + 0.0012175229493005119, + 0.001496906527531816, + 0.03507527087758444 + ], + "button_min_z_position": [ + 0.10694407671689984, + -0.4439367949962616, + 0.7687588334083557 + ], + "min_active_finger_to_button": 0.14453160539054197, + "closest_active_finger": [ + -0.018563784658908844, + -0.5067201256752014, + 0.8108903765678406 + ], + "closest_active_finger_button": [ + 0.10695788264274594, + -0.4439430236816406, + 0.7763544321060181 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1255216673016548, + -0.06277710199356079, + 0.03453594446182251 + ], + "min_contact_pad_to_button": 0.021065437913366236, + "closest_contact_pad": [ + 0.10694407671689984, + -0.4439367949962616, + 0.789824271321722 + ], + "closest_contact_pad_button": [ + 0.10694407671689984, + -0.4439367949962616, + 0.7687588334083557 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021065437913366236 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "da1615b4aeed2a28cda6ef2c59190d31abef61cb5f19c2ce1395265addee5355", + "visual_seed": 9081166510903181366, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..848876c0547ddbbc1b5af0bdcc8351dec9743948 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2624601940186669, + -0.06298481496694505, + 1.1650450052435601 + ], + "current_z": 1.1650450052435601, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30393855683343896, + "gripper_z": 1.158150121427859, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25757176924128156, + -0.0677357033612223, + 1.158150121427859 + ], + "object_minus_gripper": [ + 0.004888424777385325, + 0.0047508883942772445, + 0.006894883815701247 + ], + "object_to_gripper_xy": 0.006816717490041154, + "object_to_gripper_z": 0.006894883815701247, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2624601940186669, + -0.08697916211805562, + 1.1650450052435601 + ], + "finger_b": [ + 0.2517419381212439, + -0.06298481496694505, + 1.1650450052435601 + ], + "finger_midpoint": [ + 0.2571010660699554, + -0.07498198854250034, + 1.1650450052435601 + ], + "object_minus_finger_midpoint": [ + 0.005359127948711462, + 0.011997173575555284, + 0.0 + ], + "finger_gap": 0.0262794540409547, + "fingertip_max_gap": 0.09222189303443926, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013139727020477337, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650450052435601, + "object_top_z": 1.2152511105451613, + "finger_top_clearance": 0.05020610530160119, + "fingertip_min_top_clearance": 0.015061831590480357, + "object_projection_between_fingers": 0.8336527727566442, + "object_to_finger_line_xy": 0.009786259351370556, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861094651721963, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.323493442029668, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 333, + "max_stable_success_frames": 333, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2561885638541788, + -0.38045438412589416, + 0.8515395608535468 + ], + "target_position": [ + 0.24842786199838557, + -0.38078258917891455, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007767638756490992, + "xy_threshold": 0.08, + "gripper_dist": 0.1852490471191424, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395608535468, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518506692761473, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08611329842577704, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15378376921348394, + "release_required_pad_clearance": 0.053056649212888524, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1432802912183608, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007932841777801514, + "max_z_decrease": 0.007932841777801514, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351240229894434, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007932841777801514, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021286323684592896, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007932841777801514, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007932860986072814, + "max_button_displacement": 0.12, + "button_start": [ + 0.10412778705358504, + -0.43704405426979065, + 0.7768088579177856 + ], + "button_final": [ + 0.10412778705358504, + -0.43704405426979065, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10291774398713979, + -0.4389944283323421, + 0.8073333070887969 + ], + "closest_button": [ + 0.1041181907057762, + -0.4370375871658325, + 0.7722843885421753 + ], + "closest_ee_minus_button": [ + -0.0012004467186364082, + -0.001956841166509571, + 0.03504891854662162 + ], + "button_min_z_position": [ + 0.10411109030246733, + -0.4370389580726623, + 0.7688760161399841 + ], + "min_active_finger_to_button": 0.1471748679401513, + "closest_active_finger": [ + -0.038129039108753204, + -0.4219928979873657, + 0.8108140230178833 + ], + "closest_active_finger_button": [ + 0.10413044691085814, + -0.43704214692115784, + 0.7762278914451599 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14225948601961136, + 0.015049248933792114, + 0.03458613157272339 + ], + "min_contact_pad_to_button": 0.021286323684592896, + "closest_contact_pad": [ + 0.10411109030246733, + -0.44017222687563584, + 0.7899304741623027 + ], + "closest_contact_pad_button": [ + 0.10411109030246733, + -0.4370389580726623, + 0.7688760161399841 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0031332688029735434, + 0.021054458022318534 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4773145d2eeb96f6990b7d9bc1a6eac01f1b8fa8bc0c9e3f0cb6f92c71e70494", + "visual_seed": 4571754498430482362, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..899d341dff3bc6b109f6f48b7af9cba929f53471 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26946958812842275, + -0.06314209918299646, + 1.1635427233358018 + ], + "current_z": 1.1635427233358018, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3024362749256805, + "gripper_z": 1.1560787088656592, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26472695971474347, + -0.06771159893949523, + 1.1560787088656592 + ], + "object_minus_gripper": [ + 0.004742628413679284, + 0.004569499756498771, + 0.007464014470142555 + ], + "object_to_gripper_xy": 0.006585806882598397, + "object_to_gripper_z": 0.007464014470142555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26946958812842275, + -0.08718164660667131, + 1.1635427233358018 + ], + "finger_b": [ + 0.2591468875089807, + -0.06314209918299646, + 1.1635427233358018 + ], + "finger_midpoint": [ + 0.2643082378187017, + -0.07516187289483389, + 1.1635427233358018 + ], + "object_minus_finger_midpoint": [ + 0.005161350309721036, + 0.012019773711837434, + 0.0 + ], + "finger_gap": 0.026162148008405998, + "fingertip_max_gap": 0.09214704786768957, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013081074004203006, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635427233358018, + "object_top_z": 1.21360088048809, + "finger_top_clearance": 0.05005815715228823, + "fingertip_min_top_clearance": 0.015017447145686468, + "object_projection_between_fingers": 0.844317474728314, + "object_to_finger_line_xy": 0.009485194067465058, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857352393384479, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4596693811735182, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2585219437634836, + -0.3857920951546231, + 0.8515395600157903 + ], + "target_position": [ + 0.25167140387472675, + -0.38607231400363123, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006856268618628354, + "xy_threshold": 0.08, + "gripper_dist": 0.1831291235265692, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395600157903, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539582879421818, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08713828024253538, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1512334495736393, + "release_required_pad_clearance": 0.05356914012126769, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1493079676428692, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00801241397857666, + "max_z_decrease": 0.00801241397857666, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035096140012128116, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00801241397857666, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021089385939994508, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00801241397857666, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00801245002898119, + "max_button_displacement": 0.12, + "button_start": [ + 0.10737133026123045, + -0.44233375787734985, + 0.7768088579177856 + ], + "button_final": [ + 0.10737133026123045, + -0.44233375787734985, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10827063668373232, + -0.4414134293383578, + 0.8081306179374282 + ], + "closest_button": [ + 0.1073780134320259, + -0.4423259198665619, + 0.7730576992034912 + ], + "closest_ee_minus_button": [ + 0.0008926232517064286, + 0.0009124905282040796, + 0.03507291873393703 + ], + "button_min_z_position": [ + 0.10734758526086804, + -0.4423300325870514, + 0.768796443939209 + ], + "min_active_finger_to_button": 0.14510140065392033, + "closest_active_finger": [ + -0.018444940447807312, + -0.5058203339576721, + 0.8109439015388489 + ], + "closest_active_finger_button": [ + 0.10737439244985579, + -0.442330539226532, + 0.7764046788215637 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12581933289766312, + -0.06348979473114014, + 0.034539222717285156 + ], + "min_contact_pad_to_button": 0.021089385939994508, + "closest_contact_pad": [ + 0.10734758526086804, + -0.4423391846827429, + 0.78988582789335 + ], + "closest_contact_pad_button": [ + 0.10734758526086804, + -0.4423300325870514, + 0.768796443939209 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -9.152095691522533e-06, + 0.02108938395414106 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e998f5ccb37c2350ef498b27a6d97f9de121590d4a559faba470acd1b761314", + "visual_seed": 1716215066605376076, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c45c102de181943040664f4f25af4d41a5f4519a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26317066909718456, + -0.06262360539440637, + 1.1648625642927573 + ], + "current_z": 1.1648625642927573, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30375617548728095, + "gripper_z": 1.15765079172388, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2584443049586357, + -0.06719776905403324, + 1.15765079172388 + ], + "object_minus_gripper": [ + 0.0047263641385488775, + 0.004574163659626873, + 0.007211772568877173 + ], + "object_to_gripper_xy": 0.006577346817312584, + "object_to_gripper_z": 0.007211772568877173, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26317066909718456, + -0.0866040453248514, + 1.1648625642927573 + ], + "finger_b": [ + 0.25281239154868385, + -0.06262360539440637, + 1.1648625642927573 + ], + "finger_midpoint": [ + 0.2579915303229342, + -0.07461382535962888, + 1.1648625642927573 + ], + "object_minus_finger_midpoint": [ + 0.005179138774250358, + 0.01199021996522251, + 0.0 + ], + "finger_gap": 0.026121933562228056, + "fingertip_max_gap": 0.09228500346064658, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013060966781114023, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1648625642927573, + "object_top_z": 1.2150528769715463, + "finger_top_clearance": 0.05019031267878904, + "fingertip_min_top_clearance": 0.015057093803636712, + "object_projection_between_fingers": 0.8427594890829389, + "object_to_finger_line_xy": 0.009509099008423932, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864250173032329, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4585576736757713, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2590194197249579, + -0.39001544172963865, + 0.8515395656018074 + ], + "target_position": [ + 0.25214575553106505, + -0.39051805508723364, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006892015644036041, + "xy_threshold": 0.08, + "gripper_dist": 0.1839593137542024, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395656018074, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551195074167373, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08718475473462466, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15183326034405997, + "release_required_pad_clearance": 0.05359237736731233, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.195427826675765, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00810784101486206, + "max_z_decrease": 0.00810784101486206, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509206289346452, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00810784101486206, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02114227295782926, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00810784101486206, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00810787467703985, + "max_button_displacement": 0.12, + "button_start": [ + 0.10784567892551422, + -0.44677951931953436, + 0.7768088579177856 + ], + "button_final": [ + 0.10784567892551422, + -0.44677951931953436, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10570907716230604, + -0.44841148364785344, + 0.8036882018530308 + ], + "closest_button": [ + 0.10785966366529465, + -0.4467608034610749, + 0.7687010169029236 + ], + "closest_ee_minus_button": [ + -0.002150586502988605, + -0.0016506801867785525, + 0.03498718495010722 + ], + "button_min_z_position": [ + 0.10785966366529465, + -0.4467608034610749, + 0.7687010169029236 + ], + "min_active_finger_to_button": 0.1477125144419814, + "closest_active_finger": [ + -0.0349392369389534, + -0.43144237995147705, + 0.8113898634910583 + ], + "closest_active_finger_button": [ + 0.10784570872783661, + -0.4467794299125672, + 0.7768034338951111 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14278494566679, + 0.015337049961090143, + 0.034586429595947266 + ], + "min_contact_pad_to_button": 0.02114227295782926, + "closest_contact_pad": [ + 0.10785966366529465, + -0.44968176779414953, + 0.7896405410901697 + ], + "closest_contact_pad_button": [ + 0.10785966366529465, + -0.4467608034610749, + 0.7687010169029236 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029209643330746493, + 0.020939524187246095 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dee4003426491fd2c556260c07b6b17d85bf5881670769e29116b1b95ac5fc0c", + "visual_seed": 2900222572076689784, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..294d8ed34429fa573b1f777874ed55922cf5fc7c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2693088629364563, + -0.057683165632415254, + 1.1629197823518211 + ], + "current_z": 1.1629197823518211, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30181333394169974, + "gripper_z": 1.1557314910954826, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26438851339557445, + -0.06242506546314529, + 1.1557314910954826 + ], + "object_minus_gripper": [ + 0.00492034954088183, + 0.004741899830730034, + 0.007188291256338575 + ], + "object_to_gripper_xy": 0.0068334071742530865, + "object_to_gripper_z": 0.007188291256338575, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2693088629364563, + -0.08187435774350674, + 1.1629197823518211 + ], + "finger_b": [ + 0.2587427471788333, + -0.057683165632415254, + 1.1629197823518211 + ], + "finger_midpoint": [ + 0.2640258050576448, + -0.06977876168796099, + 1.1629197823518211 + ], + "object_minus_finger_midpoint": [ + 0.0052830578788115035, + 0.012095596055545735, + 0.0 + ], + "finger_gap": 0.026398041176557478, + "fingertip_max_gap": 0.09229276340762002, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013199020588278732, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1629197823518211, + "object_top_z": 1.212955985640626, + "finger_top_clearance": 0.05003620328880487, + "fingertip_min_top_clearance": 0.015010860986641493, + "object_projection_between_fingers": 0.8397908468763541, + "object_to_finger_line_xy": 0.009682799358146274, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864638170381001, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.556685278245457, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26487658798188596, + -0.3865666289739214, + 0.851539590227365 + ], + "target_position": [ + 0.25802571465358615, + -0.3868779978412797, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006857945459973396, + "xy_threshold": 0.08, + "gripper_dist": 0.18605891281480322, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539590227365, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520585806972283, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0869968891582885, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15468118755815516, + "release_required_pad_clearance": 0.05349844457914425, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.009272833212147, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008125782012939453, + "max_z_decrease": 0.008125782012939453, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507791252346987, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008125782012939453, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020975474418154956, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008125782012939453, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008125826902661929, + "max_button_displacement": 0.12, + "button_start": [ + 0.11372563987970348, + -0.4431394636631012, + 0.7768088579177856 + ], + "button_final": [ + 0.11372563987970348, + -0.4431394636631012, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11519719854994492, + -0.4420440220405245, + 0.803714324107376 + ], + "closest_button": [ + 0.11374152451753612, + -0.443117618560791, + 0.7686830759048462 + ], + "closest_ee_minus_button": [ + 0.0014556740324088019, + 0.0010735965202665065, + 0.035031248202529786 + ], + "button_min_z_position": [ + 0.11374152451753612, + -0.443117618560791, + 0.7686830759048462 + ], + "min_active_finger_to_button": 0.1441927933100236, + "closest_active_finger": [ + -0.011652454733848572, + -0.5054523944854736, + 0.8100943565368652 + ], + "closest_active_finger_button": [ + 0.11372879892587658, + -0.44313532114028925, + 0.7756315469741821 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12538125365972513, + -0.06231707334518438, + 0.034462809562683105 + ], + "min_contact_pad_to_button": 0.020975474418154956, + "closest_contact_pad": [ + 0.11374152451753612, + -0.44319076565022164, + 0.7896584227808809 + ], + "closest_contact_pad_button": [ + 0.11374152451753612, + -0.443117618560791, + 0.7686830759048462 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -7.31470894306252e-05, + 0.02097534687603475 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "445c8cf8b017390bfc8f4c56a1e3c23138f0bd3058e8c0ff52e2eda0aa1aefc8", + "visual_seed": 8430065316850175326, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..207056259068f55a67d99889303485668e2871a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26784235015592106, + -0.06034253718624141, + 1.1620523977604438 + ], + "current_z": 1.1620523977604438, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30094588974567793, + "gripper_z": 1.1549005105137473, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2630097929995209, + -0.06500893815363325, + 1.1549005105137473 + ], + "object_minus_gripper": [ + 0.004832557156400186, + 0.004666400967391834, + 0.0071518872466964645 + ], + "object_to_gripper_xy": 0.006717805196516947, + "object_to_gripper_z": 0.0071518872466964645, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26784235015592106, + -0.08448975965444895, + 1.1620523977604438 + ], + "finger_b": [ + 0.2574235554240617, + -0.06034253718624141, + 1.1620523977604438 + ], + "finger_midpoint": [ + 0.2626329527899914, + -0.07241614842034519, + 1.1620523977604438 + ], + "object_minus_finger_midpoint": [ + 0.00520939736592968, + 0.012073611234103776, + 0.0 + ], + "finger_gap": 0.02629904250336364, + "fingertip_max_gap": 0.09248435688925191, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013149521251681827, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1620523977604438, + "object_top_z": 1.2121692445335446, + "finger_top_clearance": 0.0501168467731008, + "fingertip_min_top_clearance": 0.015035054031930239, + "object_projection_between_fingers": 0.8430522516042788, + "object_to_finger_line_xy": 0.009566316120011551, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874217844462596, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6597692353873195, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26149702435962563, + -0.3901038484723498, + 0.851539562417972 + ], + "target_position": [ + 0.25604885584830445, + -0.38992624338373333, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005451062620742321, + "xy_threshold": 0.08, + "gripper_dist": 0.18138696306644672, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539562417972, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568658745971343, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08878132411106328, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1488221492037508, + "release_required_pad_clearance": 0.05439066205553164, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.806412545216179, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 146, + "max_placed_release_frames": 146 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008135795593261719, + "max_z_decrease": 0.008135795593261719, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500635249475036, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008135795593261719, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020947381409719946, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008135795593261719, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008135856501353388, + "max_button_displacement": 0.12, + "button_start": [ + 0.1117487847805023, + -0.44618770480155934, + 0.7768088579177856 + ], + "button_final": [ + 0.1117487847805023, + -0.44618770480155934, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11128530415262325, + -0.4455137886418218, + 0.8036698930710856 + ], + "closest_button": [ + 0.11177348345518111, + -0.44616818428039545, + 0.7686730623245239 + ], + "closest_ee_minus_button": [ + -0.000488179302557859, + 0.0006543956385736682, + 0.03499683074656168 + ], + "button_min_z_position": [ + 0.11177348345518111, + -0.44616818428039545, + 0.7686730623245239 + ], + "min_active_finger_to_button": 0.146049102034256, + "closest_active_finger": [ + -0.01628778874874115, + -0.5074253082275391, + 0.8112095594406128 + ], + "closest_active_finger_button": [ + 0.11175300925970078, + -0.4461842477321624, + 0.7767795324325562 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12804079800844193, + -0.06124106049537664, + 0.03443002700805664 + ], + "min_contact_pad_to_button": 0.020947381409719946, + "closest_contact_pad": [ + 0.11177348345518111, + -0.4468077751872689, + 0.7896106770739677 + ], + "closest_contact_pad_button": [ + 0.11177348345518111, + -0.44616818428039545, + 0.7686730623245239 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006395909068734329, + 0.020937614749443778 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7949d756552ea8d9eddb1f30f1d7a67c2bacc83125ee72ef9a86f34ebda7e853", + "visual_seed": 945922592229572864, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..85d94c8d4b01e3866a5cbdc3f7743c16e1565d37 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2656428444634079, + -0.056872589669459156, + 1.1645881970203174 + ], + "current_z": 1.1645881970203174, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30348174861019606, + "gripper_z": 1.157283428804817, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26098070553182406, + -0.06142164688577857, + 1.157283428804817 + ], + "object_minus_gripper": [ + 0.004662138931583848, + 0.004549057216319416, + 0.007304768215500301 + ], + "object_to_gripper_xy": 0.006513790062224721, + "object_to_gripper_z": 0.007304768215500301, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2656428444634079, + -0.08074504173422457, + 1.1645881970203174 + ], + "finger_b": [ + 0.2552126776226823, + -0.056872589669459156, + 1.1645881970203174 + ], + "finger_midpoint": [ + 0.2604277610430451, + -0.06880881570184186, + 1.1645881970203174 + ], + "object_minus_finger_midpoint": [ + 0.005215083420362809, + 0.011936226032382702, + 0.0 + ], + "finger_gap": 0.026051532544360895, + "fingertip_max_gap": 0.09186628942500075, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013025766272180443, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1645881970203174, + "object_top_z": 1.2146937827195874, + "finger_top_clearance": 0.05010558569927004, + "fingertip_min_top_clearance": 0.015031675709781011, + "object_projection_between_fingers": 0.8397064832164818, + "object_to_finger_line_xy": 0.009557735519349521, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048433144712500376, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.229524167944773, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2561943530216133, + -0.38882401259542043, + 0.8515396087881086 + ], + "target_position": [ + 0.2487003470627182, + -0.38950239962029176, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007524648448098359, + "xy_threshold": 0.08, + "gripper_dist": 0.18494561272804097, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396087881086, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554669283384007, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08701258534628765, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15261723102078797, + "release_required_pad_clearance": 0.05350629267314383, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0247950795080603, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007891833782196045, + "max_z_decrease": 0.007891833782196045, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509856985779398, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007891833782196045, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021079528661106236, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007891833782196045, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007891854738480664, + "max_button_displacement": 0.12, + "button_start": [ + 0.10440026968717575, + -0.4457638561725617, + 0.7768088579177856 + ], + "button_final": [ + 0.10440026968717575, + -0.4457638561725617, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10392195285142936, + -0.4447412035971505, + 0.8081904317614571 + ], + "closest_button": [ + 0.10440723598003387, + -0.44575673341751104, + 0.7731099128723145 + ], + "closest_ee_minus_button": [ + -0.00048528312860451894, + 0.0010155298203605168, + 0.03508051888914265 + ], + "button_min_z_position": [ + 0.10438297688961029, + -0.4457582235336304, + 0.7689170241355896 + ], + "min_active_finger_to_button": 0.14626498443798922, + "closest_active_finger": [ + -0.02430935949087143, + -0.5060673356056213, + 0.8109498023986816 + ], + "closest_active_finger_button": [ + 0.10440290719270706, + -0.44576117396354675, + 0.7764568328857422 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1287122666835785, + -0.060306161642074585, + 0.03449296951293945 + ], + "min_contact_pad_to_button": 0.021079528661106236, + "closest_contact_pad": [ + 0.10438297688961029, + -0.4459881185086211, + 0.7899952991331997 + ], + "closest_contact_pad_button": [ + 0.10438297688961029, + -0.4457582235336304, + 0.7689170241355896 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00022989497499065203, + 0.021078274997610058 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a91d0dc41df77ea324df458d21b8218023ab882eea8d14ff197ec875cc724a9d", + "visual_seed": 759291125449170911, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..197dc8e2d2e2468a6450b180a8811e99778007e2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2705120449399845, + -0.058788921424884975, + 1.1650423339615905 + ], + "current_z": 1.1650423339615905, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30393588555146944, + "gripper_z": 1.1576523769994198, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26585478640896965, + -0.06350329127950835, + 1.1576523769994198 + ], + "object_minus_gripper": [ + 0.004657258531014841, + 0.004714369854623375, + 0.007389956962170707 + ], + "object_to_gripper_xy": 0.006626865031890429, + "object_to_gripper_z": 0.007389956962170707, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2705120449399845, + -0.08249763961763082, + 1.1650423339615905 + ], + "finger_b": [ + 0.25963501702340075, + -0.058788921424884975, + 1.1650423339615905 + ], + "finger_midpoint": [ + 0.2650735309816926, + -0.0706432805212579, + 1.1650423339615905 + ], + "object_minus_finger_midpoint": [ + 0.0054385139582918685, + 0.011854359096372925, + 0.0 + ], + "finger_gap": 0.02608472837967035, + "fingertip_max_gap": 0.0920772005130186, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013042364189835178, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650423339615905, + "object_top_z": 1.215204263692073, + "finger_top_clearance": 0.0501619297304825, + "fingertip_min_top_clearance": 0.01504857891914475, + "object_projection_between_fingers": 0.8261207137471323, + "object_to_finger_line_xy": 0.009886259342838226, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0485386002565093, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2620005823777423, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26000809275403614, + -0.38962590986678136, + 0.8515395758407048 + ], + "target_position": [ + 0.25216559344878803, + -0.3904244686887091, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007883050903355608, + "xy_threshold": 0.08, + "gripper_dist": 0.18418943451173134, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395758407048, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520194966693934, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523978385572324, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15307955263294826, + "release_required_pad_clearance": 0.05261989192786162, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3013157253778807, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008263349533081055, + "max_z_decrease": 0.008263349533081055, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504173877988698, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008263349533081055, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021133580412360787, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008263349533081055, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008263418216945385, + "max_button_displacement": 0.12, + "button_start": [ + 0.10786551982164383, + -0.4466859400272369, + 0.7768088579177856 + ], + "button_final": [ + 0.10786551982164383, + -0.4466859400272369, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10885777321571313, + -0.448260168558842, + 0.8036761037097602 + ], + "closest_button": [ + 0.10788084566593172, + -0.4466597437858581, + 0.7686845660209656 + ], + "closest_ee_minus_button": [ + 0.0009769275497814173, + -0.0016004247729838883, + 0.034991537688794594 + ], + "button_min_z_position": [ + 0.10788089036941528, + -0.44665595889091486, + 0.7685455083847046 + ], + "min_active_finger_to_button": 0.14479170725021934, + "closest_active_finger": [ + -0.0320487916469574, + -0.432857871055603, + 0.8107014894485474 + ], + "closest_active_finger_button": [ + 0.10786820948123932, + -0.4466825723648071, + 0.7761074304580688 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13991700112819672, + 0.013824701309204046, + 0.034594058990478516 + ], + "min_contact_pad_to_button": 0.021133580412360787, + "closest_contact_pad": [ + 0.10788089036941528, + -0.4494046487143391, + 0.7894995754195387 + ], + "closest_contact_pad_button": [ + 0.10788089036941528, + -0.44665595889091486, + 0.7685455083847046 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002748689823424244, + 0.020954067034834156 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5689e07b98782d21cbf92567669bd474c689625a7214b172f8d44300addb62fd", + "visual_seed": 923747106917535055, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2c7fa4d88b8f6cd9a8da4f529d9b69d72e908d66 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2690353051191229, + -0.0625140905561398, + 1.1644976021451239 + ], + "current_z": 1.1644976021451239, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30339121333964736, + "gripper_z": 1.1571087544060756, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26434871629370515, + -0.06710213158267495, + 1.1571087544060756 + ], + "object_minus_gripper": [ + 0.004686588825417726, + 0.00458804102653515, + 0.007388847739048243 + ], + "object_to_gripper_xy": 0.006558523864384425, + "object_to_gripper_z": 0.007388847739048243, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2690353051191229, + -0.08648185984468294, + 1.1644976021451239 + ], + "finger_b": [ + 0.2586429801943026, + -0.0625140905561398, + 1.1644976021451239 + ], + "finger_midpoint": [ + 0.2638391426567127, + -0.07449797520041138, + 1.1644976021451239 + ], + "object_minus_finger_midpoint": [ + 0.00519616246241017, + 0.01198388464427158, + 0.0 + ], + "finger_gap": 0.02612382785909969, + "fingertip_max_gap": 0.0921057142162589, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013061913929549862, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644976021451239, + "object_top_z": 1.214610189240662, + "finger_top_clearance": 0.05011258709553812, + "fingertip_min_top_clearance": 0.015033776128661434, + "object_projection_between_fingers": 0.8417470527119246, + "object_to_finger_line_xy": 0.009534622855161231, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048552857108129455, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3404181366307675, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26058744602976813, + -0.3813690721281453, + 0.8515396106838142 + ], + "target_position": [ + 0.25383385919882584, + -0.3818258835964461, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006769018525654091, + "xy_threshold": 0.08, + "gripper_dist": 0.18400176219245679, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396106838142, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573795812661395, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08709751861906166, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1513985414934656, + "release_required_pad_clearance": 0.05354875930953083, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.10886812863892, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008095204830169678, + "max_z_decrease": 0.008095204830169678, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511739065288305, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008095204830169678, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021261634353376687, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008095204830169678, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008095228861421071, + "max_button_displacement": 0.12, + "button_start": [ + 0.10953378677368164, + -0.43808734416961664, + 0.7768088579177856 + ], + "button_final": [ + 0.10953378677368164, + -0.43808734416961664, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11034878159477246, + -0.4399823092099408, + 0.8037695236493099 + ], + "closest_button": [ + 0.10953973978757858, + -0.43806853890419006, + 0.768713653087616 + ], + "closest_ee_minus_button": [ + 0.0008090418071938776, + -0.0019137703057507394, + 0.0350558705616939 + ], + "button_min_z_position": [ + 0.10953973978757858, + -0.43806853890419006, + 0.768713653087616 + ], + "min_active_finger_to_button": 0.14484706977362866, + "closest_active_finger": [ + -0.03022748976945877, + -0.4220959544181824, + 0.8111088275909424 + ], + "closest_active_finger_button": [ + 0.10953564941883087, + -0.4380844235420227, + 0.7765935063362122 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13976313918828964, + 0.015988469123840332, + 0.034515321254730225 + ], + "min_contact_pad_to_button": 0.021261634353376687, + "closest_contact_pad": [ + 0.10953973978757858, + -0.441329402924662, + 0.7897237425975795 + ], + "closest_contact_pad_button": [ + 0.10953973978757858, + -0.43806853890419006, + 0.768713653087616 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003260864020471932, + 0.021010089509963525 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e421f82a55c6ed8afb046adf29b50620a33a6f9eb089aef338fd11ce6b0d6c7f", + "visual_seed": 660450722989895731, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d5ceb47d9793da8e172848e3f26b62d625ea31d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.27071240889998704, + -0.06390928633626783, + 1.1645022934374447 + ], + "current_z": 1.1645022934374447, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30339578542267875, + "gripper_z": 1.157217643148151, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26585808619813034, + -0.06862364032330473, + 1.157217643148151 + ], + "object_minus_gripper": [ + 0.004854322701856706, + 0.004714353987036901, + 0.007284650289293815 + ], + "object_to_gripper_xy": 0.006766800012476511, + "object_to_gripper_z": 0.007284650289293815, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27071240889998704, + -0.08801843144839301, + 1.1645022934374447 + ], + "finger_b": [ + 0.2601521739072621, + -0.06390928633626783, + 1.1645022934374447 + ], + "finger_midpoint": [ + 0.26543229140362457, + -0.07596385889233043, + 1.1645022934374447 + ], + "object_minus_finger_midpoint": [ + 0.00528011749636248, + 0.012054572556062598, + 0.0 + ], + "finger_gap": 0.026320513694437695, + "fingertip_max_gap": 0.09208811683843784, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013160256847218854, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1645022934374447, + "object_top_z": 1.2145702233204112, + "finger_top_clearance": 0.05006792988296649, + "fingertip_min_top_clearance": 0.015020378964889912, + "object_projection_between_fingers": 0.8390249966594818, + "object_to_finger_line_xy": 0.00967299653849663, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048544058419218925, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4101615083071257, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2607596975033881, + -0.3867713347333436, + 0.8515395264508591 + ], + "target_position": [ + 0.25435563656548876, + -0.38719056137971475, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006417768107165919, + "xy_threshold": 0.08, + "gripper_dist": 0.18417144410690545, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395264508591, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574137910172797, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08782586755954631, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15157320503143076, + "release_required_pad_clearance": 0.05391293377977316, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.835786578522328, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008104383945465088, + "max_z_decrease": 0.008104383945465088, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503056088490516, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008104383945465088, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021079595890091674, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008104383945465088, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008104419902632838, + "max_button_displacement": 0.12, + "button_start": [ + 0.11005556583404541, + -0.44345203042030334, + 0.7768088579177856 + ], + "button_final": [ + 0.11005556583404541, + -0.44345203042030334, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10918884334172144, + -0.44473515848873557, + 0.803699721746533 + ], + "closest_button": [ + 0.11007028818130492, + -0.4434328973293304, + 0.7687044739723206 + ], + "closest_ee_minus_button": [ + -0.0008814448395834812, + -0.0013022611594051825, + 0.03499524777421248 + ], + "button_min_z_position": [ + 0.11007028818130492, + -0.4434328973293304, + 0.7687044739723206 + ], + "min_active_finger_to_button": 0.14661461340053059, + "closest_active_finger": [ + -0.03180313855409622, + -0.4302654564380646, + 0.8108589053153992 + ], + "closest_active_finger_button": [ + 0.11005786806344986, + -0.44344940781593317, + 0.7762542366981506 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14186100661754608, + 0.013183951377868597, + 0.034604668617248535 + ], + "min_contact_pad_to_button": 0.021079595890091674, + "closest_contact_pad": [ + 0.11007028818130492, + -0.4457754865339147, + 0.7896534987397921 + ], + "closest_contact_pad_button": [ + 0.11007028818130492, + -0.4434328973293304, + 0.7687044739723206 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023425892045843, + 0.020949024767471514 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a41cced0efe78e5bd67320c9da1712fcd91a72faf2a9acaac61565f70b2e4565", + "visual_seed": 118198933835080524, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b161c0ac2e0e95b8b76509eba974e35470a24f7e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2692224902697664, + -0.06108936927215854, + 1.1624478917038106 + ], + "current_z": 1.1624478917038106, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30134150289833406, + "gripper_z": 1.1551413374600425, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26444710249741976, + -0.06579260612406376, + 1.1551413374600425 + ], + "object_minus_gripper": [ + 0.004775387772346651, + 0.0047032368519052195, + 0.007306554243768026 + ], + "object_to_gripper_xy": 0.006702593920371219, + "object_to_gripper_z": 0.007306554243768026, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2692224902697664, + -0.08497027660432765, + 1.1624478917038106 + ], + "finger_b": [ + 0.2584683976851042, + -0.06108936927215854, + 1.1624478917038106 + ], + "finger_midpoint": [ + 0.2638454439774353, + -0.0730298229382431, + 1.1624478917038106 + ], + "object_minus_finger_midpoint": [ + 0.0053770462923311, + 0.01194045366608456, + 0.0 + ], + "finger_gap": 0.02619061363021369, + "fingertip_max_gap": 0.09214672164933524, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013095306815106846, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624478917038106, + "object_top_z": 1.212553155876607, + "finger_top_clearance": 0.05010526417279637, + "fingertip_min_top_clearance": 0.015031579251838878, + "object_projection_between_fingers": 0.8314005340590526, + "object_to_finger_line_xy": 0.00980570719273327, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857336082466762, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3250924416976333, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2634062437941864, + -0.3860865044913864, + 0.8515395559981748 + ], + "target_position": [ + 0.25621340548498134, + -0.3867796805932136, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00722616191698696, + "xy_threshold": 0.08, + "gripper_dist": 0.18415710618774797, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395559981748, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753171290137974, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580535590600645, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1526252078565845, + "release_required_pad_clearance": 0.05290267795300323, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8448723213715189, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008037745952606201, + "max_z_decrease": 0.008037745952606201, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513474796832829, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008037745952606201, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02117889518850064, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008037745952606201, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00803776329206226, + "max_button_displacement": 0.12, + "button_start": [ + 0.11191333085298537, + -0.4430411458015442, + 0.7768088579177856 + ], + "button_final": [ + 0.11191333085298537, + -0.4430411458015442, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10991549556739777, + -0.44443705886933116, + 0.8076204248460193 + ], + "closest_button": [ + 0.11190550774335858, + -0.4430344104766846, + 0.7725701332092285 + ], + "closest_ee_minus_button": [ + -0.0019900121759608147, + -0.0014026483926465327, + 0.03505029163679074 + ], + "button_min_z_position": [ + 0.11189917474985121, + -0.44303229451179504, + 0.7687711119651794 + ], + "min_active_finger_to_button": 0.1479900468108078, + "closest_active_finger": [ + -0.031167834997177124, + -0.42766323685646057, + 0.8108982443809509 + ], + "closest_active_finger_button": [ + 0.1119144186377525, + -0.4430398941040039, + 0.7763717174530029 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14308225363492963, + 0.015376657247543335, + 0.034526526927948 + ], + "min_contact_pad_to_button": 0.02117889518850064, + "closest_contact_pad": [ + 0.11189917474985121, + -0.4456127226361151, + 0.7897922202161902 + ], + "closest_contact_pad_button": [ + 0.11189917474985121, + -0.44303229451179504, + 0.7687711119651794 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025804281243200777, + 0.02102110825101078 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "42062e50b813533225eb40fcff93af02d7b00c37ee4a43f24a92c2d22a1d332f", + "visual_seed": 7786542606562101260, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af3a3f457e79bdfbf897022617c4aa05a61ce0f4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2690428242062771, + -0.06193900394594255, + 1.1644096445643108 + ], + "current_z": 1.1644096445643108, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.303303136549545, + "gripper_z": 1.156954671809492, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26445029262262665, + -0.06651256077783008, + 1.156954671809492 + ], + "object_minus_gripper": [ + 0.004592531583650472, + 0.004573556831887524, + 0.007454972754818767 + ], + "object_to_gripper_xy": 0.006481417163038663, + "object_to_gripper_z": 0.007454972754818767, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2690428242062771, + -0.08579467976905703, + 1.1644096445643108 + ], + "finger_b": [ + 0.2586349595772136, + -0.06193900394594255, + 1.1644096445643108 + ], + "finger_midpoint": [ + 0.26383889189174536, + -0.07386684185749978, + 1.1644096445643108 + ], + "object_minus_finger_midpoint": [ + 0.005203932314531756, + 0.01192783791155723, + 0.0 + ], + "finger_gap": 0.026027234104192474, + "fingertip_max_gap": 0.09227491180754993, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01301361705209623, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644096445643108, + "object_top_z": 1.2146172108715403, + "finger_top_clearance": 0.050207566307229445, + "fingertip_min_top_clearance": 0.015062269892168866, + "object_projection_between_fingers": 0.8400930893220879, + "object_to_finger_line_xy": 0.00953949403950704, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04863745590377497, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.467885780914337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.261865626981734, + -0.3820541409314008, + 0.8515395885708915 + ], + "target_position": [ + 0.2545135165580182, + -0.3827456335606046, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0073845575181424265, + "xy_threshold": 0.08, + "gripper_dist": 0.18445121589465635, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395885708915, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569842018608536, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08698542279621822, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1518928470592045, + "release_required_pad_clearance": 0.05349271139810911, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9979438050559624, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007935285568237305, + "max_z_decrease": 0.007935285568237305, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509982671456171, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007935285568237305, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02117089601703221, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007935285568237305, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007935308102280854, + "max_button_displacement": 0.12, + "button_start": [ + 0.1102134436368942, + -0.4390071034431457, + 0.7768088579177856 + ], + "button_final": [ + 0.1102134436368942, + -0.4390071034431457, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11094315554536763, + -0.4399179622797338, + 0.8075790374705907 + ], + "closest_button": [ + 0.11020488291978833, + -0.4390007257461548, + 0.7724989652633667 + ], + "closest_ee_minus_button": [ + 0.0007382726255792948, + -0.0009172365335790023, + 0.03508007220722398 + ], + "button_min_z_position": [ + 0.11019539088010785, + -0.4390014708042144, + 0.7688735723495483 + ], + "min_active_finger_to_button": 0.1454253686994432, + "closest_active_finger": [ + -0.03032149374485016, + -0.42481380701065063, + 0.8110522627830505 + ], + "closest_active_finger_button": [ + 0.11021617799997327, + -0.4390039443969726, + 0.7764641046524048 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14053767174482343, + 0.014190137386321966, + 0.03458815813064575 + ], + "min_contact_pad_to_button": 0.02117089601703221, + "closest_contact_pad": [ + 0.11019539088010785, + -0.440920774315041, + 0.7899572891043646 + ], + "closest_contact_pad_button": [ + 0.11019539088010785, + -0.4390014708042144, + 0.7688735723495483 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019193035108265866, + 0.02108371675481624 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d7cc98165e7b8c3fec6389c675dd797eb645b0350922e5568612f026de2899f", + "visual_seed": 4276125428340606129, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..814506371d9c634354d70b0a653026cfd0c6722c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2667336831903986, + -0.06318546754898616, + 1.1647923584418582 + ], + "current_z": 1.1647923584418582, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30368585042709206, + "gripper_z": 1.1576101949249853, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26206826756102775, + -0.06788680493612455, + 1.1576101949249853 + ], + "object_minus_gripper": [ + 0.004665415629370839, + 0.004701337387138391, + 0.0071821635168729525 + ], + "object_to_gripper_xy": 0.006623343281340847, + "object_to_gripper_z": 0.0071821635168729525, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2667336831903986, + -0.08679465559091222, + 1.1647923584418582 + ], + "finger_b": [ + 0.25579749803632823, + -0.06318546754898616, + 1.1647923584418582 + ], + "finger_midpoint": [ + 0.2612655906133634, + -0.0749900615699492, + 1.1647923584418582 + ], + "object_minus_finger_midpoint": [ + 0.005468092577035177, + 0.011804594020963038, + 0.0 + ], + "finger_gap": 0.026019106551208353, + "fingertip_max_gap": 0.09211079627998572, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013009553275604182, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647923584418582, + "object_top_z": 1.2149777722815767, + "finger_top_clearance": 0.05018541383971842, + "fingertip_min_top_clearance": 0.01505562415191549, + "object_projection_between_fingers": 0.8233364514613208, + "object_to_finger_line_xy": 0.009923263554634866, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048555398139992864, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4011838484395862, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26067496321964345, + -0.38964204926954193, + 0.8515395666147222 + ], + "target_position": [ + 0.25224592303963306, + -0.39064684742785544, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008488718259854068, + "xy_threshold": 0.08, + "gripper_dist": 0.1860923751217964, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395666147222, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526556876510986, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08525823902554215, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15469332493647125, + "release_required_pad_clearance": 0.05262911951277108, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.31898076576390244, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008244514465332031, + "max_z_decrease": 0.008244514465332031, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503537891286792, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008244514465332031, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02097952177536213, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008244514465332031, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00824459120057196, + "max_button_displacement": 0.12, + "button_start": [ + 0.10794585198163986, + -0.44690829515457153, + 0.7768088579177856 + ], + "button_final": [ + 0.10794585198163986, + -0.44690829515457153, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1094322784819303, + -0.4463695021308086, + 0.8036353598548428 + ], + "closest_button": [ + 0.10796883702278137, + -0.44688260555267334, + 0.7686343193054199 + ], + "closest_ee_minus_button": [ + 0.001463441459148923, + 0.0005131034218647246, + 0.03500104054942288 + ], + "button_min_z_position": [ + 0.10796968638896942, + -0.44688189029693604, + 0.7685643434524536 + ], + "min_active_finger_to_button": 0.1444814239507384, + "closest_active_finger": [ + -0.01647525280714035, + -0.5117101073265076, + 0.8106192946434021 + ], + "closest_active_finger_button": [ + 0.10794956982135773, + -0.4469045400619507, + 0.7760710120201111 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12442482262849808, + -0.06480556726455688, + 0.034548282623291016 + ], + "min_contact_pad_to_button": 0.02097952177536213, + "closest_contact_pad": [ + 0.10796968638896942, + -0.4473328315004776, + 0.7895390183236844 + ], + "closest_contact_pad_button": [ + 0.10796968638896942, + -0.44688189029693604, + 0.7685643434524536 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000450941203541555, + 0.020974674871230836 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b1373406b51000328d5d9a309962db0fbb65030d361a97410c6d364eceda4b63", + "visual_seed": 1027065288381387028, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e86b93099bbae418967d0838a748f0a034b8dd7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26260857405060567, + -0.057703584691665144, + 1.1656847926462928 + ], + "current_z": 1.1656847926462928, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3045783442361716, + "gripper_z": 1.1585957596086374, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2578912602108726, + -0.062340987948563714, + 1.1585957596086374 + ], + "object_minus_gripper": [ + 0.004717313839733062, + 0.00463740325689857, + 0.007089033037655401 + ], + "object_to_gripper_xy": 0.006615025232728183, + "object_to_gripper_z": 0.007089033037655401, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26260857405060567, + -0.08149308525223853, + 1.1656847926462928 + ], + "finger_b": [ + 0.25191840100118956, + -0.057703584691665144, + 1.1656847926462928 + ], + "finger_midpoint": [ + 0.2572634875258976, + -0.06959833497195184, + 1.1656847926462928 + ], + "object_minus_finger_midpoint": [ + 0.005345086524708054, + 0.011894750280286692, + 0.0 + ], + "finger_gap": 0.026081030208716525, + "fingertip_max_gap": 0.09197633370441288, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013040515104358262, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656847926462928, + "object_top_z": 1.215809908660833, + "finger_top_clearance": 0.05012511601454017, + "fingertip_min_top_clearance": 0.015037534804362084, + "object_projection_between_fingers": 0.8319958589100073, + "object_to_finger_line_xy": 0.009750913814237153, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048488166852206444, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3312825133995223, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2657083722563386, + -0.38833037408612914, + 0.851539581751344 + ], + "target_position": [ + 0.2578394532912853, + -0.3891444201464872, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007910913769404858, + "xy_threshold": 0.08, + "gripper_dist": 0.183401661362589, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539581751344, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753758442149933, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592894397622607, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15175964253178797, + "release_required_pad_clearance": 0.052964471988113035, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9642778211847696, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008209705352783203, + "max_z_decrease": 0.008209705352783203, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500194350253439, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008209705352783203, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020955640313095145, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008209705352783203, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008209734839919193, + "max_button_displacement": 0.12, + "button_start": [ + 0.11353938281536104, + -0.44540587067604065, + 0.7768088579177856 + ], + "button_final": [ + 0.11353938281536104, + -0.44540587067604065, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11380334513309276, + -0.44492368585844366, + 0.8035970876450367 + ], + "closest_button": [ + 0.11354112625122072, + -0.4453839361667633, + 0.7685991525650024 + ], + "closest_ee_minus_button": [ + 0.00026221888187204223, + 0.000460250308319643, + 0.03499793508003424 + ], + "button_min_z_position": [ + 0.11354112625122072, + -0.4453839361667633, + 0.7685991525650024 + ], + "min_active_finger_to_button": 0.1454951612156573, + "closest_active_finger": [ + -0.013185590505599976, + -0.5080288648605347, + 0.8105907440185547 + ], + "closest_active_finger_button": [ + 0.11354025453329086, + -0.4454028904438019, + 0.7761322259902954 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12672584503889084, + -0.06262597441673279, + 0.03445851802825928 + ], + "min_contact_pad_to_button": 0.020955640313095145, + "closest_contact_pad": [ + 0.11354112625122072, + -0.44609884950524414, + 0.7895425944944056 + ], + "closest_contact_pad_button": [ + 0.11354112625122072, + -0.4453839361667633, + 0.7685991525650024 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007149133384808382, + 0.020943441929403117 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7c13bfbaff7e8940d2c4f1229cede6d3d86899770a9d96c8a36aa5e7ff35e408", + "visual_seed": 8954274908927418004, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2c926671fdfa79f643f0d1a4b94aec960675e925 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26858036118082307, + -0.06359532578833813, + 1.1653725424263874 + ], + "current_z": 1.1653725424263874, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30426609401626603, + "gripper_z": 1.158043153380462, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26400908861367933, + -0.06827534963781727, + 1.158043153380462 + ], + "object_minus_gripper": [ + 0.004571272567143736, + 0.004680023849479145, + 0.007329389045925394 + ], + "object_to_gripper_xy": 0.00654210639739331, + "object_to_gripper_z": 0.007329389045925394, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26858036118082307, + -0.08720305897359057, + 1.1653725424263874 + ], + "finger_b": [ + 0.257726095322832, + -0.06359532578833813, + 1.1653725424263874 + ], + "finger_midpoint": [ + 0.2631532282518275, + -0.07539919238096435, + 1.1653725424263874 + ], + "object_minus_finger_midpoint": [ + 0.005427132928995548, + 0.011803866592626222, + 0.0 + ], + "finger_gap": 0.0259834592281709, + "fingertip_max_gap": 0.09217954802613068, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012991729614085462, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1653725424263874, + "object_top_z": 1.2155277532646078, + "finger_top_clearance": 0.05015521083822039, + "fingertip_min_top_clearance": 0.015046563251466149, + "object_projection_between_fingers": 0.8254953631304381, + "object_to_finger_line_xy": 0.009861835949057587, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858977401306534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3188309842991837, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2567094531264408, + -0.3835318970795596, + 0.8515395721252231 + ], + "target_position": [ + 0.24857937085767262, + -0.38450766568372985, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008188428546786176, + "xy_threshold": 0.08, + "gripper_dist": 0.1851874126664225, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395721252231, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579919455963671, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08627885342753773, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15234425447725458, + "release_required_pad_clearance": 0.05313942671376887, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.304442063678443, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007841885089874268, + "max_z_decrease": 0.007841885089874268, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507059077896954, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007841885089874268, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02112551973020916, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007841885089874268, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007841907268861928, + "max_button_displacement": 0.12, + "button_start": [ + 0.1042792946100235, + -0.4407691359519958, + 0.7768088579177856 + ], + "button_final": [ + 0.1042792946100235, + -0.4407691359519958, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10445374947796196, + -0.44111961035647274, + 0.8077072736327019 + ], + "closest_button": [ + 0.1042720228433609, + -0.4407620429992676, + 0.7726389765739441 + ], + "closest_ee_minus_button": [ + 0.0001817266346010593, + -0.0003575673572051574, + 0.0350682970587578 + ], + "button_min_z_position": [ + 0.10426159203052521, + -0.4407632648944855, + 0.7689669728279114 + ], + "min_active_finger_to_button": 0.14604853786262154, + "closest_active_finger": [ + -0.03689597547054291, + -0.4266718626022339, + 0.8111756443977356 + ], + "closest_active_finger_button": [ + 0.10428261756896971, + -0.4407659471035003, + 0.7765326499938965 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14117859303951263, + 0.014094084501266424, + 0.03464299440383911 + ], + "min_contact_pad_to_button": 0.02112551973020916, + "closest_contact_pad": [ + 0.10426159203052521, + -0.4420748075271262, + 0.7900517407847617 + ], + "closest_contact_pad_button": [ + 0.10426159203052521, + -0.4407632648944855, + 0.7689669728279114 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013115426326407165, + 0.021084767956850325 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09e192db06fba980d82960aaa323cff856de7b90362b792ba0501b35a494fbcc", + "visual_seed": 6915682033286961406, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..29f2039b7443ae2ae485e67bcd54a484ec5fad14 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2619089902335215, + -0.062023099997991125, + 1.161858130006131 + ], + "current_z": 1.161858130006131, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.3007515623867203, + "gripper_z": 1.1547925549828, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2572102117104218, + -0.0666454028568435, + 1.1547925549828 + ], + "object_minus_gripper": [ + 0.004698778523099689, + 0.00462230285885238, + 0.00706557502333105 + ], + "object_to_gripper_xy": 0.006591221687069688, + "object_to_gripper_z": 0.00706557502333105, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2619089902335215, + -0.0858553035827538, + 1.161858130006131 + ], + "finger_b": [ + 0.2513287565951767, + -0.062023099997991125, + 1.161858130006131 + ], + "finger_midpoint": [ + 0.2566188734143491, + -0.07393920179037246, + 1.161858130006131 + ], + "object_minus_finger_midpoint": [ + 0.005290116819172408, + 0.011916101792381333, + 0.0 + ], + "finger_gap": 0.02607518497628611, + "fingertip_max_gap": 0.09217051086472389, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013037592488143063, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161858130006131, + "object_top_z": 1.2120169818203845, + "finger_top_clearance": 0.0501588518142535, + "fingertip_min_top_clearance": 0.01504765554427605, + "object_projection_between_fingers": 0.8353598624323066, + "object_to_finger_line_xy": 0.009670124383497318, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048585255432361946, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4069400780482304, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.26189136597020946, + -0.38718934963626905, + 0.8515396077502785 + ], + "target_position": [ + 0.2544079834762342, + -0.3879931086138972, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007526422924952649, + "xy_threshold": 0.08, + "gripper_dist": 0.18552402401693516, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396077502785, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561601962506759, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08642795872429372, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15316586078097585, + "release_required_pad_clearance": 0.05321397936214686, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4499351589724543, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008050322532653809, + "max_z_decrease": 0.008050322532653809, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509207215651322, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008050322532653809, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02107501746451151, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008050322532653809, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008050334903549998, + "max_button_displacement": 0.12, + "button_start": [ + 0.11010790616273881, + -0.44425457715988165, + 0.7768088579177856 + ], + "button_final": [ + 0.11010790616273881, + -0.44425457715988165, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10889442443269465, + -0.4443390840552271, + 0.8074299925430957 + ], + "closest_button": [ + 0.11009890586137773, + -0.4442480802536011, + 0.7723587155342102 + ], + "closest_ee_minus_button": [ + -0.0012044814286830824, + -9.100380162602173e-05, + 0.03507127700888546 + ], + "button_min_z_position": [ + 0.11009895056486131, + -0.4442436695098877, + 0.7687585353851318 + ], + "min_active_finger_to_button": 0.14730221935072726, + "closest_active_finger": [ + -0.019321709871292114, + -0.5055674910545349, + 0.8107247948646545 + ], + "closest_active_finger_button": [ + 0.11010944098234177, + -0.44425293803215027, + 0.7762857675552368 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12943115085363388, + -0.061314553022384644, + 0.034439027309417725 + ], + "min_contact_pad_to_button": 0.02107501746451151, + "closest_contact_pad": [ + 0.11009895056486131, + -0.4456383270028107, + 0.7897873558847913 + ], + "closest_contact_pad_button": [ + 0.11009895056486131, + -0.4442436695098877, + 0.7687585353851318 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013946574929230016, + 0.021028820499659484 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f133ec070b90ae090529581ed26b4e24a10fc3ec159ff251df287e23acab9680", + "visual_seed": 8897598325919895530, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6538cf4650a22c09218d759d5e45b7c942c9f871 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2673298000443788, + -0.05867805661218386, + 1.1650984802984985 + ], + "current_z": 1.1650984802984985, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3039920318883773, + "gripper_z": 1.1579450069713304, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26263221379869084, + -0.06342376685190318, + 1.1579450069713304 + ], + "object_minus_gripper": [ + 0.004697586245687946, + 0.004745710239719321, + 0.007153473327168092 + ], + "object_to_gripper_xy": 0.0066775056881333604, + "object_to_gripper_z": 0.007153473327168092, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2673298000443788, + -0.08231742706375221, + 1.1650984802984985 + ], + "finger_b": [ + 0.2563078983895699, + -0.05867805661218386, + 1.1650984802984985 + ], + "finger_midpoint": [ + 0.26181884921697435, + -0.07049774183796803, + 1.1650984802984985 + ], + "object_minus_finger_midpoint": [ + 0.005510950827404437, + 0.011819685225784173, + 0.0 + ], + "finger_gap": 0.02608260246667808, + "fingertip_max_gap": 0.09205573140448067, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013041301233339037, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650984802984985, + "object_top_z": 1.2152493351513323, + "finger_top_clearance": 0.05015085485283377, + "fingertip_min_top_clearance": 0.01504525645585013, + "object_projection_between_fingers": 0.8214288815167327, + "object_to_finger_line_xy": 0.00998944858480469, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852786570224034, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.274066101780455, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2628979285806218, + -0.3811727947679313, + 0.8515396090930818 + ], + "target_position": [ + 0.2551484237319925, + -0.3822103078513933, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007818648143847107, + "xy_threshold": 0.08, + "gripper_dist": 0.18278611253876642, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396090930818, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759067541615722, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08659394445619666, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14991867006703288, + "release_required_pad_clearance": 0.05329697222809833, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6124864617169985, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00781625509262085, + "max_z_decrease": 0.00781625509262085, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509399295406355, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00781625509262085, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021150190403100604, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00781625509262085, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00781627872212479, + "max_button_displacement": 0.12, + "button_start": [ + 0.11084835231304167, + -0.4384717643260956, + 0.7768088579177856 + ], + "button_final": [ + 0.11084835231304167, + -0.4384717643260956, + 0.7768088579177856 + ], + "closest_ee": [ + 0.10984802711912414, + -0.4396363335993745, + 0.8074735216086509 + ], + "closest_button": [ + 0.11083773523569106, + -0.43846598267555237, + 0.7724130153656006 + ], + "closest_ee_minus_button": [ + -0.0009897081165669147, + -0.0011703509238221166, + 0.03506050624305035 + ], + "button_min_z_position": [ + 0.11083018034696576, + -0.43846550583839417, + 0.7689926028251648 + ], + "min_active_finger_to_button": 0.14704732440183793, + "closest_active_finger": [ + -0.03134547173976898, + -0.42402341961860657, + 0.8110887408256531 + ], + "closest_active_finger_button": [ + 0.11084898561239241, + -0.4384711682796478, + 0.7765212059020996 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1421944573521614, + 0.01444774866104126, + 0.03456753492355347 + ], + "min_contact_pad_to_button": 0.021150190403100604, + "closest_contact_pad": [ + 0.11083018034696576, + -0.440722042926871, + 0.7900220724917003 + ], + "closest_contact_pad_button": [ + 0.11083018034696576, + -0.43846550583839417, + 0.7689926028251648 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00225653708847684, + 0.021029469666535516 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b04eba8694e0924e6ffb02ba5d59d520829b5c1275df9a264255d511cf8df6cc", + "visual_seed": 2755578792843791679, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2cc59c439ac33d3c29386b6210c28e3251943175 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.26507911883579516, + -0.06297112675032424, + 1.162427268320846 + ], + "current_z": 1.162427268320846, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3013208795153697, + "gripper_z": 1.1551506495239345, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2603253482066072, + -0.06757331202210334, + 1.1551506495239345 + ], + "object_minus_gripper": [ + 0.00475377062918797, + 0.004602185271779108, + 0.007276618796911549 + ], + "object_to_gripper_xy": 0.006616528128158357, + "object_to_gripper_z": 0.007276618796911549, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26507911883579516, + -0.08689050146333611, + 1.162427268320846 + ], + "finger_b": [ + 0.25456995534146776, + -0.06297112675032424, + 1.162427268320846 + ], + "finger_midpoint": [ + 0.25982453708863146, + -0.07493081410683017, + 1.162427268320846 + ], + "object_minus_finger_midpoint": [ + 0.0052545817471637, + 0.011959687356505933, + 0.0 + ], + "finger_gap": 0.02612621296728586, + "fingertip_max_gap": 0.09210179064241733, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013063106483642924, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162427268320846, + "object_top_z": 1.2125757307313032, + "finger_top_clearance": 0.05014846241045712, + "fingertip_min_top_clearance": 0.015044538723137168, + "object_projection_between_fingers": 0.8381981914161456, + "object_to_finger_line_xy": 0.009621471732465784, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855089532120867, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3552916313835044, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2605189676784224, + -0.3873412775187788, + 0.8515395546778983 + ], + "target_position": [ + 0.2529353845430779, + -0.3880455153258975, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007616211923236981, + "xy_threshold": 0.08, + "gripper_dist": 0.18411224079959615, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395546778983, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554184745550666, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671363262157132, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15193917148193536, + "release_required_pad_clearance": 0.05335681631078566, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7300384140322944, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0081290602684021, + "max_z_decrease": 0.0081290602684021, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035055174798271596, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0081290602684021, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020976213539175014, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0081290602684021, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008129108932023964, + "max_button_displacement": 0.12, + "button_start": [ + 0.108635313808918, + -0.4443069696426391, + 0.7768088579177856 + ], + "button_final": [ + 0.108635313808918, + -0.4443069696426391, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11012306074832556, + -0.4434751891251655, + 0.8036947066359609 + ], + "closest_button": [ + 0.10865052044391633, + -0.4442833065986633, + 0.7686797976493835 + ], + "closest_ee_minus_button": [ + 0.0014725403044092283, + 0.0008081174734977936, + 0.03501490898657733 + ], + "button_min_z_position": [ + 0.10865052044391633, + -0.4442833065986633, + 0.7686797976493835 + ], + "min_active_finger_to_button": 0.14431980483623144, + "closest_active_finger": [ + -0.016114287078380585, + -0.5081209540367126, + 0.810750424861908 + ], + "closest_active_finger_button": [ + 0.1086384654045105, + -0.44430351257324213, + 0.7762208580970764 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12475275248289108, + -0.06381744146347051, + 0.03452956676483154 + ], + "min_contact_pad_to_button": 0.020976213539175014, + "closest_contact_pad": [ + 0.10865052044391633, + -0.4445003701274136, + 0.7896548880631471 + ], + "closest_contact_pad_button": [ + 0.10865052044391633, + -0.4442833065986633, + 0.7686797976493835 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00021706352875033863, + 0.020975090413763553 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 930985434780052157, + "physical_seed": 5460116499884012623, + "layout_id": "layout_00001", + "step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "workflow_spec_digest": "883efb3275ba9f6e74e084d592145a0a276f79b49ed5fcafb8696ffb7e7025c6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "870e02c8b6ebfa41781f27ae630f1e519487802d62260745741b86f147d3a958", + "visual_seed": 3173523879944753969, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4454205068413497318, + 4415600845410333999, + 4823626241943975924 + ], + "runtime_workflow_digest": "6492222833a17a0c41c6d8e0c4d55c445e43061558ac85ad7dbdb7d03e3266ca" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d1aec0720a0652340f43e08364ff76d46359131c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00001/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_hta_00001", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..50b1c58b357eeee2a939a790b0376b8456b7e45f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2d8730bcb32a00fa48209ac021b3fba857e3318c04765857d5ca16b9a7c9429 +size 5887696 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f1b27d9c3314480302af1627457955656ce9cb88 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ec4a06030f4e856c40fa2d61a87f9c717f8b2239f8599ba08fe725e60f9dce3 +size 4486193 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..31315bcf2cedabb5ee12097fb1084f208fc209ef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b90be344926542b720a992cb9ac40594e6eb63fe14b86d3badad855128122d8c +size 4186243 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e6796b5381725d9eabd92ce46c937441ceed3e4b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:834423889eaf3ae2eda1758be982abb18d08f34cb65609fa6a1b098841024b92 +size 5124977 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d2672617b4e02d8a91272f826b5ac7559bb926b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed10b63680ddf1f7c1093026331c58c351281ec0d154426155d59bbf07a43818 +size 6988730 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf8bc4aea02183c07c0293857765104c219ba865 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad8a4fe6a232d64092759109bfcdfd30123139816a5e82db94f130984c4c814c +size 4409938 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f9d172ba0545a0b5f5fba942da7ddfe94daa0a4d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6abc1c8840fecf8ba7b20395bd3ec348e669354db8001468928b5de0530a0954 +size 4707390 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95ab90ed0c378d85af779930b025e2a8fb7d1a47 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e484f55fdc859a57db477cd870cb283f1e44de378ac83a8390913f782ad8079 +size 4735342 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5fc2b8ab71815a5bee1a628480f987e376724531 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e742835fc5ad3e198da1c681736ea409a3a81c0ce542a85df9941677212410d +size 5320709 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3ad8b68e5cca7f49a2b555e07f2e4978a822e4e9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1845db24f1d94e5ea8699f0b1a78d08cfa8c39762b00b045e80d575ee476cada +size 5723120 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f251c416c4ca7ef6c594bd119f441cbb6082c2b9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ab20937e519fcc8a35f5ff56b2fe489ee9a0865f0ef5012f89c743976c9303d +size 4535984 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c2dd2cf39410b31c9c52536c3ebd6a631fb58bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:268bc272c62701a3890a781ebf2737bbc70bba9ec3b3e6bae42d83c71b1c3cb3 +size 4115707 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e215c6d53763a545847312392d32d1974b4a39f3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa888b0f9b419b0f3056391670bdd7888f00ba7d820b942773fff4e57efc41d9 +size 4611843 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f34d6a258b339a0e7cd18c75ddd81db5baa54d7d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11c398bf861013f0eee46457b20763437f90935fceeb23bbe4ef8bc967dc6043 +size 4896638 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d1911e03f9cb3df54ca5b6929f80c8abdecbbcb6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:918b7a70273d7a7bef5fd2143412361f82414b45c245f97449275be8e0c3e72b +size 4385478 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..52a93e5f1874cb827286c64a3bf7444098acb9e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8224ac0d85466dbb4014701d0bd12822a31c782bb6150f2fb3cbe9524afdad2 +size 4268233 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f075a597d09710b09f0717d5e7c7a82bd7a7655 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d227d19d25ba6ff1c7cc6e03ba4d8df1f70aa32d605206b1ec20b091755c159b +size 3908690 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..65fc810a910970d684247649ef815e3942156896 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9bd8d09a1d1842332a1b555d6ae07cc481d6a06756622b260d70340fce230e5 +size 4278443 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..81f542e495af8ff4f6ca68d4ea57f2fde9c3923a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b6695e41fec1989ff6181d0aace742c1a0c3bd8b45e3f8ec1b6eb6268182e06 +size 5206884 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..61fb05e70e5330e93f467bb97e701173db660f17 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77c48e0857f1bbaae91175dd72f9d93047c70cc8f8e2229fbc233f3bbcdff808 +size 4158238 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..884d7f7b986c9e2c9017f721935b18d5025efce4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f579b2067fe52b723f8b43a6cc169ff72adee51d5e55dad0e066cff319a1ba0 +size 5428238 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..60978d05c8c1914b76313f9a8b7ace46b8e8fc7d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65f41ab6ec0f1a03d81072bf5b95e90197416dd3e0d5a0fe61f940f06f4af0c1 +size 4689773 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..82080cfb646b084b024873f7d09f5cd6eb97d943 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9374c1ee074956830e9f8fdb15cbaba2cb94cbd090d56e232217136810f8b2c +size 5334715 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..90efd52e66bd8fb0bd43577366c295ff0fd4d2e3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19fb81f4d94f2d7bc30e7c0e9d73991f2195f36ec841954fdb3402e7a8dd0113 +size 4618158 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5c23f742fd9736eecb0d056e3e168104d2e0d709 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d19b7a40931c8acec9e826f9e71f69f26e0c968ad625134a0fc4915164318dcf +size 4110681 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..09da1b2cf5e50a1e0e1badb791a93657064a0da5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3765cf45dd382cfa9f96cf3cf121db82473cc49e55964b9353291b96db2f3f69 +size 4712888 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..315393e580f821d58010198a994e269c209a2c75 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0578d094fc20eca9fbd4ae906abae4b18041e9a821e11b89bbe0d2519263d5a3 +size 4051497 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..72000c00edc6277bcb95795bb3f9de7c3c88fa7a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:903c3a8e7eac2bb35e156d8f3c137cbffb8a7761ede4ebd20eea875d08d0ee9c +size 5560291 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..52de601df63b28b844d4b6eb96c20d6af415d5af --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8765c7b8a36ec82eaf1d9381f2e84802e0d905d94e80acb9f8b76aa4f1d24036 +size 5485118 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..05f80053436ac031432a4a80821f4911f06fd7ef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dde9fcd9c8a09eee9c07a6077d73b6373fc1e596004c97236d3926bccae6ad46 +size 3998657 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6561acc1f5697ef8962cf01f79012742930c4308 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f04b7a60b77651296b34ed2d0f4418d2e65d33b3ca6f14e81c70526550c6f7af +size 3817325 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d62d12c1eb7475c79b8aa18eb8ca1673954e93d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d9071568a22489ce1ebc71eec80a59eacac1ee89cd1b91ee900c21a8ed0d7d5 +size 5628912 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9fd2499c3a5702dd0b53a5d23f00fb3cc7055623 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92a6320441510fcec11f8840e428955be66b3c75de425cfc43d9a17241a0d6c0 +size 4766229 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fc83bbfd8c9bd0d6ec200f24df32483f954fe483 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c14d56deac86b4cc09b85dd42e4bc423e1014653145841e525d754aea0b1a571 +size 5583133 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..12c688389ebed6d80e3103a7cf64da3bbea29123 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e7c4165cebb2663940164007bdc1a4b52a9acfadcd00e8b61a7e86f8c7494fd +size 4137365 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..42a87754721d64cc1fd2b877c4dd5927e327e7fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32df3b59dadc37d9e0016cbadd27cc13c8f6d268481d82909c78f6c0b6eaa49c +size 5749891 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df8b36f6522ecb11069edbb04e5647e8acd3efb1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6307c6aa9ae4e18872132f572b959e347fca413b30e27208ac089f0f1274c3f +size 4638576 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..07d1269ce3ab273a8a5b60b5b5487332df21fc3d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a25528ea638e728d5ae3731b1ab512ad18818a5b3d4f9869004ad8bf04a4396f +size 4202432 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8ec2a1cfd4f752a15f77927d64f0817a6908ea21 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc50f1aa5a9f9c0daa1092b6a1a2d794523b063fd792f2c8e38c83d20089753c +size 5887002 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e79e9fb393093729e0ad508070ba4d714990fad0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8900b2af86095dd1b24c4c342549fb29eef3216b1384cfd3a21da87ebae8066 +size 4742292 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..226bce5f193e403b6dec652957cbc5bb48d227f4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19544e626f98329fbbb57c095914d9e6b3ca1743e07b4b84e2cd28598c62746d +size 5462894 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..11f55faf2c7a7166fe20507d79af3bf3eb316bc8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:073d3a1aaf69a6a8193e560a9c72779b2b886a0d17f60e5fb70d20083dc68429 +size 5884463 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c495a7f442790cb34e2930d7bcd1d9f18982890 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a647b530f55af9ab85e6ba9a90d53e8b4716eaa9a063089d381d9902caac71af +size 6352874 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..130e777d01d581d4aff89b9324e13510be24838d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53d25a8070071db68758d4174240dfba5cf4f740bb611c12b44ffcaf56c16080 +size 5198761 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e15749821cff3d5b494bf6ea04004b2635438d9c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efd11c609de87654d69e7d19082c911aa4554e6facbe50da696b1a96fea4d911 +size 4819936 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..647e0a16a73e95f86f6716f337af87d7ade22f5e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e5c9c7ded0d171742052db9b8c4650b1c311d3cb427fc4630e359fd46ded61e +size 5270795 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bde15d4403fedd69565d1ca767d4e6191faaa7e6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c27b6cf9012cf4c8f7450cb628df3361b2eceba78cbee4a801f158b7e9938336 +size 5257324 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a20893ddbb3f793e6b1d824f4fd4d09c46d71e1e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a211862e2e0f43bb430896f13782e463852b8b20d98ab97fa104c818dc66cd35 +size 5414299 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b4f043f9ad28d0c8f6935594ee8b879e780d81a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a30475d83927758a7be6c7e3a6f1c09bfe461db806c44857aded6804721db7e6 +size 5498393 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fdc7ff1b830f676c65b9db5e44184df24e0fb75a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dce7bc27534c06f435b00050d62c5845079977901fc8802414461195575bb367 +size 5407015 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7fbbdb6841dab39c4ffb33ac4043a832087e7cba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43dfae9299e6e440339fd83108472c72384633be7a1c2380c69919c728570f50 +size 4680224 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f9456687b2c2d14b567d2857632a9389f19588b4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b7d37a06f07dcbba28bb2642d369b14730c915b2e2637047e87c6c50f23b082 +size 6110440 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c54ad04f1cca075602b42ef94d882d0a1dd5b1b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a15a6cab576bb34d93e8f45ff4e8c3fd087d2ea676cb9540676d42d0b0d67a11 +size 4508723 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cfd45ca01a7779c360441f10d0e6a21182413f0a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71c28c160d88fcaf752a624abd35c0c5157d33e9726b43c01c4837d9c50540e9 +size 4482870 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8fa9c8e9e04e682e0c5eb3dee21730bd9300c55e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5cd1b42c5fc3fe23bf338b04c8492fc48156a52b60eba00b69bff527ddf74ca +size 4238729 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1009a9086347222dface132a43aaedb2143b34e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62ed6e4468f60c3169f88d216116922771d3081825f884455ebb6e1e168f9a26 +size 4778662 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..57e49afcb9d31f372560472d6b747fc626fab7d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33e5822a3aa1423d57b474d9adc1713a17eaf5874e8eeed4526ee1e52e1f4dad +size 5474823 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..492664a70b2a1ec1c2efc7a454251900608def5e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d36dabdca3bc9a96da31e7577955440265015f1fbfc02891744af1fa7f16333 +size 6365173 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..489c9b98bb7fda8eb9aad7a091ef5af19e449c85 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:463412d426dacd3bc5ff678ffa0c4325ca225b106d3e1286352afa3560462ecf +size 4830963 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e4e609116bf5ca11aad9c64e62c7747e26f084d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a057a4036530c0039cabff6bd616cce94df5a343e18384903cc200c5f31af4b +size 4213921 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7469f2d63f708e38764588b58f3c614c309fa892 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33730017ee3bc3e553d7a63f9c9d1a8ee3347a28c89b8a0f94a906247679ec9d +size 4256066 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3d925c560f095a787f9b5dc95bd45ba51ccbacdb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76b4d5cb05eafca11c3e8148243986afb8f12719c0b39084731255be1bb44993 +size 5542612 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d8fbc13ab1dbb669480072e61716f387073a9e9b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bae60a48e05b38294c91e9fb7924e4913fa998cf2e543c0a3f9f6d1d9b5aa889 +size 4293037 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2781ba9e7da481d822fae970438a5947789b3ccc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4453c33083ac209f9991a6f9c37e2ffd226349a022198282e32357b69dd220e0 +size 5748183 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8ac0abbb5aab67f7e38f0fa450e697fb5299adb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfc76d7de4c10c79772bcf296304d143108bde5f02b1d8f949dcdaa9cdb74275 +size 4509107 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7165f4e6aafb9fe69030098374b60c8cfc766b2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbefcc9acdc53cffef273c73423745049f5ca41d322910b59b6f97308d1026b6 +size 5156983 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..722b3f7f9d4f6d562d4512701a34b08e045b8480 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9aa16864b3bcf1548e67252f123d02c7d82f70ef3acea69844bdd778cb8a7b79 +size 5608540 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c780a37653f8708af648f1d9188fcb5d2aff11fd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70bfce721c2f5a35420dffcacd36251749a5ae41e401125d5117824b8029503b +size 4871967 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9502ac616304448c7c1221000b401120d9162f5a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41efe2442ef254a2d1f8c0604e6f134d3eba90e6e0a03fab66ce19e172ce3cb5 +size 5046218 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b9f5e054c23e477d01129e180fa5aed12c45e84f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31c2c551185568f048209086dc6c74c527424f4b2447caae782548aefa08284e +size 6318100 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d967157275a2d7791d7167498ccca7f23f39ee06 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1eb8c194edc26a5c7d2141bc798781814c595c34d50bebaf62d330ea0d46b95d +size 3577934 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8097b9a973afc036a2bcf075b58ffdf2584867f2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a28b5a1014e30e361a815d8254db6ec800a87802603c5a572f716c79b3d5ac6a +size 3931535 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..76470aa9bf40b2d72cfbf90fdbefe0afe47ff04e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:343400d28bc5ebc98dfdbe2c38741f960c357d145e3282d9076d70390fda2b09 +size 5005179 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9ce65dadcf34a1f502b4c021e56d19f28046b9f3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:401011fb6e6cbf666a5979fc3429d7c3605edd00f30094e008694f60d87aa7ef +size 5157504 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ce8c95275f4900f16ee7b468be2ed62e6ad4481a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:805cbccf4d7b4ae10831a471f55a17f0edb91a0e0a79bf100f4475de1aab71e5 +size 4779176 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de34aa5251268bacaeb5e475f88f44f6c7d247b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04fb462da07cc16fe3c1e178810562b0054fcc5807caa111beaba16855987fd1 +size 4429358 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4128bce3a53600d7fffd57d22a89f87975c92f6b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7d1988b1c02b5e17e5b83171491760660c0cc56554e4bdeebc01e97e7d173c0 +size 6179462 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6ad00435e43870af283967690bda33aae73cf173 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c35f4645ee59a313a2b4c56f4ac446fa2a79ab44841b3614d82e1a0c7d3f0d0 +size 4754260 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ddb06022fe8c7f17456d919cc5d036f98823363a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:082b50e60de1b7bd5b45b4f967cf39482ba8ce5d9ac5383b2c4298e51d6d9f73 +size 4555674 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ce3656b9dd6aee7ace56062f98ee8d05b8668d9d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a5a2c6e6b12a28c9e4fc828818bcf94808e785259b97d0f01d4dc170dce000d +size 4271444 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7b95163d850a391e4a9202a8f41bc3f63b31ff5c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b16b4180ef8ecceb780f7505c40e66c9294ce111200210cff0151a6f3545c80a +size 4727687 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b0c5b81a31848f9b2c941c53abdc3879252f76e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6b862c3cb0f600af57731ccaf53b494110b80354e312432a88802936bc42d25 +size 4596588 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ce5d238f88ff7f73ef4b07bef2a4331617c691e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71a4d595b8733a7785dd1b3151edf537b37d94e2fc3d83bdacaf3f5886da6388 +size 5677906 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e2dd006ec2be301cb5daa4346f74c28a6a356091 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b4bdcb4ae52b7708c036c91a35d39c58ba032a9c596bd4c362c986f57236e8c +size 4358778 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a4c674bb53ebeb307d5c6fde95a3bc6f276ea8e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c15feecfcc3ca5445334d06af9fb066e126a1826baf55d777661349fb37b6a9a +size 4671268 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6289168da74e8215fc84ec69c89b2615c80c7912 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99ebffe29455aec252a9211b0f9cfe5b07d0ac7b158412211bde06214abd9eb0 +size 6496629 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..229d8fd48602990b9f85e65623225090769b6277 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f27f125b444602362c9039b2f61a0fc96f3f85094173861e113f0d131531bd1f +size 5462791 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf356981131fda924a2b82a585c3f533ce6ee7c3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:974e8db9efcfb4a9ee2a33fa112faa3d3d3abcffc55eca5a80de1d7477b29933 +size 6033167 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66bc2c92016058f51b67753e4a180e3670544573 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:870a027dfaeb2c0a7c1b85eeaac8063b236275bf0aef311dfd33768f1b1aa994 +size 5018557 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d822d0dbeade3999d005f0e95845b602265f2e7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a1efc47c4d505b9fb9b071d82c912762a6ba90c00a6983f63192ab04fe5e63a +size 3881687 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e600157ac3116510a97413c1d34209238658a696 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:153765e510a6841c60801f41f9e564db728cbd8c1d127405d8ebba7480c54208 +size 4560742 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e6c7cab8b6b6d4e49beb7e34272c1893221f7ee2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f238d09c0c01e359a7f50a0cc9a30c49466d19838f6599bc31641303e1dd9222 +size 5736989 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..158485084ee5f7c0de52547a4cdcde5dcdf7b74d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbf2eb6ef3d572fedae445d66e967be0e048a6a1afcb2e38ae8356e3a56ff2b3 +size 4781894 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a7f33907c8eef1f8994a5376d0f26afa953913e2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a24a746ce454ca2c94494b28b20cc58226f693a1a2efdc695a00abfca0a0465 +size 4920726 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2bdf02cbc6793f3d3bdc22a6235cda02fde9248 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9df09bf2029c026ac638b17ec170ebf3d32e9e6b81e0b181943e3c41e63b99b +size 5050683 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dde9f04eaf9cca87ffc2ef98665bbd1b9d38748c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebac4bec4d9a484cea0237447acd530483ec519ee999e3d58efab655607236b2 +size 3793089 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..50a292795f285dd8e5e3c5747a74be35184f1231 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:777eff3f12bf64d49301ba1304cacdc12d3dec867862ccc9cffe64bd49e21c39 +size 5489026 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f8d7d7aba1ffb82f6fa99861452b19b605e3e0cf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51f487dca42690c1c5d27affb7f415f6d10cdc07251e22d5538848ab5acf75ac +size 4828517 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..37926de7e7ec23546623d87475578eb3d5d27721 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1eab628cb24247af804f7e1dc365a0a380430b34013b3a8958a4363c6b3a975c +size 4329020 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0da95907cf016957bbcc64e412b18a4855496be9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7022867738f24021109e058040891174b133164413cff3e79e98ff85d84590cf +size 4879811 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e9e41ecdcb64bf6170471e16c7089c5074f920a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f3365c85f25d4bd185edddbb5e83830d73c0a71 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T18:34:50","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.15441131123455087,-1.845976228789624,0.71338606911949],"aabb_xy":[[0.14977619608231746,-1.8498435638667725],[0.15904642638678423,-1.842108893712475]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[-0.21139391311779188,-1.4221803840816667,0.71338606911949],"aabb_xy":[[-0.2488939132896638,-1.4548811194645739],[-0.1738939129459199,-1.3894796486987595]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.29629384611869436,1.462985643339684,0.71338606911949],"aabb_xy":[[0.27129384695306125,1.4560333976343272],[0.3212938452843275,1.4699378890450403]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[0.5269471176976106,0.2576501275690277,0.71338606911949],"aabb_xy":[[0.5019471177650928,0.2507674593481044],[0.5519471176301286,0.26453279578995104]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[-0.2952849243948563,0.29385112353502896,0.71338606911949],"aabb_xy":[[-0.345284926056351,0.24385268127932627],[-0.24528492273336153,0.34384956579073167]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[-0.08543076448243936,-1.809772494551365,0.71338606911949],"aabb_xy":[[-0.12134426890742904,-1.8456860027681194],[-0.04951726005744968,-1.7738589863346104]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.13269186909153685,0.17506278603562508,0.71338606911949],"aabb_xy":[[-0.1548643960681877,0.1528871188795019],[-0.11051934211488601,0.19723845319174824]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[0.4346325887521665,1.6125353160998368,0.71338606911949],"aabb_xy":[[0.4281309522441619,1.6027674940735273],[0.44113422526017115,1.6223031381261468]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[-0.2873414978860849,-2.202326094443348,0.71338606911949],"aabb_xy":[[-0.30497433347961245,-2.2199490404589706],[-0.2697086622925573,-2.1847031484277246]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.5845901039279239,-0.6755220159272048,0.71338606911949],"aabb_xy":[[-0.5885039771233465,-0.6842710313337617],[-0.5806762307325013,-0.666773000520648]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.5136742711522251,-1.070685811377245,0.71338606911949],"aabb_xy":[[0.45867427153047924,-1.1256695041647178],[0.5686742707739709,-1.0157021185897723]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.14611954361427681,-0.5963560995170949,0.71338606911949],"aabb_xy":[[-0.18361954390645163,-0.6003975749176985],[-0.108619543322102,-0.5923146241164913]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[0.06878489787918829,-2.0774502449136105,0.71338606911949],"aabb_xy":[[0.032289077251909534,-2.113934187340368],[0.10528071850646702,-2.040966302486853]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[-0.25461273155289676,-2.056667136145301,0.71338606911949],"aabb_xy":[[-0.3446127309712676,-2.09004263298949],[-0.16461273213452582,-2.0232916393011107]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.30235776566784367,-0.6614864751986702,0.71338606911949],"aabb_xy":[[0.25238034880259,-0.7114864766879188],[0.3523351825330972,-0.6114864737094217]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.189276701868891,-1.694578958085684,0.71338606911949],"aabb_xy":[[-0.19461427753489557,-1.719578959014824],[-0.18393912620288644,-1.6695789571565445]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[-0.35917650898746406,-1.2850248543177265,0.71338606911949],"aabb_xy":[[-0.4191765095834803,-1.3398373268629498],[-0.29917650839144794,-1.2302123817725028]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[-0.15515205045178493,1.0038389905840752,0.71338606911949],"aabb_xy":[[-0.24483912675990038,0.9138389903296247],[-0.06546497414366947,1.0938389908385258]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[-0.5739784943664359,-0.592011120761101,0.71338606911949],"aabb_xy":[[-0.5964432643378409,-0.6145111216399615],[-0.5515137243950307,-0.5695111198822405]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.44516981137292067,-0.15736739798444388,0.71338606911949],"aabb_xy":[[-0.46033268434985786,-0.17253285527956266],[-0.4300069383959837,-0.14220194068932515]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.019196566428023254,-2.1772911245425637,0.71338606911949],"aabb_xy":[[-0.0316639245377589,-2.189756449175887],[-0.0067292083182876085,-2.16482579990924]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[0.11139312675067325,1.8099613765593863,0.71338606911949],"aabb_xy":[[0.10535611375000853,1.8039346754904384],[0.11743013975133798,1.8159880776283346]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_22","position":[-0.05767847348135646,-2.008141561548633,0.71338606911949],"aabb_xy":[[-0.08289931034119612,-2.033365312401519],[-0.03245763662151679,-1.9829178106957461]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[0.20919987170737842,-1.9680599600271422,0.71338606911949],"aabb_xy":[[0.20361820007324963,-1.9805599598449175],[0.21478154334150715,-1.9555599602093665]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[-0.12790528501364518,1.4218021050573113,0.71338606911949],"aabb_xy":[[-0.16290528332434062,1.4140870901337657],[-0.09290528670294973,1.429517119980857]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[0.4644095594756117,-0.9160318152779119,0.71338606911949],"aabb_xy":[[0.4144095584564765,-0.95249803101574],[0.514409560494747,-0.8795655995400842]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[-0.32050476547249207,1.617362950249992,0.71338606911949],"aabb_xy":[[-0.3705047658330581,1.567382963040389],[-0.27050476511192595,1.667342937459595]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6923027187763307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7843.png","name":"7843"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7843.png","name":"7843"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1756.png","name":"1756"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5349.png","name":"5349"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/676.png","name":"676"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8267.png","name":"8267"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":808.4418850035645,"rotation_z_degrees":327.404237101641,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028318590736059607,0.011766089208226232,-0.009262517193516354]},{"name":"camera_2","offset_m":[-0.014518848570104641,-0.012495998219204415,-0.019666658617118072]},{"name":"camera_3","offset_m":[0.0068698251423457875,-0.019652577067191188,-0.0012688454734295015]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001966695038606113,0.0006246012168206203,0.0007932132858008921],"end_effector_yaw_offset_degrees":0.9742638259343237},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005425539387084047,0.00047854241276450637,-0.0015102129814053825],"end_effector_yaw_offset_degrees":-0.3935545151543465},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015013631446342355,-0.0015223353392582637,0.001411159065850503],"end_effector_yaw_offset_degrees":-0.28648796443838}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023684066795277778,-0.0015695739544687348],"position_m":[0.32136840667952776,-0.09096957395446872,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008562313547190534,-0.004061719260569564],"position_m":[0.2759562313547191,-0.3470617192605696,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008794409317358391,0.003069124558528491],"position_m":[0.3071794409317359,0.24046912455852848,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00019451711972759064,0.0008699130027238046],"position_m":[0.3463945171197276,0.0980699130027238,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"66b61329c81f7853bcd9160a1665cf8d17630dc24db1f329d9794b4bf089dfbd","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7843/tex_ceiling_textures_8267/tex_floor_textures_676/tex_table_textures_1756/tex_wall_textures_5349","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7516457197622282679,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7516457197622282679,"visual_seed":7516457197622282679,"scene_id":"lab_003","finished_at":"2026-09-03T18:37:35"} +{"episode_id":"ep_000001","started_at":"2026-09-03T18:37:43","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[0.296063565857975,-1.6780537001465494,0.71338606911949],"aabb_xy":[[0.2610635645064932,-1.6984134361033705],[0.3310635672094567,-1.6576939641897288]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[0.45982925317218637,0.7436918770111691,0.71338606911949],"aabb_xy":[[0.3958292508293848,0.6987510257670366],[0.5238292555149879,0.7886327282553016]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.14199581058035038,0.8630209337573995,0.71338606911949],"aabb_xy":[[0.12441750839140353,0.8454464441832946],[0.15957411276929723,0.8805954233315044]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[-0.3601124861042224,-2.409201789299497,0.71338606911949],"aabb_xy":[[-0.3776124853823093,-2.4265398893658428],[-0.34261248682613554,-2.391863689233151]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[0.45297466007276443,-0.998790166796669,0.71338606911949],"aabb_xy":[[0.39895906379086443,-1.062790169688926],[0.5069902563546644,-0.9347901639044116]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[-0.4022260585683439,0.9925583102255486,0.71338606911949],"aabb_xy":[[-0.45222533373678014,0.9425583089496016],[-0.3522267833999078,1.0425583115014958]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[0.6118024454047253,-2.0861936279139783,0.71338606911949],"aabb_xy":[[0.6062207737705965,-2.098693627731753],[0.6173841170388541,-2.0736936280962026]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.18661677013192313,-0.02140534540559713,0.71338606911949],"aabb_xy":[[-0.221616770027942,-0.029779580917537074],[-0.15161677023590425,-0.01303110989365719]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[0.150637286816239,1.503913311660217,0.71338606911949],"aabb_xy":[[0.142643797020957,1.4959151797197416],[0.15863077661152106,1.511911443600693]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[0.17433595329633322,-1.1243613973570117,0.71338606911949],"aabb_xy":[[0.09433595628208524,-1.144495949030423],[0.2543359503105812,-1.1042268456836004]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[-0.6474518087938345,-0.7113177472936023,0.71338606911949],"aabb_xy":[[-0.6567988163761297,-0.7256213695112465],[-0.6381048012115392,-0.6970141250759584]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[-0.41830054780964965,1.5748303843707805,0.71338606911949],"aabb_xy":[[-0.42632681844027565,1.5660788893934279],[-0.41027427717902365,1.583581879348133]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.10276826857968735,-1.9878093206433085,0.71338606911949],"aabb_xy":[[-0.12526469001355145,-2.010309320450056],[-0.08027184714582325,-1.9653093208365608]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[-0.3033186628490764,-0.8568404991157672,0.71338606911949],"aabb_xy":[[-0.3533028985572536,-0.9068404979292629],[-0.25333442714089915,-0.8068405003022717]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[-0.49506100735534886,0.10027574391776017,0.71338606911949],"aabb_xy":[[-0.5450541194645409,0.05027574324356454],[-0.44506789524615703,0.1502757445919558]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[0.21052811245757885,-1.5958956184175142,0.71338606911949],"aabb_xy":[[0.2017260571486061,-1.6037069445724432],[0.21933016776655154,-1.588084292262585]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.022796157539570983,-1.4915820213794226,0.71338606911949],"aabb_xy":[[-0.07279615920106573,-1.541580463635125],[0.027203844121923778,-1.4415835791237195]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.15589485622276378,1.5679504043253867,0.71338606911949],"aabb_xy":[[-0.21989485539253373,1.5211837172064244],[-0.09189485705299384,1.6147170914443494]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.2261465072760125,-0.1893593979428223,0.71338606911949],"aabb_xy":[[-0.2761239241412661,-0.23935939943207085],[-0.1761690904107589,-0.13935939645357376]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[-0.616831338117105,-1.667152629837549,0.71338606911949],"aabb_xy":[[-0.6328932655756225,-1.7521526316501408],[-0.6007694106585872,-1.5821526280249572]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.058333073413793346,-1.306314531924899,0.71338606911949],"aabb_xy":[[-0.11332855123445273,-1.3613145333588057],[-0.0033375955931339504,-1.2513145304909918]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[-0.3833420300827814,1.7569916755031492,0.71338606911949],"aabb_xy":[[-0.4383352414199182,1.7019916751643558],[-0.32834881874564464,1.811991675841943]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[0.2027743848435466,-0.5233380005626311,0.71338606911949],"aabb_xy":[[0.1945598397278626,-0.5320145908602723],[0.21098892995923055,-0.5146614102649896]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[-0.07450215168519592,-0.5388584930156721,0.71338606911949],"aabb_xy":[[-0.11200215179078886,-0.5456806548686531],[-0.03700215157960295,-0.5320363311626909]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.45793085584193705,1.44219724876316,0.71338606911949],"aabb_xy":[[-0.4703982139516727,1.4297319241298365],[-0.4454634977322014,1.4546625733964835]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.1659761550634703,1.0559681424690872,0.71338606911949],"aabb_xy":[[0.14777033140222262,1.0449427418870956],[0.18418197872471798,1.0669935430510789]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6891030068387269,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9171.png","name":"9171"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9171.png","name":"9171"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4194.png","name":"4194"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6350.png","name":"6350"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1152.png","name":"1152"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6504.png","name":"6504"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":505.2832527509338,"rotation_z_degrees":353.75540852386456,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010096905968043416,-0.010652346514504646,-0.0007736775907170243]},{"name":"camera_2","offset_m":[-0.01922863069228012,-0.012132645587346488,-0.00541644603493968]},{"name":"camera_3","offset_m":[0.016734925843080634,-0.012872536337952965,-0.018386998808215683]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011280850371877325,0.001904357308691693,0.00011619694180514629],"end_effector_yaw_offset_degrees":0.10591287727335419},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00046088587817119057,-0.0014004071496465415,0.0011653312956967938],"end_effector_yaw_offset_degrees":0.7615565766487484},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00036546007924173054,0.0008393114731337099,-0.00013605348269017984],"end_effector_yaw_offset_degrees":-0.11647923556472706}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004701227935309363,0.0006019737411470574],"position_m":[0.31429877206469065,-0.08879802625885294,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005353190600922127,0.0018018296482448714],"position_m":[0.2756353190600922,-0.34119817035175515,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013790649134637345,-0.002391695659702687],"position_m":[0.30767906491346375,0.23500830434029732,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016167941251838411,0.0015597898000950013],"position_m":[0.34781679412518385,0.09875978980009499,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c36224dcc9e83e52f36d1e8f0c28a9ec195ffc817700e02e8350e8ecdd16f0ff","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0001.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9171/tex_ceiling_textures_6504/tex_floor_textures_1152/tex_table_textures_4194/tex_wall_textures_6350","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":4595571378457955927,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":4595571378457955927,"visual_seed":4595571378457955927,"scene_id":"lab_003","finished_at":"2026-09-03T18:40:44"} +{"episode_id":"ep_000002","started_at":"2026-09-03T18:40:48","dimensions":{"distractor":{"count":30,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.24758026648502907,-2.5109286398330872,0.71338606911949],"aabb_xy":[[-0.32758026364460435,-2.5224762407909043],[-0.16758026932545375,-2.49938103887527]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[-0.6012443498870323,0.14806458814929124,0.71338606911949],"aabb_xy":[[-0.6483737288888679,0.08406458710488926],[-0.5541149708851966,0.21206458919369317]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.6772933800186358,1.471883815308408,0.71338606911949],"aabb_xy":[[0.6700496139723905,1.3918838171048056],[0.6845371460648811,1.5518838135120103]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.6698303685257483,-1.8264725158831068,0.71338606911949],"aabb_xy":[[0.6499393286454082,-1.8391283271678038],[0.6897214084060886,-1.8138167045984102]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[0.4525779364960134,0.7447175671327657,0.71338606911949],"aabb_xy":[[0.4150779366789798,0.7400793558216239],[0.4900779363130469,0.7493557784439075]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.5592148070005033,-2.2148028604144794,0.71338606911949],"aabb_xy":[[-0.6232148084084939,-2.266591811938404],[-0.4952148055925126,-2.1630139088905547]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.5156560576361119,1.6155419413128542,0.71338606911949],"aabb_xy":[[-0.60565606131303,1.5541095347357496],[-0.4256560539591936,1.6769743478899584]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_7","position":[-0.40677077924227373,0.19108947622601624,0.71338606911949],"aabb_xy":[[-0.4226552725075989,0.17673653592719218],[-0.3908862859769486,0.2054424165248403]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.5782689065318068,0.3972658577975303,0.71338606911949],"aabb_xy":[[-0.5971532903003172,0.37837993301717754],[-0.5593845227632968,0.4161517825778831]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.18163649298607698,0.19891922693890773,0.71338606911949],"aabb_xy":[[-0.21913649417086978,0.1945010042428472],[-0.14413649180128418,0.20333744963496828]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[-0.23915495808859594,-0.8066858611700514,0.71338606911949],"aabb_xy":[[-0.27415495798461476,-0.8150600966819913],[-0.20415495819257706,-0.7983116256581114]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[0.359423401282875,-1.4714382803709585,0.71338606911949],"aabb_xy":[[0.34155429352841943,-1.4852711883481695],[0.3772925090373304,-1.4576053723937474]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[0.07557729324502649,1.3032831189568435,0.71338606911949],"aabb_xy":[[0.025694596367330284,1.253283119710569],[0.1254599901227227,1.3532831182031184]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.46801923140387147,0.6521470061493395,0.71338606911949],"aabb_xy":[[-0.47411385929198985,0.6435776115976708],[-0.4619246035157532,0.6607164007010082]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.10968937773738185,-1.4978795618665437,0.71338606911949],"aabb_xy":[[-0.15968937717757747,-1.5478474863508598],[-0.059689378297186235,-1.4479116373822272]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.09063317876881016,-0.9653211926804734,0.71338606911949],"aabb_xy":[[0.02063317663738061,-0.988083158306169],[0.1606331809002397,-0.9425592270547777]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.441021133210715,1.0033373293582408,0.71338606911949],"aabb_xy":[[0.4347090336743765,0.997570390105022],[0.4473332327470534,1.0091042686114597]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[0.5275998062756257,0.8768864152913118,0.71338606911949],"aabb_xy":[[0.5050998062654775,0.8627901956517084],[0.550099806285774,0.890982634930915]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[0.6269287044266691,0.41642997329488773,0.71338606911949],"aabb_xy":[[0.5369287079257973,0.37051833087642944],[0.7169287009275408,0.4623416157133459]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[-0.35787948989181023,-1.3212632231661592,0.71338606911949],"aabb_xy":[[-0.4039645811465417,-1.385263220418714],[-0.31179439863707875,-1.2572632259136038]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[0.0016082471382404817,0.772473244469615,0.71338606911949],"aabb_xy":[[-0.08839175228013041,0.7390977476254253],[0.09160824655661137,0.8058487413138048]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[0.6096620387321989,1.7701350483269231,0.71338606911949],"aabb_xy":[[0.5941062693219338,1.754584615082516],[0.6252178081424643,1.7856854815713303]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[0.2964515122186051,-0.6121917353691324,0.71338606911949],"aabb_xy":[[0.28468332542394764,-0.697191735274354],[0.3082196990132627,-0.5271917354639108]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[0.5583968270639115,-0.22299550093369813,0.71338606911949],"aabb_xy":[[0.478396829660318,-0.3029880721318809],[0.6383968244675048,-0.1430029297355153]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[-0.3710982515771913,0.7880832887757059,0.71338606911949],"aabb_xy":[[-0.4053951625949319,0.7537864025657643],[-0.33680134055945066,0.822380174985647]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[-0.04076322149421274,-1.0126889986223044,0.71338606911949],"aabb_xy":[[-0.05767395393055451,-1.0261612042149186],[-0.023852489057870952,-0.9992167930296898]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[-0.6233123097842809,0.5202196292948016,0.71338606911949],"aabb_xy":[[-0.6408123089186479,0.5103400022572138],[-0.6058123106499136,0.5300992563323894]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_27","position":[0.4301667478933755,-2.5479202228932176,0.71338606911949],"aabb_xy":[[0.41701550192208625,-2.5729202226499046],[0.44331799386466497,-2.5229202231365315]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_28","position":[0.4393118911219418,-1.5894530385218093,0.71338606911949],"aabb_xy":[[0.4109821811734016,-1.5939137807155264],[0.467641601070482,-1.5849922963280922]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[-0.5702535527358031,-1.467508701067781,0.71338606911949],"aabb_xy":[[-0.634253552996274,-1.5125175004207088],[-0.5062535524753323,-1.4224999017148527]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6896761341165952,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9814.png","name":"9814"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9814.png","name":"9814"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1526.png","name":"1526"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4672.png","name":"4672"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3195.png","name":"3195"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6223.png","name":"6223"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":829.8707190603886,"rotation_z_degrees":294.54108131492893,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012049743683065706,-0.015789200691101277,0.003805741645976208]},{"name":"camera_2","offset_m":[-0.00038391328501325914,0.008427348350437912,0.019913070160114132]},{"name":"camera_3","offset_m":[0.002309620790012897,-0.0010179706307046794,0.007978588606401767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003873776733590293,0.001987372201727044,7.623733705773269e-05],"end_effector_yaw_offset_degrees":-0.2143672801074814},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[4.902841136095225e-05,-0.00025565584502346096,0.0014047737755673094],"end_effector_yaw_offset_degrees":0.8572873713167473},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003352968378892481,-0.000495703525335693,0.00045225640034775565],"end_effector_yaw_offset_degrees":0.4669238966921794}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002682204770103014,-0.0021405678716493195],"position_m":[0.321682204770103,-0.09154056787164931,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010394979230779443,-0.0020935404079450415],"position_m":[0.27406050207692206,-0.34509354040794504,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004194462743417067,0.003629740016830714],"position_m":[0.30210553725658296,0.24102974001683072,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002172511844007952,-0.00491976748869272],"position_m":[0.34402748815599205,0.09228023251130728,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1b329035f688a5b607b3ddd86b7ccd5e9747d0d41cf76013360716083d21f3e0","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9814/tex_ceiling_textures_6223/tex_floor_textures_3195/tex_table_textures_1526/tex_wall_textures_4672","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7007269382190031062,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7007269382190031062,"visual_seed":7007269382190031062,"scene_id":"lab_003","finished_at":"2026-09-03T18:43:25"} +{"episode_id":"ep_000003","started_at":"2026-09-03T18:43:29","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[0.31336235854227423,-0.8624976629462588,0.71338606911949],"aabb_xy":[[0.2633673475828222,-0.9124976619818507],[0.36335736950172626,-0.8124976639106672]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[-0.218820769325956,-1.4889061864978803,0.71338606911949],"aabb_xy":[[-0.22372006163251948,-1.5165831058004489],[-0.2139214770193925,-1.4612292671953113]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[-0.22539601154574784,1.2025922730429923,0.71338606911949],"aabb_xy":[[-0.3153960138797669,1.1251099184578797],[-0.13539600921172879,1.280074627628105]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.2961313633880871,-1.9795263978035145,0.71338606911949],"aabb_xy":[[0.2261313607515007,-1.9996312627993793],[0.3661313660246734,-1.9594215328076483]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.4315234853230112,-0.9477588315958156,0.71338606911949],"aabb_xy":[[0.4090234853128629,-0.9618550512354189],[0.4540234853331595,-0.9336626119562124]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.5807941433446674,-0.17130443354688785,0.71338606911949],"aabb_xy":[[-0.6507941454760968,-0.19406639917258348],[-0.5107941412132377,-0.14854246792119216]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.3923348179579242,-1.9319472749747253,0.71338606911949],"aabb_xy":[[-0.4273348171507424,-1.9429143209723876],[-0.35733481876510587,-1.9209802289770626]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[-0.3263405630020005,-1.7554405313588752,0.71338606911949],"aabb_xy":[[-0.36134056213195614,-1.7611857524345391],[-0.2913405638720448,-1.749695310283211]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[0.2587748981150585,1.5221192417326992,0.71338606911949],"aabb_xy":[[0.20877562294662233,1.472119240456752],[0.30877417328349466,1.5721192430086464]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.67242112646224,-0.06517767194638902,0.71338606911949],"aabb_xy":[[0.6252917474604042,-0.12917767299079097],[0.7195505054640755,-0.0011776709019870463]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.2824026919263598,-0.6997891209518092,0.71338606911949],"aabb_xy":[[0.24810578090861912,-0.7340860071617504],[0.3166996029441004,-0.6654922347418678]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[0.203728603128551,0.9544018856632448,0.71338606911949],"aabb_xy":[[0.19397261361937712,0.9446393516040102],[0.2134845926377249,0.9641644197224791]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.590205084122997,0.8715331941003606,0.71338606911949],"aabb_xy":[[-0.6126698540944021,0.8490331932215001],[-0.5677403141515919,0.8940331949792211]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[-0.2426186118578405,-2.56013950445784,0.71338606911949],"aabb_xy":[[-0.2506126004355439,-2.56813958455293],[-0.23462462328013708,-2.5521394243627498]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.31786407446135534,-1.3493863266862538,0.71338606911949],"aabb_xy":[[-0.3329663759223733,-1.364487848317315],[-0.30276177300033713,-1.3342848050551916]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[-0.573343698911932,-1.0699929607938432,0.71338606911949],"aabb_xy":[[-0.5770469602410708,-1.0736949791025607],[-0.569640437582793,-1.0662909424851252]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.24084617614713022,-2.417916164163764,0.71338606911949],"aabb_xy":[[-0.2783461773319229,-2.422334386859824],[-0.20334617496233737,-2.413497941467703]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[-0.46274229316774906,-0.6410077997604107,0.71338606911949],"aabb_xy":[[-0.5080209080488982,-0.7050077991085943],[-0.41746367828659975,-0.577007800412227]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.3714283258449842,0.9081605222844651,0.71338606911949],"aabb_xy":[[0.30642832796333636,0.8570368585779243],[0.436428323726632,0.9592841859910061]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.04617305784677672,-2.0384865863714148,0.71338606911949],"aabb_xy":[[-0.08367305819500448,-2.050277981952498],[-0.008673057498548957,-2.026695190790331]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.5315927844437041,1.3149544787629646,0.71338606911949],"aabb_xy":[[0.49474223650671645,1.2774544779399308],[0.5684433323806917,1.3524544795859983]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[0.181672865730782,-2.2889860752720903,0.71338606911949],"aabb_xy":[[0.1265476601011912,-2.348986076713377],[0.23679807136037276,-2.2289860738308027]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[-0.5403039684107156,-2.4132893785599308,0.71338606911949],"aabb_xy":[[-0.6043039648380375,-2.4604590023820276],[-0.4763039719833937,-2.3661197547378348]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902457698786951,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6637.png","name":"6637"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6637.png","name":"6637"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4686.png","name":"4686"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9388.png","name":"9388"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9606.png","name":"9606"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8776.png","name":"8776"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":534.5558573781523,"rotation_z_degrees":3.6079472648003685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0034239710102691168,-0.010043931252583595,-8.399451820562467e-05]},{"name":"camera_2","offset_m":[0.00603572163775342,-0.007160034280464852,0.014870772694252635]},{"name":"camera_3","offset_m":[0.008189913586175223,0.007663857787080161,-0.019162077703153865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009002641139318757,0.00036437503924002584,-0.001609145780341966],"end_effector_yaw_offset_degrees":-0.6865411077423325},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004702516547450638,0.0012714525537784022,0.0005217963148652495],"end_effector_yaw_offset_degrees":-0.610181843578127},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[7.751691029069972e-05,0.0008223030127064396,0.0002596215333280356],"end_effector_yaw_offset_degrees":-0.9837086840568696}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00394893749869685,-0.0022343301167299257],"position_m":[0.31505106250130316,-0.09163433011672992,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00011791427239111769,-0.0016362736490497642],"position_m":[0.2749820857276089,-0.3446362736490498,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004352603184001358,-0.0029112713831387737],"position_m":[0.30194739681599864,0.23448872861686124,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004161388044448856,-0.0025895106144498536],"position_m":[0.34203861195555113,0.09461048938555014,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f06eaa8bdfa72da32ad525031ab8bd03bd3d7499a0c678049bcc3e4ec7a549be","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6637/tex_ceiling_textures_8776/tex_floor_textures_9606/tex_table_textures_4686/tex_wall_textures_9388","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":4228648896200258122,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":4228648896200258122,"visual_seed":4228648896200258122,"scene_id":"lab_003","finished_at":"2026-09-03T18:46:10"} +{"episode_id":"ep_000004","started_at":"2026-09-03T18:46:13","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[0.1371444485098554,0.700546652955226,0.71338606911949],"aabb_xy":[[0.07214444740391213,0.6755812798870978],[0.2021444496157987,0.7255120260233544]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[0.6407587930069953,-2.5037756061573715,0.71338606911949],"aabb_xy":[[0.6314651747698447,-2.541275604645505],[0.6500524112441458,-2.466275607669237]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.7008662546401372,-2.333336257399243,0.71338606911949],"aabb_xy":[[0.6948997156994013,-2.339297402058607],[0.7068327935808728,-2.3273751127398787]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[0.5791628854077577,-2.4400796330827474,0.71338606911949],"aabb_xy":[[0.5711265507064729,-2.448117752387164],[0.5871992201090426,-2.432041513778331]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.456008846534387,-1.5367498851102177,0.71338606911949],"aabb_xy":[[0.39200884462204466,-1.5926610343682284],[0.5200088484467293,-1.4808387358522075]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[-0.23091756125375423,1.4184883376733946,0.71338606911949],"aabb_xy":[[-0.30091756464531616,1.3831725639699637],[-0.1609175578621922,1.4538041113768254]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.5794671318713784,0.9823718299057993,0.71338606911949],"aabb_xy":[[0.5294671302098836,0.9323733876500965],[0.6294671335328731,1.0323702721615018]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.03541554567693328,-2.403130722852658,0.71338606911949],"aabb_xy":[[-0.08529824255462949,-2.453130722098933],[0.014467151200762921,-2.3531307236063834]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[0.5726405296010337,-2.1752289261630766,0.71338606911949],"aabb_xy":[[0.5574776566240967,-2.1903943834581954],[0.5878034025779708,-2.160063468867958]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[-0.4766699847836777,-0.25456739883778257,0.71338606911949],"aabb_xy":[[-0.5406699833702502,-0.3015743622372913],[-0.4126699861971052,-0.20756043543827385]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.3012270585136965,1.3023391327136369,0.71338606911949],"aabb_xy":[[-0.3662270570707694,1.272586599299754],[-0.23622705995662374,1.3320916661275193]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[0.2865561372963631,-1.2098529566837763,0.71338606911949],"aabb_xy":[[0.22255613507595606,-1.2542260408090646],[0.3505561395167701,-1.165479872558488]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.4156130913261764,-1.5509901596008007,0.71338606911949],"aabb_xy":[[-0.4347253986841553,-1.5701249384780425],[-0.39650078396819755,-1.5318553807235584]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[-0.6437294529202233,0.5059851883707367,0.71338606911949],"aabb_xy":[[-0.693729452496558,0.45600460941863086],[-0.5937294533438886,0.5559657673228428]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.6330036332292437,1.4298609588608282,0.71338606911949],"aabb_xy":[[0.585197465615475,1.3648609561537692],[0.6808098008430123,1.4948609615678872]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[-0.3235718464861345,-2.119227234366928,0.71338606911949],"aabb_xy":[[-0.3289043611407475,-2.124551562612164],[-0.31823933183152153,-2.1139029061216923]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[-0.6321302487516969,-0.7891279144037429,0.71338606911949],"aabb_xy":[[-0.6821302497022296,-0.8206770614072642],[-0.582130247801164,-0.7575787674002213]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[-0.3729492686299294,-0.43850657400523296,0.71338606911949],"aabb_xy":[[-0.4629492672243994,-0.45475716031865404],[-0.2829492700354595,-0.422255987691812]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[0.09567327883604682,1.1083609354049497,0.71338606911949],"aabb_xy":[[0.0848328006095319,1.091174654114301],[0.1065137570625617,1.1255472166955984]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[-0.4400466843510793,0.8599513784659134,0.71338606911949],"aabb_xy":[[-0.458252508012327,0.8489259778839217],[-0.4218408606898316,0.8709767790479049]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.2964811541705896,0.26998454035608965,0.71338606911949],"aabb_xy":[[-0.32762807301417274,0.19998454166928248],[-0.2653342353270065,0.3399845390428968]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.13476515754494411,1.773506474770866,0.71338606911949],"aabb_xy":[[-0.19476515918786597,1.7215063254789218],[-0.07476515590202226,1.8255066240628102]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.2896561594052456,-0.25946544188948195,0.71338606911949],"aabb_xy":[[-0.3271561600698242,-0.2751524998897041],[-0.25215615874066677,-0.24377838388925974]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[0.6053685550369239,-1.2449240660027991,0.71338606911949],"aabb_xy":[[0.5864841712684138,-1.263809990783152],[0.6242529388054342,-1.2260381412224464]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[-0.13354863451091026,-1.7525012370016193,0.71338606911949],"aabb_xy":[[-0.14531682130556778,-1.837501236906841],[-0.12178044771625274,-1.667501237096398]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_25","position":[0.4219387849432559,1.0449417362772824,0.71338606911949],"aabb_xy":[[0.40760435981709237,1.0328815207227435],[0.43627321006941927,1.0570019518318212]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[-0.13923709955537378,-1.9698347398025104,0.71338606911949],"aabb_xy":[[-0.19423031089251055,-2.024834740141304],[-0.08424388821823701,-1.914834739463717]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_27","position":[-0.4836554133092499,-2.3207439812155304,0.71338606911949],"aabb_xy":[[-0.5476554124790198,-2.367510668334493],[-0.41965541413947993,-2.273977294096568]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_28","position":[0.5347499310382338,0.0631019685875076,0.71338606911949],"aabb_xy":[[0.5221231437510374,0.05355589488593471],[0.5473767183254301,0.0726480422890805]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_29","position":[-0.46569446678452425,-1.7236648008636921,0.71338606911949],"aabb_xy":[[-0.5356944631944858,-1.7441027365153734],[-0.3956944703745623,-1.70322686521201]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_30","position":[0.3704692335127753,-2.464200643943111,0.71338606911949],"aabb_xy":[[0.280469229835857,-2.5256330505202147],[0.4604692371896933,-2.402768237366006]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[-0.06976034184920021,1.0229017080016622,0.71338606911949],"aabb_xy":[[-0.07856239715817293,1.015090381846733],[-0.06095828654022751,1.030713034156591]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877114016420954,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5407.png","name":"5407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5407.png","name":"5407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/875.png","name":"875"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5811.png","name":"5811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2755.png","name":"2755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2860.png","name":"2860"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":755.442736008414,"rotation_z_degrees":330.2512380634923,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005760039060376018,0.0029050506244256563,-0.01719742127906988]},{"name":"camera_2","offset_m":[0.002003287900748215,0.0004517572477719216,-0.007949768568858357]},{"name":"camera_3","offset_m":[0.00014851734167642752,-0.007010535087028971,0.019718007037073253]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003526126655831901,0.001844265215221773,0.0017134095652528623],"end_effector_yaw_offset_degrees":-0.08881325751900748},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018574023338757345,-0.0006018623536287709,0.0006431903153229722],"end_effector_yaw_offset_degrees":-0.012064836430667691},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00011127830711378647,-0.0010278771490088334,0.0013367117660633503],"end_effector_yaw_offset_degrees":-0.19831372312120332}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00017142977443359436,-0.003371425800469797],"position_m":[0.3191714297744336,-0.09277142580046979,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004810725428931223,-0.004667771605445808],"position_m":[0.27028927457106877,-0.3476677716054458,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001611660418629487,0.004523652567749034],"position_m":[0.3079116604186295,0.24192365256774903,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004142100980650438,0.0007198978802997746],"position_m":[0.35034210098065044,0.09791989788029977,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e05ca42b3104f766e84a526ce06440c5457f037e4d600274bf3d37758ef89b27","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0004.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5407/tex_ceiling_textures_2860/tex_floor_textures_2755/tex_table_textures_875/tex_wall_textures_5811","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":747023672863976916,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":747023672863976916,"visual_seed":747023672863976916,"scene_id":"lab_003","finished_at":"2026-09-03T18:49:22"} +{"episode_id":"ep_000005","started_at":"2026-09-03T18:49:25","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[-0.3638511290592315,0.1508489188696811,0.71338606911949],"aabb_xy":[[-0.427851131402033,0.10590806762554862],[-0.2998511267164299,0.1957897701138136]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.6333014255901769,0.8249208320064434,0.71338606911949],"aabb_xy":[[-0.645234159952005,0.812538679198584],[-0.6213686912283488,0.8373029848143028]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.1964275847906246,-1.2399097732153728,0.71338606911949],"aabb_xy":[[0.1739275852669172,-1.262405720665993],[0.218927584314332,-1.2174138257647515]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.5430055650400338,-1.1879736965066454,0.71338606911949],"aabb_xy":[[0.5374238934059049,-1.200473696324421],[0.5485872366741625,-1.17547369668887]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.2078933858928511,1.2866493253410796,0.71338606911949],"aabb_xy":[[0.14289338489235057,1.2358629601864046],[0.27289338689335163,1.3374356904957545]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[0.5848981729828275,-1.3152275007495882,0.71338606911949],"aabb_xy":[[0.5478640635547678,-1.3496047080832976],[0.6219322824108873,-1.2808502934158787]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[0.5083577332511722,0.7462710815460065,0.71338606911949],"aabb_xy":[[0.5042417831390994,0.7421555265131609],[0.5124736833632447,0.750386636578852]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.38662498548317636,-1.3618486333108033,0.71338606911949],"aabb_xy":[[-0.46662498595339236,-1.3701593409251518],[-0.3066249850129604,-1.3535379256964548]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[0.590408077165961,-0.9458740731706785,0.71338606911949],"aabb_xy":[[0.556091799991343,-0.9958740731438562],[0.6247243543405788,-0.8958740731975008]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_9","position":[-0.3858938912718066,-1.8672122308291124,0.71338606911949],"aabb_xy":[[-0.408393891515322,-1.8794168654888845],[-0.3633938910282912,-1.8550075961693406]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[-0.2536840686686535,1.590054093439536,0.71338606911949],"aabb_xy":[[-0.34368406516952527,1.5441424510210775],[-0.16368407216778177,1.635965735857994]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[0.6327667553848113,-1.5455777339711634,0.71338606911949],"aabb_xy":[[0.5677667544276841,-1.597525945904869],[0.6977667563419385,-1.4936295220374578]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.5125963141357466,-0.2310050038050555,0.71338606911949],"aabb_xy":[[-0.5189084136720848,-0.23677194305827437],[-0.5062842145994081,-0.2252380645518367]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[0.40095612701355887,-1.4572982169269895,0.71338606911949],"aabb_xy":[[0.3509612940856172,-1.5072982158222332],[0.4509509599415004,-1.4072982180317462]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[0.1394571786753751,1.4622399161035262,0.71338606911949],"aabb_xy":[[0.10897292854834495,1.41223991632203],[0.16994142880240526,1.512239915885022]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[-0.5361389583416114,-0.6975406630466963,0.71338606911949],"aabb_xy":[[-0.5490108618425514,-0.7775406634605324],[-0.5232670548406712,-0.6175406626328601]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[-0.1392475007341203,1.3480996719883267,0.71338606911949],"aabb_xy":[[-0.1842400874525707,1.3030996727138777],[-0.09425491401566988,1.3930996712627752]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.4561403581071721,-2.2780734504571587,0.71338606911949],"aabb_xy":[[-0.4598436194363109,-2.2817754687658764],[-0.45243709677803323,-2.274371432148441]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.29646586452146134,-1.6538852731819214,0.71338606911949],"aabb_xy":[[-0.3139658636558285,-1.6637649002195087],[-0.27896586538709417,-1.644005646144333]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.4287680221130245,0.3517483691368768,0.71338606911949],"aabb_xy":[[-0.4662680227776032,0.33606131113665455],[-0.3912680214484458,0.3674354271370989]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.49743477493319954,-0.48462803743658567,0.71338606911949],"aabb_xy":[[-0.5083405510207623,-0.5646280338354147],[-0.48652899884563683,-0.4046280410377564]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[-0.31724897063170815,-2.0339392708516897,0.71338606911949],"aabb_xy":[[-0.3540995185686958,-2.0714392716747234],[-0.2803984226947206,-1.996439270028656]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[0.021148553542521653,-1.4158957440352946,0.71338606911949],"aabb_xy":[[-0.02873414333517455,-1.4658957432815694],[0.07103125042021786,-1.3658957447890199]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[0.25809397092774367,-1.110581745619961,0.71338606911949],"aabb_xy":[[0.20809396990860846,-1.147047961357789],[0.308093971946879,-1.0741155298821332]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_24","position":[0.18325719164846688,-1.815860229131018,0.71338606911949],"aabb_xy":[[0.125626722761196,-1.8758602280577283],[0.24088766053573768,-1.7558602302043071]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[0.4368937518814555,1.0487541090817816,0.71338606911949],"aabb_xy":[[0.38908758426768675,0.9837541063747226],[0.48469991949522406,1.1137541117888405]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_26","position":[0.188407061119662,-1.0039934755208362,0.71338606911949],"aabb_xy":[[0.11840705898823242,-1.0267554411465316],[0.25840706325109153,-0.9812315098951403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855170000976335,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7381.png","name":"7381"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7381.png","name":"7381"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1568.png","name":"1568"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8167.png","name":"8167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/653.png","name":"653"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4696.png","name":"4696"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":676.8139286216627,"rotation_z_degrees":128.60145943461916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014896370067220232,-0.0020550132029169797,0.018762571571489976]},{"name":"camera_2","offset_m":[0.004441189919755523,0.0005765179786323266,0.01922997427565588]},{"name":"camera_3","offset_m":[-0.0026104924105601578,7.247930868508126e-05,0.004518037901745403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016773815593979467,-0.000892674346157158,0.0017368147953844707],"end_effector_yaw_offset_degrees":-0.7049894528062881},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011827374621414628,-0.001273057299317038,-0.0012798960087427695],"end_effector_yaw_offset_degrees":-0.7003030922229434},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015755662975530944,-0.0012342451439296869,-0.0019224750350916074],"end_effector_yaw_offset_degrees":0.2723902582728832}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009207996087482592,-0.004909664454507682],"position_m":[0.31807920039125176,-0.09430966445450767,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002752857433520629,0.0032747185438337665],"position_m":[0.2723471425664794,-0.33972528145616626,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004643426684180502,0.0012324491579864772],"position_m":[0.3109434266841805,0.23863244915798648,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011034494359473913,0.0036420156112509103],"position_m":[0.3473034494359474,0.1008420156112509,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b45bbf9a133e8e6eb5d4b72eaba95b8f2693147be3a6205ad5bef3ccf10108b9","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7381/tex_ceiling_textures_4696/tex_floor_textures_653/tex_table_textures_1568/tex_wall_textures_8167","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":9011087607304075590,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":9011087607304075590,"visual_seed":9011087607304075590,"scene_id":"lab_003","finished_at":"2026-09-03T18:52:01"} +{"episode_id":"ep_000006","started_at":"2026-09-03T18:52:04","dimensions":{"distractor":{"count":27,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[0.26866974801055976,1.5982512784391711,0.71338606911949],"aabb_xy":[[0.26062638808460453,1.5132512773438045],[0.2767131079365149,1.6832512795345373]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.3515042725902045,0.2808892804302765,0.71338606911949],"aabb_xy":[[-0.3928088156539405,0.21688928086215942],[-0.3101997295264685,0.3448892799983936]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[-0.33714675054784304,1.0244171789208103,0.71338606911949],"aabb_xy":[[-0.40214675154834356,0.9736308137661354],[-0.2721467495473425,1.0752035440754852]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.4554329520631626,1.3220631604200146,0.71338606911949],"aabb_xy":[[0.39143294972036097,1.2771223091758819],[0.519432954405964,1.3670040116641469]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[0.6241471979830893,-0.43346017018932015,0.71338606911949],"aabb_xy":[[0.5344601216749738,-0.5234601704437707],[0.7138342742912047,-0.3434601699348696]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[0.36076796412327417,-2.4666872152616985,0.71338606911949],"aabb_xy":[[0.30576796592152927,-2.5072091818881357],[0.41576796232501895,-2.4261652486352605]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.2753147144564062,-1.2391352493782688,0.71338606911949],"aabb_xy":[[0.225314713095519,-1.2891131539536842],[0.32531471581729343,-1.189157344802853]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[0.560562526770348,0.7683150810615489,0.71338606911949],"aabb_xy":[[0.5255625254188662,0.747955345104728],[0.5955625281218296,0.7886748170183697]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[-0.22337677382274623,-0.33482997810489934,0.71338606911949],"aabb_xy":[[-0.2583767737187651,-0.3432042136168393],[-0.18837677392672736,-0.3264557425929594]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.22318348807816224,-2.1330229589669685,0.71338606911949],"aabb_xy":[[-0.258812643978122,-2.1686556257238214],[-0.1875543321782025,-2.0973902922101155]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[0.6160535110154819,1.0199602472480858,0.71338606911949],"aabb_xy":[[0.5660804454829665,0.9699602474355531],[0.6660265765479975,1.0699602470606189]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.43125531331942296,-1.70692736713097,0.71338606911949],"aabb_xy":[[-0.4430235001140806,-1.791927367036192],[-0.41948712652476555,-1.6219273672257488]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[0.6684603887261256,0.5354321005268758,0.71338606911949],"aabb_xy":[[0.6607571980520486,0.5277227298281378],[0.6761635794002026,0.5431414712256138]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[-0.45061739324100347,-0.234045395024999,0.71338606911949],"aabb_xy":[[-0.46322009237807993,-0.2466407912498645],[-0.438014694103927,-0.2214499988001335]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.4459711831517169,-1.1182681395852103,0.71338606911949],"aabb_xy":[[-0.4684711833952324,-1.1304727742449825],[-0.4234711829082016,-1.1060635049254386]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.22248973464498611,0.9048616515003896,0.71338606911949],"aabb_xy":[[0.2148654665548079,0.897228427963846],[0.23011400273516439,0.9124948750369335]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[0.040675534093111976,-1.9069226163697142,0.71338606911949],"aabb_xy":[[-0.03932446637710398,-1.9152333239840627],[0.12067553456332793,-1.8986119087553661]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.42881451218267386,-0.6514988957556009,0.71338606911949],"aabb_xy":[[0.4063145126589664,-0.6739948432062216],[0.4513145117063812,-0.62900294830498]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[0.5148494952957425,-0.5828684319070674,0.71338606911949],"aabb_xy":[[0.4773494947983843,-0.5868371154551858],[0.5523494957931008,-0.578899748358949]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_19","position":[0.29338974530274997,0.9003383544832211,0.71338606911949],"aabb_xy":[[0.278746339748717,0.8856796348264367],[0.30803315085678296,0.9149970741400052]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.24778207105538852,-0.5927671648637876,0.71338606911949],"aabb_xy":[[-0.2727820703273508,-0.6091125284599498],[-0.22278207178342627,-0.5764218012676251]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[0.5811332560715281,-1.01513881450545,0.71338606911949],"aabb_xy":[[0.5770550981644784,-1.0192197947537134],[0.5852114139785778,-1.0110578342571868]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.5925299854755903,1.6860533541478433,0.71338606911949],"aabb_xy":[[-0.6565299818711634,1.6220900657291095],[-0.5285299890800172,1.7500166425665766]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[0.11822617103401223,-1.1893115940368828,0.71338606911949],"aabb_xy":[[0.06322617141226639,-1.2442952868243558],[0.17322617065575807,-1.1343279012494103]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_24","position":[-0.15166427814138028,1.0666275748251706,0.71338606911949],"aabb_xy":[[-0.216664278175683,1.0199268981448433],[-0.08666427810707755,1.1133282515054979]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[0.054178358497089296,-1.8126355665368212,0.71338606911949],"aabb_xy":[[0.004178357546556474,-1.8441847135403424],[0.10417835944762209,-1.7810864195332996]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[-0.01886257144469583,-2.2664230628414797,0.71338606911949],"aabb_xy":[[-0.034418340854961094,-2.2819734960858873],[-0.0033068020344305645,-2.250872629597073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900117728464465,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1475.png","name":"1475"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1475.png","name":"1475"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/532.png","name":"532"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2928.png","name":"2928"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4449.png","name":"4449"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9444.png","name":"9444"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":715.8517127811546,"rotation_z_degrees":114.71263040015478,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006686444288904329,-0.01029950924352289,0.004973647894968663]},{"name":"camera_2","offset_m":[-0.009767455638174294,-0.010789908260494122,-0.01686987780832353]},{"name":"camera_3","offset_m":[-0.014504753125146631,0.009189043227052385,-0.010171426074350802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001081235308170214,0.001562889624199856,0.001169719977369135],"end_effector_yaw_offset_degrees":-0.6268260942354213},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014909714146390386,-0.00027302056362234336,-0.0016523043858334297],"end_effector_yaw_offset_degrees":0.036814442269780034},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018058061379033243,0.0005761925587732608,0.0010955973571632424],"end_effector_yaw_offset_degrees":0.2198039065516746}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015575392743585126,-0.002154664474156163],"position_m":[0.3174424607256415,-0.09155466447415615,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014944878572031983,-0.0035483664267070046],"position_m":[0.2736055121427968,-0.34654836642670706,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007021967269538933,-0.0010874180631997377],"position_m":[0.30559780327304614,0.23631258193680027,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004524659366262741,-0.0023504113500568257],"position_m":[0.3416753406337373,0.09484958864994317,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"83710a9a627ef6c36d06b62bf97e6099580ae6c6736f1ed8a83941d3e14a9eb9","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1475/tex_ceiling_textures_9444/tex_floor_textures_4449/tex_table_textures_532/tex_wall_textures_2928","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":8698145687530083629,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":8698145687530083629,"visual_seed":8698145687530083629,"scene_id":"lab_003","finished_at":"2026-09-03T18:55:03"} +{"episode_id":"ep_000007","started_at":"2026-09-03T18:55:07","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.6148852574664057,1.477291261330961,0.71338606911949],"aabb_xy":[[-0.6516798905913119,1.440385386234379],[-0.5780906243414994,1.5141971364275435]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[-0.09487593704437125,-2.4241704978107146,0.71338606911949],"aabb_xy":[[-0.1426821046581399,-2.489170500517773],[-0.04706976943060261,-2.359170495103655]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[0.18832807307852673,1.0292792727340951,0.71338606911949],"aabb_xy":[[0.18441419988310417,1.0205302573275383],[0.19224194627394922,1.038028288140652]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.3033949188199923,0.58286513839264,0.71338606911949],"aabb_xy":[[-0.3583949170217371,0.5423431717662024],[-0.24839492061824744,0.6233871050190776]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.3264967653451707,-1.322044900974283,0.71338606911949],"aabb_xy":[[0.27137155971557986,-1.3820449024155699],[0.3816219709747614,-1.2620448995329956]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[0.20751474770696077,-1.562893948784905,0.71338606911949],"aabb_xy":[[0.15753051199878354,-1.6128939475984003],[0.257498983415138,-1.5128939499714091]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.09241753222063531,-0.6730262774254387,0.71338606911949],"aabb_xy":[[0.069917532210487,-0.687122497065042],[0.11491753223078358,-0.6589300577858355]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[-0.5228771666250132,-2.152335093767147,0.71338606911949],"aabb_xy":[[-0.5868771683030104,-2.2008524852464606],[-0.4588771649470157,-2.103817702287832]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.6256444474496635,-0.7648683294653829,0.71338606911949],"aabb_xy":[[-0.6455354873300039,-0.7775241407500798],[-0.6057534075693234,-0.7522125181806861]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[0.5496988776492497,-1.6735943568431242,0.71338606911949],"aabb_xy":[[0.5388583994227348,-1.690780638133773],[0.5605393558757646,-1.6564080755524753]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[-0.3009487567558697,-0.1186752197522325,0.71338606911949],"aabb_xy":[[-0.36494875701634044,-0.1636840191051605],[-0.23694875649539884,-0.07366642039930449]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.12744616293335176,1.3661389471796892,0.71338606911949],"aabb_xy":[[0.11815254469620118,1.328638948691555],[0.13673978117050234,1.4036389456678229]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[-0.07555346023521192,0.9495565923754472,0.71338606911949],"aabb_xy":[[-0.09938967787581701,0.859556591566961],[-0.051717242594606874,1.039556593183934]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[0.31083695755250673,-1.020849418054667,0.71338606911949],"aabb_xy":[[0.24683696115693365,-1.0848127064734006],[0.3748369539480798,-0.9568861296359334]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.45531780921395293,0.11169038743884308,0.71338606911949],"aabb_xy":[[-0.4896147202316935,0.0773935012289017],[-0.42102089819621225,0.14598727364878444]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[-0.6585175394357698,-2.5083969900901817,0.71338606911949],"aabb_xy":[[-0.6896644582793529,-2.5783969887769884],[-0.6273706205921866,-2.438396991403374]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[0.2334435328245934,-1.851294416866001,0.71338606911949],"aabb_xy":[[0.19694771219731463,-1.8877783592927584],[0.26993935345187214,-1.8148104744392433]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[-0.46230894061005545,-0.5201862812042628,0.71338606911949],"aabb_xy":[[-0.4982224450350451,-0.5560997894210173],[-0.4263954361850657,-0.4842727729875081]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.05515437725570271,-0.04139437738207841,0.71338606911949],"aabb_xy":[[-0.06702646026720382,-0.12639437707572876],[-0.0432822942442016,0.04360562231157194]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.08809182512447411,-2.0055430325545514,0.71338606911949],"aabb_xy":[[0.042006733869742637,-2.069543029807106],[0.1341769163792056,-1.941543035301996]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[0.20545795535063693,0.8163132339726276,0.71338606911949],"aabb_xy":[[0.11545795167371875,0.754880827395523],[0.2954579590275551,0.8777456405497317]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[-0.40174525918648885,-1.9459504246610937,0.71338606911949],"aabb_xy":[[-0.451740270145941,-1.9959504236966856],[-0.3517502482270369,-1.8959504256255022]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[0.5799361440817745,-1.1649009072600767,0.71338606911949],"aabb_xy":[[0.5454737966836325,-1.1993947896578991],[0.6143984914799161,-1.1304070248622538]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[0.6331646685660004,-2.0750062933258246,0.71338606911949],"aabb_xy":[[0.6162539361296586,-2.0884784989184393],[0.6500754010023422,-2.06153408773321]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.4491595696555653,0.9020758880846391,0.71338606911949],"aabb_xy":[[-0.4587912058759949,0.8924385753049302],[-0.4395279334351357,0.911713200864348]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.4638308311407151,1.0723696179257574,0.71338606911949],"aabb_xy":[[0.4409151182556652,1.0494653207893339],[0.486746544025765,1.0952739150621809]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[-0.25468327137664243,-0.2773629504659132,0.71338606911949],"aabb_xy":[[-0.3046832709529772,-0.3273435294180192],[-0.20468327180030776,-0.2273823715138073]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_27","position":[0.08918479983103123,-2.3895765115510588,0.71338606911949],"aabb_xy":[[0.02518910243593464,-2.4535765098517675],[0.1531804972261278,-2.32557651325035]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[-0.11859944642854603,0.4180797666154201,0.71338606911949],"aabb_xy":[[-0.12984450199916386,0.4068379688913248],[-0.10735439085792818,0.42932156433951535]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6878549862005379,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2601.png","name":"2601"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2601.png","name":"2601"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2092.png","name":"2092"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7420.png","name":"7420"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2221.png","name":"2221"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5509.png","name":"5509"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":831.8763367328826,"rotation_z_degrees":92.38334638987125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000950127819057834,0.0014783609617973065,-0.00613125779193676]},{"name":"camera_2","offset_m":[0.011519043243351828,-0.007529460515381885,-0.002426485347501686]},{"name":"camera_3","offset_m":[0.010955123636967875,-0.0090029828287024,-0.014459215284421201]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00045997370009836515,0.0018806126342007711,5.5243926654609775e-05],"end_effector_yaw_offset_degrees":0.10774941201904742},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004314789158588357,-0.001733375152308431,0.0006971825799938058],"end_effector_yaw_offset_degrees":-0.7328093957931223},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008107000165975473,0.001988965136498623,0.0001975145326700849],"end_effector_yaw_offset_degrees":-0.27785302484682073}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004272203213749167,-0.0007387692468010113],"position_m":[0.31472779678625085,-0.090138769246801,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035700514904576587,-0.0028273586020943608],"position_m":[0.2715299485095424,-0.3458273586020944,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000764997454735755,0.000554088363129656],"position_m":[0.30706499745473576,0.23795408836312965,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035040791676738776,0.0029375645992303417],"position_m":[0.3497040791676739,0.10013756459923033,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1d1c12077a29e9312082c877e1933d9c8a742cb55188d0f902218db4227be143","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2601/tex_ceiling_textures_5509/tex_floor_textures_2221/tex_table_textures_2092/tex_wall_textures_7420","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":8429385488969828377,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":8429385488969828377,"visual_seed":8429385488969828377,"scene_id":"lab_003","finished_at":"2026-09-03T18:57:52"} +{"episode_id":"ep_000008","started_at":"2026-09-03T18:57:55","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[0.45435123747975226,-0.569513822129958,0.71338606911949],"aabb_xy":[[0.40446854060205606,-0.6195138213762328],[0.5042339343574485,-0.5195138228836833]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[0.2139972758091031,-1.5163527912018049,0.71338606911949],"aabb_xy":[[0.1239972721321849,-1.5777851977789088],[0.30399727948602123,-1.4549203846247003]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[-0.6476736328155653,-2.1127452571881116,0.71338606911949],"aabb_xy":[[-0.6582411124736642,-2.12329028730112],[-0.6371061531574662,-2.102200227075103]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[0.4629828510359568,-2.488787021915316,0.71338606911949],"aabb_xy":[[0.4557390849897114,-2.5687870201189185],[0.47022661708220204,-2.4087870237117137]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.19469638868675943,1.5212486804555572,0.71338606911949],"aabb_xy":[[-0.2121963878211266,1.5113690534179693],[-0.17719638955239225,1.531128307493145]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.36506840163415305,1.6022247494123545,0.71338606911949],"aabb_xy":[[-0.43006839951580095,1.551101085705814],[-0.3000684037525053,1.6533484131188958]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[0.6297086826743865,-2.4993030850916416,0.71338606911949],"aabb_xy":[[0.5647086841173136,-2.529055618505524],[0.6947086812314592,-2.469550551677759]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[0.48511711352148645,0.03181374896619005,0.71338606911949],"aabb_xy":[[0.4758234952843359,-0.005686249521943854],[0.49441073175863703,0.06931374745432395]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[-0.2306850979804641,-2.174373786451174,0.71338606911949],"aabb_xy":[[-0.280678210089656,-2.22437378712537],[-0.1806919858712722,-2.124373785776979]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.19905176127886925,-0.17199002553901455,0.71338606911949],"aabb_xy":[[-0.27905176155247624,-0.24493957336473127],[-0.11905176100526228,-0.09904047771329784]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[-0.27490671145916956,-0.6659285435641726,0.71338606911949],"aabb_xy":[[-0.2786099727883084,-0.6696305618728904],[-0.2712034501300306,-0.6622265252554547]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[-0.5205838683460676,-1.0427212281265668,0.71338606911949],"aabb_xy":[[-0.5240245445861248,-1.0465826611009315],[-0.5171431921060105,-1.0388597951522025]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.252745483320854,-1.8609199847676194,0.71338606911949],"aabb_xy":[[-0.26791765260248734,-1.8760888416958228],[-0.23757331403922066,-1.845751127839416]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[0.276136466508182,1.174177557178206,0.71338606911949],"aabb_xy":[[0.2562454266278418,1.1615217458935094],[0.29602750638852227,1.186833368462903]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[-0.3695166630735302,-2.460831278334145,0.71338606911949],"aabb_xy":[[-0.41933344253836496,-2.510831276818448],[-0.31969988360869545,-2.4108312798498415]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[0.37942835099739414,-1.9820866833781339,0.71338606911949],"aabb_xy":[[0.37311625146105565,-1.9878536226313532],[0.3857404505337325,-1.9763197441249154]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.595196503988036,0.5534802686835665,0.71338606911949],"aabb_xy":[[-0.6176965039981843,0.5393840490439632],[-0.5726965039778877,0.5675764883231698]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.035270476679239215,1.0544997179171673,0.71338606911949],"aabb_xy":[[-0.09927047808722989,1.0027107663932424],[0.028729524728751437,1.1062886694410918]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.29873986918573664,0.8005513875702297,0.71338606911949],"aabb_xy":[[-0.30358346394696667,0.7956997350912456],[-0.2938962744245067,0.8054030400492138]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_19","position":[-0.2673597549393032,-0.5051644137245725,0.71338606911949],"aabb_xy":[[-0.2820031604933361,-0.5198231333813567],[-0.25271634938527016,-0.49050569406778816]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.5488852008568255,-0.2666572996159329,0.71338606911949],"aabb_xy":[[0.5406706557411413,-0.27533388991357405],[0.5570997459725092,-0.2579807093182915]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[0.3757936155409256,-1.852530925587855,0.71338606911949],"aabb_xy":[[0.3663761409710628,-1.8619471027255738],[0.3852110901107883,-1.8431147484501358]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[0.044600201006486095,-1.7011575705899575,0.71338606911949],"aabb_xy":[[0.007100200900893145,-1.7079797324429387],[0.08210020111207905,-1.6943354087369764]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[0.29576571017195274,0.8012480095541457,0.71338606911949],"aabb_xy":[[0.26076570882047095,0.7808882735973248],[0.3307657115234344,0.8216077455109665]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[0.6476754191522434,0.9201611592221046,0.71338606911949],"aabb_xy":[[0.6396390844509584,0.9121230399176876],[0.6557117538535281,0.9281992785265212]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[-0.053486134773379934,1.7619111777578005,0.71338606911949],"aabb_xy":[[-0.0725984421313588,1.7427763988805585],[-0.03437382741540106,1.7810459566350425]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.67112781116273,-1.2256412250265785,0.71338606911949],"aabb_xy":[[-0.6933003381393809,-1.247816892182702],[-0.6489552841860792,-1.2034655578704554]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[0.28431564809960386,-1.9956034010698656,0.71338606911949],"aabb_xy":[[0.2559859381510637,-2.0000641432635824],[0.31264535804814414,-1.9911426588761485]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_28","position":[0.24231763891994296,-1.8771953115157647,0.71338606911949],"aabb_xy":[[0.17831763700760064,-1.9331064607737751],[0.3063176408322853,-1.8212841622577542]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6852461853517594,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8628.png","name":"8628"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8628.png","name":"8628"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1016.png","name":"1016"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/351.png","name":"351"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5597.png","name":"5597"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4867.png","name":"4867"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":737.8018776835347,"rotation_z_degrees":36.79194637159695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011572319208028686,-0.009853677856966262,0.016538164349826957]},{"name":"camera_2","offset_m":[-0.0074212441957735385,0.0011794031991213712,0.0037423598447785394]},{"name":"camera_3","offset_m":[-0.004523677576121132,-0.007621013461191617,0.009336868854584176]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016681636466671153,0.0014924034342360597,0.0005487391995228079],"end_effector_yaw_offset_degrees":-0.744540270150756},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001139994789055878,0.0007282822951273616,0.001940768918573429],"end_effector_yaw_offset_degrees":-0.8910914966901542},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013075379455792066,-0.00033665140371282824,-0.0011798320707090508],"end_effector_yaw_offset_degrees":0.5559126521486655}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-2.7183999634447335e-05,-0.0031947549168067583],"position_m":[0.31897281600036553,-0.09259475491680676,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030490773545238203,0.003302042667925575],"position_m":[0.2720509226454762,-0.3396979573320745,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038979768314077335,-0.001983201067579087],"position_m":[0.30240202316859227,0.2354167989324209,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003647420235436824,-0.002138916159223523],"position_m":[0.34984742023543686,0.09506108384077647,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8912248445b7c0e6309f2ffb01fbea86b6ba82fc4f7945c6d9f8c7c236a08517","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8628/tex_ceiling_textures_4867/tex_floor_textures_5597/tex_table_textures_1016/tex_wall_textures_351","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":8130338719166770393,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":8130338719166770393,"visual_seed":8130338719166770393,"scene_id":"lab_003","finished_at":"2026-09-03T19:00:31"} +{"episode_id":"ep_000009","started_at":"2026-09-03T19:00:36","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.6692330866194052,-1.7789332480444089,0.71338606911949],"aabb_xy":[[0.6317330854346122,-1.7833514707404694],[0.7067330878041977,-1.7745150253483484]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.017358655784237342,0.5146931612751375,0.71338606911949],"aabb_xy":[[-0.025281936022985674,0.4921931610371342],[-0.009435375545489011,0.5371931615131409]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.38802885957573385,1.0033938843372057,0.71338606911949],"aabb_xy":[[-0.4130288591274724,0.9932514004720707],[-0.3630288600239954,1.0135363682023402]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[-0.1415378595663228,-0.28611564923184174,0.71338606911949],"aabb_xy":[[-0.15025182861625724,-0.30861564989102985],[-0.13282389051638827,-0.2636156485726534]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.5310072260697108,0.8903613763377107,0.71338606911949],"aabb_xy":[[-0.5685072264179385,0.8785699807566271],[-0.493507225721483,0.9021527719187942]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[0.6313510444136361,1.5250615070297546,0.71338606911949],"aabb_xy":[[0.5835448767998673,1.4600615043226957],[0.6791572120274046,1.5900615097368134]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.06180286312533312,-2.332273349598931,0.71338606911949],"aabb_xy":[[-0.028197140551585058,-2.393705756176035],[0.15180286680225127,-2.270840943021826]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[0.259650713377391,-1.0104154925129252,0.71338606911949],"aabb_xy":[[0.17965071597379753,-1.0904080637111078],[0.33965071078098436,-0.9304229213147422]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.4890897105798224,-1.6055331135453916,0.71338606911949],"aabb_xy":[[-0.5115897103937248,-1.6100077299158726],[-0.46658971076592004,-1.601058497174911]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.3256268473992314,-1.8091759211655662,0.71338606911949],"aabb_xy":[[0.3179236567251544,-1.8168852918643041],[0.33333003807330847,-1.801466550466828]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.14520363044529805,-1.2045398225989696,0.71338606911949],"aabb_xy":[[0.0812036287673007,-1.2530572140782839],[0.2092036321232954,-1.1560224311196554]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.3320128705980273,1.2605656840834816,0.71338606911949],"aabb_xy":[[-0.34634729572419076,1.2485054685289427],[-0.31767844547186386,1.2726258996380204]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.03932356037523477,-1.4536530794045632,0.71338606911949],"aabb_xy":[[-0.07682356189086648,-1.464879852420708],[-0.0018235588596030583,-1.442426306388418]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[-0.1072161549053482,-2.0712898224789917,0.71338606911949],"aabb_xy":[[-0.1872161535622342,-2.085794681403255],[-0.027216156248462173,-2.0567849635547293]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[0.2525716973230937,0.8055913220233233,0.71338606911949],"aabb_xy":[[0.22424198737455348,0.8011305798296063],[0.28090140727163393,0.8100520642170405]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[0.6612681838715528,1.144812369453588,0.71338606911949],"aabb_xy":[[0.6308700727724093,1.1144054674519184],[0.6916662949706964,1.1752192714552574]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[-0.32496768294543227,0.327917015971682,0.71338606911949],"aabb_xy":[[-0.33296117274071435,0.31991888403120633],[-0.3169741931501503,0.33591514791215765]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[-0.3972808796906935,-2.536024435436687,0.71338606911949],"aabb_xy":[[-0.48228087838276806,-2.5680102988315654],[-0.3122808809986188,-2.5040385720418077]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.36161440457307886,1.683244097077567,0.71338606911949],"aabb_xy":[[-0.40286321560299354,1.6282440975653496],[-0.3203655935431641,1.7382440965897845]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.1229881925194215,-2.5135003287457556,0.71338606911949],"aabb_xy":[[-0.17798367034008086,-2.5685003301796625],[-0.06799271469876209,-2.4585003273118486]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[0.24663273304258093,1.5481335506899438,0.71338606911949],"aabb_xy":[[0.22535472489910865,1.4831335483638708],[0.2679107411860532,1.613133553016017]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[-0.0627971949623033,-0.7884512891593543,0.71338606911949],"aabb_xy":[[-0.07295021051645266,-0.8245208307320943],[-0.0526441794081539,-0.7523817475866136]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[-0.10723857012630444,1.440008214203607,0.71338606911949],"aabb_xy":[[-0.1872385703999114,1.36705866637789],[-0.027238569852697455,1.5129577620293235]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[0.4369394394360253,-0.4911728445062735,0.71338606911949],"aabb_xy":[[0.4218371379750071,-0.5062743661373352],[0.4520417408970433,-0.4760713228752116]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[-0.6057986852943937,1.148653987438907,0.71338606911949],"aabb_xy":[[-0.6657986869373156,1.0966538381469628],[-0.5457986836514719,1.2006541367308512]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[-0.22846581341553607,0.2182025170451909,0.71338606911949],"aabb_xy":[[-0.3184658131387102,0.19512916451001103],[-0.13846581369236186,0.2412758695803707]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_26","position":[0.47305184344114126,-1.5362153629327087,0.71338606911949],"aabb_xy":[[0.40805184555949353,-1.58733902663925],[0.538051841322789,-1.485091699226168]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[-0.37614697630376176,-1.0355855366229036,0.71338606911949],"aabb_xy":[[-0.4311469745055066,-1.0761075032493412],[-0.3211469781020169,-0.9950635699964662]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[-0.4551584779446131,-1.4427859583458023,0.71338606911949],"aabb_xy":[[-0.4631847485752391,-1.451537453323155],[-0.4471322073139871,-1.4340344633684499]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_29","position":[-0.6508160250536917,-1.4284234107281173,0.71338606911949],"aabb_xy":[[-0.6634187241907683,-1.4410188069529828],[-0.6382133259166154,-1.4158280145032518]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902360064100725,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8645.png","name":"8645"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8645.png","name":"8645"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/188.png","name":"188"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2760.png","name":"2760"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3858.png","name":"3858"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2653.png","name":"2653"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":593.6303005918675,"rotation_z_degrees":215.48698045170326,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0025180546997289888,-0.013080428894953032,-0.010552921585170613]},{"name":"camera_2","offset_m":[0.004190805021482981,0.013996280493728353,0.018383543328886007]},{"name":"camera_3","offset_m":[0.0122833163303739,-0.0027299843263743698,-0.011891083444870705]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007253699488547257,-0.0009193698393633687,0.001290998095993227],"end_effector_yaw_offset_degrees":-0.055767481383139694},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015801161969508787,0.0009515798986036673,0.001866843103808036],"end_effector_yaw_offset_degrees":-0.9201735757205805},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005278792222138549,0.0018641749235526034,0.0018858353825214032],"end_effector_yaw_offset_degrees":-0.9944528180540957}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011299659486088322,4.48164723031684e-06],"position_m":[0.3178700340513912,-0.08939551835276968,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013817100837966111,-0.003800618897023471],"position_m":[0.2737182899162034,-0.3468006188970235,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017470692550471678,-0.003714299601110661],"position_m":[0.3080470692550472,0.23368570039888933,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001269883243783737,0.0010155317620847417],"position_m":[0.34493011675621627,0.09821553176208474,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69b620ee022c953ba6cd6d21389035876e457b1dbad3205de4a96346c2458044","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8645/tex_ceiling_textures_2653/tex_floor_textures_3858/tex_table_textures_188/tex_wall_textures_2760","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7888167205074543421,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7888167205074543421,"visual_seed":7888167205074543421,"scene_id":"lab_003","finished_at":"2026-09-03T19:03:18"} +{"episode_id":"ep_000010","started_at":"2026-09-03T19:03:22","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[0.701825554468523,0.6945341656056687,0.71338606911949],"aabb_xy":[[0.6924080798986602,0.6851179884679496],[0.7112430290383857,0.7039503427433876]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.2856189542286085,-1.7079948385334283,0.71338606911949],"aabb_xy":[[0.27217242759456517,-1.7214646901865198],[0.29906548086265183,-1.6945249868803371]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[-0.5620134237400156,0.6261570172432926,0.71338606911949],"aabb_xy":[[-0.6120134251009028,0.5761791126678769],[-0.5120134223791284,0.6761349218187082]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[-0.23083051750939715,-2.4100967588869517,0.71338606911949],"aabb_xy":[[-0.28083051852853247,-2.44656297462478],[-0.18083051649026188,-2.3736305431491243]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.08571571725478155,0.6445808219533555,0.71338606911949],"aabb_xy":[[-0.13569452576509744,0.5945808219476367],[-0.03573690874446567,0.6945808219590743]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.0034035761155876143,-1.6907273703660615,0.71338606911949],"aabb_xy":[[-0.06740357752357827,-1.7425163218899862],[0.06059642529240305,-1.6389384188421368]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.46650086864218276,-0.43312485151569735,0.71338606911949],"aabb_xy":[[-0.5164958796016349,-0.48312485055128923],[-0.41650585768273085,-0.3831248524801058]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.18611969910850068,-1.1362962809232566,0.71338606911949],"aabb_xy":[[-0.20863339093195787,-1.206296281524264],[-0.1636060072850435,-1.0662962803222489]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.16098273715471922,1.0826934214819506,0.71338606911949],"aabb_xy":[[0.11098273549322442,1.0326949792262476],[0.21098273881621393,1.132691863737653]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[-0.6735612075630663,-0.12354406542758811,0.71338606911949],"aabb_xy":[[-0.6938455102864649,-0.14382669057029696],[-0.6532769048396674,-0.10326144028487927]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.027818809570248404,-1.3140737900557145,0.71338606911949],"aabb_xy":[[-0.04549444015884674,-1.3317540063351172],[-0.010143178981650071,-1.2963935737763117]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.310482767149844,-2.4310093670720243,0.71338606911949],"aabb_xy":[[0.24648276687586573,-2.4810754672693123],[0.3744827674238222,-2.3809432668747363]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[0.46684172952134717,-0.7767160143846628,0.71338606911949],"aabb_xy":[[0.4432566060574524,-0.8417160166300945],[0.4904268529852421,-0.711716012139231]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[0.6760539969549073,-0.7271343428818151,0.71338606911949],"aabb_xy":[[0.6385539957701143,-0.7315525655778754],[0.7135539981396999,-0.7227161201857544]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[0.5800852273316912,1.6855465689775326,0.71338606911949],"aabb_xy":[[0.5150852246938977,1.6340669702780857],[0.6450852299694847,1.7370261676769796]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.16263840816418806,-0.62240194133265,0.71338606911949],"aabb_xy":[[-0.24263223174274628,-0.7024019439254916],[-0.08264458458562984,-0.5424019387398085]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.07839854342875008,-2.208857196044022,0.71338606911949],"aabb_xy":[[-0.1423985427229183,-2.272843336412876],[-0.014398544134581873,-2.144871055675168]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[-0.31324527999456137,0.5014415183114478,0.71338606911949],"aabb_xy":[[-0.35074527993832777,0.4931484282766111],[-0.27574528005079496,0.5097346083462843]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.6228878058748041,-2.0685018799087147,0.71338606911949],"aabb_xy":[[-0.6678878073410329,-2.113501736770196],[-0.5778878044085752,-2.0235020230472345]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[0.38862932191755695,-2.0007100949384897,0.71338606911949],"aabb_xy":[[0.3336338440968975,-2.0557100963723967],[0.4436247997382163,-1.9457100935045828]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[-0.41102840808874697,0.6742143444725062,0.71338606911949],"aabb_xy":[[-0.45883457570251557,0.6092143417654471],[-0.3632222404749783,0.739214347179565]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[-0.18388751606460785,-1.9249878445693307,0.71338606911949],"aabb_xy":[[-0.18800346617668048,-1.9291033996021762],[-0.17977156595253516,-1.9208722895364851]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[0.4627797351447689,-0.2671737466998976,0.71338606911949],"aabb_xy":[[0.45017703600769243,-0.27976914292476307],[0.47538243428184535,-0.2545783504750321]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[0.011364103267754277,1.5338229021991272,0.71338606911949],"aabb_xy":[[-0.07235812223232818,1.443822898664431],[0.09508632876783674,1.623822905733823]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[0.2961139966451224,1.245393128779904,0.71338606911949],"aabb_xy":[[0.2857024379646386,1.2400473954440057],[0.30652555532560605,1.2507388621158024]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[0.12519515966971273,0.9558666091475851,0.71338606911949],"aabb_xy":[[0.09019516047689446,0.9448995631499224],[0.160195158862531,0.9668336551452477]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[0.2862187309993437,-0.7286625522914374,0.71338606911949],"aabb_xy":[[0.23621945583090753,-0.7786625535673846],[0.33621800616777986,-0.6786625510154902]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_27","position":[-0.2359426552706359,-2.254478743314397,0.71338606911949],"aabb_xy":[[-0.2518271485359611,-2.2688316836132203],[-0.22005816200531078,-2.2401258030155726]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_28","position":[0.10341686647124348,1.2669544631219831,0.71338606911949],"aabb_xy":[[0.04182610724725069,1.2029544650129365],[0.16500762569523633,1.3309544612310302]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_29","position":[-0.5985069239730403,-0.8272978994758913,0.71338606911949],"aabb_xy":[[-0.6360069246376189,-0.8429849574761132],[-0.5610069233084615,-0.8116108414756689]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6891389998025114,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2857.png","name":"2857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2857.png","name":"2857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3872.png","name":"3872"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4900.png","name":"4900"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4948.png","name":"4948"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6051.png","name":"6051"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":679.1619757075877,"rotation_z_degrees":127.9535096729725,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014167376797915217,0.00353784155478519,-0.0062764628460104215]},{"name":"camera_2","offset_m":[-0.002086489697194927,0.001439506449716646,-0.00834420979104598]},{"name":"camera_3","offset_m":[-0.011494369387257435,-0.007222337945677632,-0.0025845487037002013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014670087406355621,-0.001260961202073605,0.001599657064690208],"end_effector_yaw_offset_degrees":-0.6682994335252246},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003580819790350068,-0.001223460772836364,0.0010296432105059146],"end_effector_yaw_offset_degrees":-0.3694292633780485},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018335307163195925,0.001814887128935982,0.00020547717348527728],"end_effector_yaw_offset_degrees":-0.2067998503443067}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004146390296377893,-0.004128465530052804],"position_m":[0.3231463902963779,-0.0935284655300528,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022109393336094208,-0.003044143720395742],"position_m":[0.27288906066639057,-0.34604414372039577,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013424640201571535,-0.0031138539274873723],"position_m":[0.30764246402015716,0.23428614607251264,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00124361809065183,-0.0019227124836707099],"position_m":[0.34744361809065183,0.09527728751632929,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c612d956e89fe804d032671e0d3549eb09ba2023c242fdb285917223a482bccb","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2857/tex_ceiling_textures_6051/tex_floor_textures_4948/tex_table_textures_3872/tex_wall_textures_4900","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":8798701744869291003,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":8798701744869291003,"visual_seed":8798701744869291003,"scene_id":"lab_003","finished_at":"2026-09-03T19:06:04"} +{"episode_id":"ep_000011","started_at":"2026-09-03T19:06:09","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[0.3332439708367052,-1.8555350263272912,0.71338606911949],"aabb_xy":[[0.3283446785301417,-1.8832119456298597],[0.3381432631432687,-1.8278581070247222]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[0.5457621714510228,-0.07093380547602512,0.71338606911949],"aabb_xy":[[0.5377359008203968,-0.07968530045337775],[0.5537884420816488,-0.062182310498672524]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[0.6100055610284008,0.42594784703269317,0.71338606911949],"aabb_xy":[[0.5450055583906073,0.3744682483332462],[0.6750055636661942,0.47742744573214013]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.25493146130446537,-0.10749715011030636,0.71338606911949],"aabb_xy":[[-0.27993146057642765,-0.12384251370646869],[-0.22993146203250311,-0.091151786514144]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[-0.3656695216046551,-1.6839641028240098,0.71338606911949],"aabb_xy":[[-0.45566952019912504,-1.700214689137431],[-0.27566952301018516,-1.667713516510589]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[0.6782429608463267,-1.7878535200514718,0.71338606911949],"aabb_xy":[[0.6650917148750375,-1.8128535198081586],[0.6913942068176162,-1.7628535202947855]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[-0.3490403896014078,-2.406575063996403,0.71338606911949],"aabb_xy":[[-0.3550069285421436,-2.412536208655767],[-0.34307385066067203,-2.400613919337039]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[0.14716859564246176,0.7799405892158733,0.71338606911949],"aabb_xy":[[0.09716859620226614,0.7299726647315569],[0.19716859508265738,0.8299085137001895]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[-0.4336947778396814,0.15049867647306092,0.71338606911949],"aabb_xy":[[-0.46869477773570034,0.14212444096112098],[-0.3986947779436626,0.15887291198500086]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.507607623841704,-2.4874323646453225,0.71338606911949],"aabb_xy":[[-0.5876076218224889,-2.4950339056071744],[-0.4276076258609189,-2.4798308236834705]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[-0.6387208174140082,1.140409703870989,0.71338606911949],"aabb_xy":[[-0.6882012386279671,1.0764097059581372],[-0.5892403962000495,1.2044097017838409]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[-0.3573597337341224,1.5891419072408364,0.71338606911949],"aabb_xy":[[-0.3798597337442707,1.5750456876012329],[-0.3348597337239741,1.6032381268804394]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[0.06493433602775278,-0.8400315953665776,0.71338606911949],"aabb_xy":[[-6.566400654994808e-05,-0.8867322720469049],[0.1299343360620555,-0.7933309186862503]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[-0.5209614327318616,-0.7780215601336635,0.71338606911949],"aabb_xy":[[-0.5264193783688815,-0.8580215634413226],[-0.5155034870948414,-0.6980215568260044]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[-0.0925827687429217,0.5857993099667951,0.71338606911949],"aabb_xy":[[-0.10846726200824687,0.5714463696679709],[-0.07669827547759657,0.600152250265619]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.47260252931001023,0.27909822559100395,0.71338606911949],"aabb_xy":[[0.39260252604599705,0.2655381932820906],[0.5526025325740234,0.2926582578999173]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[0.3524332393061793,0.7742394086029534,0.71338606911949],"aabb_xy":[[0.33254219942583907,0.7615835973182566],[0.37232427918651956,0.7868952198876503]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[-0.37682138029855994,-1.2340056926147407,0.71338606911949],"aabb_xy":[[-0.3980993884420322,-1.2990056949408137],[-0.3555433721550877,-1.1690056902886676]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[0.38974076775086663,-0.5275833246750317,0.71338606911949],"aabb_xy":[[0.35474076944017113,-0.5352983395985773],[0.424740766061562,-0.519868309751486]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.6436906054215688,1.1551530373414258,0.71338606911949],"aabb_xy":[[0.6356966168438652,1.1471529572463355],[0.651684593999272,1.1631531174365162]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[-0.3749561059929861,-2.1049320672247394,0.71338606911949],"aabb_xy":[[-0.4449561075952656,-2.118364860426397],[-0.30495610439070664,-2.091499274023082]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.5816535937573135,1.6659422938634045,0.71338606911949],"aabb_xy":[[0.5316543185888775,1.6159422925874576],[0.6316528689257498,1.715942295139352]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[0.46501648700692266,0.06498680125165768,0.71338606911949],"aabb_xy":[[0.4338695681633395,-0.005013197435149497],[0.4961634058505057,0.13498679993846485]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[-0.1550062909227441,-1.7746734342319312,0.71338606911949],"aabb_xy":[[-0.17955250654549482,-1.8049223307809685],[-0.13046007529999337,-1.7444245376828944]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_24","position":[-0.47762576238599974,-2.259308334384095,0.71338606911949],"aabb_xy":[[-0.5014619800266049,-2.349308335192582],[-0.4537895447453948,-2.169308333575609]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[-0.4904778698999465,-0.025919067801491114,0.71338606911949],"aabb_xy":[[-0.5404509354324621,-0.07591906761402402],[-0.44050480436743117,0.024080932011041785]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_26","position":[-0.5367199966458553,-0.4274222241441885,0.71338606911949],"aabb_xy":[[-0.5717199966223512,-0.4368868401918051],[-0.5017199966693595,-0.4179576080965719]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887423932167834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2964.png","name":"2964"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2964.png","name":"2964"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6583.png","name":"6583"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3285.png","name":"3285"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3789.png","name":"3789"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2270.png","name":"2270"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":785.6908424730195,"rotation_z_degrees":351.8077438765866,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0007018135004464958,-0.011285521967424904,-0.019621827201537156]},{"name":"camera_2","offset_m":[0.01752409696693508,0.003605126184703749,0.019609593584775157]},{"name":"camera_3","offset_m":[0.0028783695470402867,-0.015859277684389394,0.008366941173463083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-4.898810468476544e-05,0.0014278014892697218,-0.0012089162891890243],"end_effector_yaw_offset_degrees":-0.40138325472615155},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001096023813731963,5.835216924181307e-05,0.0008994686849498178],"end_effector_yaw_offset_degrees":0.815568332091047},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003964509122399043,-0.0010358455218659373,0.0009527827710844781],"end_effector_yaw_offset_degrees":-0.25586192384683004}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002343169728470953,-0.0018523307733182893],"position_m":[0.32134316972847093,-0.09125233077331828,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003120271989226774,-0.0038185023646598896],"position_m":[0.27197972801077325,-0.34681850236465994,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002600985054704765,-0.002802349418606118],"position_m":[0.3065600985054705,0.23459765058139387,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011552280131511264,-0.0004873324177637507],"position_m":[0.3473552280131511,0.09671266758223625,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3e8be777b537c8c73b1da6b00b8151a5137d0231bcdc85ae210b7992126420aa","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2964/tex_ceiling_textures_2270/tex_floor_textures_3789/tex_table_textures_6583/tex_wall_textures_3285","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":2841883272495722113,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":2841883272495722113,"visual_seed":2841883272495722113,"scene_id":"lab_003","finished_at":"2026-09-03T19:08:48"} +{"episode_id":"ep_000012","started_at":"2026-09-03T19:08:51","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[-0.5471821698099935,-0.31704719733296693,0.71338606911949],"aabb_xy":[[-0.5716957939069993,-0.3413117906350034],[-0.5226685457129876,-0.2927826040309305]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.2622402912774906,1.7335788382939454,0.71338606911949],"aabb_xy":[[-0.3222402921383033,1.6821524082874588],[-0.2022402904166777,1.7850052683004316]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.010107757887231283,1.0290529003079438,0.71338606911949],"aabb_xy":[[-0.03843746783577151,1.024592158114227],[0.018221952061308944,1.0335136425016611]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[-0.39593127995102884,0.4396320264615996,0.71338606911949],"aabb_xy":[[-0.4459312795273636,0.38965144750949365],[-0.34593128037469417,0.48961260541370555]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.6456062169646244,-1.5872784999798912,0.71338606911949],"aabb_xy":[[0.6416923437692019,-1.596027515386448],[0.6495200901600469,-1.5785294845733344]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.2402871558052938,1.2260482497069183,0.71338606911949],"aabb_xy":[[0.16028715254745088,1.1460517419149343],[0.32028715906313676,1.3060447574989023]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[-0.14705762261459565,0.47317161517555384,0.71338606911949],"aabb_xy":[[-0.15239519828060022,0.44817161424641405],[-0.14172004694859108,0.4981716161046936]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.044958169231475775,-1.8710025935203323,0.71338606911949],"aabb_xy":[[0.03899163029073999,-1.8769637381796962],[0.050924708172211564,-1.865041448860968]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[0.4454541937072025,1.5092845019231969,0.71338606911949],"aabb_xy":[[0.3954712435197231,1.4592845022806362],[0.4954371438946818,1.559284501565757]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[-0.08907813818222743,0.6921270444565031,0.71338606911949],"aabb_xy":[[-0.12657813812599383,0.6838339544216664],[-0.051578138238461024,0.7004201344913396]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[0.6349638624286766,-0.8420566451025266,0.71338606911949],"aabb_xy":[[0.6262498933787419,-0.8645566457617146],[0.6436778314786109,-0.8195566444433382]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.381843080752333,-0.5738898704409268,0.71338606911949],"aabb_xy":[[0.3710701068309652,-0.6088898686599657],[0.39261605467370075,-0.5388898722218878]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.409344250456396,0.3453158263433127,0.71338606911949],"aabb_xy":[[0.3992625433778224,0.26531582845119805],[0.41942595753496936,0.42531582423542735]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[-0.45274667430119697,-1.7941438208467675,0.71338606911949],"aabb_xy":[[-0.5327466712642361,-1.8712194624905407],[-0.37274667733815775,-1.7170681792029938]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.56725077103453,-2.220650622818596,0.71338606911949],"aabb_xy":[[0.51323517475263,-2.284650625710853],[0.62126636731643,-2.1566506199263387]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.3263071469989179,0.10588447521530586,0.71338606911949],"aabb_xy":[[-0.3963071488076633,0.08453070645111849],[-0.25630714519017245,0.12723824397949324]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[-0.3982625082793336,1.2915772822952643,0.71338606911949],"aabb_xy":[[-0.4622625089828031,1.2455588998223432],[-0.33426250757586434,1.3375956647681853]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.5164066976237953,-0.04911585559122811,0.71338606911949],"aabb_xy":[[-0.5339066310577787,-0.06661585551146265],[-0.49890676418981195,-0.03161585567099356]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.15337946126646151,-1.5419045218221417,0.71338606911949],"aabb_xy":[[0.12954324362585648,-1.6319045226306284],[0.1772156789070666,-1.4519045210136552]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[0.5549497890402018,-0.6809326243924696,0.71338606911949],"aabb_xy":[[0.5398474875791834,-0.6960341460235312],[0.5700520905012196,-0.6658311027614076]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[0.021518861490426144,-2.2718974526018423,0.71338606911949],"aabb_xy":[[-0.015981139301569303,-2.278265293560032],[0.05901886228242159,-2.2655296116436516]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[-0.2450795011912868,-2.4588028718610455,0.71338606911949],"aabb_xy":[[-0.30907950048545496,-2.5227890122298997],[-0.18107950189711855,-2.3948167314921913]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[0.4242111046309731,0.9220364359850728,0.71338606911949],"aabb_xy":[[0.37812601337624163,0.8580364387325176],[0.4702961958857046,0.9860364332376278]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[0.40159482747662545,-0.742077182106325,0.71338606911949],"aabb_xy":[[0.3365948293207064,-0.7683734266562372],[0.4665948256325445,-0.7157809375564128]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[0.33455082932319624,-2.000704986386616,0.71338606911949],"aabb_xy":[[0.2705508276451989,-2.04922237786593],[0.3985508310011936,-1.9521875949073015]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[0.002985427503496063,1.3751892407690804,0.71338606911949],"aabb_xy":[[-0.03201457080719938,1.367474225845535],[0.03798542581419151,1.3829042556926263]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[-0.23485510454515296,-2.1039440504304854,0.71338606911949],"aabb_xy":[[-0.2530609282064007,-2.114969451012477],[-0.2166492808839053,-2.0929186498484937]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[0.07277583365763363,-2.176818070810187,0.71338606911949],"aabb_xy":[[0.05527583452326645,-2.186697697847775],[0.09027583279200078,-2.166938443772599]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_28","position":[-0.6141140237633449,1.5559632253084899,0.71338606911949],"aabb_xy":[[-0.6516140223389656,1.5432269296449317],[-0.576614025187724,1.5686995209720476]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_29","position":[-0.10552079098616729,-1.1089220047059796,0.71338606911949],"aabb_xy":[[-0.1423713389231549,-1.1464220055290133],[-0.06867024304917968,-1.0714220038829458]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_30","position":[-0.4072274599123123,-0.6566994735351714,0.71338606911949],"aabb_xy":[[-0.44222745980833117,-0.6650737090471114],[-0.3722274600162934,-0.6483252380232315]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_31","position":[0.15308844007823041,-0.9222578096355754,0.71338606911949],"aabb_xy":[[0.13017272719318054,-0.945162106771999],[0.17600415296328034,-0.899353512499152]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884573066704457,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7082.png","name":"7082"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7082.png","name":"7082"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9188.png","name":"9188"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5473.png","name":"5473"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7132.png","name":"7132"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3214.png","name":"3214"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":732.1504850384866,"rotation_z_degrees":81.01649435150759,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00781096974669367,-0.018156446445691827,0.0029843491746630625]},{"name":"camera_2","offset_m":[-0.015851629310161236,-0.0171065878117803,0.0159007632884732]},{"name":"camera_3","offset_m":[-0.014832252695651107,0.010612703480177507,-0.004775955192783555]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[3.124143115337038e-06,-0.0008187065327169792,0.0011177104251402828],"end_effector_yaw_offset_degrees":-0.4145561479352484},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001391283045122948,0.001222691263209662,0.0019793833274183463],"end_effector_yaw_offset_degrees":-0.127328224002758},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001931703322192523,-0.0017995184814787084,-0.0016690280831912002],"end_effector_yaw_offset_degrees":0.8548153423963751}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030932551666963968,-2.6372098721805237e-05],"position_m":[0.3220932551666964,-0.0894263720987218,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008729454142050331,0.0006391459070682701],"position_m":[0.274227054585795,-0.34236085409293177,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008684062423600925,0.00039797559715027634],"position_m":[0.3071684062423601,0.23779797559715027,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00017881953221045646,0.003647563883353415],"position_m":[0.34602118046778957,0.1008475638833534,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bbdfd43836437e5bbfd844cfcc037f54e2fcb2c758e711140a864e5cc15e72d8","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7082/tex_ceiling_textures_3214/tex_floor_textures_7132/tex_table_textures_9188/tex_wall_textures_5473","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":498892801066833430,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":498892801066833430,"visual_seed":498892801066833430,"scene_id":"lab_003","finished_at":"2026-09-03T19:11:31"} +{"episode_id":"ep_000013","started_at":"2026-09-03T19:11:33","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[-0.49714798081858647,-1.4404850079856735,0.71338606911949],"aabb_xy":[[-0.577147982981349,-1.520440191611817],[-0.417147978655824,-1.3605298243595298]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[-0.38403160171680095,-0.77579179316055,0.71338606911949],"aabb_xy":[[-0.4190316030682827,-0.7961515291173707],[-0.3490316003653192,-0.7554320572037291]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.21207860475165252,-1.0096417982596357,0.71338606911949],"aabb_xy":[[0.12207860107473431,-1.0710742048367399],[0.30207860842857065,-0.9482093916825312]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[0.1797350223911387,-2.5220870168074554,0.71338606911949],"aabb_xy":[[0.17174103381343528,-2.5300870969025455],[0.18772901096884206,-2.5140869367123653]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.31186081410536903,-2.227649947473978,0.71338606911949],"aabb_xy":[[-0.37586081578336633,-2.276167338953292],[-0.24786081242737162,-2.1791325559946637]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.03882159043258482,-1.6248312766775783,0.71338606911949],"aabb_xy":[[-0.07259714962327779,-1.6388697718907432],[-0.005046031241891846,-1.610792781464413]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[-0.09214516477654922,1.0445381380033134,0.71338606911949],"aabb_xy":[[-0.0974776794311622,1.0392138097580779],[-0.08681265012193623,1.049862466248549]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[-0.4045071787984234,-0.378203101270278,0.71338606911949],"aabb_xy":[[-0.4585227750803234,-0.4422031041625351],[-0.3504915825165234,-0.3142030983780208]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.5527407170268991,0.6203088139874602,0.71338606911949],"aabb_xy":[[-0.5704163476154973,0.6026285977080573],[-0.5350650864383006,0.6379890302668628]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[-0.08784841461554094,-0.26856382301547077,0.71338606911949],"aabb_xy":[[-0.13782583148079453,-0.31856382450471926],[-0.03787099775028736,-0.2185638215262222]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.20423744827342283,-1.0756508096647612,0.71338606911949],"aabb_xy":[[-0.2410320813983291,-1.1125566847613435],[-0.16744281514851656,-1.038744934568179]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.3241469257811584,0.8673830550837858,0.71338606911949],"aabb_xy":[[-0.39414692758990383,0.8460292863195985],[-0.25414692397241295,0.8887368238479733]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.6454011035196807,-1.9585053590992783,0.71338606911949],"aabb_xy":[[0.5902758978900897,-2.018505360540565],[0.7005263091492713,-1.8985053576579909]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.5135804372780644,-0.12164197023190049,0.71338606911949],"aabb_xy":[[-0.5510804374499362,-0.15434270561480767],[-0.4760804371061923,-0.0889412348489933]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.6474995240261342,-0.035978451306564185,0.71338606911949],"aabb_xy":[[-0.6831286799260939,-0.07161111806341713],[-0.6118703681261745,-0.0003457845497112366]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.5607772428668871,1.0704469518028188,0.71338606911949],"aabb_xy":[[0.5157772414006584,1.0254470949413383],[0.6057772443331161,1.1154468086642997]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.6261964564326028,-1.4477285690387804,0.71338606911949],"aabb_xy":[[0.6212971641260393,-1.475405488341349],[0.6310957487391663,-1.4200516497362115]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.06838398403804613,1.1667913690681084,0.71338606911949],"aabb_xy":[[-0.07659852915373008,1.1581147787704669],[-0.06016943892236213,1.1754679593657495]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.07641722096892323,-1.3345307918009444,0.71338606911949],"aabb_xy":[[-0.013269855339192227,-1.4245307920553947],[0.16610429727703868,-1.2445307915464936]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.38500491559866323,1.1242334265439653,0.71338606911949],"aabb_xy":[[0.3742319416772955,1.0892334283249263],[0.39577788952003107,1.1592334247630043]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.3471770032156156,1.4684562620889783,0.71338606911949],"aabb_xy":[[0.324677002703575,1.44596440372358],[0.3696770037276562,1.4909481204543766]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[0.42619334279253596,-0.7296777367047806,0.71338606911949],"aabb_xy":[[0.38102202494436704,-0.7936777338493193],[0.471364660640705,-0.6656777395602423]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[-0.2379495663420385,0.10729444098797813,0.71338606911949],"aabb_xy":[[-0.24565275701611555,0.09958507028924012],[-0.23024637566796147,0.11500381168671613]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_23","position":[-0.349760088871993,0.35809479918039555,0.71338606911949],"aabb_xy":[[-0.3672600880063601,0.34821517214280767],[-0.3322600897376258,0.3679744262179833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6919533953068194,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5324.png","name":"5324"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5324.png","name":"5324"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8159.png","name":"8159"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2728.png","name":"2728"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6913.png","name":"6913"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7855.png","name":"7855"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":598.1074094667817,"rotation_z_degrees":286.71523312335984,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011929695996008651,0.003968438630387167,0.013934113932080713]},{"name":"camera_2","offset_m":[0.009610981189221678,0.012742967030809866,0.012294025909029931]},{"name":"camera_3","offset_m":[-0.018683610053895367,-0.007890343517873299,-0.017277528037770294]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015820134674756504,0.0008992738431490748,-0.0011129037213274385],"end_effector_yaw_offset_degrees":-0.8724716524748242},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005469286744289583,0.0011976357758143271,0.0017531188734313291],"end_effector_yaw_offset_degrees":-0.9789978683574798},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001256649375097704,0.0012445071947533213,0.00038733109709678405],"end_effector_yaw_offset_degrees":0.7799194392502342}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031374383694389935,0.002757123921127165],"position_m":[0.322137438369439,-0.08664287607887283,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003538303607395412,0.001316022043732351],"position_m":[0.27863830360739544,-0.3416839779562677,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023327027635007295,-0.0032526898829428764],"position_m":[0.30863270276350074,0.2341473101170571,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009697283768353273,-0.002539927471731738],"position_m":[0.34716972837683535,0.09466007252826826,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"18eac184086ef0650b641ab13498bd5909a16162e1ae0d780043db2caf8c72bc","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0013.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5324/tex_ceiling_textures_7855/tex_floor_textures_6913/tex_table_textures_8159/tex_wall_textures_2728","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":5676718747024212777,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":5676718747024212777,"visual_seed":5676718747024212777,"scene_id":"lab_003","finished_at":"2026-09-03T19:14:17"} +{"episode_id":"ep_000014","started_at":"2026-09-03T19:14:21","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.3447023804589671,1.545320503878005,0.71338606911949],"aabb_xy":[[-0.3659803886024393,1.4803205015519316],[-0.3234243723154948,1.6103205062040777]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.4963984604830287,0.8021516293730073,0.71338606911949],"aabb_xy":[[-0.560398462395371,0.7462404801149969],[-0.43239845857068643,0.8580627786310178]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.2049029895209153,0.8772971253157102,0.71338606911949],"aabb_xy":[[-0.29490298625652545,0.8241136619984156],[-0.11490299278530505,0.9304805886330046]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.5880563377308304,0.636722369329541,0.71338606911949],"aabb_xy":[[-0.65805633933311,0.6232895761278834],[-0.5180563361285511,0.6501551625311985]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.14491410488023326,-2.060133175442086,0.71338606911949],"aabb_xy":[[-0.16182483731657502,-2.0736053810347004],[-0.12800337244389146,-2.046660969849471]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.49877930330698894,0.6899019918283211,0.71338606911949],"aabb_xy":[[0.4724904789865482,0.6636305581736698],[0.5250681276274295,0.7161734254829722]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[-0.253697730054588,0.6906016377286046,0.71338606911949],"aabb_xy":[[-0.27190355371583574,0.6795762371466131],[-0.2354919063933404,0.7016270383105964]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[-0.44649107814188993,-1.5187161816786823,0.71338606911949],"aabb_xy":[[-0.5014910777636359,-1.5736998744661552],[-0.3914910785201442,-1.4637324888912098]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.5429697324645482,-1.8288436053479291,0.71338606911949],"aabb_xy":[[0.49308703558685196,-1.878843604594204],[0.5928524293422444,-1.7788436061016546]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.6562183749665276,-0.11201476820770928,0.71338606911949],"aabb_xy":[[0.6312183750340096,-0.11889743642863262],[0.6812183748990454,-0.10513209998678599]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[0.46728287128007473,-1.6500160556196373,0.71338606911949],"aabb_xy":[[0.44978293784609136,-1.6675160555398716],[0.4847828047140581,-1.6325160556994025]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[0.3291084709988936,0.4138078147739188,0.71338606911949],"aabb_xy":[[0.3182679927723787,0.39662153348326995],[0.3399489492254085,0.43099409606456757]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[0.377419696669026,-0.5726301494387038,0.71338606911949],"aabb_xy":[[0.35978686107549834,-0.5902530954543268],[0.3950525322625535,-0.5550072034230809]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.16444274869865716,1.38663730164253,0.71338606911949],"aabb_xy":[[0.14415844597525834,1.366354676499821],[0.18472705142205587,1.4069199267852386]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[0.41455643014074406,-1.5373674536837658,0.71338606911949],"aabb_xy":[[0.35055642986676583,-1.5874335538810538],[0.4785564304147223,-1.4873013534864779]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.37064605087616664,1.1684724390493169,0.71338606911949],"aabb_xy":[[-0.46064605455308466,1.1070400324722123],[-0.28064604719924835,1.229904845626421]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.39463704657997595,0.038937874064912226,0.71338606911949],"aabb_xy":[[-0.4446301586891679,-0.011062126609283409],[-0.34464393447078406,0.08893787473910787]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[0.03275900845737989,-1.1517319657703082,0.71338606911949],"aabb_xy":[[0.023956953148407175,-1.159543291925237],[0.041561063766352595,-1.143920639615379]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[0.3435365944971813,1.4341088338129153,0.71338606911949],"aabb_xy":[[0.2935365949208466,1.3841282548608096],[0.39353659407351604,1.4840894127650215]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[0.3312772475237735,-1.9957517296223584,0.71338606911949],"aabb_xy":[[0.3208656888432898,-2.0010974629582567],[0.34168880620425723,-1.99040599628646]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[0.5131540404040884,-1.3451704774870132,0.71338606911949],"aabb_xy":[[0.4636736191901297,-1.4091704753998653],[0.5626344616180473,-1.2811704795741616]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[-0.6211946212390441,-0.5653499359521281,0.71338606911949],"aabb_xy":[[-0.6253304775717443,-0.6028499353964851],[-0.6170587649063439,-0.5278499365077711]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[0.5546948925215653,1.3225412667168848,0.71338606911949],"aabb_xy":[[0.5466515325956102,1.2375412656215183],[0.5627382524475205,1.4075412678122512]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889095755510084,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8343.png","name":"8343"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8343.png","name":"8343"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3690.png","name":"3690"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1955.png","name":"1955"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4769.png","name":"4769"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9920.png","name":"9920"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":568.8790814539598,"rotation_z_degrees":283.41304953026423,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012247321736893083,0.01837193907791058,0.00013565260000255458]},{"name":"camera_2","offset_m":[-0.013290195594128425,0.011537628990983217,0.005553849637918721]},{"name":"camera_3","offset_m":[0.002158793764449385,0.005990758864706347,-0.00043684238786075025]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019894778548057213,-0.00044541254387698973,-0.0005637287865915247],"end_effector_yaw_offset_degrees":-0.889200360127723},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003119802218895752,2.227274122858572e-05,-0.0008477332680677544],"end_effector_yaw_offset_degrees":0.7907926303002284},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006995911609039324,-0.0010246946516323133,0.001058884284118778],"end_effector_yaw_offset_degrees":0.7378100803566241}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004623281531133341,-0.004675014580031237],"position_m":[0.31437671846886667,-0.09407501458003123,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007694401554018526,-8.924038764862585e-05],"position_m":[0.27433055984459814,-0.34308924038764865,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004456523878703768,0.0013248099612989507],"position_m":[0.3067456523878704,0.23872480996129894,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00012862428247108898,-0.004366327139435943],"position_m":[0.34607137571752894,0.09283367286056406,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ad37fa0d08ec860520f841aa1ff062e3c90051ba1fb886450f41cc34bf3e40f5","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8343/tex_ceiling_textures_9920/tex_floor_textures_4769/tex_table_textures_3690/tex_wall_textures_1955","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1182203508954254318,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1182203508954254318,"visual_seed":1182203508954254318,"scene_id":"lab_003","finished_at":"2026-09-03T19:17:10"} +{"episode_id":"ep_000015","started_at":"2026-09-03T19:17:14","dimensions":{"distractor":{"count":29,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.27607953132371843,1.3290723906696122,0.71338606911949],"aabb_xy":[[0.25357953180001097,1.3065764432189912],[0.2985795308474258,1.3515683381202328]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[-0.3183594804605921,-2.0336792088035147,0.71338606911949],"aabb_xy":[[-0.32279010981543227,-2.039127580538197],[-0.3139288511057519,-2.0282308370688322]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[-0.09974372599278192,-1.7967355367980546,0.71338606911949],"aabb_xy":[[-0.1797437231523572,-1.8082831377558717],[-0.01974372883320663,-1.7851879358402376]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[0.47212921754669446,-0.08270797199903601,0.71338606911949],"aabb_xy":[[0.4353345844217881,-0.1196138470956183],[0.5089238506716006,-0.04580209690245375]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.07746855758510196,0.36664462926996855,0.71338606911949],"aabb_xy":[[-0.11496855600850228,0.35348041530213786],[-0.03996855916170158,0.3798088432377991]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[-0.5346478304854904,-2.1582638106729357,0.71338606911949],"aabb_xy":[[-0.5401057761225104,-2.2382638139805944],[-0.5291898848484703,-2.078263807365276]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.2498248970907898,-1.189690314241742,0.71338606911949],"aabb_xy":[[0.19982489542929502,-1.2396887564974446],[0.2998248987522845,-1.1396918719860392]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.07467384452642178,-1.49641177161959,0.71338606911949],"aabb_xy":[[0.0275444655245861,-1.5604117726639917],[0.12180322352825744,-1.4324117705751878]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.40263099177452144,0.40055855649096683,0.71338606911949],"aabb_xy":[[-0.40726610692675475,0.39669122141381813],[-0.397995876622288,0.4044258915681154]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.30465613013688364,1.5360547493252832,0.71338606911949],"aabb_xy":[[-0.3943432064449991,1.4460547490708326],[-0.2149690538287682,1.6260547495797337]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.3544102431407359,0.6691214914075636,0.71338606911949],"aabb_xy":[[-0.4344102401549839,0.6489869397341523],[-0.27441024612648796,0.6892560430809749]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[-0.15186809967424508,-1.3827122194446793,0.71338606911949],"aabb_xy":[[-0.16194980675281853,-1.4627122173367937],[-0.14178639259567158,-1.3027122215525644]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.5971352284437188,1.5263156395715147,0.71338606911949],"aabb_xy":[[0.586723669763235,1.5209699062356161],[0.6075467871242024,1.5316613729074129]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[0.47166730229991716,0.7416258178486723,0.71338606911949],"aabb_xy":[[0.4076673006219198,0.693108426369358],[0.5356673039779145,0.7901432093279864]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.057902840075707784,-0.8822884054433267,0.71338606911949],"aabb_xy":[[0.049876569445081786,-0.8910399004206794],[0.06592911070633378,-0.8735369104659741]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.3292357893052303,-1.2997646185273606,0.71338606911949],"aabb_xy":[[-0.35282091276912514,-1.3647646207727926],[-0.30565066584133543,-1.234764616281929]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[-0.6205825178244999,1.6108957940138393,0.71338606911949],"aabb_xy":[[-0.684582514251822,1.5637261701917429],[-0.5565825213971782,1.6580654178359358]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.5358171372372685,0.24195313911078076,0.71338606911949],"aabb_xy":[[-0.5998171345396148,0.19758671214292403],[-0.471817139934922,0.2863195660786375]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[0.49427360863077663,-2.164328883150653,0.71338606911949],"aabb_xy":[[0.4592736103200811,-2.172043898074198],[0.5292736069414721,-2.1566138682271068]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.4554149498503969,-0.13780011959127592,0.71338606911949],"aabb_xy":[[-0.4602585446116268,-0.14265177207026003],[-0.45057135508916685,-0.1329484671122918]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.10801338449357734,-1.1998115026714153,0.71338606911949],"aabb_xy":[[-0.1455133845991703,-1.2066336645243962],[-0.07051338438798438,-1.192989340818434]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[-0.4966567317561651,-1.3101147019884851,0.71338606911949],"aabb_xy":[[-0.5075625078437278,-1.3901146983873143],[-0.4857509556686024,-1.230114705589656]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_22","position":[-0.407056104089485,-0.9229526516231956,0.71338606911949],"aabb_xy":[[-0.4322769409493246,-0.9481764024760821],[-0.3818352672296453,-0.8977289007703086]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[-0.24156533686384413,-1.7104422633611778,0.71338606911949],"aabb_xy":[[-0.2496086967897993,-1.7954422644565442],[-0.23352197693788895,-1.6254422622658113]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_24","position":[-0.5737457582797193,1.2044600170660567,0.71338606911949],"aabb_xy":[[-0.623745759230252,1.172910870062535],[-0.5237457573291864,1.2360091640695778]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[-0.5460131021639235,-1.6572726354491532,0.71338606911949],"aabb_xy":[[-0.583513102955919,-1.6636404764073431],[-0.5085131013719281,-1.6509047944909627]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.6615734048482476,1.1651539751001083,0.71338606911949],"aabb_xy":[[0.6541609493068591,1.1593027646784804],[0.668985860389636,1.1710051855217363]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_27","position":[-0.6007704187378172,0.5773909303226947,0.71338606911949],"aabb_xy":[[-0.6068074317384821,0.5713642292537465],[-0.5947334057371526,0.5834176313916429]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_28","position":[0.5774416087785812,-2.4529491862199846,0.71338606911949],"aabb_xy":[[0.5529279846815753,-2.4772137795220206],[0.601955232875587,-2.4286845929179477]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882102554535864,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3256.png","name":"3256"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3256.png","name":"3256"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2484.png","name":"2484"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3230.png","name":"3230"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4819.png","name":"4819"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4516.png","name":"4516"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":662.3063230420488,"rotation_z_degrees":15.861837424664804,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0039061925601771783,-0.0023851560710137602,0.0006004986872655722]},{"name":"camera_2","offset_m":[-0.017477400415491097,-0.002868237544313791,-0.011055495688800465]},{"name":"camera_3","offset_m":[-0.004256867497046169,-0.006737002826222898,0.00878982659747302]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016317536324191293,0.0014577097579663132,-0.0010340577590937242],"end_effector_yaw_offset_degrees":0.4005505037935324},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002553193345634832,0.0015811239317503828,-0.0013429135875545934],"end_effector_yaw_offset_degrees":-0.7445667009938655},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006981395285436385,-0.0011529854598942909,0.0019134039738617674],"end_effector_yaw_offset_degrees":-0.5359570169941941}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004041758461062636,2.0423715208540277e-05],"position_m":[0.32304175846106264,-0.08937957628479146,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010887489845300665,0.0007594448167446066],"position_m":[0.27401125101546997,-0.3422405551832554,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003415195959053409,-0.0024087218571325953],"position_m":[0.30664151959590535,0.2349912781428674,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017111760801275665,0.004414055220802193],"position_m":[0.34448882391987246,0.10161405522080219,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"386efbf64e0c73964cc007b4f870c0dce5357f18b5dd6f95318cc5eb6548d057","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3256/tex_ceiling_textures_4516/tex_floor_textures_4819/tex_table_textures_2484/tex_wall_textures_3230","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":10174687274240840,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":10174687274240840,"visual_seed":10174687274240840,"scene_id":"lab_003","finished_at":"2026-09-03T19:20:09"} +{"episode_id":"ep_000016","started_at":"2026-09-03T19:20:13","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[0.6601356179869711,-0.6429018662449051,0.71338606911949],"aabb_xy":[[0.6466890913529276,-0.6563717178979962],[0.6735821446210143,-0.6294320145918137]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[-0.10993504558258116,-1.5389330139246031,0.71338606911949],"aabb_xy":[[-0.11643668209058579,-1.5487008359509131],[-0.10343340907457656,-1.5291651918982936]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[0.37024370243611204,-2.083636634248749,0.71338606911949],"aabb_xy":[[0.32525111571766163,-2.1286366335231977],[0.41523628915456245,-2.0386366349743]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.07020363609875857,-2.2197442399081897,0.71338606911949],"aabb_xy":[[-0.10466598349690036,-2.254238122306012],[-0.03574128870061676,-2.1852503575103666]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.3854863083037832,-0.9932816455518758,0.71338606911949],"aabb_xy":[[-0.4504863094097265,-1.018247018620004],[-0.32048630719783994,-0.9683162724837475]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[-0.3532243014870164,-0.4933572592372695,0.71338606911949],"aabb_xy":[[-0.4082243006636059,-0.5483469340122271],[-0.2982243023104269,-0.43836758446231183]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.6299072846648012,-2.4889428172901553,0.71338606911949],"aabb_xy":[[-0.6511852928082733,-2.553942819616228],[-0.6086292765213288,-2.423942814964082]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.6811692775533258,-2.1872688154709556,0.71338606911949],"aabb_xy":[[0.6443746444284194,-2.2241746905675375],[0.717963910678232,-2.150362940374373]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.35715471241130636,0.2193672494000083,0.71338606911949],"aabb_xy":[[-0.39215471238780225,0.20990263335239165],[-0.3221547124348106,0.22883186544762488]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.6582197450636789,-0.3859235429319261,0.71338606911949],"aabb_xy":[[0.6082197440445436,-0.4223897586697541],[0.7082197460828141,-0.34945732719409817]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[0.3591982381659118,1.5744464382267647,0.71338606911949],"aabb_xy":[[0.32169823834887823,1.5698082269156228],[0.39669823798294535,1.5790846495379065]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[0.6318133439949674,0.8733791496765644,0.71338606911949],"aabb_xy":[[0.6068133447230051,0.8570337860804021],[0.6568133432669296,0.8897245132727268]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.3227197946273295,-2.4155721486051314,0.71338606911949],"aabb_xy":[[-0.3331313533078132,-2.4209178819410297],[-0.31230823594684576,-2.410226415269233]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[-0.11114959230994659,1.3254229404697733,0.71338606911949],"aabb_xy":[[-0.18114958871990833,1.304985004818091],[-0.04114959589998477,1.3458608761214546]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.44047513566119145,-1.3150140840666094,0.71338606911949],"aabb_xy":[[-0.4779751368459842,-1.3194323067626696],[-0.4029751344763986,-1.3105958613705486]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[-0.4850683410441699,-2.278216161162671,0.71338606911949],"aabb_xy":[[-0.5150600037780402,-2.308216160499471],[-0.4550766783102995,-2.24821616182587]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.5200491327931992,-2.003735449383882,0.71338606911949],"aabb_xy":[[-0.6000429563717574,-2.0837354519767235],[-0.440055309214641,-1.9237354467910404]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[-0.22675859901819817,-2.128388456767458,0.71338606911949],"aabb_xy":[[-0.29675860240976015,-2.1637042304708882],[-0.1567585956266362,-2.0930726830640265]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.24250019805279283,1.4849326786219588,0.71338606911949],"aabb_xy":[[-0.25258190513136625,1.4049326807298441],[-0.2324184909742193,1.5649326765140734]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[0.6588768665832456,-1.5238439805001205,0.71338606911949],"aabb_xy":[[0.5948768632935375,-1.5671788995040379],[0.7228768698729537,-1.4805090614962026]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[0.29611816406610303,1.20821150844619,0.71338606911949],"aabb_xy":[[0.25094684621793406,1.1442115113016516],[0.341289481914272,1.2722115055907284]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[0.500539922656557,0.8862167008489008,0.71338606911949],"aabb_xy":[[0.4636893747195694,0.8487167000258672],[0.5373904705935446,0.9237167016719346]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.20601142376154102,-0.804464371126665,0.71338606911949],"aabb_xy":[[0.15199582747964102,-0.8684643740189221],[0.260027020043441,-0.7404643682344078]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934422580933695,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6805.png","name":"6805"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6805.png","name":"6805"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9692.png","name":"9692"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1371.png","name":"1371"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2022.png","name":"2022"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2353.png","name":"2353"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":683.6854425980864,"rotation_z_degrees":105.86365974056223,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019401989676775182,0.009501855979422012,-0.013935517238899728]},{"name":"camera_2","offset_m":[0.015880237298601874,0.01216311182758847,0.00490805031587431]},{"name":"camera_3","offset_m":[0.0013665961378914078,-0.007665295197402293,0.013163977328438669]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001185160694115357,0.0009774179640278358,-0.0002180486624874529],"end_effector_yaw_offset_degrees":0.5926395685901582},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016521951055686128,0.0011942520879024802,-0.0013645201296220728],"end_effector_yaw_offset_degrees":-0.32716457514075703},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00142196299859785,-0.0016698816817161274,0.0008163381014156448],"end_effector_yaw_offset_degrees":-0.536485994506652}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004462068727461095,0.0020399370748314183],"position_m":[0.3234620687274611,-0.08736006292516857,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020605162120093537,-0.004255973912323914],"position_m":[0.2771605162120094,-0.34725597391232393,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007164754749054945,0.0015328433542295457],"position_m":[0.3055835245250945,0.23893284335422954,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018373793977063103,0.004089552340459852],"position_m":[0.3443626206022937,0.10128955234045985,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"84db6cedcd81a4f27e367c6a329557fa94f621b7f4bd2166d126e0a075c2845e","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0016.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6805/tex_ceiling_textures_2353/tex_floor_textures_2022/tex_table_textures_9692/tex_wall_textures_1371","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6604439072227392514,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6604439072227392514,"visual_seed":6604439072227392514,"scene_id":"lab_003","finished_at":"2026-09-03T19:22:52"} +{"episode_id":"ep_000017","started_at":"2026-09-03T19:22:55","dimensions":{"distractor":{"count":31,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.19601434951904995,-2.0253129389540536,0.71338606911949],"aabb_xy":[[-0.28601434893742084,-2.058688435798243],[-0.10601435010067903,-1.9919374421098635]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[-0.4030982965747478,-1.8075079803716996,0.71338606911949],"aabb_xy":[[-0.4670982998644559,-1.850842899375617],[-0.33909829328503965,-1.7641730613677817]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.5672524403479133,-1.7795028519458285,0.71338606911949],"aabb_xy":[[0.5297524402423203,-1.7863250137988094],[0.6047524404535062,-1.7726806900928471]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.08122758730828539,-0.7470968831430034,0.71338606911949],"aabb_xy":[[0.03594897242713613,-0.811096882491187],[0.12650620218943465,-0.6830968837948197]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.2578112409704898,-1.525774751009688,0.71338606911949],"aabb_xy":[[-0.33781123955780923,-1.605090352947849],[-0.1778112423831704,-1.4464591490715273]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.6899258626074043,1.5397038720309397,0.71338606911949],"aabb_xy":[[0.6587789437638211,1.4697038733441323],[0.7210727814509873,1.6097038707177467]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[0.5265323902077357,-1.616553818977847,0.71338606911949],"aabb_xy":[[0.5040323899642203,-1.6287584536376187],[0.5490323904512511,-1.6043491843180748]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[-0.24822383546788734,0.8420553303440843,0.71338606911949],"aabb_xy":[[-0.30585430435515815,0.7820553314173736],[-0.19059336658061646,0.9020553292707948]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[0.46283034605962037,-0.9556566817202097,0.71338606911949],"aabb_xy":[[0.41283034504048516,-0.9921228974580378],[0.5128303470787556,-0.919190465982382]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.21897366695392162,-0.9792737738832344,0.71338606911949],"aabb_xy":[[-0.27396687829105837,-1.034273774222028],[-0.16398045561678484,-0.9242737735444408]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[-0.341878944579217,-2.279012863069293,0.71338606911949],"aabb_xy":[[-0.3913593657931759,-2.343012860982145],[-0.2923985233652583,-2.2150128651564414]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.03827449360085455,1.4355230841173108,0.71338606911949],"aabb_xy":[[-0.02572550279471853,1.3715597956985772],[0.10227448999642763,1.4994863725360443]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[-0.16646262778208676,-2.268289846694053,0.71338606911949],"aabb_xy":[[-0.174086895872265,-2.2759230702305966],[-0.15883835969190852,-2.260656623157509]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[0.39992172946436244,-2.44460483680199,0.71338606911949],"aabb_xy":[[0.389768713910213,-2.4806743783747294],[0.41007474501851177,-2.4085352952292487]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.5634829987077625,-0.6254752218518196,0.71338606911949],"aabb_xy":[[0.5521212640544763,-0.6368436882581077],[0.5748447333610486,-0.6141067554455315]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[-0.5234413499001046,-1.4699231653556193,0.71338606911949],"aabb_xy":[[-0.568433936618555,-1.514923164630068],[-0.4784487631816542,-1.4249231660811705]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[-0.44662594760786667,-0.7845980428218338,0.71338606911949],"aabb_xy":[[-0.5366259473310407,-0.8076713953570134],[-0.35662594788469243,-0.7615246902866537]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[0.6493670113655774,-1.369721085361444,0.71338606911949],"aabb_xy":[[0.6143670114695584,-1.378095320873384],[0.6843670112615962,-1.3613468498495043]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[0.2753796532300713,-1.5327539342119274,0.71338606911949],"aabb_xy":[[0.2697979815959425,-1.545253934029703],[0.2809613248642,-1.520253934394152]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[0.4359074758718091,-1.784783394953875,0.71338606911949],"aabb_xy":[[0.4181139689368926,-1.8025831405496728],[0.4537009828067255,-1.7669836493580775]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[0.5572921921690788,1.1722158460176368,0.71338606911949],"aabb_xy":[[0.5023184701327459,1.1172158464534039],[0.6122659142054117,1.2272158455818702]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.385262626106339,-1.912751716657739,0.71338606911949],"aabb_xy":[[0.33526951399714705,-1.9627517173319347],[0.4352557382155309,-1.8627517159835434]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.015487591319963467,-1.011791929449079,0.71338606911949],"aabb_xy":[[-0.028638837291252835,-1.0367919292057657],[-0.0023363453486741057,-0.9867919296923926]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[-0.5380373399417021,-2.25161164643589,0.71338606911949],"aabb_xy":[[-0.5980373408025148,-2.303038076442376],[-0.47803733908088925,-2.2001852164294027]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_24","position":[-0.14158134298240066,1.6603066076219855,0.71338606911949],"aabb_xy":[[-0.16408134299254895,1.646210387982382],[-0.11908134297225237,1.6744028272615885]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[0.15138071726733138,-2.118252118696387,0.71338606911949],"aabb_xy":[[0.128880717453429,-2.1227267350668675],[0.17388071708123376,-2.1137775023259064]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[-0.43348928905646816,0.5168306093467661,0.71338606911949],"aabb_xy":[[-0.5234892855573398,0.47091896692830776],[-0.34348929255559635,0.5627422517652242]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[0.46535183906494315,1.0183883513132557,0.71338606911949],"aabb_xy":[[0.41536888887746376,0.9683883516706951],[0.5153347892524224,1.0683883509558159]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[-0.21362329817700454,-2.4845487398123236,0.71338606911949],"aabb_xy":[[-0.28362329998575,-2.505902508576511],[-0.1436232963682591,-2.4631949710481362]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_29","position":[-0.2415552804419231,-0.17814301265985533,0.71338606911949],"aabb_xy":[[-0.25856537773197374,-0.19427750115812922],[-0.22454518315187244,-0.16200852416158137]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_30","position":[-0.36496845857900123,-2.0813876415567387,0.71338606911949],"aabb_xy":[[-0.39545270870603133,-2.1313876413382347],[-0.334484208451971,-2.031387641775243]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690691081394075,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7130.png","name":"7130"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7130.png","name":"7130"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5064.png","name":"5064"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1992.png","name":"1992"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1441.png","name":"1441"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6717.png","name":"6717"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":589.9106866813132,"rotation_z_degrees":14.806900238578876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009768649171113801,0.015283799055266566,-0.00034524299504557973]},{"name":"camera_2","offset_m":[0.013292200926856155,-0.018063784333102264,0.013024732056896807]},{"name":"camera_3","offset_m":[0.014362700714973368,-0.0166894774424587,0.014042074170969327]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00043882765215969596,0.0014782070253466445,0.0003346981226779091],"end_effector_yaw_offset_degrees":0.07394935339329667},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016156944063376762,-0.0017941046539718282,-0.0017586904417650393],"end_effector_yaw_offset_degrees":0.6584997811414643},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001525756001345282,2.3818730570693454e-05,-0.0009050816807228577],"end_effector_yaw_offset_degrees":0.2495925189507735}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014132105090241685,0.002024290094962973],"position_m":[0.31758678949097585,-0.08737570990503701,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030554008153737934,0.0030242202345231875],"position_m":[0.2781554008153738,-0.3399757797654768,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009135418323119506,0.0011558614671162],"position_m":[0.30538645816768806,0.2385558614671162,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002012251408383814,0.004998257040791094],"position_m":[0.3441877485916162,0.1021982570407911,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2210a2c454ca8b21c0ec7807305ebff504215f2758eb7231ba19b91ac08ddfd7","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7130/tex_ceiling_textures_6717/tex_floor_textures_1441/tex_table_textures_5064/tex_wall_textures_1992","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":588925562707291086,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":588925562707291086,"visual_seed":588925562707291086,"scene_id":"lab_003","finished_at":"2026-09-03T19:25:36"} +{"episode_id":"ep_000018","started_at":"2026-09-03T19:25:41","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[0.5824541552470177,1.3324468455096357,0.71338606911949],"aabb_xy":[[0.5024603316684596,1.2524468429167943],[0.662447978825576,1.4124468481024774]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[0.5998752840484025,-0.9117318961627239,0.71338606911949],"aabb_xy":[[0.582375283789066,-0.9258234383514966],[0.6173752843077392,-0.8976403539739514]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[0.4550746783390509,-1.6187351224847277,0.71338606911949],"aabb_xy":[[0.45137141700991196,-1.622437140793445],[0.45877793966818975,-1.6150331041760095]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.0453575637681114,-1.0622618953476528,0.71338606911949],"aabb_xy":[[-0.07965447478585203,-1.096558781557594],[-0.01106065275037077,-1.0279650091377113]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.3635284191195485,1.57110724876738,0.71338606911949],"aabb_xy":[[-0.36696909535960565,1.567245815793016],[-0.3600877428794913,1.574968681741745]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[0.5786953925448595,-0.7663424156940191,0.71338606911949],"aabb_xy":[[0.5237021812077228,-0.8213424160328128],[0.6336886038819963,-0.7113424153552255]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.29189257735731006,-0.1323394679861818,0.71338606911949],"aabb_xy":[[-0.31100488471528887,-0.1514742468634238],[-0.27278026999933114,-0.11320468910893977]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[0.5044639334822438,-1.979309310188801,0.71338606911949],"aabb_xy":[[0.4404639311394422,-2.0242501614329336],[0.5684639358250453,-1.9343684589446688]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.08242999379951421,1.0766306003265789,0.71338606911949],"aabb_xy":[[-0.16242999120310764,0.9966380291283962],[-0.0024299963959208133,1.1566231715247617]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.17203213770341708,0.5429855668197021,0.71338606911949],"aabb_xy":[[-0.19420466468006792,0.5208098996635789],[-0.14985961072676626,0.5651612339758253]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.2140562784703196,-1.6190987249096158,0.71338606911949],"aabb_xy":[[0.12405628196944783,-1.6650103673280738],[0.3040562749711913,-1.5731870824911574]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.5963798018768787,1.114046452733803,0.71338606911949],"aabb_xy":[[-0.6603798039266107,1.0739519696444952],[-0.5323797998271467,1.1541409358231112]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.2382832616224892,-1.799758316325812,0.71338606911949],"aabb_xy":[[-0.2882832632839839,-1.8497567585815142],[-0.18828325996099438,-1.7497598740701088]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_13","position":[0.3288969888011497,-1.4296875542196967,0.71338606911949],"aabb_xy":[[0.31198625636480787,-1.4431597598123111],[0.34580772123749143,-1.4162153486270819]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[0.10167681516476734,-2.418915155639216,0.71338606911949],"aabb_xy":[[0.09159510808619385,-2.49891515353133],[0.1117585222433408,-2.338915157747101]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.5843761452687322,-0.8324799497352169,0.71338606911949],"aabb_xy":[[-0.6483761455427104,-0.8825460499325049],[-0.5203761449947539,-0.7824138495379289]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.07521830181257161,0.00678321065675469,0.71338606911949],"aabb_xy":[[-0.1251971103228875,-0.04321678934896411],[-0.02523949330225571,0.05678321066247349]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.40798626643652747,-2.06138433840563,0.71338606911949],"aabb_xy":[[-0.47198626865693455,-2.1057574225309184],[-0.3439862642161205,-2.017011254280342]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.6075168050587312,-2.379684408012261,0.71338606911949],"aabb_xy":[[0.5625168035925023,-2.424684264873742],[0.65251680652496,-2.3346845511507808]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[0.23517435791641605,0.7259305817381718,0.71338606911949],"aabb_xy":[[0.20518269518254573,0.6959305824013713],[0.2651660206502864,0.7559305810749724]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[0.5637042201525104,-0.5321011670817493,0.71338606911949],"aabb_xy":[[0.5302250528914695,-0.5655802804528564],[0.5971833874135514,-0.4986220537106424]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[0.4957504214429871,-1.4644105898013215,0.71338606911949],"aabb_xy":[[0.48771408674170225,-1.4724487091057383],[0.5037867561442719,-1.4563724704969048]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.04090495259305049,0.7971823848383837,0.71338606911949],"aabb_xy":[[-0.08607627044121946,0.7331823876938452],[0.004266365255118484,0.8611823819829222]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[0.08672372673098494,-1.1808042521199011,0.71338606911949],"aabb_xy":[[0.07515474598404837,-1.2058042522368329],[0.09829270747792151,-1.1558042520029694]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_24","position":[0.44847867206176617,-0.7716784840187059,0.71338606911949],"aabb_xy":[[0.4221898477413255,-0.797949917673357],[0.47476749638220683,-0.7454070503640545]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903697125325288,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6147.png","name":"6147"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6147.png","name":"6147"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8132.png","name":"8132"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/643.png","name":"643"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4719.png","name":"4719"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9055.png","name":"9055"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":509.8189489157611,"rotation_z_degrees":274.57475209926497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0004707272193081556,0.018070451025597515,-0.015888365453823692]},{"name":"camera_2","offset_m":[0.0027047294595596884,0.011964305784949409,-0.004591836639040619]},{"name":"camera_3","offset_m":[-0.019177403586246155,-0.00138404678017846,0.003024911227528869]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00045689222463185216,-0.0017446177218014515,3.802880196092937e-05],"end_effector_yaw_offset_degrees":-0.8126646847882881},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018061758892977205,0.001476133612690818,0.0013190933059768453],"end_effector_yaw_offset_degrees":-0.2992948092459009},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004139076378276976,0.0014076005413153308,-0.0015660561095661735],"end_effector_yaw_offset_degrees":-0.5885056601389345}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004652420252642463,-0.0011130472256235002],"position_m":[0.31434757974735755,-0.09051304722562349,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00247074150847538,0.0026437591313718716],"position_m":[0.2775707415084754,-0.34035624086862815,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017027397879090258,-0.0006877892101786135],"position_m":[0.304597260212091,0.23671221078982138,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0040703832791068074,0.0018236466949352855],"position_m":[0.3421296167208932,0.09902364669493528,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aa02ea8deec5800429db5e04bfa31ce0772f11dc36fd69e0563875177967ddae","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0018.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6147/tex_ceiling_textures_9055/tex_floor_textures_4719/tex_table_textures_8132/tex_wall_textures_643","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":102343241460230628,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":102343241460230628,"visual_seed":102343241460230628,"scene_id":"lab_003","finished_at":"2026-09-03T19:28:19"} +{"episode_id":"ep_000019","started_at":"2026-09-03T19:28:22","dimensions":{"distractor":{"count":34,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[-0.5267801359567713,1.3880551126666054,0.71338606911949],"aabb_xy":[[-0.5360737541939219,1.3505551141784713],[-0.5174865177196207,1.425555111154739]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[-0.128156833454232,0.6214363160718896,0.71338606911949],"aabb_xy":[[-0.21315683214630662,0.5894504526770108],[-0.04315683476215734,0.6534221794667685]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[0.12678861540753972,-1.0706012680322092,0.71338606911949],"aabb_xy":[[0.1068975755271995,-1.0832570793169063],[0.14667965528788,-1.0579454567475126]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[-0.6193133044245542,-0.20071375742109065,0.71338606911949],"aabb_xy":[[-0.654313305776036,-0.22107349337791146],[-0.5843133030730725,-0.1803540214642698]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.6449587616091343,0.4680471928254497,0.71338606911949],"aabb_xy":[[-0.6483994378491916,0.4641857598510853],[-0.6415180853690773,0.47190862579981424]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[-0.6255680602519615,-2.307615648286497,0.71338606911949],"aabb_xy":[[-0.6895680606294952,-2.35736091513731],[-0.5615680598744279,-2.2578703814356853]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.47118949002753086,0.8887752851349648,0.71338606911949],"aabb_xy":[[-0.4820299682540457,0.8715890038443159],[-0.4603490118010159,0.9059615664256135]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.018059253652666696,-1.9865864225006884,0.71338606911949],"aabb_xy":[[-0.019440746695561065,-1.9983778180817717],[0.055559254000894454,-1.9747950269196046]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[0.4012558689301693,0.682403832357684,0.71338606911949],"aabb_xy":[[0.37603503207032957,0.6571800815047971],[0.4264767057900089,0.7076275832105706]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.09965660299057766,1.1672949443610596,0.71338606911949],"aabb_xy":[[-0.14493521787172692,1.1032949450128762],[-0.05437798810942841,1.2312949437092435]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.2352643475036546,-2.17827373284251,0.71338606911949],"aabb_xy":[[-0.26523190441348027,-2.208273733140396],[-0.20529679059382894,-2.148273732544625]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[0.6205819554601957,-1.0131345294907321,0.71338606911949],"aabb_xy":[[0.5305819589593238,-1.0590461719091904],[0.7105819519610673,-0.967222887072274]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[0.14059560393197745,1.6641215839477161,0.71338606911949],"aabb_xy":[[0.10600452107793225,1.5991215836626846],[0.17518668678602267,1.7291215842327468]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.42029234167048635,-2.3168617065266135,0.71338606911949],"aabb_xy":[[-0.5040145671705688,-2.4068617100613094],[-0.3365701161704039,-2.2268617029919175]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[0.5398193200250332,0.38544072455859046,0.71338606911949],"aabb_xy":[[0.5073576191431055,0.3553078924436877],[0.5722810209069604,0.415573556673493]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.19325324963831658,-0.593990303734375,0.71338606911949],"aabb_xy":[[0.15592197311307396,-0.6286433585292273],[0.2305845261635592,-0.5593372489395227]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.23350673668418848,-1.6348679972467566,0.71338606911949],"aabb_xy":[[-0.266946911880208,-1.6683116230776867],[-0.20006656148816884,-1.6014243714158265]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.4488725531939193,-2.548855732570225,0.71338606911949],"aabb_xy":[[0.43911656368474533,-2.5586182666294595],[0.4586285427030931,-2.5390931985109906]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.49701630847802747,-1.8346863431821356,0.71338606911949],"aabb_xy":[[0.4769578968647872,-1.8547514300912933],[0.5170747200912678,-1.8146212562729784]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.6032249733009782,0.21803684798887835,0.71338606911949],"aabb_xy":[[-0.6832187968795366,0.1380368453960368],[-0.5232311497224201,0.2980368505817199]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[-0.16579231704387054,-0.18016579401691368,0.71338606911949],"aabb_xy":[[-0.2002547950569583,-0.18682947119983648],[-0.13132983903078277,-0.17350211683399083]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.5087645486118579,1.6281637364684385,0.71338606911949],"aabb_xy":[[0.45113407972458697,1.5681637375417272],[0.5663950174991287,1.6881637353951484]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[0.41216641552278377,-2.1647683310450585,0.71338606911949],"aabb_xy":[[0.3711484721364129,-2.214768331676016],[0.45318435890915465,-2.114768330414101]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[0.09087730215405498,-1.5684815613329073,0.71338606911949],"aabb_xy":[[0.020877298762493,-1.603797335036338],[0.16087730554561694,-1.5331657876294762]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[0.19596523203845262,-2.0084616120994117,0.71338606911949],"aabb_xy":[[0.16096523206195681,-2.017926228147029],[0.23096523201494848,-1.9989969960517955]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[0.5783844718280395,-1.3348820942126516,0.71338606911949],"aabb_xy":[[0.5581001691046406,-1.35516471935536],[0.5986687745514381,-1.3145994690699423]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_26","position":[0.23585477463427806,1.765057099463093,0.71338606911949],"aabb_xy":[[0.2167424672762992,1.7459223205858512],[0.2549670819922569,1.7841918783403352]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[-0.629533294045071,1.3338486509124077,0.71338606911949],"aabb_xy":[[-0.6795281269730126,1.2838486520171641],[-0.5795384611171294,1.3838486498076512]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_28","position":[-0.4269332011954223,0.5691957652116564,0.71338606911949],"aabb_xy":[[-0.463429021822701,0.5327118227848988],[-0.39043738056814353,0.6056797076384139]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_29","position":[-0.4640871689283348,1.6862857681369285,0.71338606911949],"aabb_xy":[[-0.4701241819289996,1.680259067067981],[-0.4580501559276701,1.692312469205877]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_30","position":[0.163504065183798,1.2367471193408073,0.71338606911949],"aabb_xy":[[0.11362136830610181,1.1867471200945328],[0.21338676206149423,1.2867471185870822]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_31","position":[-0.08691013059435937,-0.9044853496514251,0.71338606911949],"aabb_xy":[[-0.15191012847600716,-0.9556090133579662],[-0.021910132712711573,-0.8533616859448845]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_32","position":[-0.3362334061535091,1.4351640294976256,0.71338606911949],"aabb_xy":[[-0.342647219796694,1.428754209249957],[-0.3298195925103241,1.4415738497452937]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_33","position":[-0.539084228726598,0.7214534804783828,0.71338606911949],"aabb_xy":[[-0.5491659358051714,0.641453482586268],[-0.5290025216480244,0.8014534783704973]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6868031312304701,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7984.png","name":"7984"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7984.png","name":"7984"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3876.png","name":"3876"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5649.png","name":"5649"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5594.png","name":"5594"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7075.png","name":"7075"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":712.281756290685,"rotation_z_degrees":232.60396662808498,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008634590451499604,0.0021674842885797893,0.015420319381397086]},{"name":"camera_2","offset_m":[0.01127502504041596,-0.014241155155192736,0.008518016770173751]},{"name":"camera_3","offset_m":[-0.01505504796474728,0.00814899108881963,-0.003154786752859167]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001635446532171796,-0.00039657899520434024,0.0016861949423103459],"end_effector_yaw_offset_degrees":-0.6788171782458179},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015410757487112905,-0.00028668213692386625,-0.001240354359240351],"end_effector_yaw_offset_degrees":0.8321421648136116},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004712313387385319,-0.0009207328466095221,-0.0015852571458221387],"end_effector_yaw_offset_degrees":0.9694282560941563}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002516171731468283,0.0005303073739703198],"position_m":[0.3164838282685317,-0.08886969262602967,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004026587138862071,-0.0015189981684550378],"position_m":[0.27107341286113795,-0.34451899816845505,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00235233208446006,-0.00041470739519955824],"position_m":[0.3086523320844601,0.23698529260480045,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00234782794717842,-0.004495392933733812],"position_m":[0.3438521720528216,0.09270460706626618,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3002cb24a650237d64f595de77900b0c6b2b13269fff630b3e76eae76b906d7b","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7984/tex_ceiling_textures_7075/tex_floor_textures_5594/tex_table_textures_3876/tex_wall_textures_5649","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6874350547560539176,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6874350547560539176,"visual_seed":6874350547560539176,"scene_id":"lab_003","finished_at":"2026-09-03T19:31:00"} +{"episode_id":"ep_000020","started_at":"2026-09-03T19:31:03","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[-0.27577183424945406,0.35358420641491906,0.71338606911949],"aabb_xy":[[-0.32565453112715026,0.30358420716864426],[-0.22588913737175786,0.4035842056611938]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[-0.14388656838313763,1.1160151221243773,0.71338606911949],"aabb_xy":[[-0.16056370437623313,1.099315198150447],[-0.12720943239004212,1.1327150460983075]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[0.07032205194268881,1.436234711435008,0.71338606911949],"aabb_xy":[[0.06486410630566875,1.3562347081273487],[0.07577999757970888,1.516234714742667]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[0.13770608100130932,-0.769992580719489,0.71338606911949],"aabb_xy":[[0.08773278699804885,-0.8199925812740363],[0.18767937500456974,-0.7199925801649416]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.2024232754987188,-2.2233398779859663,0.71338606911949],"aabb_xy":[[-0.23975455202396145,-2.2579929327808186],[-0.1650919989734762,-2.188686823191114]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[0.23565647486172647,-1.4506759923490813,0.71338606911949],"aabb_xy":[[0.15565647269896396,-1.5306311759752247],[0.31565647702448896,-1.3707208087229374]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[0.10160850817013489,-0.9292237998640727,0.71338606911949],"aabb_xy":[[0.05661592145168447,-0.9742237991385213],[0.1466010948885853,-0.8842238005896238]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.6218422045465486,0.661041226301021,0.71338606911949],"aabb_xy":[[0.5418422065657634,0.653439685339169],[0.7018422025273335,0.6686427672628729]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[0.13074228457316828,0.9083063541765912,0.71338606911949],"aabb_xy":[[0.06674228128346014,0.8649714351726736],[0.19474228786287637,0.9516412731805088]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[-0.4337670041301778,-2.03403309218508,0.71338606911949],"aabb_xy":[[-0.5137670046003937,-2.0423437997994287],[-0.3537670036599619,-2.025722384570732]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[-0.22100610966135092,-0.3102574251306822,0.71338606911949],"aabb_xy":[[-0.2810061095079177,-0.3670760473237209],[-0.16100610981478414,-0.25343880293764354]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.4895220817608634,-1.382120896717477,0.71338606911949],"aabb_xy":[[0.4670256603269994,-1.4046208965242244],[0.5120185031947275,-1.3596208969107295]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.641887141866877,-2.205055908679036,0.71338606911949],"aabb_xy":[[0.5768871408663765,-2.2558422738337107],[0.7068871428673775,-2.154269543524361]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.640096700289939,-0.10584982090027673,0.71338606911949],"aabb_xy":[[-0.6636818237538338,-0.1708498231457085],[-0.6165115768260441,-0.04084981865484494]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.6457999005571432,1.3285131598427622,0.71338606911949],"aabb_xy":[[-0.6632998998352302,1.311175059776416],[-0.6282999012790564,1.345851259909108]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[0.6692852165071383,0.03550794704421545,0.71338606911949],"aabb_xy":[[0.6643859242005749,0.007831027741646679],[0.6741845088137018,0.06318486634678422]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.42103892361276385,-1.6767545839008238,0.71338606911949],"aabb_xy":[[0.38759874841674424,-1.7101982097317536],[0.45447909880878345,-1.6433109580698935]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.6025817471991382,-1.5385396233746773,0.71338606911949],"aabb_xy":[[-0.6825817504631513,-1.5520996556835907],[-0.522581743935125,-1.524979591065764]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[-0.5688761559888094,-1.8334950910820442,0.71338606911949],"aabb_xy":[[-0.6288761565848255,-1.8883075636272677],[-0.5088761553927932,-1.7786826185368207]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.5356677975767363,0.7701491549805675,0.71338606911949],"aabb_xy":[[-0.5472367783236729,0.7451491548636358],[-0.5240988168297998,0.7951491550974992]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.12049447110651368,-1.9469191951615665,0.71338606911949],"aabb_xy":[[-0.17049447239035362,-1.9968980495521884],[-0.0704944698226737,-1.8969403407709442]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6924255222646893,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6484.png","name":"6484"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6484.png","name":"6484"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/763.png","name":"763"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6588.png","name":"6588"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7725.png","name":"7725"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1994.png","name":"1994"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":652.4355638064926,"rotation_z_degrees":165.31216913571944,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00932978661366506,-0.01904153457865742,-0.010605920942251643]},{"name":"camera_2","offset_m":[0.018768448299544948,-0.015068731212184227,-0.006802758602169803]},{"name":"camera_3","offset_m":[-0.010548316644887526,-0.011888368835781971,0.008165506364031124]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00013900311373749074,0.0011311498919628388,-0.0019045159071305968],"end_effector_yaw_offset_degrees":-0.11262189340914053},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001833111804694883,-0.0007470624724953429,-0.00046521093341664126],"end_effector_yaw_offset_degrees":0.4005261680383665},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001805454460190552,0.0018746247665437847,-0.0015794951353360082],"end_effector_yaw_offset_degrees":-0.811861338402377}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019327475757771216,-0.0031357745484952427],"position_m":[0.3209327475757771,-0.09253577454849524,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037079855988398263,0.0006590762235870662],"position_m":[0.27880798559883985,-0.34234092377641295,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019162428620368732,-0.0006708934474108363],"position_m":[0.3043837571379631,0.23672910655258916,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004339291437333899,0.002961880617475091],"position_m":[0.3418607085626661,0.10016188061747508,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c88eea1a9787c6c23d129b5c62251d7e5b7342d68cece3ec34631efa7716b35","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0020.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6484/tex_ceiling_textures_1994/tex_floor_textures_7725/tex_table_textures_763/tex_wall_textures_6588","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3571122136712013782,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3571122136712013782,"visual_seed":3571122136712013782,"scene_id":"lab_003","finished_at":"2026-09-03T19:33:51"} +{"episode_id":"ep_000021","started_at":"2026-09-03T19:33:54","dimensions":{"distractor":{"count":29,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.1544468607581866,-1.9743008051463158,0.71338606911949],"aabb_xy":[[0.14354108467062388,-2.0543008015451445],[0.1653526368457493,-1.8943008087474864]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[0.5765848965179179,-2.2420165108923595,0.71338606911949],"aabb_xy":[[0.5125849000905961,-2.2891861347144564],[0.6405848929452399,-2.1948468870702635]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[0.43034945150453674,0.8842728377596005,0.71338606911949],"aabb_xy":[[0.39443594707954704,0.8483593295428458],[0.46626295592952643,0.9201863459763551]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[-0.6089065484475953,0.9533725606756995,0.71338606911949],"aabb_xy":[[-0.6589065501090899,0.9033741184199966],[-0.5589065467861004,1.0033710029314018]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.4922537388564877,-2.350656106417372,0.71338606911949],"aabb_xy":[[-0.5047210969662234,-2.363121431050696],[-0.47978638074675206,-2.338190781784049]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.0015885975458075352,0.9579831544884314,0.71338606911949],"aabb_xy":[[-0.039429345840563346,0.9079831538574741],[0.042606540932178416,1.0079831551193887]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[0.704605874656925,-0.9961669100980168,0.71338606911949],"aabb_xy":[[0.695824647509689,-1.0049466573865469],[0.7133871018041615,-0.9873871628094868]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.4723486040527127,-1.751816152871123,0.71338606911949],"aabb_xy":[[-0.5098486052375055,-1.7562343755671832],[-0.4348486028679199,-1.7473979301750622]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.20247028202624928,-0.5658950037653763,0.71338606911949],"aabb_xy":[[-0.2101734727003263,-0.5736043744641142],[-0.1947670913521722,-0.5581856330666382]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.4437229260384794,0.18930595081399382,0.71338606911949],"aabb_xy":[[0.42617623112236047,0.15180594924974256],[0.46126962095459834,0.22680595237824508]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.3481853861305335,-0.9772807505547036,0.71338606911949],"aabb_xy":[[0.330316278376078,-0.9911136585319146],[0.366054493884989,-0.9634478425774927]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[-0.20285676897344673,-2.3781912084005703,0.71338606911949],"aabb_xy":[[-0.20699262530614695,-2.4156912078449273],[-0.19872091264074657,-2.3406912089562133]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[-0.46807457321587553,-0.4634199145816935,0.71338606911949],"aabb_xy":[[-0.5320745734763463,-0.5084287139346214],[-0.4040745729554047,-0.41841111522876545]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.2893006196366794,-1.56433959999626,0.71338606911949],"aabb_xy":[[0.19961354332856396,-1.6543396002507105],[0.37898769594479487,-1.4743395997418094]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[-0.1420410696031571,1.525673784026084,0.71338606911949],"aabb_xy":[[-0.19204107088699704,1.4756949296354616],[-0.09204106831931712,1.5756526384167058]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[0.6488165421209822,-1.874398689293619,0.71338606911949],"aabb_xy":[[0.6113165413289867,-1.8807665302518093],[0.6863165429129776,-1.8680308483354293]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[-0.28216761614314634,-0.593100816272857,0.71338606911949],"aabb_xy":[[-0.2901611059384284,-0.6010989482133328],[-0.27417412634786437,-0.5851026843323816]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.47943315803422504,0.6346689595526263,0.71338606911949],"aabb_xy":[[-0.5221998649136452,0.5706689561308238],[-0.43666645115480485,0.6986689629744287]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[0.539395163034508,0.6257145930910379,0.71338606911949],"aabb_xy":[[0.5233332355759903,0.540714591278446],[0.5554570904930256,0.7107145949036296]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.46913332734506374,1.510971095062446,0.71338606911949],"aabb_xy":[[0.38913333018548846,1.4994234941046292],[0.549133324504639,1.5225186960202632]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[-0.006169802103096034,1.4434607404579824,0.71338606911949],"aabb_xy":[[-0.028669801626803434,1.4209647930073617],[0.016330197420611366,1.4659566879086032]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[-0.13534473963535476,-0.05706858757165634,0.71338606911949],"aabb_xy":[[-0.18532354814567065,-0.10706858757737514],[-0.08536593112503887,-0.007068587565937527]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_22","position":[-0.4755710463894742,-2.056914432048645,0.71338606911949],"aabb_xy":[[-0.5090112215854937,-2.090358057879574],[-0.4421308711934545,-2.0234708062177145]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[-0.2605911604695437,1.3335136739916464,0.71338606911949],"aabb_xy":[[-0.31460675675144373,1.2695136710993893],[-0.20657556418764372,1.3975136768839036]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.17016630461851534,-1.3300082922003538,0.71338606911949],"aabb_xy":[[-0.17958377918837806,-1.3394244693380728],[-0.16074883004865256,-1.3205921150626347]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_25","position":[-0.39418125741396287,0.8191009022735263,0.71338606911949],"aabb_xy":[[-0.4591812584144634,0.7683145371188513],[-0.32918125641346235,0.8698872674282012]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_26","position":[-0.178769430061128,-0.7383716134992788,0.71338606911949],"aabb_xy":[[-0.223940747909297,-0.8023716106438173],[-0.13359811221295903,-0.6743716163547404]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[0.2877135741368497,-1.2925486183699892,0.71338606911949],"aabb_xy":[[0.2377361572715961,-1.3425486198592376],[0.33769099100210326,-1.2425486168807405]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[0.6035993311565075,-0.8594071130567429,0.71338606911949],"aabb_xy":[[0.5484741255269168,-0.9194071144980299],[0.6587245367860983,-0.7994071116154556]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872176693866459,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7044.png","name":"7044"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7044.png","name":"7044"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2882.png","name":"2882"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3406.png","name":"3406"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1551.png","name":"1551"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8051.png","name":"8051"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":564.9765467056554,"rotation_z_degrees":328.1936779923068,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011198962178062263,0.006325060027565985,0.008882824116231886]},{"name":"camera_2","offset_m":[-0.016785782909421364,0.0035664439341810406,0.017927166417330127]},{"name":"camera_3","offset_m":[-0.0163721356722433,0.019574472802935877,0.012835530803169706]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005306384537332796,-0.0006632907635025283,0.0019441577514566844],"end_effector_yaw_offset_degrees":-0.4926859125744254},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013308331984889358,0.00024203036918285558,0.001632141728296847],"end_effector_yaw_offset_degrees":0.2131822460227355},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008984286598586739,-0.0009025642104840098,0.0015684467827973758],"end_effector_yaw_offset_degrees":-0.3268509078121442}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023554870151396698,0.0011057504264587016],"position_m":[0.32135548701513966,-0.08829424957354129,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007871887611985715,0.0032895246696938675],"position_m":[0.2743128112388014,-0.3397104753303062,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031494287105105967,-0.003883530542382504],"position_m":[0.3031505712894894,0.2335164694576175,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045156164287541625,-0.003695995349037554],"position_m":[0.34168438357124586,0.09350400465096244,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f25636d1f35b87c53899cde5e74e8448ca5b291c5d91157ffe62375067690507","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7044/tex_ceiling_textures_8051/tex_floor_textures_1551/tex_table_textures_2882/tex_wall_textures_3406","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7647759511596376388,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7647759511596376388,"visual_seed":7647759511596376388,"scene_id":"lab_003","finished_at":"2026-09-03T19:36:31"} +{"episode_id":"ep_000022","started_at":"2026-09-03T19:36:34","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[-0.30183078967252847,-1.1874673893125187,0.71338606911949],"aabb_xy":[[-0.3189328676308966,-1.2045741948437885],[-0.2847287117141603,-1.170360583781249]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.3702140327363239,1.6060736019081703,0.71338606911949],"aabb_xy":[[0.36079655816646117,1.5966574247704513],[0.37963150730618667,1.6154897790458893]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[-0.1478547321838366,-2.413575336176923,0.71338606911949],"aabb_xy":[[-0.21285473033975566,-2.439871580726835],[-0.08285473402791754,-2.387279091627011]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.5699727708975262,1.0826398788052214,0.71338606911949],"aabb_xy":[[0.5580400365356981,1.070257725997362],[0.5819055052593542,1.0950220316130808]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[-0.01873350409493524,1.3459964895624381,0.71338606911949],"aabb_xy":[[-0.024066018749548224,1.3406721613172026],[-0.013400989440322253,1.3513208178076737]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[-0.11741356108537249,1.3838830527658517,0.71338606911949],"aabb_xy":[[-0.15187590848351426,1.3493891703680283],[-0.08295121368723067,1.4183769351636737]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.4303172702568385,-0.2439834561841181,0.71338606911949],"aabb_xy":[[-0.437729725798227,-0.24983466660574605],[-0.42290481471545005,-0.23813224576249015]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[-0.5163665360553353,0.11921697429254685,0.71338606911949],"aabb_xy":[[-0.538256283644276,0.02921697700329771],[-0.4944767884663945,0.20921697158179592]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.1521733879401903,-0.9262305171575984,0.71338606911949],"aabb_xy":[[0.062173388217016116,-0.9493038696927781],[0.24217338766336446,-0.9031571646224185]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[-0.13155025466176473,-0.20559725007857743,0.71338606911949],"aabb_xy":[[-0.15513537812565958,-0.2705972523240092],[-0.10796513119786988,-0.14059724783314564]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[-0.3396839695061017,-1.4580430562893671,0.71338606911949],"aabb_xy":[[-0.3896839704566345,-1.4895922032928883],[-0.2896839685555689,-1.4264939092858455]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[0.05135768894656878,-1.0700152383103836,0.71338606911949],"aabb_xy":[[-0.012642308165536915,-1.1190476081047942],[0.11535768605867447,-1.020982868515973]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.2699683778886234,-0.9055770450840734,0.71338606911949],"aabb_xy":[[-0.3339683781626016,-0.9556431452813615],[-0.20596837761464515,-0.8555109448867856]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[-0.07911825981331466,1.5005359143326609,0.71338606911949],"aabb_xy":[[-0.09422056127433273,1.4854343927015987],[-0.06401595835229654,1.5156374359637226]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.1660649679902353,0.587816774022051,0.71338606911949],"aabb_xy":[[-0.2035649681621072,0.5551160386391437],[-0.12856496781836332,0.6205175094049581]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.4140242405579997,-1.5907116509356891,0.71338606911949],"aabb_xy":[[0.40792961266988137,-1.5992810454873578],[0.420118868446118,-1.5821422563840204]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.1952965911247836,-2.095154619359813,0.71338606911949],"aabb_xy":[[-0.24511337058961832,-2.1451546178441165],[-0.1454798116599488,-2.04515462087551]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[0.08845049785065084,-1.55498339808329,0.71338606911949],"aabb_xy":[[0.07095056441666746,-1.5724833980035242],[0.1059504312846342,-1.5374833981630551]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[-0.04056007482802204,1.031449113762259,0.71338606911949],"aabb_xy":[[-0.05757017211807269,1.015314625263985],[-0.02354997753797139,1.047583602260533]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.45699959801684864,-0.31015433498301404,0.71338606911949],"aabb_xy":[[0.3769996000360636,-0.317755875944866],[0.5369995959976337,-0.3025527940211621]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.4601700854935109,-1.9014497099320529,0.71338606911949],"aabb_xy":[[-0.5101649184214525,-1.9514497088272966],[-0.4101752525655693,-1.8514497110368096]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[-0.47276484527506646,0.7963430258839699,0.71338606911949],"aabb_xy":[[-0.4901955603540729,0.7790709112201191],[-0.4553341301960599,0.8136151405478207]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.12060741432290223,-0.051150664453298855,0.71338606911949],"aabb_xy":[[-0.14049845420324247,-0.06380647573799571],[-0.100716374442562,-0.038494853168602024]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[-0.00427354057130247,-1.7856158560243376,0.71338606911949],"aabb_xy":[[-0.009172832877865966,-1.8132927753269061],[0.0006257517352610273,-1.7579389367217686]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.592479392617406,0.8475460548748623,0.71338606911949],"aabb_xy":[[-0.6424793920576016,0.7975781303905459],[-0.5424793931772104,0.8975139793591785]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[0.4578098409667515,0.35858636659534815,0.71338606911949],"aabb_xy":[[0.44174791350823384,0.2735863647827563],[0.4738717684252691,0.4435863684079399]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[-0.060200203501358684,-1.6387599125368042,0.71338606911949],"aabb_xy":[[-0.12420020078700733,-1.6802666314896482],[0.003799793784289962,-1.5972531935839602]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_27","position":[0.030563955619048788,0.8364378544366873,0.71338606911949],"aabb_xy":[[-0.00693604432471762,0.8281447644018506],[0.06806395556281519,0.8447309444715237]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_28","position":[-0.2892205861606422,-0.13437821084446444,0.71338606911949],"aabb_xy":[[-0.3392035363481215,-0.18437821048702485],[-0.23923763597316286,-0.08437821120190404]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_29","position":[-0.3235778411205007,1.5993959728278297,0.71338606911949],"aabb_xy":[[-0.4135778376213724,1.5534843304093713],[-0.2335778446196289,1.6453076152462878]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_30","position":[-0.1381079679583347,-2.4846970210429173,0.71338606911949],"aabb_xy":[[-0.14218612586538443,-2.48877800129118],[-0.13402981005128495,-2.480616040794654]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_31","position":[-0.6014569794345485,-2.169934242259999,0.71338606911949],"aabb_xy":[[-0.6654569827242564,-2.2132691612639164],[-0.5374569761448401,-2.126599323256081]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_32","position":[0.2858026828024328,-2.196802458723785,0.71338606911949],"aabb_xy":[[0.22180268254196198,-2.241811258076713],[0.3498026830629036,-2.151793659370857]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_33","position":[-0.5809463966918861,1.5655059604323083,0.71338606911949],"aabb_xy":[[-0.6072352210123266,1.5392345267776568],[-0.5546575723714453,1.5917773940869593]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_34","position":[0.6074846544812711,-0.44271900156850785,0.71338606911949],"aabb_xy":[[0.5737090952905781,-0.4567574967816729],[0.6412602136719641,-0.4286805063553428]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6878645827841409,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4400.png","name":"4400"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4400.png","name":"4400"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1790.png","name":"1790"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5133.png","name":"5133"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/212.png","name":"212"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2326.png","name":"2326"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":711.8837159804623,"rotation_z_degrees":89.02541528168784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001737860202829896,-2.4127914819579988e-05,-0.017835427829242842]},{"name":"camera_2","offset_m":[-0.019182043985796243,0.013721956353713854,-0.015266279128570627]},{"name":"camera_3","offset_m":[-0.0016651878467125493,0.01980725517279765,-0.013599955898840804]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009940537332893814,-0.0012734523049025386,8.420708458051424e-05],"end_effector_yaw_offset_degrees":0.4367714009936807},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012243321069725463,-0.0003299835758646839,0.0010154521945661653],"end_effector_yaw_offset_degrees":-0.6185343671899954},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.7784404128589823e-06,0.0010295009802974249,-0.0004414594569217751],"end_effector_yaw_offset_degrees":-0.01235651094181156}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029365645377541862,-0.0012758916250589104],"position_m":[0.3160634354622458,-0.0906758916250589,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012902873599332444,0.001103000539377833],"position_m":[0.27380971264006676,-0.3418969994606222,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002942712095705612,0.002007679555494809],"position_m":[0.3033572879042944,0.2394076795554948,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018698789758943369,-0.004839326734258104],"position_m":[0.34806987897589436,0.09236067326574189,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0e733775bb3a6ff43c3a0310ff6dffa5e88c22c13ea6e75d27037806ebf2e66e","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4400/tex_ceiling_textures_2326/tex_floor_textures_212/tex_table_textures_1790/tex_wall_textures_5133","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":5428613081924756290,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":5428613081924756290,"visual_seed":5428613081924756290,"scene_id":"lab_003","finished_at":"2026-09-03T19:39:19"} +{"episode_id":"ep_000023","started_at":"2026-09-03T19:39:21","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.2572727344727582,-1.5130422303417903,0.71338606911949],"aabb_xy":[[0.23536405233340718,-1.5349428971618806],[0.27918141661210927,-1.4911415635216991]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[0.28608147332001144,-2.415358537279843,0.71338606911949],"aabb_xy":[[0.2556833622208678,-2.4457654392815122],[0.31647958441915497,-2.384951635278173]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[-0.4931737054153101,-2.002030000601666,0.71338606911949],"aabb_xy":[[-0.538173706881539,-2.0470298574631465],[-0.44817370394908135,-1.9570301437401851]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.24426379868054682,0.6128427529165945,0.71338606911949],"aabb_xy":[[0.22176466295431982,0.5903427521383315],[0.2667629344067738,0.6353427536948575]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[0.3876915758299495,0.8691528562224682,0.71338606911949],"aabb_xy":[[0.32269157767403045,0.8428566116725559],[0.45269157398586857,0.8954491007723803]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_5","position":[-0.05093001924875862,0.9432487271991068,0.71338606911949],"aabb_xy":[[-0.07925972919729884,0.9387879850053897],[-0.022600309300218398,0.9477094693928239]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[0.37043512411281077,1.0106034335541145,0.71338606911949],"aabb_xy":[[0.3154396462921514,0.9556034321202076],[0.42543060193347015,1.0656034349880215]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.6798887700166072,1.393223736643261,0.71338606911949],"aabb_xy":[[0.6750451752553772,1.3883720841642768],[0.6847323647778372,1.398075389122245]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[0.6601758134173763,0.5403550413400753,0.71338606911949],"aabb_xy":[[0.6567351371773192,0.5364936083657108],[0.6636164896574336,0.5442164743144398]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[0.39658418989414046,1.8149414998599132,0.71338606911949],"aabb_xy":[[0.38398149075706406,1.8023461036350479],[0.40918688903121697,1.8275368960847789]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[0.5976774408290473,-1.6102493781443958,0.71338606911949],"aabb_xy":[[0.5376774391861253,-1.6622495274363398],[0.657677442471969,-1.5582492288524514]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.5409321797861391,-2.4797254935287913,0.71338606911949],"aabb_xy":[[-0.6246544052862214,-2.5697254970634873],[-0.4572099542860565,-2.3897254899940954]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[0.6555190821924273,0.8964087116415649,0.71338606911949],"aabb_xy":[[0.6055190818318612,0.8464287244319618],[0.7055190825529933,0.9463886988511677]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[0.27716005867684834,1.6758788288808169,0.71338606911949],"aabb_xy":[[0.2549875317001975,1.6537031617246936],[0.2993325856534992,1.6980544960369397]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[-0.02277758100810956,1.236180893400932,0.71338606911949],"aabb_xy":[[-0.10277757966499557,1.2216760344766693],[0.05722241764877645,1.250685752325195]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[-0.09704946622138177,-1.5936873602932613,0.71338606911949],"aabb_xy":[[-0.15704946681739795,-1.6484998328384848],[-0.037049465625365596,-1.5388748877480378]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[0.22732232162888166,-2.4933909806104237,0.71338606911949],"aabb_xy":[[0.22361906029974277,-2.497092998919141],[0.2310255829580205,-2.4896889623017056]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[-0.09553333352982218,-0.6951914194275239,0.71338606911949],"aabb_xy":[[-0.10086584818443518,-0.7005157476727595],[-0.09020081887520921,-0.6898670911822884]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.37202464541545366,-1.7127998430755131,0.71338606911949],"aabb_xy":[[0.32489526641361793,-1.7767998441199149],[0.4191540244172893,-1.648799842031111]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[0.12273162148345973,-0.69696752671608,0.71338606911949],"aabb_xy":[[0.09488658470285259,-0.7277520254543917],[0.15057665826406685,-0.6661830279777683]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.2397455409148942,1.3036998487247056,0.71338606911949],"aabb_xy":[[0.19697883403547398,1.2396998453029031],[0.2825122477943144,1.367699852146508]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[0.6591624855443141,-1.778456192822953,0.71338606911949],"aabb_xy":[[0.6490094699901646,-1.8145257343956929],[0.6693155010984634,-1.7423866512502122]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.08251743207386275,-1.5426150703218497,0.71338606911949],"aabb_xy":[[0.07510497653247426,-1.5484662807434777],[0.08992988761525121,-1.5367638599002218]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[-0.61165730760926,-0.044969820047918496,0.71338606911949],"aabb_xy":[[-0.6491573075530264,-0.05326291008275508],[-0.5741573076654936,-0.036676730013081915]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_24","position":[-0.3693643001203175,0.44081492136521483,0.71338606911949],"aabb_xy":[[-0.3734802502323902,0.4366993663323692],[-0.36524835000824485,0.4449304763980602]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[-0.2748487866095482,-2.503198065280793,0.71338606911949],"aabb_xy":[[-0.3548426101881064,-2.5831980678736346],[-0.19485496303098998,-2.4231980626879515]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[0.009614424210559358,-2.024532583729197,0.71338606911949],"aabb_xy":[[0.0032006105673744174,-2.0309424039768653],[0.016028237853744295,-2.018122763481528]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[-0.540162186852329,1.2505025590394503,0.71338606911949],"aabb_xy":[[-0.6201621842559223,1.1705099878412673],[-0.4601621894487355,1.3304951302376329]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_28","position":[0.6506235317509614,-0.49731026053916816,0.71338606911949],"aabb_xy":[[0.585623530645018,-0.5222756336072965],[0.7156235328569046,-0.4723448874710399]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_29","position":[0.5609962093494407,-1.5012587808166513,0.71338606911949],"aabb_xy":[[0.5533719412592625,-1.5088920043531953],[0.568620477439619,-1.4936255572801076]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[-0.20547947114441178,0.6670485293408861,0.71338606911949],"aabb_xy":[[-0.24251358057247147,0.6326713220071766],[-0.16844536171635205,0.7014257366745954]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_31","position":[-0.4958085399209717,-1.1017336725516598,0.71338606911949],"aabb_xy":[[-0.5308085412724535,-1.1220934085084804],[-0.46080853856948994,-1.0813739365948387]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_32","position":[-0.11768226754513766,-0.9536535522933829,0.71338606911949],"aabb_xy":[[-0.16766521773261697,-1.003653551935943],[-0.06769931735765831,-0.9036535526508224]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_33","position":[-0.44147436788995714,-0.40719050091813136,0.71338606911949],"aabb_xy":[[-0.451230357399131,-0.41695303497736574],[-0.4317183783807832,-0.39742796685889686]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_34","position":[-0.15552469427464533,0.21649054200671713,0.71338606911949],"aabb_xy":[[-0.18798639515657273,0.1863577098918145],[-0.12306299339271783,0.24662337412161972]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.683531229432771,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1688.png","name":"1688"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1688.png","name":"1688"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5387.png","name":"5387"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3556.png","name":"3556"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6559.png","name":"6559"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5565.png","name":"5565"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":633.9251363796811,"rotation_z_degrees":336.8252786242016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012393769479419562,-0.01818209045015354,-0.019605198117672445]},{"name":"camera_2","offset_m":[0.007487023987541384,-0.0005201641855933879,-0.013165272357245602]},{"name":"camera_3","offset_m":[-0.012179101252978377,-0.00986677508548532,-0.01567484555674914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00018945355728899839,0.0005896437253937259,-0.0009602229888347079],"end_effector_yaw_offset_degrees":-0.2433006030894702},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012426226815619675,-0.001701711263964667,-0.0006733122527366802],"end_effector_yaw_offset_degrees":0.5074585548800454},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006582886690316258,-0.0003446032144891959,-0.0005154688956934717],"end_effector_yaw_offset_degrees":0.9883569960756868}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-5.491290964885435e-05,-0.0010842315491519927],"position_m":[0.31894508709035113,-0.09048423154915199,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00419535474396792,0.00475400571481529],"position_m":[0.2709046452560321,-0.33824599428518476,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004378482515628377,-0.004075958845177531],"position_m":[0.3106784825156284,0.23332404115482247,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036518232606976937,-0.0025922409971214644],"position_m":[0.3498518232606977,0.09460775900287853,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"723d1e03038388be4260dce320dd9479ab6db37f253b8da9526e88613aae38ab","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0023.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1688/tex_ceiling_textures_5565/tex_floor_textures_6559/tex_table_textures_5387/tex_wall_textures_3556","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":8413757408455548660,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":8413757408455548660,"visual_seed":8413757408455548660,"scene_id":"lab_003","finished_at":"2026-09-03T19:41:59"} +{"episode_id":"ep_000024","started_at":"2026-09-03T19:42:02","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[-0.17276902344830847,0.17342600632670768,0.71338606911949],"aabb_xy":[[-0.1897791207383591,0.15729151782843376],[-0.1557589261582578,0.1895604948249816]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.4302208826508509,-0.9213927977193934,0.71338606911949],"aabb_xy":[[0.3957585352527091,-0.955886680117216],[0.4646832300489927,-0.8868989153215706]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[-0.51353223968728,-2.2172043348848396,0.71338606911949],"aabb_xy":[[-0.5360322399307954,-2.2294089695446115],[-0.4910322394437646,-2.2049997002250676]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_3","position":[-0.1981744000103941,-1.0397179293806835,0.71338606911949],"aabb_xy":[[-0.2107770991474706,-1.052313325605549],[-0.18557170087331767,-1.027122533155818]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[0.47044614854721867,-1.557604748593795,0.71338606911949],"aabb_xy":[[0.40644614620441705,-1.6025455998379274],[0.5344461508900201,-1.5126638973496624]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[0.21379590011077487,-1.4769207896386585,0.71338606911949],"aabb_xy":[[0.14979590368345297,-1.5240904134607551],[0.2777958965380968,-1.4297511658165623]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.43047891788826864,-2.3296842326233502,0.71338606911949],"aabb_xy":[[-0.46797891783203505,-2.3379773226581864],[-0.39297891794450224,-2.321391142588513]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.699984947874926,-0.39736786766014154,0.71338606911949],"aabb_xy":[[0.6960244641051917,-0.40503573224566214],[0.7039454316446604,-0.38970000307462094]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[-0.33780677612352444,-1.1936680004792866,0.71338606911949],"aabb_xy":[[-0.39279902675903544,-1.2486680022225993],[-0.2828145254880135,-1.1386679987359738]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.647168869365887,-0.6064008448795315,0.71338606911949],"aabb_xy":[[0.6160219505223039,-0.6764008435663387],[0.6783157882094701,-0.5364008461927243]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.11847621420729781,-1.7609176389120105,0.71338606911949],"aabb_xy":[[-0.1984762163700603,-1.840872822538154],[-0.038476212044535316,-1.6809624552858669]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[-0.16762997955989156,-0.1122023659441651,0.71338606911949],"aabb_xy":[[-0.22526044844716236,-0.17220236487087567],[-0.10999951067262068,-0.052202367017454496]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.3288950464907204,1.568146328284811,0.71338606911949],"aabb_xy":[[-0.3337943387972838,1.5404694089822424],[-0.3239957541841568,1.59582324758738]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.12723994445402376,1.1631982851530784,0.71338606911949],"aabb_xy":[[-0.16825788784039464,1.113198284522121],[-0.08622200106765288,1.2131982857840358]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.6808574122286372,1.0747494074476323,0.71338606911949],"aabb_xy":[[-0.6842980884686944,1.0708879744732678],[-0.6774167359885801,1.0786108404219967]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.6044265163026203,0.39523031442706413,0.71338606911949],"aabb_xy":[[-0.6684265165765985,0.3451642142297761],[-0.540426516028642,0.44529641462435204]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[-0.08403713046365469,-2.068700051632835,0.71338606911949],"aabb_xy":[[-0.09128089650990001,-2.1487000498364375],[-0.07679336441740936,-1.9887000534292327]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[0.03845025259595092,0.7328138793257888,0.71338606911949],"aabb_xy":[[-0.026549748361176285,0.6808656673920831],[0.10345025355307813,0.7847620912594943]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.6705012963433805,-0.1559055528166895,0.71338606911949],"aabb_xy":[[0.62550870962493,-0.20090555209113822],[0.7154938830618308,-0.11090555354224071]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.08290937077189642,-0.645596283667345,0.71338606911949],"aabb_xy":[[-0.1329024828810883,-0.6955962843415407],[-0.03291625866270453,-0.5955962829931495]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[-0.2343891011378348,0.9923998437018478,0.71338606911949],"aabb_xy":[[-0.3043891045293967,0.9570840699984169],[-0.1643890977462728,1.0277156174052786]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[0.1207840422635108,-1.0735185354460914,0.71338606911949],"aabb_xy":[[0.07078404190294471,-1.1234985226556942],[0.17078404262407682,-1.0235385482364883]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.45981319966957857,1.618269598709452,0.71338606911949],"aabb_xy":[[-0.4773915018585254,1.600695109135347],[-0.4422348974806317,1.635844088283557]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[0.5568431414986883,-0.2959585110859595,0.71338606911949],"aabb_xy":[[0.5264450303995447,-0.326365413087629],[0.5872412525978319,-0.26555160908429]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_24","position":[0.33320627681349424,-2.187333227098934,0.71338606911949],"aabb_xy":[[0.2532062757403739,-2.1971112734363185],[0.41320627788661457,-2.1775551807615496]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[0.4621089099592226,-1.699910130126896,0.71338606911949],"aabb_xy":[[0.4512684317327077,-1.7170964114175444],[0.4729493881857375,-1.682723848836247]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_26","position":[-0.2089232936826655,-1.3732226874101916,0.71338606911949],"aabb_xy":[[-0.21450496531679428,-1.3857226872279669],[-0.20334162204853676,-1.3607226875924159]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.3530771339815162,-2.330282485610499,0.71338606911949],"aabb_xy":[[0.31574585745627365,-2.3649355404053507],[0.39040841050675884,-2.295629430815646]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[0.21965861326939784,0.9321040520304908,0.71338606911949],"aabb_xy":[[0.13965861001155486,0.8521075442385069],[0.2996586165272408,1.0121005598224748]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_29","position":[-0.1383986903663479,-2.4732456588990193,0.71338606911949],"aabb_xy":[[-0.20239869106981725,-2.5192640413719403],[-0.07439868966287853,-2.4272272764260983]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_30","position":[0.41854461162714474,-0.216244038074219,0.71338606911949],"aabb_xy":[[0.41050827692585984,-0.22428215737863574],[0.4265809463284295,-0.20820591876980218]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_31","position":[-0.0668024699874018,-1.925226352706692,0.71338606911949],"aabb_xy":[[-0.15680246858187175,-1.941476939020113],[0.023197528607068127,-1.908975766393271]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884061430824878,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2246.png","name":"2246"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2246.png","name":"2246"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2746.png","name":"2746"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1845.png","name":"1845"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2178.png","name":"2178"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7047.png","name":"7047"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":779.7617169805866,"rotation_z_degrees":28.187500272284925,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017507652745748593,0.01590142175713911,0.010470609498758297]},{"name":"camera_2","offset_m":[0.010057447841061048,0.009658408844574112,-0.010733856141981723]},{"name":"camera_3","offset_m":[0.009241380448384247,-0.003192362978434265,-0.019790250475710428]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012850024695724395,-0.00181375843256472,0.00017305154249220482],"end_effector_yaw_offset_degrees":-0.1441396206168981},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006622700482916187,0.0008762846005864323,0.0001676452452980511],"end_effector_yaw_offset_degrees":0.275737878986535},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013995595928003738,0.0015783058948848215,-0.0017934108259717604],"end_effector_yaw_offset_degrees":-0.077548865645225}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021710335270921045,0.0012011592276577263],"position_m":[0.3211710335270921,-0.08819884077234227,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003563935535443089,-0.003911815508101307],"position_m":[0.2715360644645569,-0.34691181550810135,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002174000446298393,0.0016043351142752812],"position_m":[0.3084740004462984,0.23900433511427527,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004239226685268574,-0.0023567242251123187],"position_m":[0.35043922668526856,0.09484327577488767,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b13625be3a99efdb747b9e11a64ef24bb389118aec633ee4c637226317ebb462","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2246/tex_ceiling_textures_7047/tex_floor_textures_2178/tex_table_textures_2746/tex_wall_textures_1845","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7610577276879228626,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7610577276879228626,"visual_seed":7610577276879228626,"scene_id":"lab_003","finished_at":"2026-09-03T19:44:44"} +{"episode_id":"ep_000025","started_at":"2026-09-03T19:44:47","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.1611476067820825,-1.1716220675844047,0.71338606911949],"aabb_xy":[[-0.22514760406773116,-1.2131287865372486],[-0.09714760949643386,-1.1301153486315607]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[-0.5507078182147482,-1.79079247549687,0.71338606911949],"aabb_xy":[[-0.5818547370583314,-1.8607924741836772],[-0.5195608993711651,-1.7207924768100629]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.08512031229307915,-1.578457719519643,0.71338606911949],"aabb_xy":[[-0.16512031027386417,-1.586059260481495],[-0.005120314312294093,-1.570856178557791]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[0.0850031136017938,-0.9568683357615608,0.71338606911949],"aabb_xy":[[0.07695975367583863,-1.0418683368569273],[0.09304647352774897,-0.8718683346661943]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[0.631977491100993,-1.9940116120984348,0.71338606911949],"aabb_xy":[[0.5719774912544262,-2.0508302342914737],[0.6919774909475598,-1.937192989905396]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.09733398192514753,1.6691072143857704,0.71338606911949],"aabb_xy":[[-0.1119773874791805,1.6544484947289861],[-0.08269057637111453,1.6837659340425546]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.3739948532705107,-1.8696592392857534,0.71338606911949],"aabb_xy":[[-0.42007994452524217,-1.9336592365383085],[-0.3279097620157792,-1.8056592420331983]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[0.40828098373268173,-2.2646439108930623,0.71338606911949],"aabb_xy":[[0.3442809818203394,-2.320555060151073],[0.4722809856450241,-2.2087327616350523]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.3184098518470184,0.7663028544035044,0.71338606911949],"aabb_xy":[[0.22840984951299936,0.6888204998183918],[0.4084098541810375,0.8437852089886171]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[0.2285827984808012,-1.9516662006451913,0.71338606911949],"aabb_xy":[[0.20358279931516807,-1.9586184463505478],[0.2535827976464343,-1.9447139549398347]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[-0.36826277562170107,-0.9943765089874281,0.71338606911949],"aabb_xy":[[-0.43326277565600385,-1.0410771856677554],[-0.3032627755873984,-0.9476758323071007]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[0.23038550186005524,-1.7585183276002798,0.71338606911949],"aabb_xy":[[0.21370836586695974,-1.77521825157421],[0.24706263785315075,-1.7418184036263495]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.24342956202057775,-1.7194878625130006,0.71338606911949],"aabb_xy":[[-0.2625418693785566,-1.7386226413902426],[-0.22431725466259886,-1.7003530836357585]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[-0.5565482923846401,-2.4433519256911738,0.71338606911949],"aabb_xy":[[-0.5653503476936127,-2.4511632518461024],[-0.5477462370756673,-2.4355405995362442]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[-0.038002699468515644,-0.05736582742073848,0.71338606911949],"aabb_xy":[[-0.07300269866133391,-0.0683328734184011],[-0.0030027002756973717,-0.04639878142307584]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[0.35979135583744193,0.43815860769198123,0.71338606911949],"aabb_xy":[[0.3421585202439143,0.42053566167635814],[0.37742419143096945,0.4557815537076041]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[0.48160217489990087,-0.6989825811254426,0.71338606911949],"aabb_xy":[[0.4776416911301666,-0.7066504457109634],[0.48556265866963527,-0.6913147165399222]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[-0.015921977982872426,-1.699024672314411,0.71338606911949],"aabb_xy":[[-0.02676245620938733,-1.7162109536050596],[-0.0050814997563575215,-1.6818383910237622]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[-0.12402376029780227,1.3735133746333048,0.71338606911949],"aabb_xy":[[-0.14652376030795056,1.3594171549937015],[-0.10152376028765397,1.387609594272908]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.5115020687364122,-1.160810518358558,0.71338606911949],"aabb_xy":[[-0.5206619476802888,-1.1673417364020948],[-0.5023421897925356,-1.1542793003150207]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[-0.021777448067931804,0.04785781582606319,0.71338606911949],"aabb_xy":[[-0.027872075956050124,0.03928842127439447],[-0.015682820179813484,0.05642721037773191]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[0.39308883911701975,-0.6539935308148392,0.71338606911949],"aabb_xy":[[0.3775330697067546,-0.6695439640592464],[0.4086446085272851,-0.638443097570432]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.5691182534444632,-1.3674715598459182,0.71338606911949],"aabb_xy":[[0.5051182530669296,-1.4172168266967302],[0.6331182538219968,-1.3177262929951057]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[0.5815069508710413,1.2586552016302726,0.71338606911949],"aabb_xy":[[0.5637134439361249,1.2408554560344747],[0.5993004578059578,1.27645494722607]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[0.22323667851219586,-2.4098535644792087,0.71338606911949],"aabb_xy":[[0.14324285493363764,-2.4898535670720507],[0.3032305020907541,-2.3298535618863676]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_25","position":[0.2821867110219516,-1.074277690627868,0.71338606911949],"aabb_xy":[[0.2181867107479734,-1.124343790825156],[0.34618671129592987,-1.02421159043058]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6894228543465658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6306.png","name":"6306"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6306.png","name":"6306"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9204.png","name":"9204"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6029.png","name":"6029"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5356.png","name":"5356"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9933.png","name":"9933"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":813.7972371292951,"rotation_z_degrees":224.17516577874204,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011393535972249898,-0.01917571495784818,0.00535943302727563]},{"name":"camera_2","offset_m":[-0.011271110392320996,-0.01415656658561033,-0.012788591383580444]},{"name":"camera_3","offset_m":[-0.008988087893056402,2.9310846436921695e-05,-0.013081255216831594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016219134605449893,-0.0015259829019323439,0.0010540500001507483],"end_effector_yaw_offset_degrees":-0.40173182658393425},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005430557910657257,-0.0001783883633457242,-0.0009958547023782166],"end_effector_yaw_offset_degrees":-0.1896989760667176},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00027556320249918055,0.0015428215663453588,0.0019400860700145026],"end_effector_yaw_offset_degrees":-0.5888134718234017}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010556468675153967,0.003122227466788005],"position_m":[0.3200556468675154,-0.08627777253321199,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002410717120536767,0.004461917733172134],"position_m":[0.27751071712053677,-0.3385380822668279,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016864382259543578,0.004437848424484873],"position_m":[0.3079864382259544,0.24183784842448489,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006101516274173921,-0.0001296700154164651],"position_m":[0.3455898483725826,0.09707032998458354,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"966907d17dc62d0a9fb6c678af1e363831d3c9585ffd7432120b586a366e168c","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6306/tex_ceiling_textures_9933/tex_floor_textures_5356/tex_table_textures_9204/tex_wall_textures_6029","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6081936555710148792,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6081936555710148792,"visual_seed":6081936555710148792,"scene_id":"lab_003","finished_at":"2026-09-03T19:47:31"} +{"episode_id":"ep_000026","started_at":"2026-09-03T19:47:34","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[0.5292130193024229,1.0491456827423242,0.71338606911949],"aabb_xy":[[0.5243694245411931,1.0442940302633403],[0.534056614063653,1.0539973352213086]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.3557648930711077,0.2386944132067721,0.71338606911949],"aabb_xy":[[-0.3645461202183439,0.229914665918242],[-0.3469836659238715,0.2474741604953023]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[0.6724064170840611,0.8619914101728474,0.71338606911949],"aabb_xy":[[0.664363057158106,0.776991409077481],[0.6804497770100163,0.9469914112682138]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[-0.24642314682966338,-1.2334560408850326,0.71338606911949],"aabb_xy":[[-0.3014153974651743,-1.2884560426283456],[-0.19143089619415246,-1.17845603914172]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.6409112145786426,1.7152515438778582,0.71338606911949],"aabb_xy":[[0.6327835263853295,1.7063379354671506],[0.649038902771956,1.7241651522885661]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.5889397146480762,-0.3935579149472459,0.71338606911949],"aabb_xy":[[0.5544772366349884,-0.4002215921301687],[0.6234021926611639,-0.3868942377643231]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.43240178582990446,-0.37958840302392405,0.71338606911949],"aabb_xy":[[-0.497401786830405,-0.43037476817859904],[-0.36740178482940394,-0.32880203786924916]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[0.09016316377515154,-1.6844875564383335,0.71338606911949],"aabb_xy":[[0.00016316144113250053,-1.7619699110234464],[0.1801631661091706,-1.607005201853221]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[-0.16049804260156397,-1.6620400167632743,0.71338606911949],"aabb_xy":[[-0.22049804319758015,-1.7168524893084978],[-0.1004980420055478,-1.6072275442180508]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.012766993703641427,0.8354204555434714,0.71338606911949],"aabb_xy":[[-0.09276699086321671,0.8238728545856543],[0.06723300345593386,0.8469680565012884]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.23461297098238332,-0.89281378612533,0.71338606911949],"aabb_xy":[[0.15461297239506386,-0.9721293880634909],[0.3146129695697027,-0.8134981841871691]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.33399166563621924,1.001711005339755,0.71338606911949],"aabb_xy":[[-0.38387436251391555,0.9517110060934804],[-0.2841089687585231,1.0517110045860298]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[-0.4590197591277796,-0.9448398153654431,0.71338606911949],"aabb_xy":[[-0.5390197602008999,-0.9546178617028277],[-0.37901975805465926,-0.9350617690280588]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.14140322435643804,-2.3426073533472316,0.71338606911949],"aabb_xy":[[-0.1913806412216916,-2.3926073548364797],[-0.09142580749118444,-2.2926073518579826]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.2438125337421193,-1.6324867397370104,0.71338606911949],"aabb_xy":[[0.23784599480138355,-1.6384478843963748],[0.24977907268285512,-1.6265255950776465]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.2133275481818136,1.2320162506310943,0.71338606911949],"aabb_xy":[[-0.259412639436545,1.1680162533785392],[-0.16724245692708212,1.2960162478836494]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[-0.33870015831239625,-2.167597987015214,0.71338606911949],"aabb_xy":[[-0.39367388034872913,-2.222597986579447],[-0.28372643627606337,-2.1125979874509806]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[-0.5103236091368095,-2.353972271724128,0.71338606911949],"aabb_xy":[[-0.5328373009602666,-2.423972272325135],[-0.4878099173133522,-2.28397227112312]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.5848092227204111,0.665991009918971,0.71338606911949],"aabb_xy":[[0.577106032046334,0.6582816392202331],[0.592512413394488,0.6737003806177091]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[0.23311637510887895,0.5739353411967061,0.71338606911949],"aabb_xy":[[0.1681163769529599,0.5476390966467938],[0.298116373264798,0.6002315857466182]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[0.6105976778418982,0.503071612943117,0.71338606911949],"aabb_xy":[[0.5986649434800702,0.4906894601352576],[0.6225304122037263,0.5154537657509763]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[0.666133464098466,-0.6167756536482052,0.71338606911949],"aabb_xy":[[0.6311334657877704,-0.6244906685717507],[0.7011334624091613,-0.6090606387246594]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[-0.2126333477614919,1.3771361272865175,0.71338606911949],"aabb_xy":[[-0.2227863633156412,1.3410665857137767],[-0.20248033220734243,1.4132056688592574]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[0.5513829979696758,-2.2771353993260277,0.71338606911949],"aabb_xy":[[0.5337073673810775,-2.29481561560543],[0.5690586285582742,-2.2594551830466245]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.3333822706638121,-2.3857585885573487,0.71338606911949],"aabb_xy":[[0.32051036716287196,-2.4657585889711844],[0.34625417416475224,-2.305758588143512]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[0.6062702950057552,-2.393134729128106,0.71338606911949],"aabb_xy":[[0.5650214839758404,-2.4481347286403237],[0.6475191060356699,-2.3381347296158888]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_26","position":[-0.5006882501628023,-0.14044324701428534,0.71338606911949],"aabb_xy":[[-0.5646882474651486,-0.1848096739821421],[-0.43668825286045576,-0.09607682004642859]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688060752802972,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1535.png","name":"1535"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1535.png","name":"1535"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/455.png","name":"455"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9603.png","name":"9603"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3667.png","name":"3667"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3193.png","name":"3193"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":704.1411774925084,"rotation_z_degrees":63.80911027442459,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010281730977993182,-0.003769806129110327,-0.002088093330195783]},{"name":"camera_2","offset_m":[-0.012680562074188502,-0.01666729085666084,0.00907824834250925]},{"name":"camera_3","offset_m":[0.009418525527994506,-0.004398085663087099,0.01943207445892647]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013178189793103551,0.001471401524763642,-0.0010919507513576954],"end_effector_yaw_offset_degrees":-0.8576545060360383},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00039703933496776454,0.0012957600390018221,-0.001870139758346777],"end_effector_yaw_offset_degrees":0.7265609111159101},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009739225961844767,-0.00015863752155810345,0.0015287648898909736],"end_effector_yaw_offset_degrees":-0.5377056673280143}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022209074779516924,-0.003687710234473469],"position_m":[0.31677909252204833,-0.09308771023447346,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038837904788104737,-0.00377465467690556],"position_m":[0.2712162095211895,-0.3467746546769056,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001237967788456553,8.398349862071084e-05],"position_m":[0.30617620322115435,0.2374839834986207,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004312235489187457,-0.0037350015881809206],"position_m":[0.34188776451081254,0.09346499841181907,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f51695c5346b00decae5a15567d3a2cd84192b96703b7544c26b616b99f0c772","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1535/tex_ceiling_textures_3193/tex_floor_textures_3667/tex_table_textures_455/tex_wall_textures_9603","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3370647996358008390,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3370647996358008390,"visual_seed":3370647996358008390,"scene_id":"lab_003","finished_at":"2026-09-03T19:50:13"} +{"episode_id":"ep_000027","started_at":"2026-09-03T19:50:17","dimensions":{"distractor":{"count":29,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[-0.30775263745429454,1.34969594279631,0.71338606911949],"aabb_xy":[[-0.39775263418990475,1.2965124794790153],[-0.21775264071868433,1.4028794061136043]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.45125035765045873,-1.3447096665342615,0.71338606911949],"aabb_xy":[[0.36125035905598885,-1.3609602528476827],[0.5412503562449287,-1.3284590802208407]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[0.22539154209516232,-1.2334881222625769,0.71338606911949],"aabb_xy":[[0.18976238619520253,-1.2691207890194296],[0.261020697995122,-1.1978554555057237]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.6030097874054687,-1.7418289602506465,0.71338606911949],"aabb_xy":[[0.5390097850626672,-1.7867698114947788],[0.6670097897482703,-1.6968881090065138]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.13857473385713182,-2.3877932997104843,0.71338606911949],"aabb_xy":[[0.10357473388063598,-2.397257915758101],[0.17357473383362765,-2.3783286836628674]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[0.3686617260190208,-2.501331568588292,0.71338606911949],"aabb_xy":[[0.34411551039627003,-2.531580465137329],[0.3932079416417715,-2.471082672039255]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.5132089699998975,-1.1580713355834822,0.71338606911949],"aabb_xy":[[-0.5357089705119381,-1.1805631939488803],[-0.4907089694878569,-1.1355794772180836]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[0.17027984338953794,1.762808599956403,0.71338606911949],"aabb_xy":[[0.1568333167554946,1.7493387483033116],[0.18372637002358128,1.7762784516094943]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[-0.10965334059098697,-1.6599672685960523,0.71338606911949],"aabb_xy":[[-0.15095788365472296,-1.7239672681641691],[-0.06834879752725097,-1.595967269027935]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[0.09623438588841893,1.5064339983049604,0.71338606911949],"aabb_xy":[[0.03223438860277028,1.4649272793521164],[0.16023438317406757,1.5479407172578044]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[-0.3374461124945269,-1.1081974310016824,0.71338606911949],"aabb_xy":[[-0.36128233013513195,-1.1981974318101691],[-0.3136098948539218,-1.0181974301931962]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.23485487516931458,-0.12004038114294646,0.71338606911949],"aabb_xy":[[-0.2998548761698151,-0.1708267462976214],[-0.1698548741688141,-0.06925401598827152]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.5063536709072429,-2.415552807150345,0.71338606911949],"aabb_xy":[[0.47586942078021277,-2.465552806931841],[0.5368379210342731,-2.365552807368849]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[-0.06728469616117072,-1.845977301250746,0.71338606911949],"aabb_xy":[[-0.11245601400933972,-1.909977298395285],[-0.022113378313001756,-1.7819773041062081]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[0.29691045342415723,0.6574588564474464,0.71338606911949],"aabb_xy":[[0.29277459709145703,0.6199588570030895],[0.3010463097568574,0.6949588558918035]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[0.6462766971267497,-0.10527136536078263,0.71338606911949],"aabb_xy":[[0.6035099902473294,-0.16927136878258509],[0.6890434040061698,-0.04127136193898018]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.3463396260284678,0.8826722110081251,0.71338606911949],"aabb_xy":[[-0.41133962606277047,0.8359715343277979],[-0.281339625994165,0.9293728876884525]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.2815203122337443,-0.8061764701144083,0.71338606911949],"aabb_xy":[[0.23152031094990436,-0.8561553245050302],[0.33152031351758426,-0.756197615723786]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[0.09698270755005067,-2.2749408178392034,0.71338606911949],"aabb_xy":[[0.04198722972939127,-2.3299408192731104],[0.15197818537071006,-2.2199408164052965]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[-0.256719127136082,0.5028475311411955,0.71338606911949],"aabb_xy":[[-0.2640014435127456,0.41284752753168635],[-0.24943681075941834,0.5928475347507043]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[-0.157492439382505,1.6116661936384928,0.71338606911949],"aabb_xy":[[-0.17259474084352305,1.5965646720074302],[-0.14239013792148686,1.626767715269554]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.5693580204058857,-2.335336055588532,0.71338606911949],"aabb_xy":[[-0.6333537178009823,-2.3993360538892405],[-0.5053623230107891,-2.271336057287823]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.27291192912750073,-2.0764907154594,0.71338606911949],"aabb_xy":[[0.20291192649091433,-2.0965955804552654],[0.342911931764087,-2.0563858504635344]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[0.6108758581798015,0.20993066353682455,0.71338606911949],"aabb_xy":[[0.6032515900896233,0.20229744000028083],[0.6185001262699797,0.21756388707336827]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[0.3831284379056932,1.7712659701219509,0.71338606911949],"aabb_xy":[[0.3481284380096743,1.7628917346100108],[0.41812843780171205,1.779640205633891]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[-0.5115621586890307,1.6296870487970128,0.71338606911949],"aabb_xy":[[-0.6015621610230497,1.5522046942118999],[-0.4215621563550116,1.7071694033821252]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[-0.4100790611383638,-2.1200276947782335,0.71338606911949],"aabb_xy":[[-0.4900790581014029,-2.197103336422007],[-0.33007906417532457,-2.04295205313446]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[-0.4539777669946821,-0.5969708966578295,0.71338606911949],"aabb_xy":[[-0.5189777648763299,-0.6480945603643705],[-0.3889777691130344,-0.5458472329512888]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_28","position":[0.27585331801139557,1.6253876142189339,0.71338606911949],"aabb_xy":[[0.25085331884576245,1.6184353685135773],[0.3008533171770287,1.6323398599242904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6843339231780555,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1562.png","name":"1562"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1562.png","name":"1562"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6183.png","name":"6183"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1693.png","name":"1693"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7829.png","name":"7829"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5313.png","name":"5313"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":753.9674092250095,"rotation_z_degrees":275.3439037641572,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015599857728628711,0.0037514063547576457,-0.006289805765045444]},{"name":"camera_2","offset_m":[-0.007909034033368042,0.013151587295973596,0.0007750398800888784]},{"name":"camera_3","offset_m":[0.014844977231674054,-0.015392986261902194,-0.008291452892324034]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000550461543551743,-0.0017932058316930046,-0.0007085245534678114],"end_effector_yaw_offset_degrees":0.1072127915324621},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000682893436726791,-0.001466711571302239,0.00017719141607162262],"end_effector_yaw_offset_degrees":-0.007549106967517094},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011033519418955666,8.041964081376661e-05,-0.0018945771053370643],"end_effector_yaw_offset_degrees":0.8842631715109497}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00019952137307620472,-0.0008452401836878962],"position_m":[0.3191995213730762,-0.09024524018368789,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037982294299215577,0.003829840695797819],"position_m":[0.2713017705700784,-0.3391701593042022,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002262754784701647,-0.0017733462105372732],"position_m":[0.30403724521529835,0.23562665378946274,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020566117949894504,-0.001483179703092309],"position_m":[0.34414338820501056,0.09571682029690769,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b1d1847f616f30c95d5783d235468db2ddce870ed694899cb9548eb6b2027187","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1562/tex_ceiling_textures_5313/tex_floor_textures_7829/tex_table_textures_6183/tex_wall_textures_1693","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":594567589144284630,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":594567589144284630,"visual_seed":594567589144284630,"scene_id":"lab_003","finished_at":"2026-09-03T19:52:51"} +{"episode_id":"ep_000028","started_at":"2026-09-03T19:52:54","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[-0.4467745120089561,-0.8462005433795126,0.71338606911949],"aabb_xy":[[-0.47717262310809966,-0.876607445381182],[-0.4163764009098125,-0.8157936413778429]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.5386251713377568,-0.3824727905521539,0.71338606911949],"aabb_xy":[[0.5173471631942845,-0.4474727928782269],[0.559903179481229,-0.31747278822608077]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[0.45325671873847817,1.7163426195756206,0.71338606911949],"aabb_xy":[[0.4032567177879454,1.6847934725720992],[0.503256719689011,1.747891766579142]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[-0.5711215914614154,-1.0458200233507058,0.71338606911949],"aabb_xy":[[-0.6608086677695308,-1.1358200236051563],[-0.48143451515329994,-0.9558200230962552]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.5556005146345906,0.3124452250395984,0.71338606911949],"aabb_xy":[[0.5473859695189065,0.303768634741957],[0.5638150597502745,0.32112181533723955]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[0.58362828559771,-2.401381949213617,0.71338606911949],"aabb_xy":[[0.4986282869056353,-2.4333678126084957],[0.6686282842897846,-2.369396085818738]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[-0.042566851990745835,-1.4234863834193496,0.71338606911949],"aabb_xy":[[-0.04670270832344603,-1.4609863828637069],[-0.03843099565804564,-1.3859863839749929]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.38041652519364005,1.5732392827273425,0.71338606911949],"aabb_xy":[[-0.41287822607556746,1.5431064506124395],[-0.34795482431171254,1.6033721148422446]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[0.6941459035853927,-0.9967584553631967,0.71338606911949],"aabb_xy":[[0.669599687962642,-1.0270073519122338],[0.7186921192081435,-0.9665095588141598]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[-0.525414837198356,-1.4569266157853482,0.71338606911949],"aabb_xy":[[-0.5753881312016164,-1.5069266163398956],[-0.47544154319509546,-1.4069266152308009]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[-0.12000455615822303,-1.5090657459845562,0.71338606911949],"aabb_xy":[[-0.1239650399279574,-1.5167336105700768],[-0.11604407238848866,-1.5013978813990356]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.20373828464086235,-0.41236338201433353,0.71338606911949],"aabb_xy":[[-0.2677382810364354,-0.47632667043306703],[-0.13973828824528925,-0.3484000935955999]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.2014887213429798,-2.5079526638338048,0.71338606911949],"aabb_xy":[[-0.2239887218550204,-2.530444522199203],[-0.1789887208309392,-2.4854608054684064]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[0.6492946359528735,-0.6031322055223804,0.71338606911949],"aabb_xy":[[0.5993116857653941,-0.6531322051649407],[0.6992775861403527,-0.5531322058798199]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.36545732641864836,-1.1276896847665894,0.71338606911949],"aabb_xy":[[-0.39410665877906453,-1.156335244043665],[-0.3368079940582321,-1.0990441254895134]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.43958741512804256,-0.05217669491434673,0.71338606911949],"aabb_xy":[[-0.5035874153885134,-0.09718549426727474],[-0.3755874148675718,-0.007167895561418731]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.16113293196753986,-1.1546574015214688,0.71338606911949],"aabb_xy":[[-0.25113292870315007,-1.2078408648387633],[-0.07113293523192965,-1.1014739382041743]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.28978370481673443,-2.3745186685777457,0.71338606911949],"aabb_xy":[[-0.3375898724305031,-2.4395186712848043],[-0.24197753720296578,-2.3095186658706863]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.6388818821382601,-1.8826357928484296,0.71338606911949],"aabb_xy":[[-0.6475798444289753,-1.8947607671559044],[-0.6301839198475447,-1.870510818540955]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.17655682500636016,1.0886461452305376,0.71338606911949],"aabb_xy":[[-0.18140041976759014,1.0837944927515535],[-0.1717132302451302,1.0934977977095217]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.19512882119295022,-1.0176394419601573,0.71338606911949],"aabb_xy":[[-0.2310423256179399,-1.0535529501769116],[-0.1592153167679605,-0.9817259337434024]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.4219540006246681,-2.057518231105954,0.71338606911949],"aabb_xy":[[-0.43073522777190437,-2.0662979783944846],[-0.4131727734774319,-2.048738483817424]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[-0.4672449902300002,-1.9309441527250897,0.71338606911949],"aabb_xy":[[-0.47450623780040757,-1.9437311629885992],[-0.45998374265959274,-1.9181571424615802]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[-0.3830859175688997,-0.5762820661836106,0.71338606911949],"aabb_xy":[[-0.4130534744787254,-0.6062820664814963],[-0.3531183606590741,-0.5462820658857248]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[0.0009647423648123654,1.5542746426830552,0.71338606911949],"aabb_xy":[[-0.0024759338752448072,1.550413209708691],[0.0044054186048695385,1.5581360756574199]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921925594125234,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1162.png","name":"1162"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1162.png","name":"1162"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/837.png","name":"837"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5213.png","name":"5213"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8337.png","name":"8337"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5908.png","name":"5908"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":690.917481934339,"rotation_z_degrees":66.07396875209119,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014881114442729503,0.0067831414449889445,-0.003498393210913088]},{"name":"camera_2","offset_m":[0.016687748737729876,0.008257589405267534,0.007584359522035056]},{"name":"camera_3","offset_m":[-0.019930357834183624,-0.017931262318420536,-0.01986551570644688]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013059965317309384,-0.001792603439880967,-0.0008831837896096624],"end_effector_yaw_offset_degrees":-0.3758471535912433},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001620768474891337,-0.00023701842280206124,-0.0008456041299424277],"end_effector_yaw_offset_degrees":0.508608072508864},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008849067101289665,-0.0012502619496672107,0.0011617409771560272],"end_effector_yaw_offset_degrees":-0.6931732137508508}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027114969441589297,0.0036427610409045528],"position_m":[0.31628850305584105,-0.08575723895909544,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009743643409375943,-0.003637831633220917],"position_m":[0.27607436434093763,-0.3466378316332209,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004118869748251123,0.00039867001269184004],"position_m":[0.30671188697482515,0.23779867001269184,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004293278924929208,-0.0004415604233094896],"position_m":[0.3419067210750708,0.0967584395766905,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d152abbc2462f5da0974750ee6fd5a80139a7e848c6fce4f7d660779b85b860","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0028.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1162/tex_ceiling_textures_5908/tex_floor_textures_8337/tex_table_textures_837/tex_wall_textures_5213","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":5721238717931771454,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":5721238717931771454,"visual_seed":5721238717931771454,"scene_id":"lab_003","finished_at":"2026-09-03T19:55:37"} +{"episode_id":"ep_000029","started_at":"2026-09-03T19:55:41","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[-0.18084479615998417,-1.420571830594384,0.71338606911949],"aabb_xy":[[-0.26084479643359115,-1.4935213784201005],[-0.1008447958863772,-1.347622282768667]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.5163780448851572,1.0881245992000101,0.71338606911949],"aabb_xy":[[0.4788780464617567,1.0749603852321794],[0.5538780433085574,1.1012888131678409]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[-0.01568250141284111,-1.896506369794989,0.71338606911949],"aabb_xy":[[-0.05318250292847282,-1.907733142811134],[0.0218175001027906,-1.8852795967788438]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[-0.2727142869256201,1.1626862256561674,0.71338606911949],"aabb_xy":[[-0.31125997975082115,1.1241404545999787],[-0.23416859410041907,1.2012319967123561]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.39798322302810035,-1.675098313202719,0.71338606911949],"aabb_xy":[[-0.4879832195289721,-1.721009955621177],[-0.3079832265272286,-1.6291866707842606]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[-0.20352765562806757,0.7458803196104218,0.71338606911949],"aabb_xy":[[-0.21360936270664102,0.6658803217183071],[-0.19344594854949407,0.8258803175025364]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.11431176647196506,0.39932508977574477,0.71338606911949],"aabb_xy":[[-0.13174248155097154,0.3820529751118939],[-0.09688105139295854,0.4165972044395955]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[-0.4407229735001002,-0.3400839678091341,0.71338606911949],"aabb_xy":[[-0.48785235250193587,-0.404083968853536],[-0.39359359449826453,-0.27608396676473207]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.10272752160061482,-1.5491835280782686,0.71338606911949],"aabb_xy":[[0.032727519791869386,-1.570537296842456],[0.17272752340936026,-1.5278297593140813]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.3990783860148537,-1.1804949486422298,0.71338606911949],"aabb_xy":[[0.35631167913543343,-1.2444949520640323],[0.4418450928942738,-1.1164949452204274]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[-0.2743147675317701,-0.1991749423053637,0.71338606911949],"aabb_xy":[[-0.2796472821863831,-0.2044992705505993],[-0.2689822528771571,-0.1938506140601281]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[-0.5996517531072056,-1.001965666139817,0.71338606911949],"aabb_xy":[[-0.622933595305337,-1.086965667437045],[-0.5763699109090743,-0.9169656648425889]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.3499320218103262,0.865662078098183,0.71338606911949],"aabb_xy":[[-0.414932019691974,0.8145384143916422],[-0.2849320239286784,0.9167857418047239]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[0.2990873035109557,-2.0618859802810623,0.71338606911949],"aabb_xy":[[0.28784224794033786,-2.0731277780051576],[0.31033235908157353,-2.050644182556967]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.01920037424187826,1.6198326902179683,0.71338606911949],"aabb_xy":[[-0.09920037120491743,1.5427570485741948],[0.060799622721160906,1.6969083318617417]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.11254542622139352,-1.0121767491296807,0.71338606911949],"aabb_xy":[[0.048545424813402856,-1.0639657006536052],[0.1765454276293842,-0.9603877976057559]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[-0.5869764989001149,0.013372934150603033,0.71338606911949],"aabb_xy":[[-0.5973880575805985,0.008027200814704568],[-0.5765649402196311,0.0187186674865015]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[0.24600785335500663,-2.3878464148029113,0.71338606911949],"aabb_xy":[[0.2293307173619111,-2.404546338776841],[0.26268498934810214,-2.3711464908289805]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[0.6553328594455683,-2.345433691670945,0.71338606911949],"aabb_xy":[[0.6249347483464246,-2.375840593672614],[0.6857309705447118,-2.315026789669275]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.46618304609456646,1.187173910208068,0.71338606911949],"aabb_xy":[[-0.48529535345254526,1.168039131330826],[-0.44707073873658754,1.20630868908531]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.41124768966060926,-0.6212539451717729,0.71338606911949],"aabb_xy":[[-0.42904119659552564,-0.6390536907675705],[-0.39345418272569277,-0.6034541995759751]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_21","position":[-0.6506775185250763,1.5755139793215887,0.71338606911949],"aabb_xy":[[-0.6849937956996942,1.5255139793484107],[-0.6163612413504583,1.6255139792947662]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.6435019494412839,1.0242305398645382,0.71338606911949],"aabb_xy":[[-0.6495389624419486,1.01820383879559],[-0.6374649364406192,1.0302572409334863]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.32030672169200036,1.7110929953458114,0.71338606911949],"aabb_xy":[[0.24031289811344214,1.6310929927529698],[0.4003005452705586,1.791092997938653]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[-0.24043784618741537,-1.897338427959025,0.71338606911949],"aabb_xy":[[-0.25864366984866305,-1.908363828541017],[-0.22223202252616772,-1.8863130273770337]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.1265140650877754,0.6973112953890785,0.71338606911949],"aabb_xy":[[-0.15151406425340855,0.6903590496837219],[-0.10151406592214232,0.704263541094435]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_26","position":[-0.06423204942903449,0.7632648757592975,0.71338606911949],"aabb_xy":[[-0.07364952399889722,0.7538486986215784],[-0.054814574859171725,0.7726810528970165]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.37290055200928984,-1.1947548325162383,0.71338606911949],"aabb_xy":[[-0.40790055031998523,-1.202469847439784],[-0.33790055369859434,-1.1870398175926926]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_28","position":[0.663992121824045,0.4374919958011434,0.71338606911949],"aabb_xy":[[0.660288860494906,0.4337899774924254],[0.6676953831531838,0.44119401410986114]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_29","position":[-0.3174736807731808,-2.4505514156182104,0.71338606911949],"aabb_xy":[[-0.39747367936050015,-2.529867017556371],[-0.23747368218586132,-2.371235813680049]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_30","position":[0.3164514335026052,-2.2906885738065217,0.71338606911949],"aabb_xy":[[0.3111138578366006,-2.3156885747356615],[0.32178900916860975,-2.265688572877382]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_31","position":[-0.5680720540021633,-0.1988875963087242,0.71338606911949],"aabb_xy":[[-0.5905720535258706,-0.221383543759345],[-0.5455720544784558,-0.17639164885810343]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_32","position":[-0.08441749102402885,-2.400558906568852,0.71338606911949],"aabb_xy":[[-0.174417490747203,-2.4236322591040316],[0.005582508699145338,-2.377485554033672]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_33","position":[0.4069358329471784,-2.2906706570184006,0.71338606911949],"aabb_xy":[[0.402300717794945,-2.2945379920955493],[0.4115709480994117,-2.286803321941252]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6878379476022618,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6552.png","name":"6552"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6552.png","name":"6552"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/154.png","name":"154"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3754.png","name":"3754"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4789.png","name":"4789"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1185.png","name":"1185"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":816.823680382056,"rotation_z_degrees":170.38111722486235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010267101402632957,-0.010089965586863614,-0.016545679349374846]},{"name":"camera_2","offset_m":[-0.008446162460355856,0.009047647734991258,-0.01273114701163125]},{"name":"camera_3","offset_m":[-0.004769421842232689,-0.004786484322044503,-0.004437142647766014]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009417402866480867,-0.001248477360895559,0.0018009555453446478],"end_effector_yaw_offset_degrees":0.7446935824609742},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001688260249373279,-0.0008561401253303713,-0.001168546351355185],"end_effector_yaw_offset_degrees":0.9223486007348403},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018303531085692246,-0.0014674302124259198,0.0008306744246377993],"end_effector_yaw_offset_degrees":-0.12292138893309668}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025854249980462964,0.003150213826334924],"position_m":[0.3164145750019537,-0.08624978617366506,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033170090578750634,-0.0023580028757958092],"position_m":[0.27178299094212494,-0.3453580028757958,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002015742451003907,-0.0019917225878547783],"position_m":[0.3083157424510039,0.23540827741214523,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010883888361124762,-0.0006984365732655403],"position_m":[0.34511161116388755,0.09650156342673445,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e83f291704672a055b1736d6041a57c468d2c227ccae152cceec83ca165e0687","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0029.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6552/tex_ceiling_textures_1185/tex_floor_textures_4789/tex_table_textures_154/tex_wall_textures_3754","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6514418385157603229,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6514418385157603229,"visual_seed":6514418385157603229,"scene_id":"lab_003","finished_at":"2026-09-03T19:58:18"} +{"episode_id":"ep_000030","started_at":"2026-09-03T19:58:21","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[0.010353648009310823,1.5963385372939887,0.71338606911949],"aabb_xy":[[-0.0696463505780086,1.5170229353558276],[0.09035364659663024,1.6756541392321493]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.37565511450513844,1.417480217106982,0.71338606911949],"aabb_xy":[[-0.4206477012235888,1.372480217832533],[-0.330662527786688,1.4624802163814306]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.3855854138983583,-1.7647443228499662,0.71338606911949],"aabb_xy":[[0.3792733143620199,-1.770511262103185],[0.39189751343469675,-1.7589773835967473]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.5262466559046339,0.5031739989759894,0.71338606911949],"aabb_xy":[[0.4919497448868932,0.4688771127660479],[0.5605435669223744,0.5374708851859306]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[0.08124106653097085,0.9484345631910314,0.71338606911949],"aabb_xy":[[0.04877936564904337,0.9183017310761286],[0.11370276741289828,0.9785673953059337]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.1223373110340138,-2.430166390877697,0.71338606911949],"aabb_xy":[[0.08483731121698022,-2.4348046021888385],[0.15983731085104735,-2.425528179566555]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.2776434323313472,0.4746683861145189,0.71338606911949],"aabb_xy":[[-0.34164343400934455,0.42615099463520467],[-0.21364343065334984,0.5231857775938331]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.5555328684861426,1.1758788750490936,0.71338606911949],"aabb_xy":[[-0.5859309795852862,1.1454719730474239],[-0.525134757386999,1.206285777050763]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[0.44482447249999146,0.3249019343897399,0.71338606911949],"aabb_xy":[[0.43992518019342797,0.29722501508717103],[0.44972376480655496,0.35257885369230857]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.14112143228381013,1.2951966315986443,0.71338606911949],"aabb_xy":[[-0.20512143145358008,1.2484299444796818],[-0.0771214331140402,1.3419633187176068]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.16615851652017544,-1.7643486018004149,0.71338606911949],"aabb_xy":[[0.11618522251691496,-1.8143486023549624],[0.21613181052343586,-1.7143486012458677]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[0.3000090592188276,0.9361682759747354,0.71338606911949],"aabb_xy":[[0.25001404825937557,0.8861682769391439],[0.3500040701782796,0.9861682750103273]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.58298051823892,0.6808729868719312,0.71338606911949],"aabb_xy":[[-0.6406109871261908,0.6208729879452205],[-0.5253500493516491,0.7408729857986417]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.2995879899055512,-0.5807658764510415,0.71338606911949],"aabb_xy":[[-0.3494706867832474,-0.6307658756973162],[-0.249705293027855,-0.5307658772047668]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.5296728232469152,-0.30349564740296175,0.71338606911949],"aabb_xy":[[0.46967282273906225,-0.360342381088883],[0.589672823754768,-0.24664891371704042]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[0.41635701834784933,-0.3901646118582849,0.71338606911949],"aabb_xy":[[0.40765905605713404,-0.40228958616575966],[0.4250549806385646,-0.3780396375508102]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[-0.5299953620006018,-1.0044618858783678,0.71338606911949],"aabb_xy":[[-0.6196824383087173,-1.0944618861328184],[-0.44030828569248637,-0.9144618856239173]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.4907207635490898,-1.2128447775368922,0.71338606911949],"aabb_xy":[[-0.5126294456884408,-1.2347454443569827],[-0.46881208140973873,-1.1909441107168013]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.3071702771850666,1.1117197888127182,0.71338606911949],"aabb_xy":[[0.25719146867475073,1.0617197888069994],[0.3571490856953825,1.161719788818437]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[0.4198842383800965,-1.4271887927788074,0.71338606911949],"aabb_xy":[[0.36491051634376365,-1.4821887923430406],[0.4748579604164294,-1.3721887932145742]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[0.6321691546592236,0.3074651955145038,0.71338606911949],"aabb_xy":[[0.5721691530163018,0.25546504622255967],[0.6921691563021455,0.35946534480644804]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[-0.043663507341529795,-1.2753913889403217,0.71338606911949],"aabb_xy":[[-0.10866350834203031,-1.3261777540949964],[0.02133649365897073,-1.2246050237856465]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.6148194152901694,1.591347203906118,0.71338606911949],"aabb_xy":[[-0.6228129050854515,1.5833490719656431],[-0.6068259254948875,1.5993453358465943]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.6294395881397781,-1.6096426920797033,0.71338606911949],"aabb_xy":[[-0.6934395845353512,-1.6736059804984367],[-0.565439591744205,-1.5456794036609696]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[0.47167668531820395,1.7611103928821152,0.71338606911949],"aabb_xy":[[0.4341766841334111,1.7566921701860545],[0.5091766865029966,1.7655286155781755]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[-0.35010808618244316,-2.1441242431452197,0.71338606911949],"aabb_xy":[[-0.37260808642595855,-2.1563288778049916],[-0.32760808593892776,-2.1319196084854477]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[-0.6100349452098269,0.5158650177021817,0.71338606911949],"aabb_xy":[[-0.6475349460018223,0.5094971767439916],[-0.5725349444178314,0.5222328586603718]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[0.5497956367292309,-1.0749535205104803,0.71338606911949],"aabb_xy":[[0.48579563942688453,-1.119319947478337],[0.6137956340315773,-1.0305870935426236]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[-0.4178244660413209,0.37286908808392294,0.71338606911949],"aabb_xy":[[-0.4266265213502936,0.36505776192899386],[-0.4090224107323482,0.380680414238852]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[0.5700302802214838,1.5555074764279166,0.71338606911949],"aabb_xy":[[0.5287257371577478,1.4915074768597993],[0.6113348232852198,1.6195074759960335]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_30","position":[-0.2500944418337323,1.5847082525894263,0.71338606911949],"aabb_xy":[[-0.2619665248452334,1.4997082528957757],[-0.2382223588222312,1.6697082522830764]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_31","position":[-0.14883789062844643,1.452731853262279,0.71338606911949],"aabb_xy":[[-0.1774872229888626,1.4240862939852028],[-0.12018855826803015,1.4813774125393544]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_32","position":[0.19402546012622546,-1.9333424466078983,0.71338606911949],"aabb_xy":[[0.16618042334561833,-1.96412694534621],[0.22187049690683258,-1.9025579478695867]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_33","position":[-0.1381841894010668,-1.7377426902152446,0.71338606911949],"aabb_xy":[[-0.21818418641531478,-1.757877241888656],[-0.05818419238681882,-1.7176081385418334]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918323441503321,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6494.png","name":"6494"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6494.png","name":"6494"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/672.png","name":"672"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8266.png","name":"8266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3169.png","name":"3169"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7980.png","name":"7980"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":785.6568866176157,"rotation_z_degrees":293.00279322487927,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008074839889323986,-0.011644566480434717,-0.017505965530711074]},{"name":"camera_2","offset_m":[0.015238811263361834,0.013311240246388436,-0.019354722595213862]},{"name":"camera_3","offset_m":[0.012034671207469493,0.011741210064612189,0.005762125023510194]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001049167392673144,-0.0017636479450204266,0.0015788101703902023],"end_effector_yaw_offset_degrees":-0.0949954571722702},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00038179953243240713,0.0009728047916306693,4.4657131420196804e-05],"end_effector_yaw_offset_degrees":-0.13532068786640683},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015481939974244037,0.0007560987820775561,-0.0014324932890644813],"end_effector_yaw_offset_degrees":-0.9439722332777136}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002311392160158308,-0.004916549659536148],"position_m":[0.3166886078398417,-0.09431654965953615,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008939985587920231,-0.003057137715350761],"position_m":[0.27599399855879203,-0.3460571377153508,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022473789124673026,-0.0036495508327288075],"position_m":[0.3085473789124673,0.2337504491672712,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036423565556877443,-0.0008257573813791079],"position_m":[0.34984235655568774,0.09637424261862089,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b4fabc7aedb145e2d293f3f15c44841f492316f42a91237d96573b211d3de93b","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6494/tex_ceiling_textures_7980/tex_floor_textures_3169/tex_table_textures_672/tex_wall_textures_8266","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":2912318470551055327,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":2912318470551055327,"visual_seed":2912318470551055327,"scene_id":"lab_003","finished_at":"2026-09-03T20:01:02"} +{"episode_id":"ep_000031","started_at":"2026-09-03T20:01:06","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.5657063293971418,-0.8620039637567405,0.71338606911949],"aabb_xy":[[0.5311152465430965,-0.9270039640417714],[0.6002974122511869,-0.7970039634717093]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[0.5155090118608427,-0.4504436371737248,0.71338606911949],"aabb_xy":[[0.45150901256667453,-0.514429777542579],[0.579509011155011,-0.3864574968048706]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[-0.5650254204608289,1.5892235070449057,0.71338606911949],"aabb_xy":[[-0.6290254218688196,1.537434555520981],[-0.5010254190528383,1.6410124585688304]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.4943498159206109,0.4151429648223468,0.71338606911949],"aabb_xy":[[-0.5179349393845056,0.3501429625769151],[-0.470764692456716,0.48014296706777865]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[0.1641397139086238,-0.9254787628249497,0.71338606911949],"aabb_xy":[[0.11414470294917178,-0.9754787618605415],[0.21413472486807586,-0.8754787637893581]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.22381867915299503,1.1808125674392902,0.71338606911949],"aabb_xy":[[0.21848616449838204,1.1754882391940544],[0.229151193807608,1.1861368956845255]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[0.1199402856712648,-1.2428393925727814,0.71338606911949],"aabb_xy":[[0.1097872701171154,-1.2789089341455215],[0.13009330122541415,-1.2067698510000409]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.5117748382526808,0.05683480437924526,0.71338606911949],"aabb_xy":[[0.46178000532473906,0.006834805484001727],[0.5617696711806223,0.1068348032744888]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[0.6592944831430005,1.3270192728000572,0.71338606911949],"aabb_xy":[[0.5952944799243627,1.2802961609010488],[0.7232944863616384,1.3737423846990655]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.6499748297306642,-1.1460144139074127,0.71338606911949],"aabb_xy":[[0.6373480424434679,-1.1555604876089853],[0.6626016170178606,-1.1364683402058395]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[0.548385262469224,-2.39551516243818,0.71338606911949],"aabb_xy":[[0.4583852657336137,-2.4486986257554744],[0.6383852592048341,-2.3423316991208853]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.02687733593790753,0.7186288624783144,0.71338606911949],"aabb_xy":[[-0.06312266265656241,0.7023782761648932],[0.11687733453237747,0.7348794487917353]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[0.0965415456064781,-1.3628504093559461,0.71338606911949],"aabb_xy":[[0.061541547295782636,-1.3705654242794918],[0.13154154391717354,-1.3551353944324005]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.46432517068619356,-0.8168781808809513,0.71338606911949],"aabb_xy":[[-0.4798809400964589,-0.8324286141253587],[-0.44876940127592835,-0.8013277476365444]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.2613522035727818,-2.0353594222595284,0.71338606911949],"aabb_xy":[[-0.26785384008078644,-2.045127244285838],[-0.2548505670647772,-2.0255916002332186]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.45289265048859495,0.8793864804109699,0.71338606911949],"aabb_xy":[[-0.5078926486903397,0.8388645137845323],[-0.39789265228685006,0.9199084470374075]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.39353533787207173,1.4467927840170627,0.71338606911949],"aabb_xy":[[-0.44352844998126373,1.396792783342867],[-0.3435422257628799,1.4967927846912583]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[0.33955483782627405,-2.2197220754567653,0.71338606911949],"aabb_xy":[[0.3170548375827587,-2.231926710116537],[0.3620548380697895,-2.2075174407969933]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[0.5017135286837975,-1.7402101984246805,0.71338606911949],"aabb_xy":[[0.48182248880345735,-1.7528660097093776],[0.5216045685641378,-1.7275543871399839]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.589188269036751,-1.8010872146326362,0.71338606911949],"aabb_xy":[[-0.6691882676240704,-1.8804028165707969],[-0.5091882704494315,-1.721771612694475]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.556802566049382,0.21209704789461004,0.71338606911949],"aabb_xy":[[0.4991720971621112,0.1520970489678994],[0.6144330349366529,0.2720970468213206]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[0.39997023169742874,1.019334522582302,0.71338606911949],"aabb_xy":[[0.39067661346027815,0.9818345240941682],[0.4092638499345793,1.056834521070436]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[-0.26162759667611707,-1.5633908635149503,0.71338606911949],"aabb_xy":[[-0.29608994407425876,-1.5978847459127727],[-0.22716524927797518,-1.5288969811171274]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[-0.20681370093395673,-0.48668250630461696,0.71338606911949],"aabb_xy":[[-0.21422615647534518,-0.49253371672624496],[-0.19940124539256823,-0.48083129588298906]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[0.13188803708385965,-1.5927106862570772,0.71338606911949],"aabb_xy":[[0.06788803682338886,-1.6377194856100052],[0.19588803734433047,-1.5477018869041492]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_25","position":[-0.01719432091406481,1.08622834189927,0.71338606911949],"aabb_xy":[[-0.06236563876223379,1.0222283447547318],[0.02797699693410417,1.1502283390438086]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[-0.1988124345583393,1.3461281416127338,0.71338606911949],"aabb_xy":[[-0.2488117097267755,1.2961281403367866],[-0.14881315938990317,1.396128142888681]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.49318197727392565,-1.9132545335441757,0.71338606911949],"aabb_xy":[[0.4587194992608378,-1.9199182107270982],[0.5276444552870134,-1.9065908563612528]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_28","position":[-0.24096803594850597,-0.915458132667673,0.71338606911949],"aabb_xy":[[-0.2909680369676413,-0.9519243484055011],[-0.19096803492937073,-0.8789919169298452]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_29","position":[0.1778043959833152,-0.6653369813273111,0.71338606911949],"aabb_xy":[[0.14030439563508745,-0.6771283769083947],[0.21530439633154297,-0.6535455857462276]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_30","position":[-0.05243646694085713,-1.168431972966464,0.71338606911949],"aabb_xy":[[-0.08591563420189807,-1.201911086337571],[-0.018957299679816193,-1.134952859595357]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_31","position":[-0.3206650627146265,-0.15488624295444353,0.71338606911949],"aabb_xy":[[-0.3376751600046771,-0.17102073145271746],[-0.3036549654245758,-0.1387517544561696]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_32","position":[-0.6578047153286788,0.4737315882565136,0.71338606911949],"aabb_xy":[[-0.6617651990984131,0.46606372367099297],[-0.6538442315589444,0.48139945284203417]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_33","position":[0.09704712309812524,-1.4602621171016847,0.71338606911949],"aabb_xy":[[0.09214783079156175,-1.4879390364042533],[0.10194641540468874,-1.4325851977991158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906803004049203,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5607.png","name":"5607"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5607.png","name":"5607"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7427.png","name":"7427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2024.png","name":"2024"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1623.png","name":"1623"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9972.png","name":"9972"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":601.0558873679305,"rotation_z_degrees":286.69150892353537,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013269820464693053,0.014355563329893278,0.006458096494825247]},{"name":"camera_2","offset_m":[0.01425919204411143,0.014739747290177376,-0.005227760168642371]},{"name":"camera_3","offset_m":[0.008296530785313307,-0.018200469718895013,0.013830883467057808]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.991288324172243e-05,0.0009781262235066747,-0.00010867999543146619],"end_effector_yaw_offset_degrees":-0.5203489837642488},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005665258852927213,0.001500453400057224,-0.0002468547618748884],"end_effector_yaw_offset_degrees":-0.03925580437304488},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014022286785756073,0.0017435406435128632,0.0010812817740754109],"end_effector_yaw_offset_degrees":0.93106310803592}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010149105923115739,0.0033028004648237254],"position_m":[0.31798508940768844,-0.08609719953517626,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004133762027466083,0.004960296254155083],"position_m":[0.2792337620274661,-0.33803970374584497,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033451505804759233,0.003664936539194118],"position_m":[0.3096451505804759,0.2410649365391941,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011531801337858081,-0.0013279973776275356],"position_m":[0.3473531801337858,0.09587200262237246,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"95aa0902c286f2177f1514b0ca1bcd889d048e1da29ba9e6de7b922363c1d706","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0031.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5607/tex_ceiling_textures_9972/tex_floor_textures_1623/tex_table_textures_7427/tex_wall_textures_2024","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3854343973668924070,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3854343973668924070,"visual_seed":3854343973668924070,"scene_id":"lab_003","finished_at":"2026-09-03T20:04:02"} +{"episode_id":"ep_000032","started_at":"2026-09-03T20:04:05","dimensions":{"distractor":{"count":24,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.48886089555868173,-0.6916037225351899,0.71338606911949],"aabb_xy":[[0.481578579182018,-0.7816037261446986],[0.49614321193534533,-0.6016037189256807]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[0.05140074151346119,-2.060046853606942,0.71338606911949],"aabb_xy":[[0.021409078779590862,-2.0900468529437424],[0.08139240424733152,-2.0300468542701413]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[-0.37497592502977534,1.1453585549289445,0.71338606911949],"aabb_xy":[[-0.45497592549999133,1.1370478473145962],[-0.2949759245595594,1.1536692625432927]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.5442574873545618,0.6528749485920344,0.71338606911949],"aabb_xy":[[0.5355435183046272,0.6303749479328461],[0.5529714564044962,0.6753749492512225]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[0.11552543026496775,-2.4969630388969066,0.71338606911949],"aabb_xy":[[0.09773192333005133,-2.5147627844927043],[0.1333189371998842,-2.479163293301109]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.31427464809902594,0.12144166355809327,0.71338606911949],"aabb_xy":[[-0.33677464861106654,0.0989498051926949],[-0.29177464758698535,0.14393352192349163]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.5808691413105368,-1.548800633870336,0.71338606911949],"aabb_xy":[[-0.644869141584515,-1.598866734067624],[-0.5168691410365586,-1.498734533673048]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[-0.10461524891253149,-0.996140823782717,0.71338606911949],"aabb_xy":[[-0.18961524732995472,-1.0810151192450022],[-0.01961525049510826,-0.9112665283204321]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.3154212833697524,-0.5121044780925859,0.71338606911949],"aabb_xy":[[-0.33669929151322464,-0.5771044804186589],[-0.29414327522628014,-0.4471044757665128]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.5828148791235912,-0.24450032217982764,0.71338606911949],"aabb_xy":[[-0.6468148784177594,-0.30848646254868184],[-0.518814879829423,-0.18051418181097348]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.36077194630208975,-0.6586942424720947,0.71338606911949],"aabb_xy":[[0.31077194535155683,-0.6902433894756161],[0.41077194725262245,-0.6271450954685733]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[0.4181327858416075,1.7060475230083454,0.71338606911949],"aabb_xy":[[0.3768282427778715,1.642047523440228],[0.4594373289053435,1.7700475225764623]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[-0.41835396535468466,-2.468978816153165,0.71338606911949],"aabb_xy":[[-0.4683313822199383,-2.518978817642413],[-0.36837654848943113,-2.418978814663916]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[-0.575306075076473,1.5207267335630292,0.71338606911949],"aabb_xy":[[-0.625306075437039,1.470746746353426],[-0.5253060747159068,1.570706720772632]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.27833030629892597,-1.814253622353566,0.71338606911949],"aabb_xy":[[-0.33345551192851675,-1.874253623794853],[-0.22320510066933522,-1.7542536209122788]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[0.03333579606339998,1.0501698637699053,0.71338606911949],"aabb_xy":[[0.025292436137444807,0.9651698626745386],[0.041379155989355154,1.1351698648652715]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[0.581527842524207,-1.316038299536622,0.71338606911949],"aabb_xy":[[0.5774496846171573,-1.3201192797848853],[0.5856060004312567,-1.3119573192883587]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.2120339879090748,-2.3978895177025845,0.71338606911949],"aabb_xy":[[0.13203399074949948,-2.4094371186604016],[0.2920339850686501,-2.3863419167447675]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.6280699260778053,-2.1989777291491617,0.71338606911949],"aabb_xy":[[0.5383828497696899,-2.288977729403612],[0.7177570023859208,-2.108977728894711]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[0.008205451945624831,-2.319867716568842,0.71338606911949],"aabb_xy":[[-0.05579454875784452,-2.365886099041763],[0.07220545264909418,-2.273849334095921]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[-0.29159025117190346,1.3073380921966749,0.71338606911949],"aabb_xy":[[-0.2996265858731883,1.299299972892258],[-0.2835539164706186,1.3153762115010916]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.3154657592986043,-1.318261222224566,0.71338606911949],"aabb_xy":[[0.2854982023887787,-1.3482612225224517],[0.34543331620843004,-1.2882612219266802]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[0.13073873036516748,1.2743908783012858,0.71338606911949],"aabb_xy":[[0.09370462093710777,1.2400136709675764],[0.16777283979322719,1.3087680856349952]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.5446112529660361,1.0064395384306688,0.71338606911949],"aabb_xy":[[0.4646112515359089,0.9269223834180593],[0.6246112543961633,1.0859566934432783]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903821426821056,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4419.png","name":"4419"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4419.png","name":"4419"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7680.png","name":"7680"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3330.png","name":"3330"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/927.png","name":"927"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":572.6542273246343,"rotation_z_degrees":265.8096760805479,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003305533459556472,0.01681572763013189,0.009699254089344498]},{"name":"camera_2","offset_m":[0.008377117062410164,0.013018450875980397,-0.004916716937583195]},{"name":"camera_3","offset_m":[-0.011810323629322536,-0.008472687426430526,-0.004846596409972474]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001607124237687132,-0.000563816134451157,-0.00026905447261147504],"end_effector_yaw_offset_degrees":-0.07294160084250834},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001700218110324418,-0.0014260597234538569,0.0007892567237403171],"end_effector_yaw_offset_degrees":-0.39770921084684674},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022638601103513512,-0.001428823479254708,-0.0011979977551738663],"end_effector_yaw_offset_degrees":-0.028577364166435082}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-4.3214239437972674e-05,0.003409954544987082],"position_m":[0.318956785760562,-0.08599004545501292,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005721554463129462,-0.0007100403896651963],"position_m":[0.27567215544631296,-0.34371004038966524,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002176349668120101,-0.003129950615952618],"position_m":[0.30412365033187994,0.23427004938404739,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031068656865636405,-0.0028440888380837936],"position_m":[0.34930686568656366,0.0943559111619162,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8a0f896c879ef9c04ea13c13af8e1656cfb73161056121982f9c6c732a500bcf","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4419/tex_ceiling_textures_927/tex_floor_textures_3330/tex_table_textures_7680/tex_wall_textures_6985","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":8534146924440571995,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":8534146924440571995,"visual_seed":8534146924440571995,"scene_id":"lab_003","finished_at":"2026-09-03T20:06:41"} +{"episode_id":"ep_000033","started_at":"2026-09-03T20:06:44","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.6161820944376626,-0.5432874363976969,0.71338606911949],"aabb_xy":[[-0.6861820978292245,-0.5786032101011277],[-0.5461820910461005,-0.507971662694266]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.6075524111082566,-0.6404107917057102,0.71338606911949],"aabb_xy":[[0.5982054035259614,-0.6547144139233544],[0.6168994186905519,-0.6261071694880663]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[0.5881680923798842,0.06353133140348888,0.71338606911949],"aabb_xy":[[0.565654400556427,-0.006468669197518664],[0.6106817842033414,0.1335313320044964]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.09965823602090551,0.019130710050153432,0.71338606911949],"aabb_xy":[[-0.16365823628137632,-0.025878089302774573],[-0.035658235760434705,0.06413950940308143]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[0.5035772262209963,-2.42083522066753,0.71338606911949],"aabb_xy":[[0.45840590837282735,-2.4848352178120687],[0.5487485440691653,-2.356835223522992]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[-0.10353369885078678,1.289169908499015,0.71338606911949],"aabb_xy":[[-0.12736991649139184,1.1991699076905284],[-0.07969748121018172,1.3791699093075014]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[-0.6537518959619979,-0.2199079521609395,0.71338606911949],"aabb_xy":[[-0.6875274551526909,-0.23394644737410453],[-0.6199763367713049,-0.20586945694777448]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.19241148649160622,0.7182219609989744,0.71338606911949],"aabb_xy":[[-0.2524114870876224,0.6634094884537509],[-0.13241148589559004,0.7730344335441979]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.20465036609079212,1.6573296999809854,0.71338606911949],"aabb_xy":[[0.1146503637567731,1.5798473453958728],[0.2946503684248112,1.734812054566098]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[0.5701391867319763,1.5738002389986154,0.71338606911949],"aabb_xy":[[0.48013918999636596,1.5206167756813205],[0.6601391834675864,1.6269837023159095]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.5972159040626333,-0.7869456574672995,0.71338606911949],"aabb_xy":[[-0.6672159058713787,-0.8082994262314869],[-0.5272159022538878,-0.7655918887031121]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[-0.33479842981214214,-0.620357726572097,0.71338606911949],"aabb_xy":[[-0.38479842925233776,-0.6703256510564132],[-0.2847984303719465,-0.5703898020877806]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[-0.41764881688156424,0.47726043500294013,0.71338606911949],"aabb_xy":[[-0.4421624409785701,0.4529958417009036],[-0.3931351927845584,0.5015250283049766]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.0626357843253007,0.9455498195775038,0.71338606911949],"aabb_xy":[[-0.08018247924141964,0.9080498180132526],[-0.04508908940918177,0.9830498211417551]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[-0.19985660283134837,-2.264827851414129,0.71338606911949],"aabb_xy":[[-0.20901648177522497,-2.2713590694576657],[-0.19069672388747178,-2.258296633370592]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[0.6039621232191628,-1.2226648448305262,0.71338606911949],"aabb_xy":[[0.5920900402076616,-1.3076648445241763],[0.6158342062306639,-1.1376648451368756]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.7085168864100588,1.7990290532138267,0.71338606911949],"aabb_xy":[[0.7008926183198807,1.7913958296772832],[0.7161411545002372,1.8066622767503706]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[0.4256687416997691,-0.9850377458067101,0.71338606911949],"aabb_xy":[[0.4176752519044872,-0.9930358777471859],[0.43366223149505123,-0.9770396138662347]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_18","position":[0.6147157604260112,-0.4691002721476809,0.71338606911949],"aabb_xy":[[0.6041482807679122,-0.4796453022606894],[0.6252832400841102,-0.4585552420346723]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[0.20514338812377553,-2.308908088502262,0.71338606911949],"aabb_xy":[[0.18846625213068002,-2.3256080124761924],[0.22182052411687103,-2.292208164528332]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.46814337301664,1.0288053670321706,0.71338606911949],"aabb_xy":[[-0.5518655985167225,0.9388053634974747],[-0.38442114751655754,1.1188053705668666]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[0.3484287450494825,-1.309577136373717,0.71338606911949],"aabb_xy":[[0.26842874803523453,-1.329711688047128],[0.4284287420637305,-1.2894425847003055]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[-0.49867887111664577,-0.35410312314675974,0.71338606911949],"aabb_xy":[[-0.5786788680796849,-0.4311787647905332],[-0.4186788741536066,-0.2770274815029863]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[-0.07395554845061703,-2.2784085846165647,0.71338606911949],"aabb_xy":[[-0.1289292704869499,-2.333408584180798],[-0.018981826414284142,-2.2234085850523315]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.18404703884385543,0.9563160962157751,0.71338606911949],"aabb_xy":[[-0.19529209441447323,0.9450742984916798],[-0.17280198327323756,0.9675578939398704]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[0.6032258149214351,-1.5196607591736766,0.71338606911949],"aabb_xy":[[0.5532309819934935,-1.5696607580689201],[0.6532206478493767,-1.469660760278433]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_26","position":[0.05381551321433509,1.1215315987878447,0.71338606911949],"aabb_xy":[[0.03353121049093632,1.1012489736451356],[0.07409981593773383,1.1418142239305533]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_27","position":[-0.38756867060674516,-2.2923047902107507,0.71338606911949],"aabb_xy":[[-0.4210088458027647,-2.32574841604168],[-0.3541284954107255,-2.2588611643798195]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_28","position":[0.24746481008363086,0.713898815708653,0.71338606911949],"aabb_xy":[[0.19749151608037038,0.6638988151541055],[0.2974381040868913,0.7638988162632002]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934945183002246,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7648.png","name":"7648"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7648.png","name":"7648"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3359.png","name":"3359"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5435.png","name":"5435"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6094.png","name":"6094"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6768.png","name":"6768"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":717.3304511729145,"rotation_z_degrees":56.57994134725522,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012284391000761893,-0.009576103634114336,0.018306655218490436]},{"name":"camera_2","offset_m":[0.016856496810591894,0.00997027757676007,-0.0029000230029846592]},{"name":"camera_3","offset_m":[0.01254870186376161,-0.0030356803779976044,-0.017672861183742273]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001691257716092819,-0.0014173369933170444,-0.00026253751963066377],"end_effector_yaw_offset_degrees":-0.42355624050476637},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003314852317159692,0.0014188837308025185,0.0005767396578503347],"end_effector_yaw_offset_degrees":-0.41444961914476885},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000683779914891978,0.0011875667012410489,-2.2338293072910343e-05],"end_effector_yaw_offset_degrees":0.5983871291840892}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004667326502071659,-0.0012219409803772784],"position_m":[0.32366732650207164,-0.09062194098037728,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038849196238262057,-0.001188621991422798],"position_m":[0.2789849196238262,-0.3441886219914228,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017737325687073725,-0.0018466481890304707],"position_m":[0.30452626743129263,0.23555335181096954,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008047599819456649,-0.0014698811321301208],"position_m":[0.3470047599819457,0.09573011886786988,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c7b7aea6ba71f99d8ac0fb1f335b9cdd253b3daa98dbdd43e53fbe4ca92d5727","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7648/tex_ceiling_textures_6768/tex_floor_textures_6094/tex_table_textures_3359/tex_wall_textures_5435","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6432358147913222157,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6432358147913222157,"visual_seed":6432358147913222157,"scene_id":"lab_003","finished_at":"2026-09-03T20:09:26"} +{"episode_id":"ep_000034","started_at":"2026-09-03T20:09:30","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.6610784960155186,0.38208223153686127,0.71338606911949],"aabb_xy":[[-0.6823565041589907,0.31708222921078816],[-0.6398004878720462,0.4470822338629343]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.5653456731127648,-2.4894477979249987,0.71338606911949],"aabb_xy":[[-0.6453456735829809,-2.4977585055393474],[-0.485345672642549,-2.481137090310651]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.1616130387595407,1.3343644414699338,0.71338606911949],"aabb_xy":[[0.12411303724390896,1.3231376684537888],[0.19911304027517238,1.3455912144860789]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.5463794579225687,-1.088488574730004,0.71338606911949],"aabb_xy":[[-0.5924645491773001,-1.152488571982559],[-0.5002943666678371,-1.0244885774774488]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[-0.6339387645765142,-0.6961716470452812,0.71338606911949],"aabb_xy":[[-0.6498232578418395,-0.7105245873441053],[-0.6180542713111892,-0.6818187067464572]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.34238650449229224,-1.5754675782764365,0.71338606911949],"aabb_xy":[[0.3280520793661288,-1.587527793830975],[0.3567209296184557,-1.5634073627218974]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.6382184349416952,-1.2697777371714218,0.71338606911949],"aabb_xy":[[-0.6882184353022611,-1.3197577243810243],[-0.588218434581129,-1.2197977499618184]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.558074843162349,-0.7281578711214802,0.71338606911949],"aabb_xy":[[0.5302298063817419,-0.7589423698597918],[0.5859198799429561,-0.6973733723831684]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.20224442376837892,0.5634406071516236,0.71338606911949],"aabb_xy":[[0.19812847365630626,0.5593250521187779],[0.2063603738804516,0.567556162184469]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.6311078377362069,0.036176261162735646,0.71338606911949],"aabb_xy":[[0.6240663867854593,0.0291495094249411],[0.6381492886869545,0.04320301290053019]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[0.46540980048896397,-0.7712861567588196,0.71338606911949],"aabb_xy":[[0.4479098670549805,-0.788786156679054],[0.4829097339229472,-0.753786156838585]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.4362364177952962,0.5581687578263899,0.71338606911949],"aabb_xy":[[-0.4513387192563142,0.5430672361953278],[-0.421134116334278,0.5732702794574515]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.10668552173398793,1.0662460844213721,0.71338606911949],"aabb_xy":[[-0.1257978290919668,1.0471113055441301],[-0.08757321437600908,1.0853808632986142]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[0.3414352620692749,-0.6882044407838706,0.71338606911949],"aabb_xy":[[0.3353406341811566,-0.6967738353355393],[0.34752988995739326,-0.6796350462322018]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.5437922620066542,-1.1801551848536478,0.71338606911949],"aabb_xy":[[0.49851364712550483,-1.2441551842018317],[0.5890708768878034,-1.1161551855054643]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[0.5401369652150336,-1.9339882133606787,0.71338606911949],"aabb_xy":[[0.46013696662771414,-2.0133038152988396],[0.620136963802353,-1.8546726114225178]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.45742876553048595,0.21880208823742908,0.71338606911949],"aabb_xy":[[-0.5074287671919806,0.16880364598172634],[-0.40742876386899113,0.26880053049313174]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[0.20732145985562456,-0.8002924773641307,0.71338606911949],"aabb_xy":[[0.1948541017458889,-0.8127578019974543],[0.2197888179653602,-0.7878271527308073]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[-0.13202345608957622,-2.1074277991970343,0.71338606911949],"aabb_xy":[[-0.166485803487718,-2.141921681594856],[-0.0975611086914344,-2.0729339167992107]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.635271114339431,-0.17373850174377825,0.71338606911949],"aabb_xy":[[-0.6602711138911694,-0.18388098560891294],[-0.6102711147876925,-0.1635960178786435]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888237482829161,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9413.png","name":"9413"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9413.png","name":"9413"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3581.png","name":"3581"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4720.png","name":"4720"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5049.png","name":"5049"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8916.png","name":"8916"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":713.5842539564475,"rotation_z_degrees":261.67913722225916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006082446986118994,0.00287174292798233,0.016743422896440253]},{"name":"camera_2","offset_m":[0.0037141481891155813,0.006174873912016564,-0.001409242484039397]},{"name":"camera_3","offset_m":[0.003787907008602421,-0.00912277274426709,-0.008817100424541521]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006868381188287116,0.001567053200794354,0.0005345393262053341],"end_effector_yaw_offset_degrees":0.9844619250787532},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008403180755852148,-0.001380483883192793,-2.3938640845525775e-05],"end_effector_yaw_offset_degrees":-0.8687646875342019},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008592417804077033,0.0013756400300245406,-0.0016313589534170054],"end_effector_yaw_offset_degrees":0.9798940418609772}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00471751279115291,0.00043884322043958104],"position_m":[0.3237175127911529,-0.08896115677956042,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034312666617526367,-0.004512804290011966],"position_m":[0.27166873333824737,-0.34751280429001197,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004918814925343237,0.0016085289515369887],"position_m":[0.3058081185074657,0.23900852895153699,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00396503391142997,-0.0048387141883970775],"position_m":[0.34223496608857,0.09236128581160291,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"06da66a095ba983e7bd6111cee8acd468b171ce56f452060e98f5c1c09c3f364","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0034.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9413/tex_ceiling_textures_8916/tex_floor_textures_5049/tex_table_textures_3581/tex_wall_textures_4720","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1775311291523337209,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1775311291523337209,"visual_seed":1775311291523337209,"scene_id":"lab_003","finished_at":"2026-09-03T20:12:06"} +{"episode_id":"ep_000035","started_at":"2026-09-03T20:12:10","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[0.1737521460041792,-2.243260915495215,0.71338606911949],"aabb_xy":[[0.1667106950534316,-2.2502876672330094],[0.1807935969549268,-2.2362341637574206]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.5330996633213008,-0.29305092558626766,0.71338606911949],"aabb_xy":[[-0.5680996625141189,-0.30401797158393024],[-0.4980996641284824,-0.282083879588605]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[-0.46275498317629205,0.6766939752615952,0.71338606911949],"aabb_xy":[[-0.500254983348164,0.6439932398786881],[-0.4252549830044201,0.7093947106445024]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[0.3791962596008842,-0.8599474320557356,0.71338606911949],"aabb_xy":[[0.37435266483965424,-0.8647990845347199],[0.3840398543621142,-0.8550957795767516]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.052095017875399496,-0.7804127722719838,0.71338606911949],"aabb_xy":[[-0.0895950193910312,-0.7916395452881289],[-0.014595016359767787,-0.7691859992558387]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[-0.6177320382950959,-1.7433416620121207,0.71338606911949],"aabb_xy":[[-0.6264300005858113,-1.7554666363195957],[-0.6090340760043808,-1.7312166877046462]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[0.13625982366088263,-0.6791387239088931,0.71338606911949],"aabb_xy":[[0.11934909122454083,-0.6926109295015075],[0.15317055609722438,-0.6656665183162784]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[-0.5466993430250771,1.5197297323529084,0.71338606911949],"aabb_xy":[[-0.6043298119123478,1.4597297334261974],[-0.4890688741378061,1.5797297312796184]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[0.2109601527225381,-0.9437152450782154,0.71338606911949],"aabb_xy":[[0.20161314514024284,-0.9580188672958594],[0.2203071603048333,-0.9294116228605713]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.07042184716511013,-0.03398749531010559,0.71338606911949],"aabb_xy":[[-0.10745595659316984,-0.06836470264381503],[-0.033387737737050414,0.0003897120236038623]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[0.08294379604717017,-0.8322795329269348,0.71338606911949],"aabb_xy":[[0.07416256889993396,-0.8410592802154652],[0.09172502319440641,-0.8234997856384049]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[-0.46662704875501904,1.3662112006181473,0.71338606911949],"aabb_xy":[[-0.5164438282198538,1.3162112021338437],[-0.4168102692901843,1.4162111991024504]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[0.6684549071082733,1.7576921944316735,0.71338606911949],"aabb_xy":[[0.6602403619925891,1.7490156041340321],[0.676669452223957,1.7663687847293148]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.43824901494230306,1.39541471941406,0.71338606911949],"aabb_xy":[[0.3954823080628829,1.3314147159922576],[0.4810157218217233,1.4594147228358625]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.010811979561960339,0.8691132884053192,0.71338606911949],"aabb_xy":[[-0.040779536471786004,0.8391132881074334],[0.019155577347865327,0.8991132887032048]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.25525351542032004,-0.8701848313808052,0.71338606911949],"aabb_xy":[[-0.2920481485452263,-0.9070907064773875],[-0.21845888229541377,-0.833278956284223]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.26284246597563443,-1.654236757663004,0.71338606911949],"aabb_xy":[[-0.3428424631352097,-1.665784358620821],[-0.18284246881605914,-1.642689156705187]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[-0.07895176385908997,-2.315442315511171,0.71338606911949],"aabb_xy":[[-0.11749745668429101,-2.35398808656736],[-0.04040607103388894,-2.2768965444549827]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.5979276906861684,-2.343058910263518,0.71338606911949],"aabb_xy":[[-0.6629276892432412,-2.3728114436774006],[-0.5329276921290955,-2.3133063768496354]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.6250949982066716,1.2673151547807078,0.71338606911949],"aabb_xy":[[-0.6297301133589048,1.2634478197035586],[-0.6204598830544381,1.271182489857856]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[0.5820147515343843,0.7308716221568465,0.71338606911949],"aabb_xy":[[0.5685682249003409,0.7174017705037553],[0.5954612781684275,0.7443414738099378]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[0.1491012552940525,1.6923882162129904,0.71338606911949],"aabb_xy":[[0.08510125207541466,1.6456651043139823],[0.21310125851269038,1.739111328111999]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.4312298164049049,0.8887349715666941,0.71338606911949],"aabb_xy":[[0.4087298161613895,0.8765303369069222],[0.45372981664842027,0.9009396062264661]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[0.0866290205257726,-1.6932853056017847,0.71338606911949],"aabb_xy":[[0.049129020177544835,-1.7050767011828682],[0.12412902087400035,-1.6814939100207011]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[-0.38634036457129906,-1.3595050636899157,0.71338606911949],"aabb_xy":[[-0.3956339828084496,-1.3970050621780494],[-0.3770467463341484,-1.3220050652017816]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_25","position":[0.48696354492036376,-0.1313890818376917,0.71338606911949],"aabb_xy":[[0.4369685339609118,-0.18138908087328345],[0.5369585558798158,-0.08138908280210001]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[-0.3233734472171328,1.167464893021919,0.71338606911949],"aabb_xy":[[-0.3608734480091282,1.1610970520637285],[-0.2858734464251373,1.173832733980109]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_27","position":[-0.4557966360978366,-2.088118847741532,0.71338606911949],"aabb_xy":[[-0.46766871910933766,-2.173118847435182],[-0.44392455308633544,-2.0031188480478814]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_28","position":[-0.24907970149676756,-2.2201365210022104,0.71338606911949],"aabb_xy":[[-0.31307969792408946,-2.2673061448243073],[-0.18507970506944565,-2.1729668971801144]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[0.06509935517496312,1.150853463484236,0.71338606911949],"aabb_xy":[[0.0010993534969657714,1.1023360720049218],[0.12909935685296048,1.1993708549635502]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6870825349570638,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2945.png","name":"2945"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2945.png","name":"2945"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2242.png","name":"2242"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6826.png","name":"6826"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4710.png","name":"4710"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1711.png","name":"1711"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":574.1119007281629,"rotation_z_degrees":198.08761328980793,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01596781247784261,-0.01938675331767736,0.004784804679351648]},{"name":"camera_2","offset_m":[-0.002018900994926659,-0.0007347780678168131,0.010163402603359458]},{"name":"camera_3","offset_m":[0.0076592036229027605,0.0040408839913669455,0.0014203916568999164]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00031832660268078794,-0.0018047028268535828,0.0016010499011364148],"end_effector_yaw_offset_degrees":0.5285421730589444},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011012406256222676,-0.00021928822053353956,-0.0009583745338768753],"end_effector_yaw_offset_degrees":0.573087111054994},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001887194533651808,0.0008747120497326188,-0.0003607538857897095],"end_effector_yaw_offset_degrees":0.3901022131164338}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004930333621595042,-0.002775863097271105],"position_m":[0.32393033362159507,-0.0921758630972711,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00010655162455797118,0.00476360747265124],"position_m":[0.27499344837544204,-0.3382363925273488,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002404266395437569,-0.00410642951332494],"position_m":[0.30389573360456246,0.23329357048667507,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00498395146098908,-0.002677260674087909],"position_m":[0.34121604853901094,0.09452273932591208,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d5f5f65d501e988b9aa76d3080ade44ebb41d484882ffb14088690add090ec7","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0035.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2945/tex_ceiling_textures_1711/tex_floor_textures_4710/tex_table_textures_2242/tex_wall_textures_6826","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":8147507014071194037,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":8147507014071194037,"visual_seed":8147507014071194037,"scene_id":"lab_003","finished_at":"2026-09-03T20:14:52"} +{"episode_id":"ep_000036","started_at":"2026-09-03T20:14:55","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.23557819498705945,-1.8108458804661434,0.71338606911949],"aabb_xy":[[-0.27057819325717936,-1.8179200081611315],[-0.20057819671693955,-1.8037717527711552]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.251514227379251,0.3104454112090047,0.71338606911949],"aabb_xy":[[-0.2595505620805358,0.302407291904588],[-0.2434778926779661,0.31848353051342154]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[0.11795225069098247,-2.3657941492263936,0.71338606911949],"aabb_xy":[[0.06796801498280523,-2.4157941480398892],[0.1679364863991597,-2.315794150412898]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[0.017926228503049924,-1.6985809370066896,0.71338606911949],"aabb_xy":[[-0.017702927396909818,-1.7342136037635425],[0.053555384403009665,-1.6629482702498366]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[-0.34318502430555026,-1.8219914743712247,0.71338606911949],"aabb_xy":[[-0.3602871022639184,-1.8390982799024942],[-0.3260829463471821,-1.8048846688399547]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[-0.037016952775425715,-0.8172946190144164,0.71338606911949],"aabb_xy":[[-0.07386750071241333,-0.85479461983745],[-0.0001664048384381056,-0.7797946181913825]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.6119398098035426,-0.9081204719638636,0.71338606911949],"aabb_xy":[[-0.6919398112336697,-0.9876376269764731],[-0.5319398083734153,-0.8286033169512541]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[-0.18620963375353783,-0.18680411435880817,0.71338606911949],"aabb_xy":[[-0.19908153725447797,-0.2668041147726443],[-0.1733377302525977,-0.10680411394497204]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.41242273371670574,-1.3275241616235058,0.71338606911949],"aabb_xy":[[-0.4774227315983536,-1.378647825330047],[-0.34742273583505795,-1.2764004979169652]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[0.43433178462301836,-2.281381856023334,0.71338606911949],"aabb_xy":[[0.39308297359310357,-2.3363818555355507],[0.47558059565293304,-2.2263818565111158]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.3686774071789174,0.6385610622622684,0.71338606911949],"aabb_xy":[[0.3585957001003439,0.5585610643701536],[0.37875911425749087,0.7185610601543829]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[0.016573450657182853,0.8954237021279803,0.71338606911949],"aabb_xy":[[-0.0209265494484101,0.888601540274999],[0.0540734507627758,0.9022458639809613]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.5176415288844136,0.5990412364337074,0.71338606911949],"aabb_xy":[[-0.5676415292449797,0.5490612492241045],[-0.4676415285238476,0.6490212236433104]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[-0.09093144597042302,0.3977196017400382,0.71338606911949],"aabb_xy":[[-0.15593144452749585,0.3679670683261556],[-0.025931447413350184,0.42747213515392085]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.6022890969247678,-2.002547740897858,0.71338606911949],"aabb_xy":[[-0.630134133705375,-2.0333322396361697],[-0.5744440601441607,-1.9717632421595463]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.07193584254120877,1.7061763487896893,0.71338606911949],"aabb_xy":[[-0.16193584621812693,1.6447439422125847],[0.018064161135709408,1.7676087553667934]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.24545877635148783,1.3422867356842256,0.71338606911949],"aabb_xy":[[-0.2629587097854712,1.324786735763991],[-0.22795884291750443,1.3597867356044602]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[0.5403970166035297,-1.3114333361144854,0.71338606911949],"aabb_xy":[[0.5296240426821619,-1.3464333343335244],[0.5511699905248975,-1.2764333378954464]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.5723138827685486,1.6621868892390563,0.71338606911949],"aabb_xy":[[-0.6221965796462449,1.612186889992782],[-0.5224311858908525,1.7121868884853315]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.0883812805627705,1.4479659452201399,0.71338606911949],"aabb_xy":[[-0.09301639571500388,1.4440986101429911],[-0.0837461654105371,1.4518332802972886]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[0.3118908879680027,-2.456675334683003,0.71338606911949],"aabb_xy":[[0.24189088533141628,-2.4767801996788683],[0.381890890604589,-2.4365704696871373]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[-0.5635864535331174,0.9795872151703389,0.71338606911949],"aabb_xy":[[-0.6275864499286906,0.9156239267516053],[-0.49958645713754446,1.0435505035890724]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[-0.022189994986827388,-0.34822414762324083,0.71338606911949],"aabb_xy":[[-0.03343505055744522,-0.35946594534733606],[-0.010944939416209554,-0.3369823498991455]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.11658923234744656,0.06222624697446788,0.71338606911949],"aabb_xy":[[-0.1500294075434661,0.02878262114353779],[-0.08314905715142692,0.09566987280539793]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.5711678069297623,-1.7465709329839987,0.71338606911949],"aabb_xy":[[-0.6211678063699579,-1.7965388574683148],[-0.5211678074895667,-1.6966030084996822]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[0.23615023548170044,-1.0442800689884795,0.71338606911949],"aabb_xy":[[0.2317196061268603,-1.049728440723162],[0.24058086483654065,-1.038831697253797]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[0.35560077135010615,-2.114398457862408,0.71338606911949],"aabb_xy":[[0.3483395237796988,-2.1271854681259175],[0.3628620189205136,-2.1016114475988985]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_27","position":[0.39816949393146905,-1.4674220691263684,0.71338606911949],"aabb_xy":[[0.39258782229734035,-1.479922068944144],[0.40375116556559787,-1.454922069308593]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6896857083353605,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3002.png","name":"3002"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3002.png","name":"3002"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3150.png","name":"3150"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8662.png","name":"8662"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7770.png","name":"7770"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4534.png","name":"4534"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":573.3749579622695,"rotation_z_degrees":146.79922936579922,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015800831820761252,0.012247700885028152,-0.011848770403807371]},{"name":"camera_2","offset_m":[0.0026186818775942866,-0.009115954764414163,0.014517290912691643]},{"name":"camera_3","offset_m":[-0.0009994240858177648,0.008171227926525793,-0.011918240539872858]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00046149417456135215,-0.0007154759522389634,0.0008475851256189723],"end_effector_yaw_offset_degrees":-0.3809280945766842},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018451747284305164,0.0004574330801852093,-0.0008569051584699694],"end_effector_yaw_offset_degrees":0.31920780065741905},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010296082536288792,0.0006794930532031435,-0.00015827857540577162],"end_effector_yaw_offset_degrees":-0.33828092809753363}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003377837484339441,0.003162281561927876],"position_m":[0.31562216251566055,-0.08623771843807211,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-2.724051528519081e-05,-0.0003553146582645104],"position_m":[0.2750727594847148,-0.3433553146582645,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033100040508382746,-0.002763058823075798],"position_m":[0.30298999594916176,0.2346369411769242,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000399322411677977,0.0035239493366240335],"position_m":[0.345800677588322,0.10072394933662403,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"845cc965ce7d309e9ac13d368d904e2d843c19284401e7ed92154667442fa170","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0036.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3002/tex_ceiling_textures_4534/tex_floor_textures_7770/tex_table_textures_3150/tex_wall_textures_8662","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1584244135483081346,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1584244135483081346,"visual_seed":1584244135483081346,"scene_id":"lab_003","finished_at":"2026-09-03T20:17:34"} +{"episode_id":"ep_000037","started_at":"2026-09-03T20:17:37","dimensions":{"distractor":{"count":27,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.10769216711586871,-0.8759379741746058,0.71338606911949],"aabb_xy":[[-0.11859794320343141,-0.9559379705734349],[-0.09678639102830598,-0.7959379777757766]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.5137987738381088,-2.1451690923513573,0.71338606911949],"aabb_xy":[[-0.563798775198996,-2.1951469969267725],[-0.4637987724772216,-2.0951911877759413]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[-0.579038282411333,1.2745192272996317,0.71338606911949],"aabb_xy":[[-0.6155341030386118,1.2380352848728742],[-0.5425424617840543,1.3110031697263893]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[-0.3609932560423119,0.03406818630636188,0.71338606911949],"aabb_xy":[[-0.38227126418578417,-0.030931816019711178],[-0.33971524789883967,0.09906818863243494]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[0.31341118168919335,-0.7750990677941725,0.71338606911949],"aabb_xy":[[0.29876777613516037,-0.7897577874509567],[0.32805458724322634,-0.7604403481373883]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.648576850956581,-1.2002260067145931,0.71338606911949],"aabb_xy":[[0.6135768509800851,-1.2096906227622097],[0.6835768509330767,-1.1907613906669765]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[0.6179676724179952,1.3326556152405153,0.71338606911949],"aabb_xy":[[0.5901226356373881,1.3018711165022039],[0.6458127091986023,1.3634401139788273]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[0.16394823267870318,-1.3266086809243922,0.71338606911949],"aabb_xy":[[0.07394823408423326,-1.3428592672378132],[0.2539482312731731,-1.3103580946109712]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.03189938009734217,-1.2420947278920476,0.71338606911949],"aabb_xy":[[-0.043832114459170235,-1.254476880699907],[-0.0199666457355141,-1.2297125750841882]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[0.5103366202941881,-0.43173335428531967,0.71338606911949],"aabb_xy":[[0.492836621159821,-0.4416129813229075],[0.5278366194285553,-0.42185372724773185]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[-0.2544074997342837,-0.4412588302633016,0.71338606911949],"aabb_xy":[[-0.2608213133774686,-0.4476686505109699],[-0.24799368609109876,-0.4348490100156332]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[0.37536488888600905,-1.8968354529553124,0.71338606911949],"aabb_xy":[[0.33786488894224265,-1.905128542990149],[0.41286488882977546,-1.8885423629204758]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[-0.2571800374844514,-0.11917306430864638,0.71338606911949],"aabb_xy":[[-0.294511314009694,-0.1538261191034987],[-0.21984876095920877,-0.08452000951379408]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.5960070094946996,1.8091941012743011,0.71338606911949],"aabb_xy":[[0.5585070109190787,1.7964578056107428],[0.6335070080703203,1.8219303969378586]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[-0.3724904194572274,-2.059526466657787,0.71338606911949],"aabb_xy":[[-0.3816502984011039,-2.066057684701324],[-0.36333054051335073,-2.05299524861425]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.502533326641803,-1.1519007851731178,0.71338606911949],"aabb_xy":[[-0.5095747775925505,-1.1589275369109124],[-0.49549187569105535,-1.1448740334353231]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.48641881463869896,-2.0277710138347946,0.71338606911949],"aabb_xy":[[0.48198818528385884,-2.033219385569477],[0.4908494439935392,-2.022322642100112]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.3602203951455817,-1.9962550432305308,0.71338606911949],"aabb_xy":[[-0.382720394959484,-2.000729659601012],[-0.33772039533167925,-1.9917804268600503]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.5710246904991183,0.579076431132381,0.71338606911949],"aabb_xy":[[-0.6350246869264403,0.5319068073102846],[-0.5070246940717965,0.6262460549544775]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[0.45378470055730524,0.7673969126686866,0.71338606911949],"aabb_xy":[[0.40381140655404474,0.7173969121141393],[0.5037579945605657,0.8173969132232339]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[-0.03967603771788053,1.387914088670307,0.71338606911949],"aabb_xy":[[-0.044632057902761736,1.3654140884681856],[-0.03472001753299934,1.4104140888724288]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.18375553432210245,1.186164621853214,0.71338606911949],"aabb_xy":[[-0.23374864643129437,1.1361646211790186],[-0.13376242221291057,1.2361646225274099]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[-0.34036536861350924,-2.434783190815132,0.71338606911949],"aabb_xy":[[-0.38749474761534486,-2.498783191859534],[-0.2932359896116735,-2.37078318977073]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[-0.17633622523001846,-2.146203663603611,0.71338606911949],"aabb_xy":[[-0.2263362268915132,-2.1962021058593133],[-0.12633622356852367,-2.096205221347908]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[-0.15876209628290017,0.6857120081833421,0.71338606911949],"aabb_xy":[[-0.20001090731281487,0.6307120086711245],[-0.11751328525298542,0.7407120076955594]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[0.6041865997989164,-2.2104105395368014,0.71338606911949],"aabb_xy":[[0.569186600606098,-2.2213775855344635],[0.6391865989917346,-2.1994434935391385]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_26","position":[0.5898486577512121,0.31567736546130165,0.71338606911949],"aabb_xy":[[0.5709642739827019,0.2967914406809488],[0.6087330415197223,0.3345632902416544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6920198640236117,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/425.png","name":"425"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/425.png","name":"425"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6649.png","name":"6649"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7500.png","name":"7500"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2084.png","name":"2084"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7216.png","name":"7216"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":528.9185437207032,"rotation_z_degrees":302.717532636272,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010157292416113975,-0.01753692733656111,0.013141608255082742]},{"name":"camera_2","offset_m":[-0.0007186269789059771,0.0019767270088035215,5.445099596328509e-05]},{"name":"camera_3","offset_m":[-0.01567815624100412,-0.017097964862464815,-0.013836504058167366]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00020258606989404133,-0.0003248032716603468,0.0002684191740426468],"end_effector_yaw_offset_degrees":-0.11788133836437531},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017559290484548528,-0.00011165290608438597,0.0016053693243666392],"end_effector_yaw_offset_degrees":-0.5185259762091599},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007527797978335846,-0.0003077640378976879,-0.001410977116656265],"end_effector_yaw_offset_degrees":0.7288458728390588}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004831635680982492,0.0003197093277505277],"position_m":[0.3141683643190175,-0.08908029067224947,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[1.0101145308152003e-05,-0.004955807333506213],"position_m":[0.27511010114530815,-0.34795580733350623,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036325369980258508,-0.0010459875597587324],"position_m":[0.30993253699802586,0.23635401244024126,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021780420056152373,-0.004990989741924191],"position_m":[0.3440219579943848,0.0922090102580758,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ed07db01bbcc6f3b92601de7b24e01236abf2ad68894253b6bb7000627a378b9","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_425/tex_ceiling_textures_7216/tex_floor_textures_2084/tex_table_textures_6649/tex_wall_textures_7500","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":5305475055938149210,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":5305475055938149210,"visual_seed":5305475055938149210,"scene_id":"lab_003","finished_at":"2026-09-03T20:20:16"} +{"episode_id":"ep_000038","started_at":"2026-09-03T20:20:19","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[0.441250624147298,-2.407630550041541,0.71338606911949],"aabb_xy":[[0.4304776502259302,-2.4426305482605803],[0.45202359806866577,-2.3726305518225024]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.5872987087093955,1.6496458384572814,0.71338606911949],"aabb_xy":[[0.5172987053178334,1.6143300647538505],[0.6572987121009574,1.6849616121607123]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[-0.33676704336362684,-2.1206422614169727,0.71338606911949],"aabb_xy":[[-0.3671651544627704,-2.1510491634186417],[-0.30636893226448325,-2.0902353594153027]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[-0.4809402022800533,-0.04543011934976526,0.71338606911949],"aabb_xy":[[-0.5184402023856461,-0.05225228120274638],[-0.4434402021744603,-0.03860795749678413]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.5274648670577979,-1.9033759070986713,0.71338606911949],"aabb_xy":[[0.48033548805596216,-1.9673759081430728],[0.5745942460596335,-1.839375906054269]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.6310227953691103,1.703031776788532,0.71338606911949],"aabb_xy":[[-0.6685227961611057,1.696663935830342],[-0.5935227945771148,1.7093996177467223]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[-0.44887140077174936,-0.3135955448359078,0.71338606911949],"aabb_xy":[[-0.45591171070528647,-0.3935955442355793],[-0.4418310908382125,-0.23359554543623645]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.6409752349917808,1.388871424134524,0.71338606911949],"aabb_xy":[[-0.6507312245009546,1.3791088900752893],[-0.6312192454826068,1.3986339581937581]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[0.6102756029496346,0.18077927301948016,0.71338606911949],"aabb_xy":[[0.5998640442691507,0.1754335396835817],[0.6206871616301182,0.18612500635537862]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[-0.019343857969919775,-1.9173525842796746,0.71338606911949],"aabb_xy":[[-0.05380633598300755,-1.9240162614625973],[0.015118620043167996,-1.9106889070967519]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[-0.4334170372815359,-2.4201595937826577,0.71338606911949],"aabb_xy":[[-0.4934170389244578,-2.472159743074602],[-0.3734170356386141,-2.3681594444907135]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.29241013740300387,0.5877206605860468,0.71338606911949],"aabb_xy":[[-0.35641013945273586,0.5476261774967388],[-0.22841013535327187,0.6278151436753547]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[-0.601505763359265,1.0462633581926428,0.71338606911949],"aabb_xy":[[-0.665505759754838,0.982300069773909],[-0.5375057669636919,1.1102266466113762]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.42335533659277447,-0.7056142928105049,0.71338606911949],"aabb_xy":[[0.37335533493127965,-0.7556127350662075],[0.4733553382542692,-0.6556158505548021]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.5168947284558632,1.6603129076956908,0.71338606911949],"aabb_xy":[[-0.5203354046959203,1.6564514747213266],[-0.513454052215806,1.6641743406700555]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[0.05988742240607692,0.9413445724359999,0.71338606911949],"aabb_xy":[[-0.020112574997516498,0.861352001237817],[0.13988741980967032,1.0213371436341825]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[0.33891409734363287,0.5686885958672891,0.71338606911949],"aabb_xy":[[0.32928246112320325,0.5590512830875802],[0.3485457335640625,0.5783259086469981]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[0.12524787219490086,-2.160317160202697,0.71338606911949],"aabb_xy":[[0.10857073620180535,-2.177017084176627],[0.14192500818799636,-2.1436172362287667]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.017886111799721438,-0.7128183159221959,0.71338606911949],"aabb_xy":[[-0.05379961622471112,-0.7487318241389506],[0.018027392625268243,-0.6769048077054413]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[-0.21608927996316551,-2.483200816372894,0.71338606911949],"aabb_xy":[[-0.22871606725036184,-2.492746890074467],[-0.20346249267596914,-2.4736547426713207]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.19438133937199786,-1.6301097995553584,0.71338606911949],"aabb_xy":[[0.14438133993180222,-1.6800777240396745],[0.24438133881219345,-1.5801418750710419]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[-0.33619595812605985,-1.5074896065619425,0.71338606911949],"aabb_xy":[[-0.3711959564367553,-1.5152046214854882],[-0.3011959598153644,-1.4997745916383969]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[0.6294767646323312,-0.555728850524293,0.71338606911949],"aabb_xy":[[0.6207627955823964,-0.578228851183481],[0.6381907336822654,-0.5332288498651045]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.16688337273498866,0.5758356528231938,0.71338606911949],"aabb_xy":[[-0.17558133502570397,0.5637106785157191],[-0.1581854104442734,0.5879606271306685]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[-0.3498823308477347,-1.189091387629266,0.71338606911949],"aabb_xy":[[-0.4138823301419029,-1.2530775279981203],[-0.28588233155356646,-1.125105247260412]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[-0.49293303167704683,1.772536345414617,0.71338606911949],"aabb_xy":[[-0.523417281804077,1.722536345633121],[-0.4624487815500167,1.822536345196113]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_26","position":[0.4833156046504614,-0.5844258346981088,0.71338606911949],"aabb_xy":[[0.46342456477012123,-0.5970816459828058],[0.5032066445308017,-0.5717700234134121]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_27","position":[-0.0009813744460477336,-2.1849483030742385,0.71338606911949],"aabb_xy":[[-0.014212319980729027,-2.1981757220962375],[0.01224957108863356,-2.1717208840522386]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956207283620645,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/812.png","name":"812"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/812.png","name":"812"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5382.png","name":"5382"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/660.png","name":"660"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7270.png","name":"7270"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6742.png","name":"6742"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":796.3869088918316,"rotation_z_degrees":203.34589812310168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01546899073594057,0.017713713361465867,0.013717335168093179]},{"name":"camera_2","offset_m":[0.003340307664172277,-0.002049987752589272,-0.009538647660614066]},{"name":"camera_3","offset_m":[-0.00369871936845945,-0.012167497491685234,0.019291877067674743]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002628189805449722,-0.0019148868635189232,0.0003115786670667407],"end_effector_yaw_offset_degrees":-0.6835449696688267},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004434652774751085,0.0006508503799169062,0.00046109812162515966],"end_effector_yaw_offset_degrees":-0.56225364667153},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014850186156950738,-0.0012402233531615594,0.0013896684925529274],"end_effector_yaw_offset_degrees":-0.5892143692500964}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032450325487009485,0.0014236186105075592],"position_m":[0.32224503254870096,-0.08797638138949243,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00463928413360767,-0.004146098436485778],"position_m":[0.27973928413360766,-0.3471460984364858,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002438696551823485,-0.0005518197332090779],"position_m":[0.3038613034481765,0.23684818026679091,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00130482877787626,-0.0010512217790190018],"position_m":[0.34489517122212376,0.09614877822098099,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"49a85afe257e5f5cdde0e7beef014f1c3c4e97b00471726bac2a948ec4f93a97","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0038.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_812/tex_ceiling_textures_6742/tex_floor_textures_7270/tex_table_textures_5382/tex_wall_textures_660","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":4535709665954891536,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":4535709665954891536,"visual_seed":4535709665954891536,"scene_id":"lab_003","finished_at":"2026-09-03T20:22:55"} +{"episode_id":"ep_000039","started_at":"2026-09-03T20:22:59","dimensions":{"distractor":{"count":22,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.572844992421111,-0.6672774420896208,0.71338606911949],"aabb_xy":[[0.5393658251600701,-0.7007565554607279],[0.606324159682152,-0.6337983287185139]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[0.23153881855211633,1.2619650194878504,0.71338606911949],"aabb_xy":[[0.19653881942216067,1.2562197984121861],[0.266538817682072,1.2677102405635143]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[0.4140684923169826,-1.3081100730853272,0.71338606911949],"aabb_xy":[[0.3340684937296632,-1.3874256750234881],[0.49406849090430205,-1.2287944711471663]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.08739363629022179,-2.52142951464417,0.71338606911949],"aabb_xy":[[-0.13721041575505655,-2.5714295131284732],[-0.03757685682538703,-2.4714295161598665]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[-0.31062000921402566,0.9441418730254094,0.71338606911949],"aabb_xy":[[-0.3746200112637576,0.9040473899361015],[-0.2466200071642936,0.9842363561147174]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.19240869900973112,-0.7679612988172735,0.71338606911949],"aabb_xy":[[-0.22990869911532408,-0.7747834606702545],[-0.15490869890413816,-0.7611391369642923]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.3877164986104682,0.9132433294257276,0.71338606911949],"aabb_xy":[[0.3644346564123368,0.8282433281284995],[0.4109983408085995,0.9982433307229557]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.49945177040211436,1.5721897319822733,0.71338606911949],"aabb_xy":[[-0.5219517709141549,1.5496978736168747],[-0.47695176989007365,1.5946815903476714]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[0.5110526852078938,-1.445576018846401,0.71338606911949],"aabb_xy":[[0.43105268804831853,-1.4571236198042181],[0.5910526823674691,-1.434028417888584]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[0.6788995980888264,0.7180390884240411,0.71338606911949],"aabb_xy":[[0.6654530714547829,0.7045692367709498],[0.6923461247228696,0.7315089400771323]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.10835057240086365,-1.0959197271534387,0.71338606911949],"aabb_xy":[[-0.1439797283008234,-1.1315523939102918],[-0.07272141650090391,-1.060287060396586]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.18998695038819657,1.3004779664089363,0.71338606911949],"aabb_xy":[[-0.19914682933207314,1.2939467483653992],[-0.18082707144431995,1.3070091844524734]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.31843972441710755,1.1269835393247143,0.71338606911949],"aabb_xy":[[-0.32643321421238963,1.118985407384239],[-0.3104462346218256,1.1349816712651901]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[0.6329361248464052,-2.2060604867287132,0.71338606911949],"aabb_xy":[[0.5479361261543304,-2.2380463501235917],[0.7179361235384797,-2.174074623333834]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.49220928856612045,0.6227839387407244,0.71338606911949],"aabb_xy":[[0.46837307092551544,0.5327839379322379],[0.5160455062067255,0.7127839395492108]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.33423331215206775,-0.8293149777465008,0.71338606911949],"aabb_xy":[[0.32339283392555285,-0.8465012590371496],[0.34507379037858266,-0.812128696455852]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[-0.03569787452490458,-1.289376941708239,0.71338606911949],"aabb_xy":[[-0.080690461243355,-1.3343769409826876],[0.009294712193545829,-1.24437694243379]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.556553985754848,-1.1293132364161302,0.71338606911949],"aabb_xy":[[-0.6465539851732188,-1.1626887332603197],[-0.46655398633647704,-1.0959377395719403]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[-0.4276217460807448,-2.012076685221051,0.71338606911949],"aabb_xy":[[-0.5076217465509607,-2.0203873928353993],[-0.3476217456105289,-2.0037659776067027]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.5755142637521123,-2.3464263822375564,0.71338606911949],"aabb_xy":[[-0.6101053466061575,-2.411426382522587],[-0.540923180898067,-2.281426381952525]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[0.026783711617339723,1.0908550134776323,0.71338606911949],"aabb_xy":[[0.007671404259360859,1.0717202346003905],[0.04589601897531859,1.1099897923548745]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.4780701473503862,-0.09573237052894168,0.71338606911949],"aabb_xy":[[-0.5680701496844054,-0.17321472511405434],[-0.3880701450163672,-0.018250015943829023]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6946782859737298,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4121.png","name":"4121"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4121.png","name":"4121"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3863.png","name":"3863"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/433.png","name":"433"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5499.png","name":"5499"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/267.png","name":"267"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":756.6877288058381,"rotation_z_degrees":249.11742837802237,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010328003898632287,0.006568553521615398,-0.0003125084081911089]},{"name":"camera_2","offset_m":[0.017166938143397547,-0.009542882703963898,0.019839745932440592]},{"name":"camera_3","offset_m":[-0.010687296191699622,-0.009603853241949718,0.019184285395273826]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005077136959559672,0.0018487624287734784,0.00030357043708941194],"end_effector_yaw_offset_degrees":-0.997633547124132},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007511924825071336,0.0006048164663144235,-0.0018282937894780803],"end_effector_yaw_offset_degrees":0.6189246366576828},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011957567919799522,0.00029073727849692615,0.0015097014034472422],"end_effector_yaw_offset_degrees":-0.16308291713396428}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025480062134835627,-0.0013655112024389747],"position_m":[0.32154800621348356,-0.09076551120243896,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0041869544001257005,-0.003042312011012619],"position_m":[0.2792869544001257,-0.34604231201101265,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029855450349473346,0.004934039292603076],"position_m":[0.30331445496505266,0.24233403929260308,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005845739623257249,0.0007127667855849592],"position_m":[0.34678457396232576,0.09791276678558496,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b4fe1cf4e11d1607983bc663b3fcf6ed82d4f7b943a00584c2a70d62e1ba11f3","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4121/tex_ceiling_textures_267/tex_floor_textures_5499/tex_table_textures_3863/tex_wall_textures_433","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":767205159936131159,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":767205159936131159,"visual_seed":767205159936131159,"scene_id":"lab_003","finished_at":"2026-09-03T20:25:40"} +{"episode_id":"ep_000040","started_at":"2026-09-03T20:25:43","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.40754578076299985,-1.573523795981883,0.71338606911949],"aabb_xy":[[0.3275457821061139,-1.5880286549061458],[0.4875457794198859,-1.5590189370576204]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[0.4543209884930042,0.05306877909255059,0.71338606911949],"aabb_xy":[[0.45018513216030404,0.015568779648193587],[0.4584568448257044,0.09056877853690759]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.1504360534879351,-1.7574402982002115,0.71338606911949],"aabb_xy":[[-0.2204360561245214,-1.7775451631960766],[-0.08043605085134872,-1.7373354332043456]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[-0.3985746253393601,0.09265600110744554,0.71338606911949],"aabb_xy":[[-0.4129090504655236,0.0805957855529067],[-0.3842402002131967,0.10471621666198438]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[0.2608207979951568,-0.6823720671485192,0.71338606911949],"aabb_xy":[[0.25066778244100735,-0.7184416087212593],[0.2709738135493061,-0.6463025255757786]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.08924243913832963,-1.8940544187470874,0.71338606911949],"aabb_xy":[[-0.13924243871466435,-1.9440349976991935],[-0.03924243956199491,-1.8440738397949816]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[-0.04764226643036218,-2.2767786076062326,0.71338606911949],"aabb_xy":[[-0.13764226615353634,-2.299851960141412],[0.042357733292812005,-2.2537052550710523]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[0.5277195822226153,0.867986738682827,0.71338606911949],"aabb_xy":[[0.44771958175239945,0.8596760310684787],[0.6077195826928313,0.8762974462971754]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.17745942190437058,1.6168439383373099,0.71338606911949],"aabb_xy":[[-0.1882999001308855,1.599657657046661],[-0.16661894367785568,1.6340302196279584]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.11072213040364787,-0.578619374626864,0.71338606911949],"aabb_xy":[[-0.14120638053067802,-0.6286193744083598],[-0.0802378802766177,-0.5286193748453679]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[-0.0708381053811804,-1.543612622086791,0.71338606911949],"aabb_xy":[[-0.11692319663591189,-1.607612619339346],[-0.024753014126448935,-1.4796126248342358]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.4361976227521503,-1.6634381695714096,0.71338606911949],"aabb_xy":[[-0.5161976230257572,-1.7363877173971265],[-0.3561976224785433,-1.590488621745693]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.027666689888896756,1.2525264417546618,0.71338606911949],"aabb_xy":[[0.023550739776824085,1.248410886721816],[0.03178264000096941,1.256641996787507]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[0.5041177528513923,0.4674850261164516,0.71338606911949],"aabb_xy":[[0.4981512139106565,0.46152388145708745],[0.510084291792128,0.4734461707758155]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.4027872236409078,1.750920373645981,0.71338606911949],"aabb_xy":[[0.33878722505433534,1.7039134102464726],[0.46678722222748026,1.79792733704549]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[0.42327286642872664,-1.9764890384209526,0.71338606911949],"aabb_xy":[[0.41527937663344466,-1.9844871703614286],[0.4312663562240087,-1.9684909064804774]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.08873188859779757,0.3989736639781247,0.71338606911949],"aabb_xy":[[-0.10631019078674442,0.38139917440401977],[-0.07115358640885072,0.41654815355222957]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[-0.1359155363731369,-1.1360874369959277,0.71338606911949],"aabb_xy":[[-0.1859155373236697,-1.167636583999449],[-0.08591553542260408,-1.104538289992406]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[-0.26055439780273915,0.8025838237236798,0.71338606911949],"aabb_xy":[[-0.27723153379583465,0.7858838997497495],[-0.24387726180964364,0.81928374769761]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.3636553627644238,-2.246498365992851,0.71338606911949],"aabb_xy":[[-0.4005059107014114,-2.283998366815885],[-0.3268048148274362,-2.2089983651698177]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.5171692487502694,-0.3319093307589531,0.71338606911949],"aabb_xy":[[-0.5546692473258901,-0.34464562642251106],[-0.4796692501746485,-0.3191730350953952]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[0.3630980106935604,0.5989790474466399,0.71338606911949],"aabb_xy":[[0.3030980108469936,0.5421604252536012],[0.4230980105401272,0.6557976696396786]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.6538273115445302,1.1811847769759045,0.71338606911949],"aabb_xy":[[-0.65790546945158,1.1771037967276412],[-0.6497491536374804,1.1852657572241678]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.6237862030069925,-0.6536383846078682,0.71338606911949],"aabb_xy":[[0.5736887390259189,-0.71763838511768],[0.6738836669880661,-0.5896383840980564]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[-0.20740553128342565,-0.8134151778392908,0.71338606911949],"aabb_xy":[[-0.2385524501270088,-0.8834151765260979],[-0.17625861243984256,-0.7434151791524836]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[-0.0064582869419214095,1.393153151835317,0.71338606911949],"aabb_xy":[[-0.05645756211035757,1.34315315055937],[0.043540988226514754,1.4431531531112642]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[-0.2048835364964523,0.6267169073974923,0.71338606911949],"aabb_xy":[[-0.2598572585327852,0.5717169078332592],[-0.14990981446011942,0.6817169069617256]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_27","position":[0.17786022571997262,0.6278763794814601,0.71338606911949],"aabb_xy":[[0.12273502009038183,0.567876378040173],[0.23298543134956337,0.6878763809227473]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_28","position":[0.6711744723369606,1.649469937985566,0.71338606911949],"aabb_xy":[[0.6560023030553273,1.6343010810573628],[0.6863466416185939,1.6646387949137695]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_29","position":[0.641243595264531,-1.042204528863905,0.71338606911949],"aabb_xy":[[0.6187435954506286,-1.0466791452343858],[0.6637435950784334,-1.0377299124934243]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_30","position":[0.4345723204825931,1.3544412668267527,0.71338606911949],"aabb_xy":[[0.3995723213526374,1.3486960457510884],[0.46957231961254875,1.3601864879024166]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[-0.1075987442413876,-0.2227362978660392,0.71338606911949],"aabb_xy":[[-0.11640079955036031,-0.2305476240209683],[-0.09879668893241489,-0.21492497171111014]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_32","position":[0.16915071998270614,1.2800306505118475,0.71338606911949],"aabb_xy":[[0.15790566441208828,1.268788852787752],[0.18039577555332395,1.2912724482359426]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_33","position":[-0.3064791420794258,-0.5436203750344144,0.71338606911949],"aabb_xy":[[-0.31725211600079356,-0.5786203732534533],[-0.295706168158058,-0.5086203768153753]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892925200216932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4273.png","name":"4273"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4273.png","name":"4273"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1827.png","name":"1827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1079.png","name":"1079"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4997.png","name":"4997"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3765.png","name":"3765"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":710.2668424957033,"rotation_z_degrees":44.89830252086521,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007469135053731021,-0.0020483576022643883,0.007986660608557614]},{"name":"camera_2","offset_m":[-0.014575423263672938,0.018443538499468306,0.0058017245273454775]},{"name":"camera_3","offset_m":[-0.006932313509242146,-0.012860983027936639,-0.0016477311133342408]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015772031783442692,0.00031316242768787,-0.001638653363922428],"end_effector_yaw_offset_degrees":-0.9304885983632973},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00030189229761799254,-0.00044047387921423205,0.0018474388525533234],"end_effector_yaw_offset_degrees":-0.137244378276572},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012402758005328484,-0.0005065596620552402,-0.0018687992272619165],"end_effector_yaw_offset_degrees":0.6365547855614937}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006450953796737161,-0.0040087804344221285],"position_m":[0.3183549046203263,-0.09340878043442212,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017185285284616655,0.003501446763901535],"position_m":[0.27681852852846167,-0.3394985532360985,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017008485474262957,0.0038708783812782923],"position_m":[0.3080008485474263,0.24127087838127828,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001881598620872985,-0.0028397204709345813],"position_m":[0.348081598620873,0.09436027952906541,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"34a6342b58c27d3241c070b17ac0d14c3d8e18b24ec7d6466eb87fc334d3347c","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0040.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4273/tex_ceiling_textures_3765/tex_floor_textures_4997/tex_table_textures_1827/tex_wall_textures_1079","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1544641302150273274,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1544641302150273274,"visual_seed":1544641302150273274,"scene_id":"lab_003","finished_at":"2026-09-03T20:28:18"} +{"episode_id":"ep_000041","started_at":"2026-09-03T20:28:21","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[-0.3822508840429895,-0.8120216231407174,0.71338606911949],"aabb_xy":[[-0.4293802630448251,-0.8760216241851191],[-0.33512150504115373,-0.7480216220963152]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.09623790091695283,-1.3188852052834426,0.71338606911949],"aabb_xy":[[-0.17623790234708003,-1.3984023602960518],[-0.016237899486825635,-1.2393680502708329]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[0.3475912978701028,1.2564746927647064,0.71338606911949],"aabb_xy":[[0.33602231712316627,1.2314746926477749],[0.3591602786170394,1.2814746928816383]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[0.6605715757389881,0.0033185026997224476,0.71338606911949],"aabb_xy":[[0.6533278096927427,-0.07668149550387993],[0.6678153417852334,0.08331850090332482]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.3435332495197445,1.6607656730075724,0.71338606911949],"aabb_xy":[[0.3393973931870443,1.6232656735632156],[0.3476691058524447,1.6982656724519296]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[0.5199287384411988,0.880688455935855,0.71338606911949],"aabb_xy":[[0.48648856324517903,0.8472448301049249],[0.5533689136372182,0.9141320817667851]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[0.3777528369877421,-2.3716113888070276,0.71338606911949],"aabb_xy":[[0.34025283841212123,-2.384347684470585],[0.41525283556336284,-2.358875093143469]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.07708561367017641,-1.8630320917684324,0.71338606911949],"aabb_xy":[[0.05998353571180827,-1.880138897299702],[0.09418769162854458,-1.8459252862371625]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[-0.4076381945164372,-1.5416145102818768,0.71338606911949],"aabb_xy":[[-0.47763819664786666,-1.5643764759075722],[-0.3376381923850076,-1.518852544656181]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[0.6560345235961698,1.705020749930807,0.71338606911949],"aabb_xy":[[0.6190004141681099,1.6706435425970974],[0.6930686330242294,1.7393979572645162]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.5505577286825625,0.7671200248108794,0.71338606911949],"aabb_xy":[[-0.6305577319404054,0.6871235170188953],[-0.4705577254247195,0.8471165326028632]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.5230838899707235,0.05314319447243587,0.71338606911949],"aabb_xy":[[0.4952388531901164,0.022358695734124183],[0.5509289267513306,0.08392769321074756]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.49179176445133876,0.06983321153794009,0.71338606911949],"aabb_xy":[[-0.5285863975762449,0.0329273364413578],[-0.4549971313264324,0.10673908663452235]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[-0.48798006560355767,-0.23443819631761542,0.71338606911949],"aabb_xy":[[-0.4918939387989802,-0.24318721172417218],[-0.48406619240813514,-0.22568918091105866]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.5213833653164925,0.7214845733711472,0.71338606911949],"aabb_xy":[[0.4613833636735707,0.669484424079203],[0.5813833669594144,0.7734847226630914]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[-0.5519425801344869,0.33403042225898183,0.71338606911949],"aabb_xy":[[-0.6019425797108217,0.2840498433068759],[-0.5019425805581522,0.3840110012110878]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.6759504131048941,-1.564859451675226,0.71338606911949],"aabb_xy":[[0.6679241424742682,-1.5736109466525787],[0.6839766837355202,-1.5561079566978735]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.3912195343865122,-1.9538329941149586,0.71338606911949],"aabb_xy":[[-0.4562195353436394,-2.005781206048664],[-0.326219533429385,-1.901884782181253]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[-0.252354889826812,-2.130049155703329,0.71338606911949],"aabb_xy":[[-0.31635489008728274,-2.1750579550562565],[-0.18835488956634114,-2.0850403563504005]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[-0.15264513828915716,-1.599172891706948,0.71338606911949],"aabb_xy":[[-0.24264513688362713,-1.6154234780203693],[-0.06264513969468724,-1.5829223053935273]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.161244256266043,0.45244294197141244,0.71338606911949],"aabb_xy":[[-0.24124425733916335,0.442664895634028],[-0.08124425519292269,0.4622209883087969]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[-0.5642276570855542,-1.6380228229135785,0.71338606911949],"aabb_xy":[[-0.5817275905195375,-1.6555228228338128],[-0.5467277236515707,-1.6205228229933437]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.6394807667617195,0.6261955450060381,0.71338606911949],"aabb_xy":[[0.6341431910957149,0.6011955440768983],[0.6448183424277241,0.6511955459351779]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[-0.1796459166324369,-0.9016643084123837,0.71338606911949],"aabb_xy":[[-0.22964591791627684,-0.9516431628030058],[-0.1296459153485969,-0.8516854540217615]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[-0.44113095453513507,0.5248253235550902,0.71338606911949],"aabb_xy":[[-0.4450914383048694,0.5171574589695697],[-0.4371704707654007,0.5324931881406109]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877818361969124,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5237.png","name":"5237"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5237.png","name":"5237"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4357.png","name":"4357"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2783.png","name":"2783"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3900.png","name":"3900"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6872.png","name":"6872"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":828.1193856250559,"rotation_z_degrees":311.5968200858819,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010391579903733445,-0.009819018253498731,0.004437358148873333]},{"name":"camera_2","offset_m":[-0.0035803649519010293,-0.001645805367096232,-0.017820375700082068]},{"name":"camera_3","offset_m":[0.015629701399477874,-0.0016438986025559335,-0.00133626586783624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018737453428323283,-0.0006999274051770438,0.0003752492794077229],"end_effector_yaw_offset_degrees":0.5625077892249357},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00011865128224692809,0.001663493901324948,-0.0008314435407589453],"end_effector_yaw_offset_degrees":-0.5174780323716801},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010133925987946633,-0.0016248980384126785,0.000883878211289955],"end_effector_yaw_offset_degrees":-0.9026952830442281}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0042501404801779784,-0.0007966135342685069],"position_m":[0.31474985951982204,-0.0901966135342685,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015989874216551258,0.0007308993308637992],"position_m":[0.27350101257834486,-0.34226910066913624,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005521507543506665,0.001072282697946893],"position_m":[0.3068521507543507,0.2384722826979469,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004332040352999271,-0.0011249456041661512],"position_m":[0.34186795964700073,0.09607505439583384,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dde05ab7dcddc629d08e5c6f68c4025695ab00b60a745d7a1693855833f43e4b","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0041.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5237/tex_ceiling_textures_6872/tex_floor_textures_3900/tex_table_textures_4357/tex_wall_textures_2783","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":4776351903600647397,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":4776351903600647397,"visual_seed":4776351903600647397,"scene_id":"lab_003","finished_at":"2026-09-03T20:31:01"} +{"episode_id":"ep_000042","started_at":"2026-09-03T20:31:06","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[-0.005132741875298885,-1.3588673686419597,0.71338606911949],"aabb_xy":[[-0.04013274018599433,-1.366582383565505],[0.02986725643539656,-1.3511523537184138]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[-0.15507784610748754,0.7373934670898685,0.71338606911949],"aabb_xy":[[-0.19632665713740222,0.6823934675776511],[-0.11382903507757276,0.792393466602086]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.31912384607318095,0.10957348686004531,0.71338606911949],"aabb_xy":[[-0.3278218083638963,0.09744851255257062],[-0.3104258837824657,0.12169846116752006]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[0.309130080640887,-1.2755973968403456,0.71338606911949],"aabb_xy":[[0.2741300823707671,-1.2826715245353335],[0.3441300789110069,-1.2685232691453572]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.6645921505948655,-0.7342316692641262,0.71338606911949],"aabb_xy":[[0.6605139926878159,-0.7383126495123894],[0.6686703085019152,-0.7301506890158628]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[-0.19938222972667125,0.04605165055750016,0.71338606911949],"aabb_xy":[[-0.20742558965262645,-0.038948350537866286],[-0.1913388698007161,0.13105165165286659]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[0.12365727064046017,-2.181992646940956,0.71338606911949],"aabb_xy":[[0.059657271346291965,-2.2459787873098103],[0.1876572699346284,-2.118006506572102]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.5150346582847698,0.8870379460491402,0.71338606911949],"aabb_xy":[[0.47753465762019104,0.8713508880489178],[0.5525346589493484,0.9027250040493622]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.2550966451645065,-2.4533864150520754,0.71338606911949],"aabb_xy":[[-0.31909664707684887,-2.509297564310086],[-0.1910966432521642,-2.397475265794065]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.009355119115341148,1.5452114141574822,0.71338606911949],"aabb_xy":[[-0.07335511938931938,1.4951453139601942],[0.05464488115863708,1.5952775143547702]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[0.3215823608371209,0.7587111954738335,0.71338606911949],"aabb_xy":[[0.23158236410151067,0.705527732156539],[0.4115823575727311,0.811894658791128]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.19434744325307352,0.2625366776614335,0.71338606911949],"aabb_xy":[[-0.23951876110124254,0.19853668051689516],[-0.14917612540490457,0.326536674805972]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[0.21809404320753023,-0.608423065945848,0.71338606911949],"aabb_xy":[[0.20846240698710058,-0.618060378725557],[0.22772567942795982,-0.5987857531661391]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.4267784074515918,1.1764527613954665,0.71338606911949],"aabb_xy":[[-0.4503635309154867,1.1114527591500345],[-0.403193283987697,1.241452763640898]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.19015815530785973,1.3741820425804794,0.71338606911949],"aabb_xy":[[0.17248252471926137,1.3565018263010764],[0.20783378589645804,1.391862258859882]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[0.047349448019469165,-1.8769723265427576,0.71338606911949],"aabb_xy":[[-0.032650552254137814,-1.9499218743684745],[0.12734944829307612,-1.804022778717041]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.656380522681363,-1.3347253224914617,0.71338606911949],"aabb_xy":[[0.6420460975551997,-1.3467855380460003],[0.6707149478075266,-1.3226651069369226]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.2172168563942588,-0.40588158662629903,0.71338606911949],"aabb_xy":[[-0.22543140150994279,-0.4145581769239402],[-0.20900231127857483,-0.39720499632865763]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[0.16024742896240152,-2.414039938166967,0.71338606911949],"aabb_xy":[[0.13896942081892924,-2.4790399404930397],[0.18152543710587374,-2.3490399358408935]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[-0.527019044781996,-0.3882313070166341,0.71338606911949],"aabb_xy":[[-0.6170190433764661,-0.40448189333005513],[-0.4370190461875262,-0.3719807207032131]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.1469532928148205,1.1237358815757972,0.71338606911949],"aabb_xy":[[-0.1719532927473384,1.116853213354874],[-0.12195329288230261,1.1306185497967207]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.15737066628102636,0.8172180704468452,0.71338606911949],"aabb_xy":[[0.144219420309737,0.7922180706901587],[0.17052191225231572,0.8422180702035318]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[-0.5304071646181567,0.2606963255327672,0.71338606911949],"aabb_xy":[[-0.5654071659696384,0.24033658957594636],[-0.49540716326667494,0.281056061489588]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[-0.5905368851344678,1.052722900811522,0.71338606911949],"aabb_xy":[[-0.6755368838265424,1.0207370374166431],[-0.5055368864423931,1.0847087642064008]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[0.24327889409203485,-1.5652844593201145,0.71338606911949],"aabb_xy":[[0.1632788961112498,-1.5728860002819662],[0.3232788920728199,-1.5576829183582623]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690425493342457,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4972.png","name":"4972"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4972.png","name":"4972"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3161.png","name":"3161"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7430.png","name":"7430"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2536.png","name":"2536"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7538.png","name":"7538"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":702.5183657537107,"rotation_z_degrees":328.69197056542225,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009870647790880812,0.018694531719015316,-0.005086731728093836]},{"name":"camera_2","offset_m":[0.015241837417264776,-0.0019332455373126355,0.0006345461553200551]},{"name":"camera_3","offset_m":[-0.005596570856891851,-0.01542973255080037,0.004244537940388704]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.81934337471556e-05,0.0001823498040885935,2.0299076783996794e-05],"end_effector_yaw_offset_degrees":0.6452148398214159},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00066750321528533,0.0015781435531075352,-0.0016164174305879561],"end_effector_yaw_offset_degrees":0.08543403591647403},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010964245946099896,0.00017900655155194496,-0.0018507632287751675],"end_effector_yaw_offset_degrees":-0.5706950403977471}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029774264579657417,0.0042210974295334635],"position_m":[0.3160225735420343,-0.08517890257046654,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001379834208113293,0.0006133100980117798],"position_m":[0.2764798342081133,-0.34238668990198823,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033463094486546963,0.0042931544838684535],"position_m":[0.30964630944865473,0.24169315448386847,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004348260834379086,-0.0026914471905353844],"position_m":[0.34185173916562095,0.09450855280946462,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"28095efe06bd8977803194575ff86618f0af22dbdeeb4c84bcd844d08eafdf93","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4972/tex_ceiling_textures_7538/tex_floor_textures_2536/tex_table_textures_3161/tex_wall_textures_7430","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3166066388615581590,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3166066388615581590,"visual_seed":3166066388615581590,"scene_id":"lab_003","finished_at":"2026-09-03T20:33:51"} +{"episode_id":"ep_000043","started_at":"2026-09-03T20:33:54","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[0.5155384300681491,-1.6229370138780692,0.71338606911949],"aabb_xy":[[0.49304200863428504,-1.6454370136848169],[0.5380348515020132,-1.600437014071322]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.6203809994877082,-0.15724757893949803,0.71338606911949],"aabb_xy":[[-0.6903809958976698,-0.17768551459117968],[-0.5503810030777462,-0.13680964328781622]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[0.5749298228059163,-0.6067999213142579,0.71338606911949],"aabb_xy":[[0.5250471259282202,-0.6567999205605327],[0.6248125196836126,-0.5567999220679832]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.25954097628776185,0.24515760865442182,0.71338606911949],"aabb_xy":[[-0.2777467999490096,0.2341322080724302],[-0.24133515262651423,0.25618300923641346]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[-0.28229572331962727,-0.7269467497072775,0.71338606911949],"aabb_xy":[[-0.3075165601794668,-0.7521705005601641],[-0.2570748864597875,-0.7017229988543906]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.023700180738167598,1.739362297872702,0.71338606911949],"aabb_xy":[[-0.04698202293629893,1.6543622965754736],[-0.000418338540036256,1.8243622991699298]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.4854888839601853,1.7586871778611424,0.71338606911949],"aabb_xy":[[-0.5079888844722258,1.7361953194957438],[-0.46298888344814465,1.7811790362265405]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[-0.4136259380050867,-1.9842339696458802,0.71338606911949],"aabb_xy":[[-0.46360335487034016,-2.0342339711351283],[-0.363648521139833,-1.9342339681566312]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.43091242209741976,-0.7597702533861106,0.71338606911949],"aabb_xy":[[-0.4885428909846905,-0.819770252312821],[-0.37328195321014884,-0.6997702544593999]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[0.3534858608668474,-0.4686991590160652,0.71338606911949],"aabb_xy":[[0.3447046337196113,-0.47747890630459544],[0.36226708801408375,-0.45991941172753514]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.41520166481187926,-1.7625561408054082,0.71338606911949],"aabb_xy":[[0.40870002830387464,-1.7723239628317182],[0.42170330131988387,-1.7527883187790987]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.4531663052112289,0.34901775498925014,0.71338606911949],"aabb_xy":[[0.3981740545757181,0.29401775324593743],[0.50815855584674,0.404017756732563]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.41400550329132324,1.2605617836151053,0.71338606911949],"aabb_xy":[[0.40769340375498486,1.2547948443618864],[0.42031760282766173,1.2663287228683242]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[-0.6416167233090115,-1.9514202062203085,0.71338606911949],"aabb_xy":[[-0.6914335027738463,-2.001420204704612],[-0.5917999438441768,-1.901420207736005]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.49058014166290476,-1.7483360433852875,0.71338606911949],"aabb_xy":[[0.4714678343049259,-1.7674708222625297],[0.5096924490208836,-1.7292012645080457]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.05258062204071501,-2.09235752339471,0.71338606911949],"aabb_xy":[[0.04121888738742885,-2.1037259898009983],[0.06394235669400117,-2.0809890569884217]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[0.4308067022548776,1.3861880946620655,0.71338606911949],"aabb_xy":[[0.40722157879098275,1.3211880924166337],[0.45439182571877246,1.4511880969074973]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[-0.12287851628569657,1.4900801141867945,0.71338606911949],"aabb_xy":[[-0.18787851739163985,1.4651147411186662],[-0.05787851517975329,1.5150454872549228]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[-0.31009192526305973,1.3070118367651942,0.71338606911949],"aabb_xy":[[-0.3205034839435434,1.3016661034292958],[-0.29968036658257596,1.3123575701010926]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[-0.011060680690570646,-2.5365692655158956,0.71338606911949],"aabb_xy":[[-0.048560681875363436,-2.5409874882119556],[0.026439320494222145,-2.5321510428198346]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[-0.4725041462273339,-1.720961119395961,0.71338606911949],"aabb_xy":[[-0.5274778682636667,-1.7759611189601943],[-0.41753042419100106,-1.665961119831728]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[-0.07278765860720393,-0.2678628070959048,0.71338606911949],"aabb_xy":[[-0.08194753755108053,-0.27439402513944183],[-0.06362777966332733,-0.2613315890523678]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[-0.09986396315230106,-0.8836595990430756,0.71338606911949],"aabb_xy":[[-0.10583050209303685,-0.8896207437024396],[-0.09389742421156527,-0.8776984543837115]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[-0.23123422247956243,1.6241031087858908,0.71338606911949],"aabb_xy":[[-0.2952342257692705,1.5807681897819732],[-0.1672342191898543,1.6674380277898084]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[0.09135758832118757,-1.1838949324146646,0.71338606911949],"aabb_xy":[[0.07529566086266991,-1.2688949342272562],[0.1074195157797052,-1.0988949306020726]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[-0.5435388255077127,-0.028791064780775866,0.71338606911949],"aabb_xy":[[-0.5469795017477699,-0.032652497755140356],[-0.5400981492676555,-0.0249296318064114]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[0.1747721185030474,1.058021623723044,0.71338606911949],"aabb_xy":[[0.09477212154000822,0.9809459820792703],[0.2547721154660866,1.1350972653668172]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.3526373814899235,1.5658143570254537,0.71338606911949],"aabb_xy":[[0.3153061049646809,1.5311613022306012],[0.3899686580151661,1.6004674118203057]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[-0.22510191314470746,0.6241492146425656,0.71338606911949],"aabb_xy":[[-0.289097610539804,0.5601492163418568],[-0.16110621574961084,0.6881492129432741]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[0.6293171936339124,0.7109210589040251,0.71338606911949],"aabb_xy":[[0.5743171940121665,0.6559373661165525],[0.6843171932556582,0.765904751691498]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_30","position":[0.6137407372328163,-1.1522180165353924,0.71338606911949],"aabb_xy":[[0.6093101078779762,-1.1576663882700753],[0.6181713665876566,-1.1467696448007099]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_31","position":[0.5546694706424389,-2.5181976071234793,0.71338606911949],"aabb_xy":[[0.48966947208536604,-2.5479501405373615],[0.6196694691995117,-2.4884450737095962]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_32","position":[-0.5919594177643271,-0.6986001075954549,0.71338606911949],"aabb_xy":[[-0.6294594163399478,-0.7113364032590126],[-0.5544594191887062,-0.6858638119318967]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_33","position":[0.5273226894965817,-1.3624218855104924,0.71338606911949],"aabb_xy":[[0.4898226888320029,-1.3781089435107143],[0.5648226901611603,-1.34673482751027]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_34","position":[-0.40291713242204075,0.07909849281143622,0.71338606911949],"aabb_xy":[[-0.45291713106796194,0.029178949151973832],[-0.35291713377611955,0.1290180364708986]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951480916281337,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4804.png","name":"4804"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4804.png","name":"4804"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4447.png","name":"4447"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2461.png","name":"2461"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9221.png","name":"9221"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7200.png","name":"7200"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":622.0358094652915,"rotation_z_degrees":98.75253589134512,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013584522972655645,0.0046230503916454176,0.018157472559527956]},{"name":"camera_2","offset_m":[-0.0186596741500539,-0.017364469842038557,-0.018772790033992636]},{"name":"camera_3","offset_m":[-0.019626628362249727,-0.017713941973747156,-0.014238464651870938]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00029287406171405904,0.0005779838963204855,-0.0014447050085068368],"end_effector_yaw_offset_degrees":-0.4563460551216003},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010846108989109753,-0.0006527530671106415,0.001629787889896117],"end_effector_yaw_offset_degrees":-0.42707619810032305},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016184774037702864,-0.0014597487032750696,-0.0004614337431765173],"end_effector_yaw_offset_degrees":0.6447719854356013}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016111585272555844,0.0002960412924395781],"position_m":[0.3206111585272556,-0.08910395870756041,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00428043154037572,-0.0038221401397744185],"position_m":[0.27938043154037573,-0.34682214013977447,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012916507525436217,-0.0016106004278165],"position_m":[0.3050083492474564,0.2357893995721835,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004050931868129055,0.0049865631456578125],"position_m":[0.34214906813187096,0.10218656314565781,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37fc6ac22ac1d6e02cdad6137c78c138cd3506467fd0e4d606a8de0f1c543a33","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4804/tex_ceiling_textures_7200/tex_floor_textures_9221/tex_table_textures_4447/tex_wall_textures_2461","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":8195603586131540610,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":8195603586131540610,"visual_seed":8195603586131540610,"scene_id":"lab_003","finished_at":"2026-09-03T20:36:40"} +{"episode_id":"ep_000044","started_at":"2026-09-03T20:36:42","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.37792722905839693,-0.13368518095715443,0.71338606911949],"aabb_xy":[[-0.437927229309798,-0.18796650599361905],[-0.31792722880699564,-0.07940385592068974]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.08504801161872422,1.619772593000834,0.71338606911949],"aabb_xy":[[-0.13004059833717463,1.574772593726385],[-0.040055424900273806,1.6647725922752825]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.08492412109270642,-1.2719549861678758,0.71338606911949],"aabb_xy":[[-0.09101874898082474,-1.2805243807195446],[-0.0788294932045881,-1.2633855916162071]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.012463763154746399,1.5062502095821375,0.71338606911949],"aabb_xy":[[0.007564470848182901,1.4785732902795685],[0.017363055461309895,1.533927128884706]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.4126753940078265,1.6045098933553432,0.71338606911949],"aabb_xy":[[-0.42352700025670204,1.5936506026276924],[-0.40182378775895083,1.6153691840829945]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.39890052452053276,-2.4943856698762468,0.71338606911949],"aabb_xy":[[-0.40260378584967155,-2.498087688184964],[-0.39519726319139387,-2.4906836515675286]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.37494435600344433,-1.4967431362126808,0.71338606911949],"aabb_xy":[[-0.39011652528507773,-1.5119119931408844],[-0.35977218672181105,-1.4815742792844777]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.5782251648605772,0.665924667568004,0.71338606911949],"aabb_xy":[[0.5282303319326357,0.6159246686727604],[0.6282199977885189,0.7159246664632475]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.08460478077045408,-2.2041268410995096,0.71338606911949],"aabb_xy":[[-0.10210478004854096,-2.2214649411658556],[-0.0671047814923672,-2.1867887410331637]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[-0.09120282182803052,1.3696675014839719,0.71338606911949],"aabb_xy":[[-0.10367017993776619,1.3572021768506488],[-0.07873546371829489,1.3821328261172958]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.05267166493609654,-1.8036994378828262,0.71338606911949],"aabb_xy":[[0.007500347087927574,-1.8676994350273646],[0.09784298278426554,-1.7396994407382878]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.24295781098686597,-1.2822488834481696,0.71338606911949],"aabb_xy":[[-0.26545781080076836,-1.2867234998186503],[-0.22045781117296356,-1.2777742670776888]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[0.3170360127602061,1.712147300307127,0.71338606911949],"aabb_xy":[[0.23331378726012358,1.622147296772431],[0.4007582382602885,1.802147303841823]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[-0.15968054968887424,-0.10544420963512202,0.71338606911949],"aabb_xy":[[-0.16909802425873696,-0.11486038677284105],[-0.15026307511901146,-0.096028032497403]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[0.6418352653679236,0.9051909828940534,0.71338606911949],"aabb_xy":[[0.6309294892803607,0.8251909864952243],[0.6527410414554862,0.9851909792928826]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[-0.2945452599336943,0.5289373302930476,0.71338606911949],"aabb_xy":[[-0.3228749698822346,0.5244765880993306],[-0.2662155499851541,0.5333980724867647]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[0.2521384589410164,1.1846230306368364,0.71338606911949],"aabb_xy":[[0.17213845847080042,1.1763123230224881],[0.3321384594112323,1.1929337382511846]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[0.43301685354728603,-1.3263779228824792,0.71338606911949],"aabb_xy":[[0.39551685203165426,-1.3376046958986243],[0.4705168550629177,-1.3151511498663342]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.1332699112117236,-0.8992956773074197,0.71338606911949],"aabb_xy":[[0.1158391961327171,-0.9165677919712703],[0.1507006262907301,-0.8820235626435686]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[0.06407327826665554,-1.0891121389651122,0.71338606911949],"aabb_xy":[[0.0090732786449097,-1.144095831752585],[0.11907327788840139,-1.0341284461776394]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.0035920597965851675,-1.4367820316235005,0.71338606911949],"aabb_xy":[[-0.06359206030443808,-1.4936287653094218],[0.05640794071126775,-1.3799352979375792]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6944162775091499,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/549.png","name":"549"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/549.png","name":"549"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3581.png","name":"3581"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2985.png","name":"2985"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7296.png","name":"7296"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1979.png","name":"1979"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":667.138854827169,"rotation_z_degrees":92.54910170703403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017956640120092206,-0.01558727868574496,0.008961873238011637]},{"name":"camera_2","offset_m":[0.001109987022083203,0.013932783174076289,0.018686671599814523]},{"name":"camera_3","offset_m":[-0.017901667051071893,-0.012148105905292868,0.004603283588376993]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006559673164496784,0.00033034075592598385,0.0017539641221441479],"end_effector_yaw_offset_degrees":-0.8345850127431709},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013729952453627307,0.0018196135297689742,-0.0015462392970162408],"end_effector_yaw_offset_degrees":0.3853222895172155},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003413284785504923,0.0010990756095958587,0.0012551878484315408],"end_effector_yaw_offset_degrees":-0.6911156769827547}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004080827678130189,0.0047377910065660835],"position_m":[0.3230808276781302,-0.08466220899343391,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0041444890389545465,-0.00259006145142508],"position_m":[0.27924448903895455,-0.3455900614514251,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021078694381916675,-0.004808465839558141],"position_m":[0.3041921305618083,0.23259153416044187,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00448941606921393,-0.0024688421592338685],"position_m":[0.35068941606921394,0.09473115784076612,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3a7122b17028ae810d593f911f1167ce1acb8c9240c6287f76f9e920d1ce2a3c","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_549/tex_ceiling_textures_1979/tex_floor_textures_7296/tex_table_textures_3581/tex_wall_textures_2985","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":4102189816906270421,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":4102189816906270421,"visual_seed":4102189816906270421,"scene_id":"lab_003","finished_at":"2026-09-03T20:39:23"} +{"episode_id":"ep_000045","started_at":"2026-09-03T20:39:26","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[0.4179067954826905,1.651310557422899,0.71338606911949],"aabb_xy":[[0.40979314080931334,1.6432047409688701],[0.42602045015606754,1.6594163738769283]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[-0.6035550864314146,-1.8388014026754076,0.71338606911949],"aabb_xy":[[-0.6298439107518552,-1.8650728363300588],[-0.5772662621109739,-1.8125299690207564]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[-0.22497626392032605,0.7918461306583131,0.71338606911949],"aabb_xy":[[-0.23581674214684095,0.7746598493676644],[-0.21413578569381114,0.809032411948962]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[0.5258521307102122,-0.553118471078272,0.71338606911949],"aabb_xy":[[0.48881802128215246,-0.5874956784119812],[0.5628862401382719,-0.5187412637445624]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[-0.27320577441340926,1.0516481804184439,0.71338606911949],"aabb_xy":[[-0.29820577434592715,1.0447655121975206],[-0.24820577448089137,1.0585308486393672]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.43109197992336723,-2.152131647556417,0.71338606911949],"aabb_xy":[[0.4271781067279447,-2.160880662962974],[0.43500585311878975,-2.1433826321498604]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.3880432768933071,-1.4531460922371982,0.71338606911949],"aabb_xy":[[0.35054327639594884,-1.4571147757853165],[0.42554327739066533,-1.4491774086890794]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[0.6271423473185893,-0.9957452224670997,0.71338606911949],"aabb_xy":[[0.5631466499234926,-1.0597452207678084],[0.6911380447136858,-0.9317452241663909]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[0.17202621472021606,1.1974025594137268,0.71338606911949],"aabb_xy":[[0.10802621555044613,1.1506358722947643],[0.23602621388998601,1.2441692465326892]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[-0.5573269782866572,-0.3618852145758762,0.71338606911949],"aabb_xy":[[-0.5619620934388906,-0.3657525496530248],[-0.5526918631344239,-0.3580178794987275]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.2877435861635728,-0.980221294750153,0.71338606911949],"aabb_xy":[[-0.29898864173419065,-0.9914630924742481],[-0.276498530592955,-0.9689794970260576]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.10846465990919041,-0.23507326066318068,0.71338606911949],"aabb_xy":[[-0.17246466212959743,-0.27944634478846897],[-0.044464657688783396,-0.19070017653789237]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[-0.18849282340792917,-0.8685834714704235,0.71338606911949],"aabb_xy":[[-0.19193349964798634,-0.8724449044447882],[-0.18505214716787197,-0.8647220384960592]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.23374693982704808,-1.6040568726507398,0.71338606911949],"aabb_xy":[[0.22333538114656434,-1.6094026059866382],[0.24415849850753177,-1.5987111393148414]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[-0.14790517184535146,-0.42369785401013615,0.71338606911949],"aabb_xy":[[-0.18523644837059408,-0.4583509088049885],[-0.11057389532010883,-0.3890447992152839]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.16296151898598144,-1.5451757620048192,0.71338606911949],"aabb_xy":[[0.1576239433199769,-1.5701757629339592],[0.16829909465198603,-1.5201757610756796]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.5408231763324771,0.21538193070741052,0.71338606911949],"aabb_xy":[[-0.5908231757726727,0.16541400622309418],[-0.4908231768922815,0.2653498551917268]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.04765007871710614,-1.2915564163186861,0.71338606911949],"aabb_xy":[[0.0026500772508772853,-1.3365562731801668],[0.09265008018333498,-1.2465565594572054]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[0.47030934595155505,-1.961440453047698,0.71338606911949],"aabb_xy":[[0.46421471806343667,-1.970009847599367],[0.4764039738396733,-1.9528710584960296]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[-0.4926434452084084,1.220432675859342,0.71338606911949],"aabb_xy":[[-0.5151082151798135,1.1979326749804815],[-0.4701786752370033,1.2429326767382025]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.047045072407616684,-0.6057767782038004,0.71338606911949],"aabb_xy":[[-0.05118092874031688,-0.6432767776481574],[-0.04290921607491649,-0.5682767787594434]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.3602393675397181,1.1681946176074511,0.71338606911949],"aabb_xy":[[-0.4103368315207917,1.1041946170976396],[-0.31014190355864446,1.2321946181172632]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[-0.44673042057742063,-1.2888820705019868,0.71338606911949],"aabb_xy":[[-0.4717304198493829,-1.305227434098149],[-0.42173042130545835,-1.2725367069058242]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[0.38127490354480287,-0.7940354502997211,0.71338606911949],"aabb_xy":[[0.3711931964662293,-0.8740354481918357],[0.39135661062337623,-0.7140354524076064]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[-0.37555064562010837,0.40982499993875754,0.71338606911949],"aabb_xy":[[-0.41055064551612724,0.40145076442681765],[-0.3405506457240895,0.41819923545069754]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[-0.003051484551520711,-1.9869678464806344,0.71338606911949],"aabb_xy":[[-0.01893597781684586,-2.0013207867794582],[0.012833008713804439,-1.9726149061818103]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[-0.19279149267667584,0.3719032239503526,0.71338606911949],"aabb_xy":[[-0.2567914912632483,0.3248962605508438],[-0.12879149409010338,0.41891018734986124]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[0.5811098952724734,1.4873739443886094,0.71338606911949],"aabb_xy":[[0.5641991628361314,1.4739017387959947],[0.5980206277088149,1.500846149981224]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[-0.5879404694441226,-1.4565677866991456,0.71338606911949],"aabb_xy":[[-0.671662694944205,-1.5465677902338413],[-0.5042182439440401,-1.3665677831644494]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_29","position":[0.6221672835604963,0.5399866126156887,0.71338606911949],"aabb_xy":[[0.5910203647169132,0.4699866139288815],[0.6533142024040794,0.6099866113024959]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_30","position":[0.21573494550231676,-1.8844020139602398,0.71338606911949],"aabb_xy":[[0.17471700211594593,-1.934402014591197],[0.2567528888886877,-1.8344020133292824]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_31","position":[-0.012492292879381361,0.8355835841217032,0.71338606911949],"aabb_xy":[[-0.04082200282792159,0.8311228419279864],[0.015837417069158866,0.8400443263154205]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_32","position":[0.3513417937883754,-1.2796807529996883,0.71338606911949],"aabb_xy":[[0.26634179509630074,-1.311666616394567],[0.43634179248045,-1.2476948896048092]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906055630532328,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5662.png","name":"5662"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5662.png","name":"5662"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8907.png","name":"8907"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2143.png","name":"2143"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6800.png","name":"6800"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1606.png","name":"1606"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":670.2892688537609,"rotation_z_degrees":89.62271506780577,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00938090279578232,0.0025683254150274913,-0.0023609773279532273]},{"name":"camera_2","offset_m":[-0.011685546657828283,-0.006759154677999243,0.014296671048546001]},{"name":"camera_3","offset_m":[-0.01426520633818154,0.014645731054692638,-0.01988106168012926]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001465481947398404,0.0012323661928369065,0.0010271281186838427],"end_effector_yaw_offset_degrees":-0.4547119352962945},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00043594593331751016,-0.0006534248309792768,-0.0009137060912419947],"end_effector_yaw_offset_degrees":-0.4967452033407689},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.904374321844769e-05,0.0008723002394362932,0.00025919398966467704],"end_effector_yaw_offset_degrees":0.04036703905180494}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002264495026068957,0.003015992159614231],"position_m":[0.31673550497393105,-0.08638400784038576,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014846592754087472,-0.004712266393210781],"position_m":[0.27361534072459126,-0.3477122663932108,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019448614479954437,-0.0017047248247477366],"position_m":[0.30824486144799546,0.23569527517525227,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000790035418721087,0.0030509612683764188],"position_m":[0.3454099645812789,0.10025096126837642,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c3ce852631a3a5254c8d78f92ee99b3d3cfcd51e65901a53a7fb7da039d32a3","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5662/tex_ceiling_textures_1606/tex_floor_textures_6800/tex_table_textures_8907/tex_wall_textures_2143","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1686815990160229478,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1686815990160229478,"visual_seed":1686815990160229478,"scene_id":"lab_003","finished_at":"2026-09-03T20:42:14"} +{"episode_id":"ep_000046","started_at":"2026-09-03T20:42:18","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[-0.2931920274274117,-1.7831829168243571,0.71338606911949],"aabb_xy":[[-0.3531920279352646,-1.8400296505102784],[-0.2331920269195588,-1.7263361831384358]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.04740051336131079,-0.8232387405374397,0.71338606911949],"aabb_xy":[[-0.07788476348834095,-0.8732387403189358],[-0.01691626323428063,-0.7732387407559439]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.40579245505350625,-2.3804214562531407,0.71338606911949],"aabb_xy":[[-0.4407924549495251,-2.3887956917650808],[-0.3707924551574874,-2.3720472207412007]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.17382784583881972,-2.0167381693967545,0.71338606911949],"aabb_xy":[[-0.19632698156504666,-2.0392381701750173],[-0.15132871011259272,-1.9942381686184916]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[0.4613151296858904,-1.5373298233349153,0.71338606911949],"aabb_xy":[[0.4263151304930721,-1.5482968693325778],[0.49631512887870866,-1.5263627773372523]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[-0.08423241152055172,-0.32013056749397606,0.71338606911949],"aabb_xy":[[-0.12923241298678056,-0.3651304243554568],[-0.03923241005432287,-0.27513071063249545]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.0071214546011416635,1.141446080259385,0.71338606911949],"aabb_xy":[[-0.02422353255950982,1.1243392747281151],[0.009980623357226492,1.1585528857906546]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[0.2651776087083476,0.582738793046218,0.71338606911949],"aabb_xy":[[0.24017760877582978,0.5758561248252948],[0.29017760864086556,0.5896214612671414]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.5721531994109187,-0.43515111675056994,0.71338606911949],"aabb_xy":[[-0.5786548359189233,-0.4449189387768797],[-0.5656515629029141,-0.4253832947242602]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[-0.08746623366108564,-0.9280287274033256,0.71338606911949],"aabb_xy":[[-0.09549250429171165,-0.9367802223806783],[-0.07943996303045965,-0.919277232425973]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[-0.4340612330124448,1.219792343433478,0.71338606911949],"aabb_xy":[[-0.4496170024227102,1.204241910189071],[-0.41850546360217966,1.2353427766778853]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[0.6307458073938614,1.5466189702131508,0.71338606911949],"aabb_xy":[[0.6258465150872978,1.5189420509105818],[0.6356450997004248,1.5742958895157193]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.6863021530216238,0.15154411280067714,0.71338606911949],"aabb_xy":[[0.6743694186597956,0.13916195999281777],[0.6982348873834517,0.16392626560853651]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[-0.585480696977485,-1.1135533999728389,0.71338606911949],"aabb_xy":[[-0.6107015338373245,-1.1387771508257254],[-0.5602598601176452,-1.088329649119952]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.007102716070475634,-1.8943450495198113,0.71338606911949],"aabb_xy":[[-0.010443978845643298,-1.9318450510840626],[0.024649410986594567,-1.85684504795556]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.5309601164755224,0.5363044938959751,0.71338606911949],"aabb_xy":[[0.49504661205053285,0.5003909856792205],[0.5668736209005122,0.5722180021127298]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.4353021424539122,-2.1998573461390487,0.71338606911949],"aabb_xy":[[-0.5003021435598556,-2.224822719207177],[-0.37030214134796896,-2.1748919730709204]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.12218195465114778,1.4365485513015215,0.71338606911949],"aabb_xy":[[0.0922143977413221,1.4065485510036357],[0.15214951156097345,1.4665485515994072]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[0.6678037529301835,0.8523630304689567,0.71338606911949],"aabb_xy":[[0.6199975853164147,0.7873630277618976],[0.715609920543952,0.9173630331760155]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[0.35470446490935514,0.8308782699101531,0.71338606911949],"aabb_xy":[[0.3047270480441015,0.7808782684209045],[0.4046818817746087,0.8808782713994016]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[-0.022147478850229496,-1.5310800940325988,0.71338606911949],"aabb_xy":[[-0.03915757614028015,-1.5472145825308727],[-0.005137381560178844,-1.514945605534325]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[0.0176755232173319,1.0501326766088157,0.71338606911949],"aabb_xy":[[0.007263964536848189,1.044786943272917],[0.028087081897815613,1.0554784099447139]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[0.2938163054724203,-0.9925855982588958,0.71338606911949],"aabb_xy":[[0.22981630521194948,-1.0375943976118234],[0.3578163057328911,-0.9475767989059676]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[-0.01750163442074415,-2.4278797264256484,0.71338606911949],"aabb_xy":[[-0.09750163469435112,-2.5008292742513647],[0.06249836585286282,-2.3549301785999313]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[-0.11674409120808082,-0.13937836565552564,0.71338606911949],"aabb_xy":[[-0.12758456943459573,-0.15656464694617445],[-0.1059036129815659,-0.12219208436487683]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[-0.6046881858686192,-0.7636386358154519,0.71338606911949],"aabb_xy":[[-0.6392792687226643,-0.8286386361004828],[-0.5700971030145738,-0.6986386355304207]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_26","position":[-0.18654115800011084,-1.2594084161436796,0.71338606911949],"aabb_xy":[[-0.24153340863562178,-1.3144084178869924],[-0.13154890736459987,-1.2044084144003668]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882058689833855,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3055.png","name":"3055"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3055.png","name":"3055"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2865.png","name":"2865"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4824.png","name":"4824"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8908.png","name":"8908"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1332.png","name":"1332"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":808.1293978452593,"rotation_z_degrees":289.4796913906976,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00560061441678497,-0.0038388015895419597,0.01962997107062769]},{"name":"camera_2","offset_m":[0.01546459192775727,0.013051286535044757,-0.0019257593857786408]},{"name":"camera_3","offset_m":[-0.00526109646471595,0.01907103335570479,-0.009603145463028486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001845729453806824,0.0010070475223820236,-0.0019651342336231225],"end_effector_yaw_offset_degrees":0.10720709606009415},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010341824535062332,0.0006517846399796807,-0.0012182294986978666],"end_effector_yaw_offset_degrees":-0.7281430727939115},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010743033118395212,-0.0010003855202390213,0.0007753428577956037],"end_effector_yaw_offset_degrees":0.9306447467555237}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00015689977262262327,0.0024074165439717235],"position_m":[0.3188431002273774,-0.08699258345602827,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005854843065844322,0.0016477678744982027],"position_m":[0.27451451569341556,-0.3413522321255018,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004862630152573618,-0.0019353325695242863],"position_m":[0.3014373698474264,0.23546466743047573,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-5.808783647361267e-05,0.003610631830427765],"position_m":[0.3461419121635264,0.10081063183042777,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bb7f2ad0c4c61dacadda4e4c3cf109bea0e6f8ddeda8f77e6601b83d15a9106e","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3055/tex_ceiling_textures_1332/tex_floor_textures_8908/tex_table_textures_2865/tex_wall_textures_4824","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6104464811110967149,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6104464811110967149,"visual_seed":6104464811110967149,"scene_id":"lab_003","finished_at":"2026-09-03T20:45:02"} +{"episode_id":"ep_000047","started_at":"2026-09-03T20:45:05","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[0.3348031371225981,-1.1482165236009694,0.71338606911949],"aabb_xy":[[0.3253856625527354,-1.1576327007386884],[0.3442206116924609,-1.1388003464632503]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[-0.5257116532215969,-1.8072652624517553,0.71338606911949],"aabb_xy":[[-0.5445960369901071,-1.8261511872321081],[-0.5068272694530866,-1.7883793376714026]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[-0.02031835193896081,-1.8078227062596888,0.71338606911949],"aabb_xy":[[-0.07531156327609757,-1.8628227065984828],[0.03467485939817595,-1.7528227059208956]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[-0.10240023587157765,-0.7450296946965003,0.71338606911949],"aabb_xy":[[-0.16640023821437921,-0.7899705459406327],[-0.03840023352877609,-0.7000888434523677]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[-0.2205952678418861,-2.504298767220063,0.71338606911949],"aabb_xy":[[-0.23838877477680254,-2.5220985128158606],[-0.20280176090696966,-2.4864990216242653]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.35187677941703327,0.38884016487151696,0.71338606911949],"aabb_xy":[[-0.3693767796763699,0.3747486226827444],[-0.33437677915769665,0.4029317070602897]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.5193794709397174,-0.3470009351161316,0.71338606911949],"aabb_xy":[[-0.5552929753647069,-0.38291444333288616],[-0.48346596651472756,-0.31108742689937696]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.14191315657347792,1.3358423570457956,0.71338606911949],"aabb_xy":[[0.1044131579978571,1.3231060613822376],[0.1794131551490987,1.3485786527093535]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[-0.2624658530501326,-0.7728887606466373,0.71338606911949],"aabb_xy":[[-0.26736514535669603,-0.8005656799492059],[-0.25756656074356904,-0.7452118413440684]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.42898143468839633,-2.421963964046748,0.71338606911949],"aabb_xy":[[-0.4324221109284536,-2.425825397021113],[-0.4255407584483393,-2.418102531072384]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.6684130941737776,-0.9422017730715428,0.71338606911949],"aabb_xy":[[0.63595139329185,-0.9723346051864453],[0.7008747950557049,-0.9120689409566402]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.38098031403949006,-2.3610085149834434,0.71338606911949],"aabb_xy":[[0.3634803149051229,-2.370888142021031],[0.39848031317385724,-2.351128887945855]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.48573522591047413,1.2271751310447403,0.71338606911949],"aabb_xy":[[-0.5407307037311335,1.1721751296108334],[-0.43073974808981474,1.2821751324786472]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.17955919168932766,-2.410855572582718,0.71338606911949],"aabb_xy":[[0.11955919004640578,-2.4628557218746625],[0.23955919333224948,-2.358855423290774]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.06681925805951683,1.2074919914893525,0.71338606911949],"aabb_xy":[[0.016819259413595633,1.15757244782989],[0.11681925670543802,1.2574115351488149]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.24815788842926906,0.775093413840021,0.71338606911949],"aabb_xy":[[-0.2561841590598951,0.7663419188626683],[-0.2401316177986431,0.7838449088173736]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.5243865782859793,1.0560841385818218,0.71338606911949],"aabb_xy":[[-0.614386574786851,1.0101724961633636],[-0.43438658178510753,1.10199578100028]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.6546268607145656,-1.7147152166003514,0.71338606911949],"aabb_xy":[[0.5996346100790546,-1.7697152183436644],[0.7096191113500765,-1.6597152148570389]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[-0.09549248288017109,-0.5874506633395393,0.71338606911949],"aabb_xy":[[-0.11555089449341137,-0.6075157502486969],[-0.07543407126693079,-0.5673855764303818]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[0.3386359814038624,-2.0099796258103124,0.71338606911949],"aabb_xy":[[0.3183516786804636,-2.030262250953021],[0.3589202841272611,-1.9896970006676034]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841468460751426,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9956.png","name":"9956"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9956.png","name":"9956"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5752.png","name":"5752"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1459.png","name":"1459"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1504.png","name":"1504"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8471.png","name":"8471"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":784.9903162563285,"rotation_z_degrees":77.15457178268905,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007615899040243193,0.004922994790579904,0.018849336193553546]},{"name":"camera_2","offset_m":[0.00011122627630553994,-0.013488936301679315,-0.017850240966089812]},{"name":"camera_3","offset_m":[0.017683042507842844,-0.0008458191577534503,-0.014253418633595279]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00020785822739502078,4.69823581481614e-05,0.0015172900868120113],"end_effector_yaw_offset_degrees":0.9001214715246075},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008514198238189529,-0.00021198062614308818,0.0013929555410709627],"end_effector_yaw_offset_degrees":0.4391356850690067},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001305661072494906,-0.000723746212767805,0.0013303934753382432],"end_effector_yaw_offset_degrees":0.3932903347070438}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024153391532263035,0.0013098201067428183],"position_m":[0.3165846608467737,-0.08809017989325718,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003576147855447913,0.004597351308621693],"position_m":[0.2715238521445521,-0.3384026486913783,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[2.1134158666434068e-05,0.0008865701008577307],"position_m":[0.30632113415866646,0.23828657010085774,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022691622992429116,-0.001229958951365393],"position_m":[0.3484691622992429,0.0959700410486346,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a354a3c59ee638f82de76a6c33f0faa096880f841415e7de95a56179ef9e0de1","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0047.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9956/tex_ceiling_textures_8471/tex_floor_textures_1504/tex_table_textures_5752/tex_wall_textures_1459","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":954654834881812512,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":954654834881812512,"visual_seed":954654834881812512,"scene_id":"lab_003","finished_at":"2026-09-03T20:47:55"} +{"episode_id":"ep_000048","started_at":"2026-09-03T20:47:58","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.4198090819487484,0.3641010159252347,0.71338606911949],"aabb_xy":[[-0.4332556085827917,0.3506311642721434],[-0.40636255531470505,0.37757086757832586]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.4005264673427684,-2.0171333742942403,0.71338606911949],"aabb_xy":[[0.35524785246161916,-2.081133373642424],[0.4458050822239177,-1.9531333749460567]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[0.5990605170580505,1.7144611244704442,0.71338606911949],"aabb_xy":[[0.5190605196544569,1.6344685532722614],[0.6790605144616437,1.794453695668627]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[0.17539957522886185,-2.1623117028573535,0.71338606911949],"aabb_xy":[[0.16943303628812606,-2.1682728475167177],[0.18136611416959764,-2.1563505581979894]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.514041152404356,-0.42586986461158194,0.71338606911949],"aabb_xy":[[0.49640831681082837,-0.44349281062720486],[0.5316739879978835,-0.4082469185959589]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[0.16594496958352978,-2.2874797159792997,0.71338606911949],"aabb_xy":[[0.10094496954922708,-2.334180392659627],[0.23094496961783254,-2.2407790392989724]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[0.16797283937409124,-1.8616930639335514,0.71338606911949],"aabb_xy":[[0.10397284297851817,-1.925656352352285],[0.23197283576966432,-1.7977297755148178]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.5895371026555605,1.608193246861211,0.71338606911949],"aabb_xy":[[-0.5975310912332638,1.6001931667661204],[-0.581543114077857,1.6161933269563011]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.25278167017681363,-1.0824947344575109,0.71338606911949],"aabb_xy":[[-0.29777425689526404,-1.1274947337319596],[-0.20778908345836322,-1.0374947351830621]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.2631364957599025,1.7317644151697924,0.71338606911949],"aabb_xy":[[-0.2981364971113842,1.7114046792129716],[-0.22813649440842074,1.7521241511266132]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[-0.06080324455268382,-1.745995235664641,0.71338606911949],"aabb_xy":[[-0.11080324550321663,-1.7775443826681623],[-0.010803243602151007,-1.7144460886611195]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[0.6618313265343596,-2.0063057926538708,0.71338606911949],"aabb_xy":[[0.6531333642436443,-2.0184307669613455],[0.6705292888250749,-1.994180818346396]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.35029921101371864,1.4390189638394921,0.71338606911949],"aabb_xy":[[-0.405294688834378,1.3840189624055848],[-0.29530373319305925,1.4940189652733986]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.41392825298687036,-2.28365229400919,0.71338606911949],"aabb_xy":[[-0.4235598892073,-2.293289606788899],[-0.40429661676644074,-2.274014981229481]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.1359314283158618,0.7498477354213597,0.71338606911949],"aabb_xy":[[0.045931428897490884,0.71647223857717],[0.22593142773423266,0.7832232322655495]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[-0.5020996117846027,1.44639375933571,0.71338606911949],"aabb_xy":[[-0.5152508577558921,1.4213937595790234],[-0.48894836581331336,1.4713937590923964]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[0.5854830665286941,-0.003785751054276698,0.71338606911949],"aabb_xy":[[0.5354830670884985,-0.053753675538593004],[0.6354830659688897,0.04618217343003961]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.20003701458268236,-0.2858930646101743,0.71338606911949],"aabb_xy":[[-0.22253701410638976,-0.308389012060795],[-0.17753701505897496,-0.26339711715955344]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.09793222270910762,-1.3126730337710006,0.71338606911949],"aabb_xy":[[-0.1389501660954785,-1.362673034401958],[-0.05691427932273674,-1.2626730331400433]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[-0.18874810891255622,-2.359190580345046,0.71338606911949],"aabb_xy":[[-0.19674159870783828,-2.3671887122855217],[-0.1807546191172742,-2.3511924484045705]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[-0.5565687569330976,-1.3551263847577,0.71338606911949],"aabb_xy":[[-0.5612038720853308,-1.3589937198348483],[-0.5519336417808641,-1.3512590496805512]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[-0.05510886036412843,-0.7837283466518445,0.71338606911949],"aabb_xy":[[-0.11910886365383654,-0.827063265655762],[0.008891142925579685,-0.7403934276479268]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[-0.613955415277877,0.553759460960694,0.71338606911949],"aabb_xy":[[-0.6514554138534978,0.5410231652971359],[-0.5764554167022562,0.5664957566242518]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[-0.5742197732823601,1.1491323105679339,0.71338606911949],"aabb_xy":[[-0.6117197739469387,1.1334452525677117],[-0.5367197726177813,1.164819368568156]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[-0.40819580384111614,-0.6761346584735026,0.71338606911949],"aabb_xy":[[-0.4197647845880528,-0.7011346585904343],[-0.3966268230941796,-0.6511346583565709]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[-0.5057828220029886,0.4140263537510238,0.71338606911949],"aabb_xy":[[-0.5302964460999946,0.38976176044898736],[-0.4812691979059829,0.43829094705306026]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[-0.38569523336831124,-2.1665303415703994,0.71338606911949],"aabb_xy":[[-0.44969523364228947,-2.2165964417676873],[-0.321695233094333,-2.1164642413731114]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937991189853834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2734.png","name":"2734"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2734.png","name":"2734"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5900.png","name":"5900"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7573.png","name":"7573"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9332.png","name":"9332"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9679.png","name":"9679"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":519.2730688571357,"rotation_z_degrees":213.6301115254819,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012542594916050911,-0.0001637922118961667,-0.017162373834653483]},{"name":"camera_2","offset_m":[-0.008194190894676127,-0.013473676301510964,0.002144369123339776]},{"name":"camera_3","offset_m":[0.015686197407407832,0.015810368781452182,-0.008276039946627716]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016394445787240018,-0.0001647388697697818,-0.0007322607709827303],"end_effector_yaw_offset_degrees":0.6784653659759738},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010944785439548931,-0.0006896301736164219,0.0018677340343246315],"end_effector_yaw_offset_degrees":-0.11813081033001716},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003866597964901704,5.0583770225709045e-05,-0.0012588996952911824],"end_effector_yaw_offset_degrees":-0.21630206958365217}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003251077413496354,-0.00036391863560584093],"position_m":[0.32225107741349635,-0.08976391863560583,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003367722828301744,-0.002703403162405097],"position_m":[0.27846772282830173,-0.3457034031624051,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032003044687211424,-0.0032248202852063414],"position_m":[0.30309969553127886,0.23417517971479365,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004348769456791672,-0.001646858419472652],"position_m":[0.3505487694567917,0.09555314158052734,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2de80e84df61bdb113efd41cbe5730ad967757c015e2315548d4597a239a229d","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2734/tex_ceiling_textures_9679/tex_floor_textures_9332/tex_table_textures_5900/tex_wall_textures_7573","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6078728951724490098,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6078728951724490098,"visual_seed":6078728951724490098,"scene_id":"lab_003","finished_at":"2026-09-03T20:50:36"} +{"episode_id":"ep_000049","started_at":"2026-09-03T20:50:40","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[0.6999294079483642,0.6194508421202798,0.71338606911949],"aabb_xy":[[0.6774157161249069,0.5494508415192721],[0.7224430997718213,0.6894508427212872]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[-0.3122965110097229,-1.6891732325191506,0.71338606911949],"aabb_xy":[[-0.3622807467179001,-1.739173231332646],[-0.26231227530154566,-1.6391732337056548]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.3622293939657782,-1.9386913020301675,0.71338606911949],"aabb_xy":[[-0.39722939386179706,-1.9470655375421075],[-0.3272293940697593,-1.9303170665182274]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[0.1892047302507338,-1.723272650065872,0.71338606911949],"aabb_xy":[[0.17332023698540863,-1.7376255903646955],[0.20508922351605893,-1.7089197097670474]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.5842584542647906,-1.0547126611929287,0.71338606911949],"aabb_xy":[[0.5604222366241857,-1.1447126620014154],[0.6080946719053958,-0.9647126603844425]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.3163460894741191,-2.5591209034255464,0.71338606911949],"aabb_xy":[[-0.3288134475838547,-2.57158622805887],[-0.3038787313643834,-2.546655578792223]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[0.4974728119927727,-1.6766421806255725,0.71338606911949],"aabb_xy":[[0.4828294064387396,-1.6913009002823567],[0.5121162175468056,-1.6619834609687882]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[0.15751677096912375,0.8603255957212088,0.71338606911949],"aabb_xy":[[0.13393164750522893,0.7953255934757771],[0.18110189443301863,0.9253255979666407]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[0.09898333259227066,1.2590034773880627,0.71338606911949],"aabb_xy":[[0.008983335856660446,1.205820014070768],[0.18898332932788087,1.312186940705357]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[0.261785288928032,-2.1857331184072386,0.71338606911949],"aabb_xy":[[0.24487455649169024,-2.199205323999853],[0.27869602136437377,-2.1722609128146235]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.24714237399206074,-2.2989414122520273,0.71338606911949],"aabb_xy":[[-0.29711566799532113,-2.3489414128065746],[-0.19716907998880023,-2.24894141169748]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[0.6880352046618241,-1.8097428082905034,0.71338606911949],"aabb_xy":[[0.6776236459813403,-1.8150885416264015],[0.6984467633423077,-1.8043970749546048]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.034879524590372024,0.9068476526368441,0.71338606911949],"aabb_xy":[[-0.07237952453413843,0.8985545626020075],[0.0026204753533943803,0.9151407426716807]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.32409659014920955,1.7154182675772405,0.71338606911949],"aabb_xy":[[-0.3346640698073085,1.704873237464232],[-0.3135291104911105,1.725963297690249]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.41468612230396174,-0.7565925988971631,0.71338606911949],"aabb_xy":[[-0.44898303332170236,-0.7908894851071043],[-0.3803892112862211,-0.7222957126872217]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[0.5340582624458745,0.47981966496330664,0.71338606911949],"aabb_xy":[[0.5208273169111931,0.46659224594130716],[0.5472892079805557,0.493047083985306]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[0.5019469980019897,0.03831051974664046,0.71338606911949],"aabb_xy":[[0.43694699984607066,0.012014275196728263],[0.5669469961579088,0.06460676429655265]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.3664723979990283,0.5963143230034329,0.71338606911949],"aabb_xy":[[0.3164993324665129,0.5463143231909001],[0.4164454635315439,0.6463143228159659]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[0.4139619893055273,-2.090839592457473,0.71338606911949],"aabb_xy":[[0.3499619890450565,-2.1358483918104008],[0.4779619895659981,-2.0458307931045447]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.4999188726268603,-0.2722312869158525,0.71338606911949],"aabb_xy":[[-0.5081334177425441,-0.2809078772134937],[-0.4917043275111762,-0.2635546966182111]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[-0.17140120310804619,1.5950884559387082,0.71338606911949],"aabb_xy":[[-0.226401201309791,1.5545664893122706],[-0.11640120490630133,1.6356104225651458]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_21","position":[-0.1336192895845708,1.0884640317927392,0.71338606911949],"aabb_xy":[[-0.15351032946491106,1.0758082205080426],[-0.11372824970423057,1.1011198430774363]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.2274415710546811,0.7497385137965153,0.71338606911949],"aabb_xy":[[-0.2774415706310158,0.6997579348444095],[-0.1774415714783464,0.7997190927486214]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[-0.1281572232431859,-1.7426713218972973,0.71338606911949],"aabb_xy":[[-0.16548849976842853,-1.7773243766921498],[-0.09082594671794328,-1.7080182671024453]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[0.5834728144129955,-0.8143821621285889,0.71338606911949],"aabb_xy":[[0.4984728157209207,-0.8463680255234678],[0.66847281310507,-0.7823962987337101]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6851446292405852,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/870.png","name":"870"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/870.png","name":"870"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7110.png","name":"7110"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7565.png","name":"7565"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3093.png","name":"3093"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9724.png","name":"9724"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":655.8299349933446,"rotation_z_degrees":46.6971431140413,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01429205415391675,-0.004864248679918793,0.001159294428140157]},{"name":"camera_2","offset_m":[-0.009822754234835687,0.0182559295824935,-0.017684555086077997]},{"name":"camera_3","offset_m":[0.007711846509161693,0.0035295542085541955,0.0016268706825561044]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002206091092219521,0.0018674740135041635,-0.0016812255623643237],"end_effector_yaw_offset_degrees":-0.9216258895363028},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00026040902117995977,-0.001824680267062135,0.0016068247474994805],"end_effector_yaw_offset_degrees":-0.3059201723103335},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014321026934219828,0.00045396846030232654,0.0018308745928601405],"end_effector_yaw_offset_degrees":0.9491985465484336}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002302839007046571,-0.004480903317021494],"position_m":[0.3213028390070466,-0.09388090331702148,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004354527485269321,0.0012287593005159058],"position_m":[0.2707454725147307,-0.3417712406994841,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004634164492353003,-0.004113275181183139],"position_m":[0.310934164492353,0.23328672481881685,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029691029516506423,-0.0027282015588902175],"position_m":[0.34916910295165066,0.09447179844110978,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d363f5df579923c2732242c892a27eaaf740d74eef3808c3cbb82ed5e96bdb9f","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0049.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_870/tex_ceiling_textures_9724/tex_floor_textures_3093/tex_table_textures_7110/tex_wall_textures_7565","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3028622057620890215,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3028622057620890215,"visual_seed":3028622057620890215,"scene_id":"lab_003","finished_at":"2026-09-03T20:53:27"} +{"episode_id":"ep_000050","started_at":"2026-09-03T20:53:30","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.08131044361422812,-0.7529635712828726,0.71338606911949],"aabb_xy":[[-0.13631044181597296,-0.7934855379093102],[-0.026310445412483296,-0.712441604656435]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.271726326612894,1.4327148133236167,0.71338606911949],"aabb_xy":[[0.19172632335505096,1.3527183055316325],[0.3517263298707369,1.5127113211156005]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_2","position":[0.009347606300868061,-2.405656104088843,0.71338606911949],"aabb_xy":[[-0.05465239397311017,-2.455722204286131],[0.07334760657484629,-2.355590003891555]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.1990218929872989,-2.061557628577015,0.71338606911949],"aabb_xy":[[0.18122838605238242,-2.0793573741728126],[0.2168153999222153,-2.0437578829812173]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.21713360543361526,1.2490647129676793,0.71338606911949],"aabb_xy":[[-0.2289017922282728,1.164064713062458],[-0.20536541863895777,1.334064712872901]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_5","position":[-0.11715055754119885,-1.8860918656156425,0.71338606911949],"aabb_xy":[[-0.14548026748973908,-1.8905526078093597],[-0.08882084759265862,-1.8816311234219256]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[0.033230086293088434,1.796025588442085,0.71338606911949],"aabb_xy":[[-0.004269913878783511,1.7633248530591776],[0.07073008646496037,1.828726323824992]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[0.3759881883672076,0.5034583141285704,0.71338606911949],"aabb_xy":[[0.36799469857192557,0.4954601821880949],[0.3839816781624897,0.5114564460690462]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_8","position":[-0.5063741611028335,1.3099172539846795,0.71338606911949],"aabb_xy":[[-0.5157916356726963,1.3005010768469605],[-0.49695668653297076,1.3193334311223985]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[0.423893630768972,1.2839286929371854,0.71338606911949],"aabb_xy":[[0.4069828983326302,1.2704564873445703],[0.44080436320531374,1.2974008985297996]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[0.26001884598311853,-0.8963230964576461,0.71338606911949],"aabb_xy":[[0.2190009025967476,-0.9463230970886034],[0.30103678936948935,-0.8463230958266887]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[-0.10067576412376922,-0.9992925347301582,0.71338606911949],"aabb_xy":[[-0.13817576422936217,-1.0061146965831391],[-0.06317576401817626,-0.992470372877177]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.4915589936069962,-0.9018035051306879,0.71338606911949],"aabb_xy":[[0.48744304349492346,-0.9059190601635333],[0.4956749437190688,-0.8976879500978422]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[0.2270179382829558,-2.4978768050092475,0.71338606911949],"aabb_xy":[[0.20813355451444557,-2.5167627297896003],[0.24590232205146598,-2.4789908802288947]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[-0.21986117942649874,0.7468530525422632,0.71338606911949],"aabb_xy":[[-0.25486117861931695,0.7358860065446005],[-0.18486118023368042,0.7578200985399257]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.5604029750549961,-1.3787031484937056,0.71338606911949],"aabb_xy":[[0.49640297364700553,-1.4304921000176303],[0.6244029764629868,-1.3269141969697809]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.2903522479391328,0.866599020181603,0.71338606911949],"aabb_xy":[[-0.35535224904507606,0.8416336471134747],[-0.2253522468331895,0.8915643932497312]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.0729232645165192,-2.554259459541034,0.71338606911949],"aabb_xy":[[-0.07923536405285765,-2.560026398794253],[-0.06661116498018078,-2.5484925202878155]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.700360234380953,0.11262836948074906,0.71338606911949],"aabb_xy":[[0.6927359662907747,0.10499514594420532],[0.7079845024711312,0.12026159301729276]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[-0.3411532316642395,-0.9637779322648112,0.71338606911949],"aabb_xy":[[-0.40515322877634513,-1.0128103020592218],[-0.27715323455213375,-0.9147455624704006]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[0.5921262209287239,-2.3211905275435054,0.71338606911949],"aabb_xy":[[0.5578099437541059,-2.371190527516683],[0.6264424981033417,-2.2711905275703277]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[-0.46420324554133596,1.0521923288577484,0.71338606911949],"aabb_xy":[[-0.5242032461373521,0.9973798563125249],[-0.4042032449453198,1.1070048014029719]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[0.18328491883173414,-1.9646042606940637,0.71338606911949],"aabb_xy":[[0.1658542037527276,-1.9818763753579145],[0.20071563391074063,-1.9473321460302129]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6876969776731715,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9450.png","name":"9450"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9450.png","name":"9450"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3653.png","name":"3653"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6697.png","name":"6697"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6329.png","name":"6329"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2864.png","name":"2864"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":520.5877779355097,"rotation_z_degrees":32.365579898914966,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0073834547111661306,-0.0007459016247192418,-0.006593976509306524]},{"name":"camera_2","offset_m":[0.009842397856895578,-0.007476722986290043,-0.018948012565346426]},{"name":"camera_3","offset_m":[-0.006485438695918168,-0.006847759546562013,-0.003648768837870766]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006640840490952224,0.00038277287380255763,-0.0016697876497731756],"end_effector_yaw_offset_degrees":0.8424940446684077},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019323937515448907,-0.0007004617749765884,0.001070043826953253],"end_effector_yaw_offset_degrees":-0.7768213515516433},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019635719708148147,-0.0007016554254396636,0.00011660712960879539],"end_effector_yaw_offset_degrees":-0.18490433809178697}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003591090135640215,0.00017435985992779977],"position_m":[0.31540890986435977,-0.0892256401400722,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002533599431932806,-0.0007231945396604942],"position_m":[0.2725664005680672,-0.34372319453966055,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004549193909835208,-0.0044920570797113545],"position_m":[0.31084919390983523,0.23290794292028866,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00040654164811938873,-0.0035902616658923118],"position_m":[0.34579345835188063,0.09360973833410768,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3780623060e200155aff1399154a12100dd32c660b65d1998800155dfd9173ff","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9450/tex_ceiling_textures_2864/tex_floor_textures_6329/tex_table_textures_3653/tex_wall_textures_6697","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":5947487895806062166,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":5947487895806062166,"visual_seed":5947487895806062166,"scene_id":"lab_003","finished_at":"2026-09-03T20:56:08"} +{"episode_id":"ep_000051","started_at":"2026-09-03T20:56:11","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.17875100606845706,-0.7161893925494682,0.71338606911949],"aabb_xy":[[-0.2152468266957358,-0.7526733349762257],[-0.14225518544117832,-0.6797054501227106]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[-0.4348672167783944,-1.4346406121508002,0.71338606911949],"aabb_xy":[[-0.4413688532863991,-1.44440843417711],[-0.42836558027038985,-1.4248727901244904]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.6325135624607887,-1.2285831809507843,0.71338606911949],"aabb_xy":[[0.5525135610306614,-1.3081003359633938],[0.7125135638909158,-1.1490660259381749]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[0.21955874135967068,-2.0807488843604443,0.71338606911949],"aabb_xy":[[0.16958567582715525,-2.1307488841729776],[0.2695318068921862,-2.030748884547912]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[-0.23488185025803937,-1.2576553382942348,0.71338606911949],"aabb_xy":[[-0.25267535719295575,-1.2754550838900325],[-0.2170883433231229,-1.2398555926984371]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.5439712988541283,1.3454759126889795,0.71338606911949],"aabb_xy":[[0.5064712986822563,1.3127751773060718],[0.5814712990260001,1.3781766480718862]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[-0.43319317788581174,-2.127514685505019,0.71338606911949],"aabb_xy":[[-0.44045442545621916,-2.1403016957685286],[-0.42593193031540433,-2.1147276752415096]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.6376343979678807,-1.7760276696237143,0.71338606911949],"aabb_xy":[[0.5825091923382898,-1.8360276710650014],[0.6927596035974714,-1.7160276681824271]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[0.06896661271970006,1.5306309068237218,0.71338606911949],"aabb_xy":[[0.056094709218759926,1.4506309064098855],[0.0818385162206402,1.6106309072375578]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.2026831905572971,1.6620948531880475,0.71338606911949],"aabb_xy":[[0.1226831883945346,1.5821396695619037],[0.2826831927200596,1.742050036814191]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[0.5898707336297164,1.5885135534985086,0.71338606911949],"aabb_xy":[[0.5789649575421537,1.5085135570996797],[0.6007765097172791,1.668513549897338]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[0.5783987753093776,0.5386521166435894,0.71338606911949],"aabb_xy":[[0.5143987750489066,0.4936433172906614],[0.6423987755698483,0.5836609159965174]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.22974891541953663,-2.2983868666276104,0.71338606911949],"aabb_xy":[[-0.28474891459612617,-2.353376541402568],[-0.17474891624294717,-2.2433971918526527]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.5395652465330367,-1.15756238411514,0.71338606911949],"aabb_xy":[[-0.6045652446889558,-1.183858628665052],[-0.47456524837711767,-1.1312661395652277]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.6761909436762981,0.9719361456271893,0.71338606911949],"aabb_xy":[[0.6681646730456721,0.9631846506498368],[0.6842172143069241,0.980687640604542]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[0.5983154810950571,0.3817459152925453,0.71338606911949],"aabb_xy":[[0.5533228943766065,0.3367459160180966],[0.6433080678135074,0.4267459145669941]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[0.3264573042525498,-0.5303323928581718,0.71338606911949],"aabb_xy":[[0.26245730714044413,-0.5793647626525824],[0.3904573013646555,-0.4813000230637612]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[-0.3587003322953212,1.0997251251189426,0.71338606911949],"aabb_xy":[[-0.36640352296939827,1.0920157544202045],[-0.3509971416212442,1.1074344958176807]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[0.21107121485698122,-1.6226732001990842,0.71338606911949],"aabb_xy":[[0.1832261780763741,-1.653457698937396],[0.23891625163758834,-1.5918887014607725]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[-0.6228999908261966,0.6121999308003971,0.71338606911949],"aabb_xy":[[-0.6478999900981589,0.5958545672042347],[-0.5978999915542343,0.6285452943965594]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.21578389880352966,-1.0477151857901144,0.71338606911949],"aabb_xy":[[0.17828389869793668,-1.0545373476430953],[0.25328389890912256,-1.040893023937133]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[-0.1181099787306058,-1.2256784829539387,0.71338606911949],"aabb_xy":[[-0.1262236334039829,-1.2337842994079675],[-0.1099963240572287,-1.2175726664999094]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.1605978031743992,-2.329888708003286,0.71338606911949],"aabb_xy":[[0.1360841790773933,-2.3541533013053226],[0.18511142727140503,-2.3056241147012497]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_23","position":[0.17985281969500955,0.7967514213066194,0.71338606911949],"aabb_xy":[[0.16275074173664142,0.7796446157753496],[0.19695489765337773,0.8138582268378891]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.5095582030594508,-1.638970380264191,0.71338606911949],"aabb_xy":[[-0.5189756776293135,-1.6483865574019099],[-0.500140728489588,-1.6295542031264718]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[-0.08061028248451885,1.4808707231552405,0.71338606911949],"aabb_xy":[[-0.08619195411864759,1.468370723337465],[-0.07502861085039007,1.493370722973016]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[-0.30281329402692847,-0.6499163346064829,0.71338606911949],"aabb_xy":[[-0.3115945211741647,-0.6586960818950132],[-0.29403206687969224,-0.6411365873179529]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_27","position":[-0.5706235485802266,1.1329778442863878,0.71338606911949],"aabb_xy":[[-0.6506235490504426,1.1246671366720398],[-0.49062354811001074,1.1412885519007363]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_28","position":[0.38613350777269817,-1.8762154473022614,0.71338606911949],"aabb_xy":[[0.36863357433871474,-1.893715447222496],[0.4036334412066815,-1.8587154473820269]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_29","position":[0.14209459592842943,-2.2060554782694584,0.71338606911949],"aabb_xy":[[0.11959459611452708,-2.210530094639939],[0.16459459574233185,-2.201580861898978]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_30","position":[-0.5704526189016209,-0.5327967040596135,0.71338606911949],"aabb_xy":[[-0.6554526175936954,-0.5647825674544924],[-0.48545262020954616,-0.5008108406647347]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_31","position":[0.5336107245440307,-2.45865445916939,0.71338606911949],"aabb_xy":[[0.4836114493755945,-2.5086544604453374],[0.5836099997124669,-2.408654457893443]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_32","position":[-0.13337477976228163,-2.0415895276964124,0.71338606911949],"aabb_xy":[[-0.19737478167462397,-2.0975006769544233],[-0.06937477784993928,-1.9856783784384024]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_33","position":[0.6008802430516471,-0.25647564174103676,0.71338606911949],"aabb_xy":[[0.5928439083503623,-0.2645137610454535],[0.608916577752932,-0.24843752243661993]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_34","position":[0.5493133146490583,-0.1513471803538633,0.71338606911949],"aabb_xy":[[0.49933589778380466,-0.20134718184311182],[0.5992907315143118,-0.10134717886461474]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6880124060864284,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8013.png","name":"8013"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8013.png","name":"8013"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1981.png","name":"1981"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7937.png","name":"7937"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1481.png","name":"1481"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2643.png","name":"2643"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":788.4573735569828,"rotation_z_degrees":279.38494577904515,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016668513053705522,0.006932564283182462,-0.013125910656386363]},{"name":"camera_2","offset_m":[-0.011943159073259758,-0.004172431731958515,0.0005152656100251285]},{"name":"camera_3","offset_m":[-0.007807615975473961,-0.014455260064749526,0.004646260360339376]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003938571415257183,5.857412042045663e-05,0.00044053513443873026],"end_effector_yaw_offset_degrees":0.04821436935685641},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004175296785174018,-0.001239925209341175,-5.887955560095388e-05],"end_effector_yaw_offset_degrees":0.9458614676495356},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001409427409393544,-0.0012757824903258572,0.001481277579109932],"end_effector_yaw_offset_degrees":-0.7256414418199824}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00029547803650150153,-0.0020312629468505396],"position_m":[0.3187045219634985,-0.09143126294685053,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002094180438071899,-0.0005926632121705791],"position_m":[0.2730058195619281,-0.3435926632121706,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017376783667609188,-0.004590246096576114],"position_m":[0.30803767836676094,0.2328097539034239,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038223221001944677,0.00031479427494267645],"position_m":[0.35002232210019446,0.09751479427494267,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fd95e7ef67fb52bbc8c348ebb9eec2da5319a80ceda62a6d5d54d843ccb806b3","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0051.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8013/tex_ceiling_textures_2643/tex_floor_textures_1481/tex_table_textures_1981/tex_wall_textures_7937","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1900788182585375731,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1900788182585375731,"visual_seed":1900788182585375731,"scene_id":"lab_003","finished_at":"2026-09-03T20:58:42"} +{"episode_id":"ep_000052","started_at":"2026-09-03T20:58:47","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[0.06497089502063003,-1.7984825151947739,0.71338606911949],"aabb_xy":[[0.0009708946430964094,-1.848227782045586],[0.12897089539816364,-1.7487372483439614]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[-0.14592656763447787,-2.001233194992854,0.71338606911949],"aabb_xy":[[-0.23592657131139597,-2.062665601569958],[-0.05592656395755964,-1.939800788415749]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.3058040312923318,-0.9321454954412125,0.71338606911949],"aabb_xy":[[0.29235750465828847,-0.9456153470943037],[0.31925055792637513,-0.9186756437881213]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.5030903817410732,0.5009248437748086,0.71338606911949],"aabb_xy":[[0.43809038063512984,0.4759594707066803],[0.5680903828470164,0.5258902168429369]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[0.5958836406625656,-1.7908599347651535,0.71338606911949],"aabb_xy":[[0.5408881628419062,-1.8458599361990602],[0.650879118483225,-1.7358599333312463]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.3127859127914195,0.5604128073374541,0.71338606911949],"aabb_xy":[[-0.324554099586077,0.4754128074322327],[-0.30101772599676196,0.6454128072426758]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[0.4701581489881894,-2.3566428968541686,0.71338606911949],"aabb_xy":[[0.4555147434341564,-2.3713016165109524],[0.48480155454222235,-2.341984177197384]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.6531704568707031,-1.6170725698085793,0.71338606911949],"aabb_xy":[[0.6181704569746841,-1.6254468053205193],[0.6881704567667218,-1.6086983342966392]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.5725973778850599,0.6461724284914356,0.71338606911949],"aabb_xy":[[0.5624443623309104,0.6101028869186951],[0.5827503934392092,0.6822419700641758]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[0.4970025254624224,0.9453346554679118,0.71338606911949],"aabb_xy":[[0.4882212983151863,0.9365549081793819],[0.5057837526096588,0.9541144027564422]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.674440254061415,0.3048990544203827,0.71338606911949],"aabb_xy":[[0.6292689362132461,0.24089905727584426],[0.719611571909584,0.3688990515649211]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.309233469177737,-2.427262694100428,0.71338606911949],"aabb_xy":[[-0.3467334695259647,-2.4390540896815116],[-0.27173346882950916,-2.4154712985193445]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[-0.2821174331484368,-0.5833543667264043,0.71338606911949],"aabb_xy":[[-0.34711743578623033,-0.6348339654258512],[-0.21711743051064336,-0.5318747680269573]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.31307914207130555,-0.8319530317649835,0.71338606911949],"aabb_xy":[[-0.3630784172397417,-0.8819530330409306],[-0.2630798669028694,-0.7819530304890363]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[0.43146503212226817,-1.103785923976241,0.71338606911949],"aabb_xy":[[0.3814820819347887,-1.1537859236188013],[0.4814479823097474,-1.0537859243336805]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[0.5390296657806044,-0.7235545459010646,0.71338606911949],"aabb_xy":[[0.4890454300724272,-0.7735545447145602],[0.5890139014887816,-0.673554547087569]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[0.4941749542227465,-1.9909004961673353,0.71338606911949],"aabb_xy":[[0.44419614571243055,-2.0409004961730544],[0.5441537627330624,-1.9409004961616165]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.5825802391029624,1.2536730625124295,0.71338606911949],"aabb_xy":[[0.5275802399263729,1.1986833877374716],[0.6375802382795519,1.308662737287387]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[0.2295906920262678,1.5683111566961299,0.71338606911949],"aabb_xy":[[0.22327859248992937,1.562544217442911],[0.23590279156260624,1.5740780959493488]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[0.32106465155903563,0.5385969723460216,0.71338606911949],"aabb_xy":[[0.26343418267176466,0.47859697341931084],[0.3786951204463063,0.598596971272732]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[-0.00021658790791645455,0.7031470633823425,0.71338606911949],"aabb_xy":[[-0.02271658815143185,0.6909424287225705],[0.02228341233559894,0.7153516980421144]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[-0.3363863732811073,-1.828858095261601,0.71338606911949],"aabb_xy":[[-0.3731810064060136,-1.8657639703581832],[-0.29959174015620105,-1.7919522201650186]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[0.3275637488141476,-2.4602598445624975,0.71338606911949],"aabb_xy":[[0.3203025012437402,-2.473046854826007],[0.33482499638455504,-2.447472834298988]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879438237803313,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8042.png","name":"8042"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8042.png","name":"8042"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3876.png","name":"3876"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8365.png","name":"8365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8276.png","name":"8276"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7964.png","name":"7964"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":567.0344129506789,"rotation_z_degrees":311.3973441900563,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00836835163670187,-0.011589405987015368,-0.016565908204050645]},{"name":"camera_2","offset_m":[0.017835813895494688,-0.004829394275428216,0.0032395601205077]},{"name":"camera_3","offset_m":[-0.008627381042525993,0.002576217228849143,-0.003725118556881988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001985870705835692,0.001152602716013933,-0.00044455754161414345],"end_effector_yaw_offset_degrees":-0.18252764699397273},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019120649872167786,-0.0007624560652803819,-0.0005826504581394447],"end_effector_yaw_offset_degrees":-0.7602488961704585},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00046561857927313673,-0.0009164449325772277,0.0006394144406434549],"end_effector_yaw_offset_degrees":-0.6848247343996952}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003426876693182971,-9.302194927359418e-05],"position_m":[0.315573123306817,-0.08949302194927358,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017278966712052533,0.00018114381762278624],"position_m":[0.27337210332879475,-0.34281885618237723,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00409091241585944,-0.0027103382529765096],"position_m":[0.3103909124158595,0.2346896617470235,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014322472828329582,0.004822127025871395],"position_m":[0.34476775271716703,0.10202212702587139,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"32195508be7678411c2eeee5a88c584b620a902abff1dc90eeaa501e5e75a392","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8042/tex_ceiling_textures_7964/tex_floor_textures_8276/tex_table_textures_3876/tex_wall_textures_8365","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1356854603537873282,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1356854603537873282,"visual_seed":1356854603537873282,"scene_id":"lab_003","finished_at":"2026-09-03T21:01:03"} +{"episode_id":"ep_000053","started_at":"2026-09-03T21:01:06","dimensions":{"distractor":{"count":26,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.22189152074225538,-2.433205201039604,0.71338606911949],"aabb_xy":[[0.21460920436559164,-2.5232052046491122],[0.22917383711891895,-2.3432051974300943]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[0.6327323797678945,-1.7340040099923677,0.71338606911949],"aabb_xy":[[0.5914835687379796,-1.789004009504585],[0.673981190797809,-1.67900401048015]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[-0.580619499929117,-1.2444336462914733,0.71338606911949],"aabb_xy":[[-0.6406195005251333,-1.2992461188366968],[-0.5206194993331009,-1.1896211737462499]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.4568416727016058,-0.31930122351441836,0.71338606911949],"aabb_xy":[[-0.4924708286015655,-0.3549338902712713],[-0.421212516801646,-0.2836685567575654]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.10956993597579656,1.6402424812646177,0.71338606911949],"aabb_xy":[[-0.12563186343431418,1.5552424794520259],[-0.0935080085172789,1.7252424830772095]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.4410815490347657,-1.5356666423052838,0.71338606911949],"aabb_xy":[[0.3610815504474463,-1.6149822442434447],[0.5210815476220851,-1.456351040367123]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[0.3560447946469203,-1.8118673992439889,0.71338606911949],"aabb_xy":[[0.2860447930446408,-1.8253001924456465],[0.4260447962491998,-1.7984346060423313]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[-0.4124714409884603,-2.0596558103896925,0.71338606911949],"aabb_xy":[[-0.4764714374157822,-2.106825434211789],[-0.3484714445611384,-2.012486186567596]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[-0.551463081433168,-0.08934291855639609,0.71338606911949],"aabb_xy":[[-0.5685651593915362,-0.10644972408766584],[-0.5343610034747999,-0.07223611302512634]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.19072742229851847,-0.701920787749468,0.71338606911949],"aabb_xy":[[0.1836859713477709,-0.7089475394872624],[0.1977688732492661,-0.6948940360116733]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.21868713608220103,0.924232706132214,0.71338606911949],"aabb_xy":[[0.14868713344561466,0.9041278411363484],[0.2886871387187874,0.9443375711280794]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.12039658255336028,1.3055884848623074,0.71338606911949],"aabb_xy":[[0.07051388567566408,1.2555884856160326],[0.17027927943105647,1.3555884841085821]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[0.5707794057617761,-2.3436440073718714,0.71338606911949],"aabb_xy":[[0.5067794084594296,-2.3880104343397277],[0.6347794030641224,-2.299277580404014]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[0.45010982515927034,-1.0247314951319328,0.71338606911949],"aabb_xy":[[0.40510982369304155,-1.0697313519934135],[0.49510982662549924,-0.9797316382704522]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[0.3621282598920321,-1.2558717529126342,0.71338606911949],"aabb_xy":[[0.3121453097045527,-1.3058717525551946],[0.41211121007951135,-1.2058717532700738]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.43049177798800964,-1.8769416451722187,0.71338606911949],"aabb_xy":[[-0.48450737426990964,-1.9409416480644757],[-0.37647618170610964,-1.8129416422799614]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.2282587270348596,-0.5918088976431795,0.71338606911949],"aabb_xy":[[0.19075872668663185,-0.6036002932242629],[0.26575872738308737,-0.5800175020620958]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.0628311379808213,-2.481853518074522,0.71338606911949],"aabb_xy":[[-0.12783113893794848,-2.533801730008228],[0.002168862976305918,-2.429905306140817]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.6494939860419995,-2.5287111027268128,0.71338606911949],"aabb_xy":[[0.6151777088673814,-2.57871110269999],[0.6838102632166173,-2.4787111027536346]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.014455445958222013,-0.9918800471950255,0.71338606911949],"aabb_xy":[[0.009117870292217445,-1.0168800481241653],[0.01979302162422658,-0.9668800462658858]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[0.611876354154903,1.5849927523939855,0.71338606911949],"aabb_xy":[[0.5618815212269616,1.534992753498742],[0.6618711870828448,1.634992751289229]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.21564139262469084,-1.860861006395794,0.71338606911949],"aabb_xy":[[-0.22641436654605865,-1.895861004614833],[-0.2048684187033231,-1.825861008176755]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.6117511795895298,-1.9265478174561408,0.71338606911949],"aabb_xy":[[-0.6367511791412682,-1.9366903013212755],[-0.5867511800377913,-1.916405333591006]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[-0.2869251347624431,0.8656453542624796,0.71338606911949],"aabb_xy":[[-0.36692513523265907,0.8573346466481312],[-0.2069251342922272,0.873956061876828]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[-0.1205330940098106,-1.3912896406764388,0.71338606911949],"aabb_xy":[[-0.15803309467438928,-1.4069766986766608],[-0.08303309334523189,-1.3756025826762164]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[-0.1799890005637702,-0.909009104140732,0.71338606911949],"aabb_xy":[[-0.20995655747359587,-0.9390091044386176],[-0.15002144365394454,-0.8790091038428461]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692909666040996,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6619.png","name":"6619"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6619.png","name":"6619"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4085.png","name":"4085"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8898.png","name":"8898"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2531.png","name":"2531"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8859.png","name":"8859"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":799.3472140260294,"rotation_z_degrees":107.5749230680398,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018985400902582456,-0.019279932569386683,0.004491287591186444]},{"name":"camera_2","offset_m":[-0.01875873413644543,0.0141090924368364,0.0033702290030104484]},{"name":"camera_3","offset_m":[0.0034121440240188552,-0.013121486111094045,-0.008437655452516415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008085601606876462,-0.0004007989405110154,-0.00021359715624139227],"end_effector_yaw_offset_degrees":0.47775367553954995},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.121471016401958e-05,0.001887519685015202,0.0005566048660229912],"end_effector_yaw_offset_degrees":0.09264158925680399},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001290953290545736,0.0009130334540216598,-0.001832211405748748],"end_effector_yaw_offset_degrees":0.9559781713973141}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00027867891483412087,-0.004123972874317444],"position_m":[0.31927867891483414,-0.09352397287431743,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004006022981023988,0.00020391982497216295],"position_m":[0.279106022981024,-0.3427960801750279,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004708809413902583,-0.0029573650134218023],"position_m":[0.30159119058609746,0.2344426349865782,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004875091358627,0.003927817912456818],"position_m":[0.351075091358627,0.10112781791245681,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"49d718dcb72fc750ba2811d08f80cb025fdd13efe77ca59630fb1db844990651","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6619/tex_ceiling_textures_8859/tex_floor_textures_2531/tex_table_textures_4085/tex_wall_textures_8898","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6022316805069622866,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6022316805069622866,"visual_seed":6022316805069622866,"scene_id":"lab_003","finished_at":"2026-09-03T21:03:54"} +{"episode_id":"ep_000054","started_at":"2026-09-03T21:03:57","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.4784707670847108,1.7685076247950717,0.71338606911949],"aabb_xy":[[-0.4838083427507155,1.7435076238659322],[-0.47313319141870636,1.7935076257242117]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[0.6537781792798909,-0.23584051493716007,0.71338606911949],"aabb_xy":[[0.6474660797435525,-0.24160745419037888],[0.6600902788162293,-0.2300735756839412]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.4072877423163439,-2.27872204400929,0.71338606911949],"aabb_xy":[[0.3422877412104006,-2.3036874170774184],[0.4722877434222872,-2.253756670941162]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[0.521945759312556,1.0832742087601366,0.71338606911949],"aabb_xy":[[0.45794575726282405,1.0431797256708286],[0.585945761362288,1.1233686918494445]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[-0.38873209482794024,-2.3261391676602683,0.71338606911949],"aabb_xy":[[-0.41201393702607153,-2.411139168957496],[-0.36545025262980885,-2.24113916636304]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.14618390529157632,-1.4754894800205598,0.71338606911949],"aabb_xy":[[0.1183388685109692,-1.5062739787588717],[0.17402894207218345,-1.4447049812822483]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.0872263708683706,-1.3398342896496716,0.71338606911949],"aabb_xy":[[0.032234120232859646,-1.3948342913929843],[0.14221862150388154,-1.2848342879063588]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[-0.328942903113702,0.9633315343830868,0.71338606911949],"aabb_xy":[[-0.35727261306224223,0.9588707921893698],[-0.3006131931651618,0.9677922765768039]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[-0.035587730506873805,-1.2100421403442077,0.71338606911949],"aabb_xy":[[-0.0442856927975891,-1.2221671146516824],[-0.026889768216158523,-1.197917166036733]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.21652801065783078,-1.285558820661741,0.71338606911949],"aabb_xy":[[0.2120973813029906,-1.291007192396424],[0.22095864001267096,-1.2801104489270585]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[-0.10678374431628879,-1.386976917903291,0.71338606911949],"aabb_xy":[[-0.12928374482832938,-1.409468776268689],[-0.08428374380424818,-1.3644850595378923]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.2833320227216841,0.2216861306548914,0.71338606911949],"aabb_xy":[[-0.2934850382758334,0.185616589082151],[-0.2731790071675346,0.2577556722276316]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[-0.5752348544227593,-2.5541609142962343,0.71338606911949],"aabb_xy":[[-0.5829380450968363,-2.561870284994972],[-0.5675316637486821,-2.5464515435974957]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[-0.12629884179484185,-0.9425451272055678,0.71338606911949],"aabb_xy":[[-0.13432511242546785,-0.9512966221829203],[-0.11827257116421586,-0.9337936322282151]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.09385697473394472,-1.0970814652540772,0.71338606911949],"aabb_xy":[[-0.1283193221320865,-1.1315753476518995],[-0.05939462733580291,-1.062587582856254]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[-0.5948921742991864,-1.9819082757778714,0.71338606911949],"aabb_xy":[[-0.6848921766332055,-2.0593906303629845],[-0.5048921719651673,-1.904425921192759]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[0.20786903019044056,0.9294195327081303,0.71338606911949],"aabb_xy":[[0.190438315111434,0.9121474180442795],[0.22529974526944702,0.9466916473719811]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[-0.030210764384804745,1.0164409069038727,0.71338606911949],"aabb_xy":[[-0.06771076504938343,1.0007538489036503],[0.007289236279773954,1.0321279649040946]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[-0.4544358184061098,1.1995441347585665,0.71338606911949],"aabb_xy":[[-0.5184358169926822,1.1525371713590578],[-0.3904358198195373,1.2465510981580752]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[-0.6342491734864539,-1.4578361688294321,0.71338606911949],"aabb_xy":[[-0.6520426804213705,-1.4756359144252296],[-0.6164556665515376,-1.4400364232336342]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[0.521681184588761,1.4363945070651263,0.71338606911949],"aabb_xy":[[0.5090784854516845,1.4237991108402612],[0.5342838837258375,1.4489899032899922]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[0.4208427067440006,0.39011634794334915,0.71338606911949],"aabb_xy":[[0.41027522708590153,0.3795713178303406],[0.43141018640209955,0.4006613780563577]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[0.5557206170016289,-1.1712413782648263,0.71338606911949],"aabb_xy":[[0.500720617379883,-1.226225071052299],[0.6107206166233747,-1.1162576854773536]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_23","position":[-0.553136999201851,1.0336417011357661,0.71338606911949],"aabb_xy":[[-0.5702390771602192,1.0165348956044966],[-0.5360349212434828,1.0507485066670361]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[0.6328381950273778,0.571505159321489,0.71338606911949],"aabb_xy":[[0.5953381935117461,0.560278386305344],[0.6703381965430095,0.5827319323376341]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_25","position":[0.31440535901467936,0.6422988887988996,0.71338606911949],"aabb_xy":[[0.25943163697834654,0.5872988892346663],[0.3693790810510123,0.6972988883631327]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[-0.12427589963864427,1.5667317343052516,0.71338606911949],"aabb_xy":[[-0.13031291263930903,1.5607050332363037],[-0.11823888663797957,1.5727584353742]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_27","position":[0.08980198259712979,-0.8114055245848553,0.71338606911949],"aabb_xy":[[0.054801982620633974,-0.820870140632472],[0.12480198257362564,-0.8019409085372388]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_28","position":[0.4093177217165136,-1.6414957827870125,0.71338606911949],"aabb_xy":[[0.3916420911279152,-1.6591759990664152],[0.4269933523051119,-1.6238155665076097]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[0.1700586776404901,-1.8999766203347404,0.71338606911949],"aabb_xy":[[0.1554152720864571,-1.9146353399915241],[0.18470208319452308,-1.8853179006779557]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6940201719712429,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7005.png","name":"7005"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7005.png","name":"7005"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7912.png","name":"7912"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/691.png","name":"691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/457.png","name":"457"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3252.png","name":"3252"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":660.658348613141,"rotation_z_degrees":67.13206217928578,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011489749974956932,-0.01893823338459083,-0.008478355449190952]},{"name":"camera_2","offset_m":[-0.019548366687976566,0.0013832430439177715,0.017056415497851776]},{"name":"camera_3","offset_m":[0.01596951370604407,0.009616293636641366,-0.014036783966789446]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021133950402318436,-0.0012775655660617756,-0.0011291296879662096],"end_effector_yaw_offset_degrees":0.19841872871900113},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00031139339099078974,0.0006862092631877469,-0.0002547302772032043],"end_effector_yaw_offset_degrees":-0.5581728813472104},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000775677228468091,-0.0001823097885638857,-0.0017055461597092721],"end_effector_yaw_offset_degrees":-0.46013275861220126}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[2.110855950835256e-05,-0.00018243086248268502],"position_m":[0.3190211085595084,-0.08958243086248267,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00316426499512095,-0.0035001350358029705],"position_m":[0.27826426499512097,-0.346500135035803,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030559216827221536,-0.0009020599340715876],"position_m":[0.3093559216827222,0.23649794006592842,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003942174341879105,0.0012990840259490544],"position_m":[0.3422578256581209,0.09849908402594905,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7922a41659321d1617976271419a4183a35f01dddacb4499c976349bcbfc4d4d","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0054.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7005/tex_ceiling_textures_3252/tex_floor_textures_457/tex_table_textures_7912/tex_wall_textures_691","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":2735766906970869970,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":2735766906970869970,"visual_seed":2735766906970869970,"scene_id":"lab_003","finished_at":"2026-09-03T21:06:29"} +{"episode_id":"ep_000055","started_at":"2026-09-03T21:06:32","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.6542187037438567,0.19833985412490573,0.71338606911949],"aabb_xy":[[0.6461823690425718,0.19030173482048893],[0.6622550384451414,0.2063779734293225]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[0.589056565504483,-2.3208539908990238,0.71338606911949],"aabb_xy":[[0.5715565652451465,-2.3349455330877964],[0.6065565657638198,-2.306762448710251]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.39909117078628975,-0.560333786923493,0.71338606911949],"aabb_xy":[[-0.46309117283602175,-0.6004282700128009],[-0.33509116873655775,-0.5202393038341849]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.3739601909225847,1.6122651138051949,0.71338606911949],"aabb_xy":[[0.30896018828479116,1.560785515105748],[0.43896019356037813,1.6637447125046418]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.40352051141628564,-1.7009186729330974,0.71338606911949],"aabb_xy":[[0.3135205128218157,-1.7171692592465186],[0.4935205100107556,-1.6846680866196766]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.5128880917210303,0.08277646038743924,0.71338606911949],"aabb_xy":[[-0.5678880899227751,0.04225449376100165],[-0.45788809351928544,0.12329842701387682]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[-0.4120410287959471,-0.19066846168060625,0.71338606911949],"aabb_xy":[[-0.47704102667759496,-0.24179212538714717],[-0.34704103091429933,-0.1395447979740654]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[0.39142362887556437,0.7321056808585675,0.71338606911949],"aabb_xy":[[0.3539236273599326,0.7208789078424224],[0.428923630391196,0.7433324538747125]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[-0.12226919138243464,-1.5459759204665158,0.71338606911949],"aabb_xy":[[-0.18226919189028756,-1.6028226541524369],[-0.06226919087458172,-1.4891291867805942]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[0.32993112997422425,-1.1557101644369998,0.71338606911949],"aabb_xy":[[0.28384603871949277,-1.2197101616895547],[0.3760162212289557,-1.0917101671844445]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[-0.04228611468379673,1.6264388610670673,0.71338606911949],"aabb_xy":[[-0.05978611381816389,1.6165592340294792],[-0.02478611554942955,1.6363184881046549]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.359797302750529,-0.4572688082593097,0.71338606911949],"aabb_xy":[[0.3247973036205733,-0.46301402933497376],[0.3947973018804846,-0.45152358718364555]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.5557629557484662,-0.9259058174229149,0.71338606911949],"aabb_xy":[[-0.5861610668476098,-0.9563127194245844],[-0.5253648446493226,-0.8954989154212454]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.11676509386458245,0.9684463115183339,0.71338606911949],"aabb_xy":[[0.08230261585149466,0.9617826343354111],[0.15122757187767022,0.9751099887012568]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.30794876921979975,-2.271039588773808,0.71338606911949],"aabb_xy":[[-0.3679487698158159,-2.3258520613190314],[-0.24794876862378357,-2.2162271162285845]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[-0.1382207212130827,-1.3536954107523056,0.71338606911949],"aabb_xy":[[-0.1882207198590039,-1.4036149544117678],[-0.08822072256716151,-1.303775867092843]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[0.1613236486440719,-2.2991234948931902,0.71338606911949],"aabb_xy":[[0.09732365005749943,-2.346130458292699],[0.22532364723064435,-2.2521165314936815]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[0.24479404549601813,-0.8208310144832531,0.71338606911949],"aabb_xy":[[0.23668039082264103,-0.8289368309372822],[0.25290770016939523,-0.812725198029224]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.6000235552778423,-0.518097252000441,0.71338606911949],"aabb_xy":[[-0.6800235539347285,-0.5326021109247038],[-0.5200235566209565,-0.5035923930761782]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.6363764282088715,0.8030070582668629,0.71338606911949],"aabb_xy":[[0.5563764312458324,0.7259314166230894],[0.7163764251719107,0.8800826999106363]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[-0.154393272052313,0.11795611375465942,0.71338606911949],"aabb_xy":[[-0.24439326855318474,0.07204447133620116],[-0.06439327555144124,0.16386775617311763]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[-0.4853678361797827,1.3993699020327255,0.71338606911949],"aabb_xy":[[-0.49140484918044747,1.3933432009637776],[-0.479330823179118,1.4053966031016738]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[-0.3204524300886114,-2.465926752320399,0.71338606911949],"aabb_xy":[[-0.3854524301229141,-2.512627429000726],[-0.2554524300543086,-2.4192260756400716]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[-0.48123801837451075,-1.8926173808667346,0.71338606911949],"aabb_xy":[[-0.5452380205949178,-1.9369904649920227],[-0.4172380161541037,-1.848244296741446]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[-0.1483878158384998,-1.0696922098786117,0.71338606911949],"aabb_xy":[[-0.18588781601037171,-1.1023929452615189],[-0.11088781566662784,-1.0369914744957045]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_25","position":[-0.20180902256708227,-0.9552814625353174,0.71338606911949],"aabb_xy":[[-0.20980301114478567,-0.9632815426304076],[-0.19381503398937888,-0.9472813824402269]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[0.11558553783629277,-2.519067620976715,0.71338606911949],"aabb_xy":[[0.06558553655245279,-2.5690464753673368],[0.1655855391201327,-2.4690887665860926]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_27","position":[-0.22387836367504466,1.0987555527565886,0.71338606911949],"aabb_xy":[[-0.23091981462579225,1.0917288010187942],[-0.21683691272429706,1.105782304494383]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_28","position":[0.030590112067504283,-2.104116409080867,0.71338606911949],"aabb_xy":[[0.013679379631162501,-2.117588614673481],[0.047500844503846056,-2.0906442034882518]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_29","position":[-0.16144877173979344,-0.5986132372172763,0.71338606911949],"aabb_xy":[[-0.17662094102142678,-0.6137820941454797],[-0.1462766024581601,-0.583444380289073]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_30","position":[-0.02312676874229369,-2.3666716675500936,0.71338606911949],"aabb_xy":[[-0.08712677015028435,-2.418460619074018],[0.04087323266569697,-2.3148827160261685]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_31","position":[-0.5204374512170292,-2.135264011573041,0.71338606911949],"aabb_xy":[[-0.5454374507687677,-2.1454064954381757],[-0.49543745166529074,-2.1251215277079063]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.68986991798027,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/744.png","name":"744"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/744.png","name":"744"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2500.png","name":"2500"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4288.png","name":"4288"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8882.png","name":"8882"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3402.png","name":"3402"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":639.0357758035876,"rotation_z_degrees":18.301372673184304,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006089172009667913,0.018925646538112486,0.004359045797257207]},{"name":"camera_2","offset_m":[0.006376388634608748,0.016907481858945087,0.018208175442283186]},{"name":"camera_3","offset_m":[-0.002236552137971408,-0.008128900330102936,0.005992100229806136]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016083142699375892,-0.0017726606822027215,-0.0009758845416860504],"end_effector_yaw_offset_degrees":0.31429929471854234},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006692677906197609,-0.0009602931468644846,0.0002542699916050525],"end_effector_yaw_offset_degrees":0.08303057162634331},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009832274563780338,0.000821170194086064,0.0015955999975009183],"end_effector_yaw_offset_degrees":-0.5974615028307337}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016482435124841443,-0.0014255014601313974],"position_m":[0.31735175648751585,-0.0908255014601314,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028546623387713113,0.004339076926667512],"position_m":[0.2779546623387713,-0.3386609230733325,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00028322534115229024,-2.5722765996375428e-05],"position_m":[0.30601677465884775,0.23737427723400362,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006648543654841962,0.004063254300966418],"position_m":[0.3468648543654842,0.10126325430096642,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cb5562f20d1379741bfffc52b40d6642b3451cc160ca4b9190bbe7d8defe5cd1","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_744/tex_ceiling_textures_3402/tex_floor_textures_8882/tex_table_textures_2500/tex_wall_textures_4288","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":8744096558261339605,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":8744096558261339605,"visual_seed":8744096558261339605,"scene_id":"lab_003","finished_at":"2026-09-03T21:09:10"} +{"episode_id":"ep_000056","started_at":"2026-09-03T21:09:13","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[-0.6329051154130659,1.2804166238304,0.71338606911949],"aabb_xy":[[-0.6579051146850281,1.2640712602342377],[-0.6079051161411035,1.2967619874265623]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[-0.49325346813136517,-1.7105817444192852,0.71338606911949],"aabb_xy":[[-0.5582534691318657,-1.7613681095739602],[-0.4282534671308647,-1.6597953792646103]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.40535782562175493,-1.215607617205077,0.71338606911949],"aabb_xy":[[0.37702811567321476,-1.2200683593987942],[0.4336875355702952,-1.21114687501136]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.5311203574142667,-2.5212258594791717,0.71338606911949],"aabb_xy":[[-0.5407519936346963,-2.5308631722588806],[-0.521488721193837,-2.5115885466994627]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.10962153472918712,-2.3701222170417533,0.71338606911949],"aabb_xy":[[0.09212153446985048,-2.3842137592305264],[0.12712153498852374,-2.356030674852981]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[-0.35627965606302797,-0.24406535618688352,0.71338606911949],"aabb_xy":[[-0.3787796563065434,-0.2562699908466555],[-0.33377965581951263,-0.23186072152711162]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.18415899865230978,1.5082860577503943,0.71338606911949],"aabb_xy":[[0.13427630177461358,1.4582860585041195],[0.234041695530006,1.5582860569966692]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.36368208715146677,-2.257141929879222,0.71338606911949],"aabb_xy":[[0.3587827948449032,-2.2848188491817902],[0.3685813794580302,-2.2294650105766527]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.34843175077998323,-1.3502242020540287,0.71338606911949],"aabb_xy":[[0.32593532934611913,-1.3727242018607761],[0.37092817221384733,-1.3277242022472813]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.36684433599857225,-0.7251882529239597,0.71338606911949],"aabb_xy":[[-0.3968359987324425,-0.7551882522607603],[-0.33685267326470186,-0.6951882535871592]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[0.20950929464818924,-1.2844345629072749,0.71338606911949],"aabb_xy":[[0.2055954214527667,-1.2931835783138315],[0.21342316784361176,-1.2756855475007178]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.053162067614211495,1.3203522258953773,0.71338606911949],"aabb_xy":[[-0.12316206942295693,1.2989984571311899],[0.016837934194533943,1.3417059946595646]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[0.3506746816633961,0.6467428286076862,0.71338606911949],"aabb_xy":[[0.30067468208706144,0.5967622496555803],[0.4006746812397309,0.6967234075597922]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.15810055860087657,-0.8055626475255053,0.71338606911949],"aabb_xy":[[-0.20028497276170734,-0.8695626478027166],[-0.11591614444004586,-0.7415626472482942]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.23034825990729502,-2.436163361875477,0.71338606911949],"aabb_xy":[[-0.29534825994159775,-2.4828640385558045],[-0.1653482598729923,-2.38946268519515]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.218004526574953,-0.9676164300737882,0.71338606911949],"aabb_xy":[[-0.27300452575154244,-1.0226061048487458],[-0.1630045273983635,-0.9126267552988304]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[-0.2229024424930618,-1.5494865550580499,0.71338606911949],"aabb_xy":[[-0.25969707561796807,-1.5863924301546324],[-0.1861078093681555,-1.5125806799614678]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[-0.5248837174362063,-1.270443677309633,0.71338606911949],"aabb_xy":[[-0.5423837167142932,-1.2877817773759788],[-0.5073837181581194,-1.2531055772432869]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[-0.5271885678067781,0.03428541491127479,0.71338606911949],"aabb_xy":[[-0.5404195133414592,0.021057995889275365],[-0.5139576222720966,0.047512833933274205]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.2913658037861425,1.747717834102747,0.71338606911949],"aabb_xy":[[0.26271647142572624,1.719072274825671],[0.3200151361465587,1.7763633933798226]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[-0.09505064986815082,0.5917915944585297,0.71338606911949],"aabb_xy":[[-0.10246310540953928,0.5859403840369017],[-0.08763819432676233,0.5976428048801576]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[0.4715044906535719,0.3914645758335591,0.71338606911949],"aabb_xy":[[0.42153142512105646,0.3414645760210262],[0.5214775561860874,0.44146457564609204]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[-0.02325852003882445,1.203483264790762,0.71338606911949],"aabb_xy":[[-0.06075852021069639,1.1707825294078549],[0.014241480133047494,1.2361840001736693]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_23","position":[0.6693275154379881,-2.0015773568253143,0.71338606911949],"aabb_xy":[[0.6658868391979308,-2.005438789799679],[0.6727681916780451,-1.9977159238509499]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[0.5405069182995175,-1.6220858982213127,0.71338606911949],"aabb_xy":[[0.49442182704478593,-1.6860858954738678],[0.5865920095542488,-1.5580859009687575]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_25","position":[-0.39707977771963354,1.110019109519039,0.71338606911949],"aabb_xy":[[-0.46107977798010435,1.0650103101661108],[-0.33307977745916273,1.1550279088719668]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[-0.21503314910844012,1.6213545664551927,0.71338606911949],"aabb_xy":[[-0.26484992857327483,1.5713545679708891],[-0.16521636964360534,1.6713545649394959]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[0.5649207313071645,-0.6027566567749496,0.71338606911949],"aabb_xy":[[0.5572175406330875,-0.6104660274736875],[0.5726239219812415,-0.5950472860762115]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_28","position":[-0.6149146786197577,0.09351029550880474,0.71338606911949],"aabb_xy":[[-0.619345307974598,0.08806192377412216],[-0.6104840492649176,0.09895866724348736]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_29","position":[-0.6626186321463944,-0.47120946919166906,0.71338606911949],"aabb_xy":[[-0.6855343450314444,-0.4941137663280926],[-0.6397029192613446,-0.4483051720552456]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_30","position":[0.60105626435608,0.2081895109248708,0.71338606911949],"aabb_xy":[[0.5969403142440072,0.2040739558920253],[0.6051722144681525,0.21230506595771628]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_31","position":[0.35746268007219295,-0.4432372712923449,0.71338606911949],"aabb_xy":[[0.34934902539881585,-0.45134308774637394],[0.36557633474557005,-0.4351314548383158]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_32","position":[-0.2933665688883326,0.5742451802328459,0.71338606911949],"aabb_xy":[[-0.34836656851007847,0.5192614874453731],[-0.23836656926658678,0.6292288730203186]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_33","position":[-0.4689429600961557,-0.4890356730476131,0.71338606911949],"aabb_xy":[[-0.49085164223550676,-0.5109363398677038],[-0.44703427795680467,-0.4671350062275223]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_34","position":[0.22574685411142725,-1.9026331062224144,0.71338606911949],"aabb_xy":[[0.21438511945814107,-1.9140015726287023],[0.23710858876471338,-1.8912646398161261]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874422517460935,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7452.png","name":"7452"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7452.png","name":"7452"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7492.png","name":"7492"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7919.png","name":"7919"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9465.png","name":"9465"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4075.png","name":"4075"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":628.0088285605375,"rotation_z_degrees":168.47179204129057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017786322148888905,0.003028569556631163,-0.014524227556066444]},{"name":"camera_2","offset_m":[0.0023631721632902322,-0.012013736281279068,0.013879564741318375]},{"name":"camera_3","offset_m":[0.003495978889897434,0.016132385413909867,0.018995939781641113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014185393404410659,0.0009567064631578466,-0.00025860746056979747],"end_effector_yaw_offset_degrees":0.18840323056279518},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001225444932283785,-0.001116541201626073,0.0019344663932668975],"end_effector_yaw_offset_degrees":0.6585277571844523},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003608484185687426,-0.0017913816247840649,0.000313434005987268],"end_effector_yaw_offset_degrees":-0.6773181272610402}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0045991341510663725,-0.003676077579824925],"position_m":[0.3144008658489336,-0.09307607757982492,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00382188534772866,-0.00243935799917255],"position_m":[0.27127811465227136,-0.3454393579991726,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025940988286647735,-0.0015819833668050311],"position_m":[0.3088940988286648,0.23581801663319496,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038786714627657712,0.0013092502825997054],"position_m":[0.34232132853723424,0.0985092502825997,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"59671b91589f788497ef993832d4ce712b084998cd36c769f4894da57651dba0","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7452/tex_ceiling_textures_4075/tex_floor_textures_9465/tex_table_textures_7492/tex_wall_textures_7919","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":4212299986968012996,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":4212299986968012996,"visual_seed":4212299986968012996,"scene_id":"lab_003","finished_at":"2026-09-03T21:11:45"} +{"episode_id":"ep_000057","started_at":"2026-09-03T21:11:48","dimensions":{"distractor":{"count":23,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[-0.05688937001156624,0.004939138081427874,0.71338606911949],"aabb_xy":[[-0.0739914479699344,-0.012167667449841879],[-0.03978729205319809,0.022045943612697627]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[0.1660588182799605,1.3858993945862168,0.71338606911949],"aabb_xy":[[0.14277697608182915,1.3008993932889887],[0.18934066047809184,1.4708993958834449]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[0.21942256734027787,-1.7662146818968056,0.71338606911949],"aabb_xy":[[0.2019225682059107,-1.7760943089343935],[0.23692256647464505,-1.7563350548592178]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.45007264912967293,0.8153410857511467,0.71338606911949],"aabb_xy":[[0.3600726454527547,0.7539086791740421],[0.540072652806591,0.8767734923282509]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[-0.34564940400913924,-1.200167294937148,0.71338606911949],"aabb_xy":[[-0.35357268424788757,-1.2226672951751514],[-0.3377261237703909,-1.1776672946991447]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[0.41244038707201147,0.9480488407958116,0.71338606911949],"aabb_xy":[[0.39779698151797843,0.9333901211390273],[0.4270837926260444,0.9627075604525958]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.239680997529924,-1.2989214420901265,0.71338606911949],"aabb_xy":[[0.17568099612193333,-1.350710393614051],[0.30368099893791467,-1.2471324905662016]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.3215427583605117,-2.106632879948503,0.71338606911949],"aabb_xy":[[0.3072083332343482,-2.1186930955030414],[0.3358771834866751,-2.094572664393964]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.6583482398009932,0.7981028863843798,0.71338606911949],"aabb_xy":[[0.5943482426888875,0.749070516589969],[0.7223482369130989,0.8471352561787903]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.48679718404473415,0.5327598856563527,0.71338606911949],"aabb_xy":[[-0.5217971853962158,0.5124001496995318],[-0.45179718269325236,0.5531196216131735]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.3271623615461133,0.6698142857463067,0.71338606911949],"aabb_xy":[[-0.3344446779227768,0.5798142821367975],[-0.3198800451694495,0.7598142893558155]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[0.5402894206153084,-1.5778235392807656,0.71338606911949],"aabb_xy":[[0.5306577843948788,-1.5874608520604743],[0.549921056835738,-1.5681862265010564]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.060102884284525926,-1.7441597779010034,0.71338606911949],"aabb_xy":[[0.04953540462642691,-1.754704808014012],[0.07067036394262494,-1.7336147477879948]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[-0.5174774961618378,0.11248928429471317,0.71338606911949],"aabb_xy":[[-0.5974774994196808,0.03249277650272919],[-0.43747749290399485,0.19248579208669714]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[0.5289195845835042,1.569007153174867,0.71338606911949],"aabb_xy":[[0.47891958292200937,1.5190087109191641],[0.5789195862449988,1.6190055954305695]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.06928670005429194,0.2168190767353475,0.71338606911949],"aabb_xy":[[-0.09178669986819431,0.21234446036486682],[-0.04678670024038954,0.2212936931058282]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[-0.05414387329193948,1.0982218134624908,0.71338606911949],"aabb_xy":[[-0.062358418407623455,1.089545223164849],[-0.045929328176255495,1.1068984037601317]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.2615036647220386,-1.6696120246191315,0.71338606911949],"aabb_xy":[[-0.27274872029265645,-1.6808538223432268],[-0.2502586091514208,-1.6583702268950362]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[-0.5811568205805343,-1.1761626533743488,0.71338606911949],"aabb_xy":[[-0.5936241786902701,-1.1886279780076723],[-0.5686894624707988,-1.1636973287410253]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[0.48646453488586583,-2.2104109939286256,0.71338606911949],"aabb_xy":[[0.4709087654756006,-2.225961427173033],[0.5020203042961311,-2.1948605606842184]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[-0.18669544084176193,-1.382181736681958,0.71338606911949],"aabb_xy":[[-0.25169544184226245,-1.432968101836633],[-0.12169543984126138,-1.331395371527283]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[0.5444613377753658,-2.0710900097488443,0.71338606911949],"aabb_xy":[[0.502276923614535,-2.1350900100260555],[0.5866457519361965,-2.007090009471633]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.44703958279300016,1.059939751263892,0.71338606911949],"aabb_xy":[[-0.48980628967242035,0.9959397478420893],[-0.40427287591357997,1.1239397546856942]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6910477870743048,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7330.png","name":"7330"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7330.png","name":"7330"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6577.png","name":"6577"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8856.png","name":"8856"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/892.png","name":"892"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3077.png","name":"3077"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":562.2586437574739,"rotation_z_degrees":312.84765019078003,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006829372230511589,-0.005996727137177782,0.019804738454965668]},{"name":"camera_2","offset_m":[0.00866797119623319,0.01304298181058899,0.0068879593905013525]},{"name":"camera_3","offset_m":[0.005313381398881746,-0.0029256033554818026,-0.006461656877904622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00010989314867021482,0.001708396022941129,-0.0015318518929507868],"end_effector_yaw_offset_degrees":-0.06802232806429664},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015194522681843874,0.0004952122783779475,0.0005937785090073902],"end_effector_yaw_offset_degrees":-0.40075028627128373},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015748187807838139,-0.00013836869557493255,0.0012641722402878652],"end_effector_yaw_offset_degrees":-0.3790360012608869}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00432987956336332,-0.0044965680930849974],"position_m":[0.31467012043663667,-0.093896568093085,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00042232214514324913,-0.002304947753121445],"position_m":[0.2755223221451433,-0.3453049477531215,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037791690922718566,-0.0033207162353453058],"position_m":[0.3100791690922719,0.2340792837646547,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00048581992357814817,-0.0003852855267977018],"position_m":[0.34668581992357816,0.09681471447320229,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"88566a239a186ff57c47f5b2c06dff4f2b579629e20d3377804bd3ae949bcf44","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7330/tex_ceiling_textures_3077/tex_floor_textures_892/tex_table_textures_6577/tex_wall_textures_8856","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1328529369047553398,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1328529369047553398,"visual_seed":1328529369047553398,"scene_id":"lab_003","finished_at":"2026-09-03T21:14:34"} +{"episode_id":"ep_000058","started_at":"2026-09-03T21:14:37","dimensions":{"distractor":{"count":23,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.06720505749018602,-0.644843479184269,0.71338606911949],"aabb_xy":[[-0.10470505606580681,-0.6575797748478269],[-0.029705058914565204,-0.632107183520711]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.21309226509196916,0.7627531259275315,0.71338606911949],"aabb_xy":[[-0.23760588918897502,0.7384885326254952],[-0.1885786409949633,0.7870177192295681]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.12458122694879181,-1.9555207593153505,0.71338606911949],"aabb_xy":[[-0.18221169583606264,-2.0155207582420607],[-0.06695075806152094,-1.8955207603886397]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.4806427894023526,-0.26560477600744736,0.71338606911949],"aabb_xy":[[0.4156427915207049,-0.3167284397139883],[0.5456427872840004,-0.21448111230090655]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[-0.2898370265425326,-0.18205165083363584,0.71338606911949],"aabb_xy":[[-0.3548370265768353,-0.2287523275139631],[-0.22483702650822984,-0.13535097415330852]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[-0.47555298640560806,-1.583927207351308,0.71338606911949],"aabb_xy":[[-0.5555529838092014,-1.6639197785494908],[-0.3955529890020146,-1.5039346361531252]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.2507852050958027,1.2996865299163436,0.71338606911949],"aabb_xy":[[0.2007852041452699,1.268137382912822],[0.3007852060463355,1.3312356769198648]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.47340984484942994,-2.0872566429170814,0.71338606911949],"aabb_xy":[[-0.5099056654767087,-2.1237405853438385],[-0.43691402422215114,-2.0507727004903233]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[-0.15902710848637702,-1.4976769038167534,0.71338606911949],"aabb_xy":[[-0.20027591951629173,-1.5526769033289707],[-0.11777829745646227,-1.4426769043045358]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.4014592441282543,-1.802465531080246,0.71338606911949],"aabb_xy":[[0.35145924246675947,-1.8524639733359485],[0.451459245789749,-1.752467088824543]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[0.663023009553819,-2.371454664024318,0.71338606911949],"aabb_xy":[[0.639437886089924,-2.4364546662697504],[0.6866081330177137,-2.306454661778887]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[-0.27667375752437845,1.725374022288039,0.71338606911949],"aabb_xy":[[-0.32667375880821836,1.6753951678974168],[-0.22667375624053845,1.775352876678661]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.5424683732289775,-1.7007142797463397,0.71338606911949],"aabb_xy":[[0.49533899422714167,-1.7647142807907412],[0.589597752230813,-1.6367142787019373]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.0391731525258141,0.9957906960227025,0.71338606911949],"aabb_xy":[[-0.025826850111979383,0.9443110973232556],[0.10417315516360759,1.0472702947221495]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[-0.003928799504677616,-2.087245768402572,0.71338606911949],"aabb_xy":[[-0.03892879863463328,-2.092990989478236],[0.031071199625278045,-2.081500547326908]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[-0.5058122901136134,0.6122929316825658,0.71338606911949],"aabb_xy":[[-0.5216967833789385,0.5979399913837418],[-0.48992779684828824,0.6266458719813899]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.5914668490938078,0.2628221099922383,0.71338606911949],"aabb_xy":[[0.5865108289089266,0.24032210979011676],[0.5964228692786889,0.28532211019436]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.13155596965920413,-0.905764141797571,0.71338606911949],"aabb_xy":[[0.10040905081562101,-0.975764140484378],[0.16270288850278725,-0.8357641431107636]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[0.2623170484643589,-2.434670997761803,0.71338606911949],"aabb_xy":[[0.21231704810379284,-2.4846509849714056],[0.31231704882492495,-2.3846910105521997]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.2827557399130296,-0.5590882387531959,0.71338606911949],"aabb_xy":[[-0.2873908550652629,-0.5629555738303444],[-0.2781206247607962,-0.5552209036760472]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[-0.6642144075090581,-0.9803513669950952,0.71338606911949],"aabb_xy":[[-0.6867280993325152,-1.0503513675961025],[-0.6417007156856008,-0.9103513663940875]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[-0.4763683968553869,0.9976984293103968,0.71338606911949],"aabb_xy":[[-0.5263683964317216,0.9477178503582908],[-0.4263683972790522,1.0476790082625027]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[-0.39578157066392117,-0.35143506191112994,0.71338606911949],"aabb_xy":[[-0.44106018554507037,-0.41543506125931356],[-0.35050295578277185,-0.2874350625629462]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907998263880905,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3539.png","name":"3539"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3539.png","name":"3539"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7986.png","name":"7986"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6059.png","name":"6059"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5417.png","name":"5417"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6576.png","name":"6576"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":635.7382009032806,"rotation_z_degrees":163.81104923839493,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005440717627241565,-0.007400122868294123,-0.017306064064512437]},{"name":"camera_2","offset_m":[-0.009714446390814074,-0.01591954878017993,-0.01191854144610574]},{"name":"camera_3","offset_m":[-0.008035163090151808,0.019975871903157565,-0.0011897657342137755]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001955847805401106,0.0014587339987319117,0.0017950774595339582],"end_effector_yaw_offset_degrees":0.25359459350856994},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00023758496543779296,-0.00040934561486505143,-0.0019213206620627909],"end_effector_yaw_offset_degrees":-0.47973625177044443},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010484233050902726,-0.0005098044790015598,-0.0005318955156909597],"end_effector_yaw_offset_degrees":-0.14059821301026854}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004378644969880539,0.0037206398299812647],"position_m":[0.32337864496988056,-0.08567936017001873,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002602040638334793,-0.0020897327131593037],"position_m":[0.2753602040638335,-0.34508973271315935,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004678732847705973,-0.0017210131440455333],"position_m":[0.30162126715229404,0.23567898685595445,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004608817116515414,0.00048254831234672765],"position_m":[0.3508088171165154,0.09768254831234673,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"58fedf4fd4e3cf601f660458c4d1171e00037c7359a4dd134f8f3f5a1844424d","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3539/tex_ceiling_textures_6576/tex_floor_textures_5417/tex_table_textures_7986/tex_wall_textures_6059","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":5394372924595088522,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":5394372924595088522,"visual_seed":5394372924595088522,"scene_id":"lab_003","finished_at":"2026-09-03T21:17:18"} +{"episode_id":"ep_000059","started_at":"2026-09-03T21:17:21","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.5693297093563165,-1.08123655093459,0.71338606911949],"aabb_xy":[[0.5480517012128443,-1.1462365532606633],[0.5906077174997888,-1.0162365486085172]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.437127547555018,-0.8639805020413813,0.71338606911949],"aabb_xy":[[-0.4495949056647537,-0.8764458266747047],[-0.4246601894452824,-0.8515151774080577]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.11525750869253881,1.6430698994047481,0.71338606911949],"aabb_xy":[[-0.12253982506920244,1.5530698957952387],[-0.10797519231587513,1.7330699030142567]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.6277866113582296,-1.510431376522041,0.71338606911949],"aabb_xy":[[0.5377866090242104,-1.5879137311071536],[0.7177866136922485,-1.4329490219369283]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.0190907257948989,1.406300795368638,0.71338606911949],"aabb_xy":[[0.00831775187353112,1.3713007971495992],[0.02986369971626668,1.4413007935876772]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[0.4726001806372948,-0.08311159602075424,0.71338606911949],"aabb_xy":[[0.4149697117500239,-0.14311159494746478],[0.5302306495245657,-0.023111597094043628]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.1652329597118447,-1.1949197468069435,0.71338606911949],"aabb_xy":[[-0.22923296138984203,-1.2434371382862577],[-0.10123295803384733,-1.1464023553276292]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[-0.14607862783913828,1.130531104457126,0.71338606911949],"aabb_xy":[[-0.2110786287962655,1.0785828925234202],[-0.08107862688201108,1.1824793163908314]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.3744354748429841,1.2156078074356267,0.71338606911949],"aabb_xy":[[0.29443547158514116,1.1356112996436427],[0.4544354781008271,1.2956043152276107]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[-0.11011022278506233,-1.4840252463287238,0.71338606911949],"aabb_xy":[[-0.16010505571300393,-1.534025245223967],[-0.06011538985712074,-1.43402524743348]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[0.654220201778227,0.07740987176654368,0.71338606911949],"aabb_xy":[[0.6471798918446902,-0.002590127633127701],[0.6612605117117641,0.15740987116621513]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[-0.6218745042722144,-0.2926099045154058,0.71338606911949],"aabb_xy":[[-0.6858745074908523,-0.3393330164144142],[-0.5578745010535766,-0.2458867926163975]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[-0.0035040880202446,-1.3662950975630634,0.71338606911949],"aabb_xy":[[-0.021709911681492278,-1.377320498145055],[0.014701735641003078,-1.3552696969810718]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.428636429861571,1.7610512888015264,0.71338606911949],"aabb_xy":[[0.3686364290007581,1.7096248587950398],[0.4886364307223837,1.8124777188080126]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.20391546901620206,-1.5340860245478167,0.71338606911949],"aabb_xy":[[0.13891547086028297,-1.560382269097729],[0.2689154671721211,-1.5077897799979045]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[0.6424059678700433,0.43186311134697686,0.71338606911949],"aabb_xy":[[0.6389652916299862,0.4280016783726124],[0.6458466441101005,0.43572454432134133]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.4254024755879495,-0.5413896781527208,0.71338606911949],"aabb_xy":[[-0.4618982962152282,-0.5778736205794782],[-0.38890665496067073,-0.5049057357259631]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[-0.3587989160562719,0.7810383133720311,0.71338606911949],"aabb_xy":[[-0.42279891464284436,0.7340313499725224],[-0.29479891746969944,0.8280452767715398]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.3773723536105207,-1.8176465574595317,0.71338606911949],"aabb_xy":[[0.35994163853151406,-1.834918672123382],[0.3948030686895271,-1.8003744427956805]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.4645634051843266,-2.1185993400229424,0.71338606911949],"aabb_xy":[[-0.5261541644083194,-2.1825993381319897],[-0.40297264596033383,-2.054599341913896]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[-0.31815729966349204,0.3530667636819236,0.71338606911949],"aabb_xy":[[-0.3356572999228287,0.33897522149315096],[-0.3006572994041555,0.3671583058706962]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[-0.12796798994289726,0.5197506708328201,0.71338606911949],"aabb_xy":[[-0.162967991294379,0.49939093487599934],[-0.09296798859141554,0.540110406789641]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[-0.4458335315262679,1.6248818652211896,0.71338606911949],"aabb_xy":[[-0.4708335306919011,1.6179296195158328],[-0.42083353236063487,1.631834110926546]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[0.2656365384009416,0.9294253339992324,0.71338606911949],"aabb_xy":[[0.22860242897288188,0.8950481266655229],[0.3026706478290013,0.9638025413329417]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[-0.43442997785282644,-0.3738185480159024,0.71338606911949],"aabb_xy":[[-0.5144299800155889,-0.45377373164204604],[-0.35442997569006396,-0.2938633643897588]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[0.16438398399298026,1.5438748458425944,0.71338606911949],"aabb_xy":[[0.14737388670292959,1.5277403573443205],[0.1813940812830309,1.5600093343408683]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[-0.6424702428352378,-1.0068048526584954,0.71338606911949],"aabb_xy":[[-0.6669838669322435,-1.0310694459605318],[-0.6179566187382318,-0.982540259356459]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[0.368266778334325,-2.2322859034779334,0.71338606911949],"aabb_xy":[[0.3358050774523974,-2.262418735592836],[0.4007284792162523,-2.20215307136303]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_28","position":[0.6219188737737171,-2.529196084655401,0.71338606911949],"aabb_xy":[[0.60675600079678,-2.54436154195052],[0.6370817467506542,-2.5140306273602824]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_29","position":[-0.3341091993558389,0.9711430762366198,0.71338606911949],"aabb_xy":[[-0.37910920082206784,0.9261432193751392],[-0.2891091978896101,1.0161429330981004]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_30","position":[0.32336757203331734,0.6254125415674752,0.71338606911949],"aabb_xy":[[0.3172729441451991,0.6168431470158064],[0.3294621999214357,0.6339819361191439]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_31","position":[0.09448404987046133,-2.259564105273526,0.71338606911949],"aabb_xy":[[0.04450524136014543,-2.3095641052792444],[0.14446285838077721,-2.2095641052678068]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_32","position":[0.17457362799524534,0.7346656749611875,0.71338606911949],"aabb_xy":[[0.1644919209166718,0.6546656770690727],[0.18465533507381876,0.814665672853302]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6840604047763064,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2594.png","name":"2594"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2594.png","name":"2594"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1164.png","name":"1164"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2621.png","name":"2621"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9237.png","name":"9237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1592.png","name":"1592"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":664.6821535860868,"rotation_z_degrees":266.9777398456975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012529529359247053,0.012137307687403658,-0.0006305629098788817]},{"name":"camera_2","offset_m":[-0.0029367366799470523,-0.004664492624581773,0.01655598871226047]},{"name":"camera_3","offset_m":[-0.00022482845005675212,-0.015600798104427393,0.008208356767886175]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015222189056280882,-0.00026640105113150624,6.697753660884261e-05],"end_effector_yaw_offset_degrees":-0.5218329207025427},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001028004966342453,-0.0012855844009344642,0.0014614842849334296],"end_effector_yaw_offset_degrees":0.6383142840825469},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00036484574243169027,0.00031104490177082545,-0.0013987535448496092],"end_effector_yaw_offset_degrees":-0.7029016608282548}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002052166680304166,0.0001277479743030099],"position_m":[0.31694783331969584,-0.08927225202569698,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0042464875718204245,0.0035964491086743376],"position_m":[0.27085351242817957,-0.3394035508913257,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002499443534817253,-0.0012827471317100594],"position_m":[0.3038005564651828,0.23611725286828994,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003540792643081975,-0.0036688017770465774],"position_m":[0.342659207356918,0.09353119822295342,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d4471af91768e17bcf0caa6ef6a4a0efc79533386ab47f92598e77cd01f9a60","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0059.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2594/tex_ceiling_textures_1592/tex_floor_textures_9237/tex_table_textures_1164/tex_wall_textures_2621","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6847862756042862596,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6847862756042862596,"visual_seed":6847862756042862596,"scene_id":"lab_003","finished_at":"2026-09-03T21:19:56"} +{"episode_id":"ep_000060","started_at":"2026-09-03T21:19:59","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[-0.04588030753995376,1.325835494854691,0.71338606911949],"aabb_xy":[[-0.10087255817546473,1.2708354931113786],[0.009111943095557186,1.380835496598004]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.3475302779430689,1.3682802315523022,0.71338606911949],"aabb_xy":[[0.3388323156523536,1.3561552572448274],[0.3562282402337842,1.3804052058597769]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[-0.048107449674440805,-0.9196984725252995,0.71338606911949],"aabb_xy":[[-0.08310745102592254,-0.9400582084821203],[-0.013107448322959075,-0.8993387365684786]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[0.5112808396383743,0.26931285587741804,0.71338606911949],"aabb_xy":[[0.4613034227731207,0.21931285438816947],[0.5612582565036278,0.31931285736666654]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.11243781436283717,-1.232709908045503,0.71338606911949],"aabb_xy":[[-0.18243781699942346,-1.2528147730413683],[-0.04243781172625079,-1.2126050430496373]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[0.20055937936298074,-2.1218320560887918,0.71338606911949],"aabb_xy":[[0.18305937911793133,-2.139331843928358],[0.2180593796080301,-2.1043322682492245]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[0.5181631082443279,-0.581854910550462,0.71338606911949],"aabb_xy":[[0.45416310602392085,-0.6262279946757503],[0.5821631104647349,-0.5374818264251737]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[-0.49680743317956055,-2.3743067377103184,0.71338606911949],"aabb_xy":[[-0.5517811552158933,-2.4293067372745516],[-0.4418337111432276,-2.3193067381460852]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.30416977799722017,-2.096663456176385,0.71338606911949],"aabb_xy":[[-0.3120930582359685,-2.1191634564143884],[-0.29624649775847184,-2.0741634559383817]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.00819690351907898,1.1355334703092193,0.71338606911949],"aabb_xy":[[-0.05819690387964504,1.085553483099616],[0.04180309684148708,1.185513457518822]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.4313204858379005,-1.531614195275197,0.71338606911949],"aabb_xy":[[0.34132048933702874,-1.5775258376936552],[0.5213204823387723,-1.4857025528567387]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.5161653433384445,1.458131105573044,0.71338606911949],"aabb_xy":[[0.46668492212448587,1.394131107660192],[0.5656457645524035,1.5221311034858958]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[0.133455480358725,0.741072155337358,0.71338606911949],"aabb_xy":[[0.10961926271811998,0.6510721545288717],[0.1572916979993301,0.8310721561458447]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[0.21722873963761868,-1.2703029892354185,0.71338606911949],"aabb_xy":[[0.21315058173056894,-1.2743839694836818],[0.22130689754466842,-1.2662220089871552]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.059898412359223774,-2.376835556568535,0.71338606911949],"aabb_xy":[[-0.09669304548413005,-2.413741431665117],[-0.0231037792343175,-2.3399296814719523]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.584678329073099,-0.7175383873408105,0.71338606911949],"aabb_xy":[[-0.6496783301790423,-0.7425037604089388],[-0.5196783279671557,-0.6925730142726823]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.35332898606940044,0.809884108267688,0.71338606911949],"aabb_xy":[[0.347016886533062,0.8041171690144693],[0.3596410856057389,0.8156510475209069]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[0.13362673548025517,-1.7445285570516043,0.71338606911949],"aabb_xy":[[0.11542091181900752,-1.7555539576335963],[0.15183255914150287,-1.733503156469613]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.20649755615351006,-0.7469340203774568,0.71338606911949],"aabb_xy":[[0.16899755757788926,-0.7596703160410149],[0.24399755472913087,-0.734197724713899]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[-0.16678698039321826,-1.115761208304424,0.71338606911949],"aabb_xy":[[-0.19543631275363446,-1.1444067675814995],[-0.138137648032802,-1.087115649027348]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.1854864152434912,0.2696885419832298,0.71338606911949],"aabb_xy":[[-0.19863766121478058,0.2446885422265433],[-0.17233516927220183,0.2946885417399164]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[0.7121710522586893,1.2936035392968765,0.71338606911949],"aabb_xy":[[0.7016035726005901,1.283058509183868],[0.7227385319167882,1.304148569409885]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[-0.29759002919800004,-1.6647918935112385,0.71338606911949],"aabb_xy":[[-0.305293219872077,-1.6725012642099764],[-0.28988683852392294,-1.6570825228125001]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[0.6979520703847357,-2.2457414813401972,0.71338606911949],"aabb_xy":[[0.6734058547619849,-2.275990377889234],[0.7224982860074863,-2.2154925847911597]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[-0.06865466157222777,-0.7440231138965674,0.71338606911949],"aabb_xy":[[-0.11863889728040498,-0.7940231127100629],[-0.01867042586405053,-0.6940231150830717]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[-0.0620224682774122,0.07768284977959672,0.71338606911949],"aabb_xy":[[-0.09952246838300514,0.07086068792661557],[-0.02452246817181924,0.08450501163257781]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[0.42472618591399547,1.2366868818220658,0.71338606911949],"aabb_xy":[[0.3747311749545435,1.186686882786474],[0.4747211968734476,1.2866868808576575]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_27","position":[-0.47716309727562334,-1.3809814942470207,0.71338606911949],"aabb_xy":[[-0.5106422645366643,-1.4144606076181279],[-0.4436839300145824,-1.347502380875914]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[-0.2110477470252894,-2.2256557901536063,0.71338606911949],"aabb_xy":[[-0.24837902355053204,-2.2603088449484585],[-0.1737164705000468,-2.191002735358754]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[-0.36266088324296736,0.10945149292628198,0.71338606911949],"aabb_xy":[[-0.38594272544109864,0.024451491629053922],[-0.33937904104483596,0.19445149422351005]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_30","position":[0.4588569932897826,-1.3714904235335073,0.71338606911949],"aabb_xy":[[0.4223611726625038,-1.4079743659602648],[0.49535281391706126,-1.3350064811067497]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_31","position":[-0.43128765888811016,-0.8655982145814411,0.71338606911949],"aabb_xy":[[-0.439323993589395,-0.8736363338858578],[-0.4232513241868253,-0.8575600952770243]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_32","position":[0.37711261077587954,1.4992988547932842,0.71338606911949],"aabb_xy":[[0.3600105328175114,1.4821920492620144],[0.3942146887342477,1.516405660324554]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6897208000302086,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/943.png","name":"943"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/943.png","name":"943"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4728.png","name":"4728"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1236.png","name":"1236"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8553.png","name":"8553"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1715.png","name":"1715"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":515.2062716931994,"rotation_z_degrees":306.4496601098841,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018938142751233445,0.01897816379180586,0.01654181591700093]},{"name":"camera_2","offset_m":[0.016221047272988603,-0.002995777805116062,0.017298265290487256]},{"name":"camera_3","offset_m":[-0.014303500924758072,0.013837452408170536,-0.01207705696068667]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006753632568220623,0.0005360160270680642,0.0013539139993654888],"end_effector_yaw_offset_degrees":0.7166924542733923},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001594323435567507,-0.00042594575619004705,0.0009023587221047898],"end_effector_yaw_offset_degrees":0.8771366968286374},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00199964630890819,-0.0014872295289998512,-0.001954290381412211],"end_effector_yaw_offset_degrees":-0.6001677641605916}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003623093233947392,-0.0044399872835438545],"position_m":[0.3153769067660526,-0.09383998728354384,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015423510842115283,-0.0030511930060443514],"position_m":[0.2735576489157885,-0.34605119300604437,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002062704236900099,0.0015710534874609737],"position_m":[0.30423729576309994,0.23897105348746098,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004360989327595739,-0.0019409125248515948],"position_m":[0.3505609893275958,0.0952590874751484,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ff992f9359239bd5d310005cb69e6312d7590a036996e83650421fdb890b90c9","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_943/tex_ceiling_textures_1715/tex_floor_textures_8553/tex_table_textures_4728/tex_wall_textures_1236","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7924375411972178341,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7924375411972178341,"visual_seed":7924375411972178341,"scene_id":"lab_003","finished_at":"2026-09-03T21:22:40"} +{"episode_id":"ep_000061","started_at":"2026-09-03T21:22:43","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.35874335042583355,-1.8684577701555793,0.71338606911949],"aabb_xy":[[-0.42274335233817595,-1.92436891941359],[-0.29474334851349127,-1.8125466208975691]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[0.007173684254801027,1.2807333723365772,0.71338606911949],"aabb_xy":[[-0.029322136372477714,1.2442494299098195],[0.04366950488207977,1.3172173147633346]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[-0.048594742063180485,1.485140856193659,0.71338606911949],"aabb_xy":[[-0.09847743894087671,1.4351408569473842],[0.001287954814515713,1.535140855439934]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.050331204714264,-2.474053593521609,0.71338606911949],"aabb_xy":[[-0.1143312049747348,-2.5190623928745364],[0.013668795546206812,-2.4290447941686804]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[-0.049918470290861716,-1.318876255039914,0.71338606911949],"aabb_xy":[[-0.11991847209960715,-1.3402300238041014],[0.020081531517883715,-1.2975224862757266]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.31091780294278326,0.9315481964265033,0.71338606911949],"aabb_xy":[[0.28874527596613236,0.9093725292703801],[0.33309032991943405,0.9537238635826265]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.5856780119048478,0.908614527207539,0.71338606911949],"aabb_xy":[[-0.6032563140937947,0.891040037633434],[-0.568099709715901,0.9261890167816438]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.20181687027188522,0.5389171190093243,0.71338606911949],"aabb_xy":[[-0.24036256309708626,0.5003713479531358],[-0.16327117744668418,0.577462890065513]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.19486410123341846,1.4426567380856503,0.71338606911949],"aabb_xy":[[0.17930833182315323,1.4271063048412433],[0.21041987064368378,1.4582071713300577]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.5473055191762768,-0.33440994580800654,0.71338606911949],"aabb_xy":[[-0.5816024301940173,-0.3687068320179479],[-0.5130086081585361,-0.30011305959806517]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.5632150154997989,-1.0481503178108638,0.71338606911949],"aabb_xy":[[-0.6007150153168324,-1.0527885291220054],[-0.5257150156827652,-1.0435121064997217]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.5994716949387295,-1.726365504005345,0.71338606911949],"aabb_xy":[[-0.6219716947526319,-1.730840120375826],[-0.5769716951248272,-1.7218908876348644]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[-0.37344375984475225,-2.2836996262332683,0.71338606911949],"aabb_xy":[[-0.4234168253772678,-2.3336996260458016],[-0.32347069431223685,-2.233699626420736]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[0.34149601825275044,1.4646505327780406,0.71338606911949],"aabb_xy":[[0.3334526583267952,1.379650531682674],[0.34953937817870556,1.5496505338734068]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.1592127189591075,-0.9403726546075515,0.71338606911949],"aabb_xy":[[-0.22421271711502655,-0.9666688991574636],[-0.09421272080318843,-0.9140764100576392]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[0.5803751207248824,-1.4161439464903496,0.71338606911949],"aabb_xy":[[0.543580487599976,-1.4530498215869316],[0.6171697538497886,-1.379238071393767]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[-0.6354774543023313,-0.9293298498379678,0.71338606911949],"aabb_xy":[[-0.6486287002736207,-0.9543298495946546],[-0.622326208331042,-0.9043298500812815]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.16785090943031156,-0.7712085648921845,0.71338606911949],"aabb_xy":[[0.1584334348604488,-0.7806247420299035],[0.1772683840001743,-0.7617923877544654]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.17028112973825527,-2.1632573730841065,0.71338606911949],"aabb_xy":[[-0.17678276624625988,-2.1730251951104167],[-0.16377949323025065,-2.153489551057797]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[-0.5586383969308317,1.1857827685159337,0.71338606911949],"aabb_xy":[[-0.6084551763956665,1.1357827700316303],[-0.508821617465997,1.235782767000237]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.616276584266787,0.09808078951604093,0.71338606911949],"aabb_xy":[[0.5522765839928088,0.04801468931875297],[0.6802765845407652,0.1481468897133289]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[-0.44257851244357166,-0.32754151827588185,0.71338606911949],"aabb_xy":[[-0.45299007112405537,-0.3328872516117803],[-0.43216695376308795,-0.3221957849399833]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[0.6739245553046707,-1.5880636620019861,0.71338606911949],"aabb_xy":[[0.6610526518037304,-1.6680636624158223],[0.6867964588056107,-1.50806366158815]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[-0.3903041777146016,-0.18882567048386134,0.71338606911949],"aabb_xy":[[-0.4443197739965015,-0.2528256733761185],[-0.3362885814327015,-0.12482566759160416]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[0.49638088544253334,1.30920914705007,0.71338606911949],"aabb_xy":[[0.4313808868854605,1.2794566136361871],[0.5613808839996062,1.3389616804639524]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[-0.3564349908105799,0.6672951973495507,0.71338606911949],"aabb_xy":[[-0.3939349909824518,0.6345944619666435],[-0.31893499063870795,0.6999959327324579]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_26","position":[-0.2815711257481111,1.3987119313161287,0.71338606911949],"aabb_xy":[[-0.30990083569665133,1.3942511891224119],[-0.2532414157995709,1.403172673509846]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[-0.6471009526234924,1.4866478182559377,0.71338606911949],"aabb_xy":[[-0.6706860760873873,1.421647816010506],[-0.6235158291595976,1.5516478205013695]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_28","position":[-0.30702306974791926,1.780870288058193,0.71338606911949],"aabb_xy":[[-0.3114536991027595,1.7754219163235105],[-0.30259244039307914,1.7863186597928755]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_29","position":[-0.2906384929369115,0.2772222411931007,0.71338606911949],"aabb_xy":[[-0.2994197200841478,0.2684424939045706],[-0.28185726578967535,0.2860019884816309]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[-0.3315121828721434,-2.494098161166484,0.71338606911949],"aabb_xy":[[-0.3354260560675659,-2.5028471765730402],[-0.3275983096767209,-2.4853491457599266]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_31","position":[-0.4606542250184154,-0.042734603467826204,0.71338606911949],"aabb_xy":[[-0.48356993790346536,-0.0656389006042497],[-0.43773851213336556,-0.0198303063314027]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6940956803228636,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1261.png","name":"1261"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1261.png","name":"1261"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6304.png","name":"6304"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4506.png","name":"4506"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5933.png","name":"5933"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8899.png","name":"8899"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":556.1978273860577,"rotation_z_degrees":359.08332618117083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010185583335486189,-0.016316889069135292,-0.019787499491009823]},{"name":"camera_2","offset_m":[0.006304233513987109,-0.0069616081181295315,0.003539386390497983]},{"name":"camera_3","offset_m":[0.0014700840417309763,-0.011182116203089261,-0.011957095708128298]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[7.085332250785902e-05,-0.001491196101604916,-0.001402816379064082],"end_effector_yaw_offset_degrees":-0.8991632724903651},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019676936248634864,0.0015050896958085308,-0.0018341187028296938],"end_effector_yaw_offset_degrees":0.7556221115922452},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005293471871867148,2.2234938465013915e-05,-0.0004804069287219206],"end_effector_yaw_offset_degrees":-0.3080315946265193}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028952261635808657,0.0035999487032681047],"position_m":[0.32189522616358085,-0.08580005129673189,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038566780360201206,-0.0024474768008017145],"position_m":[0.27895667803602014,-0.34544747680080173,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003229261647521453,-0.00184090166538019],"position_m":[0.30307073835247855,0.2355590983346198,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002723377946429556,0.004301415044311935],"position_m":[0.34347662205357044,0.10150141504431193,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"76fc26d1f7919103866d4bb7d84506fa1641948da8997a68ca90b3d15eac0975","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0061.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1261/tex_ceiling_textures_8899/tex_floor_textures_5933/tex_table_textures_6304/tex_wall_textures_4506","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":9112778574769726821,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":9112778574769726821,"visual_seed":9112778574769726821,"scene_id":"lab_003","finished_at":"2026-09-03T21:25:15"} +{"episode_id":"ep_000062","started_at":"2026-09-03T21:25:18","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[0.29210075346655295,-1.9474552038718023,0.71338606911949],"aabb_xy":[[0.22810075112375136,-1.9923960551159345],[0.35610075580935446,-1.9025143526276695]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.541390735521744,-1.4013126738072976,0.71338606911949],"aabb_xy":[[-0.5455265918544443,-1.4388126732516546],[-0.5372548791890439,-1.3638126743629406]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[0.11467099110674661,1.4160900891576502,0.71338606911949],"aabb_xy":[[0.105039354886317,1.4064527763779413],[0.12430262732717623,1.4257274019373591]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[-0.15017811976533912,0.7784166377733461,0.71338606911949],"aabb_xy":[[-0.15409199296076162,0.7696676223667893],[-0.14626424656991657,0.787165653179903]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.4414300079772685,1.5991813804163022,0.71338606911949],"aabb_xy":[[-0.5054300044045905,1.552011756594206],[-0.37743001154994665,1.6463510042383989]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[0.6280861029768923,-2.062147725559144,0.71338606911949],"aabb_xy":[[0.5781031527894128,-2.112147725201704],[0.6780690531643715,-2.012147725916583]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.6183850981347059,-0.1431860865442136,0.71338606911949],"aabb_xy":[[-0.630257181146207,-0.22818608623786396],[-0.6065130151232048,-0.05818608685056326]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[0.17854513482857182,-2.3375710596617556,0.71338606911949],"aabb_xy":[[0.1416945868915842,-2.3750710604847898],[0.21539568276555943,-2.3000710588387223]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.44779681118404924,-0.855890718775044,0.71338606911949],"aabb_xy":[[-0.48123698638006873,-0.889334344605974],[-0.4143566359880295,-0.8224470929441139]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.595916785706176,-2.031399394079659,0.71338606911949],"aabb_xy":[[-0.6334167860544037,-2.0431907896607426],[-0.5584167853579481,-2.0196079984985755]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[-0.036429231384280114,-2.255499848285455,0.71338606911949],"aabb_xy":[[-0.05671353410767886,-2.2757824734281633],[-0.016144928660881342,-2.235217223142746]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.07147911266160067,-0.7931594618834816,0.71338606911949],"aabb_xy":[[-0.13147911352241345,-0.8445858918899678],[-0.011479111800787865,-0.741733031876995]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[0.3060394249074112,-0.8109363491196948,0.71338606911949],"aabb_xy":[[0.2565590036934524,-0.8749363470325466],[0.35551984612137,-0.746936351206843]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[0.6397057399775246,1.7136606513031816,0.71338606911949],"aabb_xy":[[0.6097381830676989,1.6836606510052958],[0.6696732968873502,1.7436606516010673]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.6380848368370415,0.07368529977245153,0.71338606911949],"aabb_xy":[[0.6300908482593379,0.06568521967736117],[0.6460788254147447,0.08168537986754186]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.15151708112092566,1.5533116867949075,0.71338606911949],"aabb_xy":[[0.09651708194433617,1.4983220120199499],[0.20651708029751514,1.6083013615698651]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.5731794544374442,-1.4950648667777493,0.71338606911949],"aabb_xy":[[0.483179457701834,-1.5482483300950436],[0.6631794511730544,-1.4418814034604546]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[-0.3194883679316491,0.8644943470599182,0.71338606911949],"aabb_xy":[[-0.369467176441965,0.8144943470541995],[-0.2695095594213332,0.9144943470656371]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.2959969226066226,1.7349761759279372,0.71338606911949],"aabb_xy":[[0.2673475902462063,1.7063306166508614],[0.32464625496703875,1.763621735205013]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.2743967931499649,0.9453210503793241,0.71338606911949],"aabb_xy":[[0.2043967897584029,0.910005276675893],[0.34439679654152683,0.9806368240827548]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.5098380231951283,1.1673458332082607,0.71338606911949],"aabb_xy":[[0.49473572173411,1.1522443115771983],[0.5249403246561462,1.1824473548393222]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.42039492479482155,-0.3648980808801596,0.71338606911949],"aabb_xy":[[0.4159642954399814,-0.3703464526148422],[0.4248255541496618,-0.359449709145477]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[-0.2206876512066942,-2.082440483568809,0.71338606911949],"aabb_xy":[[-0.3006876526368214,-2.161957638581418],[-0.140687649776567,-2.002923328556199]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[0.09398813777579929,-0.977612943596404,0.71338606911949],"aabb_xy":[[0.013988139188479852,-1.0569285455345647],[0.1739881363631187,-0.8982973416582432]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_24","position":[-0.325520399269591,-0.6965889658983964,0.71338606911949],"aabb_xy":[[-0.405520399739807,-0.7048996735127447],[-0.2455203987993751,-0.688278258284048]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.6951061662602711,-1.1095765337296597,0.71338606911949],"aabb_xy":[[0.6769003425990234,-1.1206019343116516],[0.7133119899215188,-1.0985511331476683]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[-0.5040149226419212,1.3911613410454335,0.71338606911949],"aabb_xy":[[-0.5171661686132105,1.366161341288747],[-0.4908636766706318,1.41616134080212]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[0.7043982859468703,0.9008867725402672,0.71338606911949],"aabb_xy":[[0.6966950952727932,0.893177401841529],[0.7121014766209471,0.9085961432390051]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_28","position":[0.01492189078700723,-1.8977144189545179,0.71338606911949],"aabb_xy":[[-0.010298946072832436,-1.9229381698074042],[0.04014272764684689,-1.8724906681016307]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_29","position":[0.5838980548841948,-0.2791686568634937,0.71338606911949],"aabb_xy":[[0.4938980525501757,-0.35665101144860634],[0.6738980572182138,-0.20168630227838102]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_30","position":[0.05787497824829335,0.7134620520936994,0.71338606911949],"aabb_xy":[[0.05046252270690488,0.7076108416720716],[0.06528743378968183,0.7193132625153275]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_31","position":[0.3442659566368007,1.6405444004408092,0.71338606911949],"aabb_xy":[[0.2742659550345212,1.6271116072391518],[0.4142659582390802,1.653977193642467]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_32","position":[0.008923988199991517,1.0809983275908839,0.71338606911949],"aabb_xy":[[-0.032093955186379364,1.0309983269599265],[0.0499419315863624,1.1309983282218412]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_33","position":[0.6185749824747,-0.50294045705702,0.71338606911949],"aabb_xy":[[0.5385811588961418,-0.5829404596498615],[0.6985688060532582,-0.4229404544641784]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907962849274633,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4229.png","name":"4229"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4229.png","name":"4229"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/677.png","name":"677"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8304.png","name":"8304"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/974.png","name":"974"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6402.png","name":"6402"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":608.8224106175641,"rotation_z_degrees":109.61884047003727,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009707883402444092,0.019167741290596552,0.000872269589457856]},{"name":"camera_2","offset_m":[0.01077444399393409,-0.008800472793952206,0.000357801397853727]},{"name":"camera_3","offset_m":[-0.013979198810523914,-0.006090034045405264,-0.019978660316747266]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006473485748752085,-0.0019461710805095786,0.0005010553747685524],"end_effector_yaw_offset_degrees":-0.7623483551122348},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001917268916345213,0.001020121464273732,0.0015978023786675333],"end_effector_yaw_offset_degrees":-0.524301985965864},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00021598557538152815,0.0004968857373736585,0.0011968257904081958],"end_effector_yaw_offset_degrees":0.7257879290775704}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005713430725409483,0.0031342300730170325],"position_m":[0.319571343072541,-0.08626576992698295,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008547081679215803,-0.004008846713576996],"position_m":[0.2742452918320784,-0.347008846713577,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002164627344246948,0.004431057757429124],"position_m":[0.3041353726557531,0.24183105775742914,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029581189310497564,-0.003933298766426696],"position_m":[0.34915811893104975,0.0932667012335733,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eb04ff2f0a5757ba777ab9f473833613ee59f5f35cb5796a7bcdf1cecc7243ba","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4229/tex_ceiling_textures_6402/tex_floor_textures_974/tex_table_textures_677/tex_wall_textures_8304","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6056736137131340170,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6056736137131340170,"visual_seed":6056736137131340170,"scene_id":"lab_003","finished_at":"2026-09-03T21:27:52"} +{"episode_id":"ep_000063","started_at":"2026-09-03T21:27:55","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[-0.05701751206980232,-2.1031079378708144,0.71338606911949],"aabb_xy":[[-0.08700917480367265,-2.133107937207615],[-0.027025849335931995,-2.073107938534014]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.06196707153636394,1.6046610281098528,0.71338606911949],"aabb_xy":[[0.050722015965746096,1.5934192303857573],[0.07321212710698177,1.6159028258339478]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.18992356623871132,-1.4273566764824666,0.71338606911949],"aabb_xy":[[-0.19908344518258791,-1.4338878945260038],[-0.18076368729483472,-1.4208254584389297]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[0.07598985512713019,-1.4672651108340713,0.71338606911949],"aabb_xy":[[-0.004010143529755816,-1.481769969758334],[0.1559898537840162,-1.4527602519098086]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.1998692920224278,-2.0595346265379177,0.71338606911949],"aabb_xy":[[-0.23433177003551556,-2.06619830372084],[-0.16540681400934001,-2.0528709493549946]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.5053538764772093,0.212757876110794,0.71338606911949],"aabb_xy":[[-0.5097845058320495,0.20730950437611137],[-0.5009232471223691,0.21820624784547657]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.33230613938071774,0.36570071137439,0.71338606911949],"aabb_xy":[[-0.3863217356626178,0.3017007084821328],[-0.2782905430988178,0.42970071426664713]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[0.6267376486392482,-1.6265625843883464,0.71338606911949],"aabb_xy":[[0.541737650221825,-1.7114368798506312],[0.7117376470566714,-1.5416882889260612]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.16924358649016102,0.1663840383341122,0.71338606911949],"aabb_xy":[[-0.23324358288573407,0.10242074991537867],[-0.10524359009458792,0.23034732675284578]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.3566939015187145,-0.5713362909949917,0.71338606911949],"aabb_xy":[[0.2666939021003436,-0.6047117878391814],[0.4466939009370854,-0.537960794150802]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.5887912494375385,0.014166317117346061,0.71338606911949],"aabb_xy":[[0.518791246800952,-0.00593854787851944],[0.6587912520741247,0.03427118211321156]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[-0.18029636607046606,-0.3904394373850941,0.71338606911949],"aabb_xy":[[-0.24529636870825958,-0.4419190360845411],[-0.1152963634326726,-0.33895983868564716]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[0.6392352161102952,-2.0625471584258372,0.71338606911949],"aabb_xy":[[0.6321949061767582,-2.1425471578255086],[0.6462755260438322,-1.9825471590261659]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[0.5657861906588058,-0.8112034207445715,0.71338606911949],"aabb_xy":[[0.556368716088943,-0.8206195978822904],[0.5752036652286685,-0.8017872436068524]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.5529509235932646,-0.31614607325423627,0.71338606911949],"aabb_xy":[[-0.568123092874898,-0.33131493018243957],[-0.5377787543116314,-0.30097721632603286]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.44144890337030435,0.9589942595492875,0.71338606911949],"aabb_xy":[[-0.4548954300043476,0.9455244078961963],[-0.42800237673626096,0.9724641112023787]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[0.48426378209072385,-2.083144836277384,0.71338606911949],"aabb_xy":[[0.4192637811335967,-2.13509304821109],[0.5492637830478511,-2.031196624343679]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[0.08443205701304579,-2.149119256954515,0.71338606911949],"aabb_xy":[[0.05099188181702618,-2.182562882785444],[0.11787223220906538,-2.1156756311235845]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[-0.08472836252159621,-0.6137747547472323,0.71338606911949],"aabb_xy":[[-0.0993717680756292,-0.6284334744040165],[-0.07008495696756323,-0.5991160350904481]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.06320004289306702,0.8269722671228044,0.71338606911949],"aabb_xy":[[0.04314163127982673,0.8069071802136468],[0.08325845450630731,0.8470373540319619]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[0.38112313536266473,1.5201845732758632,0.71338606911949],"aabb_xy":[[0.37234190821542856,1.5114048259873334],[0.38990436250990107,1.528964320564394]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[0.5119980077816451,0.7914513982878879,0.71338606911949],"aabb_xy":[[0.4976635826554816,0.7793911827333491],[0.5263324329078085,0.8035116138424268]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.020024916004191873,-1.6139630411723174,0.71338606911949],"aabb_xy":[[-0.036935648440533646,-1.6274352467649318],[-0.0031141835678500924,-1.600490835579703]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[-0.3536098070385871,1.704668811504256,0.71338606911949],"aabb_xy":[[-0.4176098056251595,1.6576618481047471],[-0.28960980845201456,1.7516757749037646]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[-0.2585348716546491,-1.8946254489777203,0.71338606911949],"aabb_xy":[[-0.2711375707917256,-1.907220845202586],[-0.2459321725175727,-1.882030052752855]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[-0.5809474716496277,1.4629938386276433,0.71338606911949],"aabb_xy":[[-0.6409474721574806,1.4061471049417218],[-0.5209474711417748,1.5198405723135644]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6875434699533298,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3464.png","name":"3464"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3464.png","name":"3464"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5962.png","name":"5962"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4253.png","name":"4253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8640.png","name":"8640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6675.png","name":"6675"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":604.6816312818444,"rotation_z_degrees":349.3917673256592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015552395984665058,0.0032168326736075475,0.0056259171515925695]},{"name":"camera_2","offset_m":[-0.01893227703729186,-0.006181528671205005,0.01755493805636964]},{"name":"camera_3","offset_m":[0.006241120201048979,0.004144142486357701,-0.003098918356356929]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014082513315057418,-0.0017108122652963634,0.0013580732262867688],"end_effector_yaw_offset_degrees":-0.1881443594179515},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.790672244574663e-05,9.29038708235878e-05,-0.001158696948246881],"end_effector_yaw_offset_degrees":0.593902292341838},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00030134271643507795,0.0018134946162769766,0.000535770952351322],"end_effector_yaw_offset_degrees":-0.8891380328191374}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037227480685944015,0.0016840691203496606],"position_m":[0.3152772519314056,-0.08771593087965034,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011515845811646153,0.0019922060835884355],"position_m":[0.2739484154188354,-0.3410077939164116,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00073208186333949,0.000568343570938182],"position_m":[0.3070320818633395,0.23796834357093818,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004425951708790325,0.0007251518225748523],"position_m":[0.35062595170879035,0.09792515182257484,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bc48223071b9c311e4df729a2ce1db86f2c6df76e524b611f6dc26e484a4b42a","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3464/tex_ceiling_textures_6675/tex_floor_textures_8640/tex_table_textures_5962/tex_wall_textures_4253","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7571528347062903447,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7571528347062903447,"visual_seed":7571528347062903447,"scene_id":"lab_003","finished_at":"2026-09-03T21:30:35"} +{"episode_id":"ep_000064","started_at":"2026-09-03T21:30:39","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[0.28780461689882597,-1.7611341732014352,0.71338606911949],"aabb_xy":[[0.25030461695505957,-1.7694272632362715],[0.3253046168425924,-1.7528410831665984]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[-0.6596426807977596,0.7074985184426579,0.71338606911949],"aabb_xy":[[-0.6939395918155,0.6732016322327163],[-0.6253457697800189,0.741795404652599]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.5624556021611048,0.2860041964713509,0.71338606911949],"aabb_xy":[[-0.5756068481323942,0.26100419671466435],[-0.5493043561898154,0.31100419622803743]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[-0.5856686125287862,-0.8103912808565312,0.71338606911949],"aabb_xy":[[-0.6081650339626503,-0.8328912806632787],[-0.5631721910949221,-0.7878912810497838]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.4459407601081329,-1.5958569564369633,0.71338606911949],"aabb_xy":[[-0.48344076021372584,-1.6026791182899442],[-0.4084407600025399,-1.589034794583982]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.49032120413446534,1.6513619262563943,0.71338606911949],"aabb_xy":[[0.4640323798140246,1.625090492601743],[0.5166100284549059,1.6776333599110456]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.10656658266540286,0.1506594830493344,0.71338606911949],"aabb_xy":[[-0.15173790051357183,0.08665948590479598],[-0.0613952648172339,0.21465948019387285]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[0.5600088334016111,-2.0757652625582197,0.71338606911949],"aabb_xy":[[0.4960088369742893,-2.122934886380316],[0.6240088298289331,-2.0285956387361233]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[0.4585201798247085,0.6827357644982373,0.71338606911949],"aabb_xy":[[0.4228910239247488,0.6471030977413843],[0.4941493357246683,0.7183684312550902]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[0.042775414071542284,-1.6114728663872244,0.71338606911949],"aabb_xy":[[0.01949357187341094,-1.6964728676844525],[0.06605725626967361,-1.5264728650899964]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[0.6124678601970033,-1.0071211035898127,0.71338606911949],"aabb_xy":[[0.5998651610599268,-1.0197164998146782],[0.6250705593340797,-0.9945257073649472]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.10640832524406141,-0.12364838241800502,0.71338606911949],"aabb_xy":[[-0.12404116083758897,-0.14127132843362797],[-0.08877548965053382,-0.10602543640238203]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.06113369735238772,1.2636309783080262,0.71338606911949],"aabb_xy":[[-0.08024600471036658,1.2444961994307842],[-0.04202138999440885,1.2827657571852682]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.4999438803953946,1.148033744058194,0.71338606911949],"aabb_xy":[[0.4749438808436562,1.1378912601930593],[0.5249438799471331,1.1581762279233287]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.008854794328644444,-0.8115471735247641,0.71338606911949],"aabb_xy":[[-0.018486430549074062,-0.821184486304473],[0.0007768418917851756,-0.8019098607450552]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.07414447135022317,1.4650319943380175,0.71338606911949],"aabb_xy":[[0.0671041614166862,1.385031994938346],[0.08118478128376018,1.545031993737689]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.4115453590127309,-0.673212716558514,0.71338606911949],"aabb_xy":[[0.3997771722180735,-0.7582127164637357],[0.42331354580738856,-0.5882127166532924]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.5786411701713794,-1.5682686058378723,0.71338606911949],"aabb_xy":[[-0.6036411701038974,-1.5751512740587956],[-0.5536411702388616,-1.561385937616949]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[0.28942674248124933,1.2425001824680102,0.71338606911949],"aabb_xy":[[0.24812219941751334,1.178500182899893],[0.3307312855449853,1.306500182036127]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.4204523711251324,-2.0937214289742014,0.71338606911949],"aabb_xy":[[-0.42641891006586813,-2.099682573633565],[-0.41448583218439655,-2.087760284314837]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[0.31615091281326557,-1.252869346153181,0.71338606911949],"aabb_xy":[[0.2739664986524349,-1.316869346430392],[0.35833532697409637,-1.1888693458759696]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.3741594593084,0.25795836803897654,0.71338606911949],"aabb_xy":[[-0.40415112204227027,0.22795836870217595],[-0.3441677965745296,0.287958367375777]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[0.15219555222789227,-1.0086773337222552,0.71338606911949],"aabb_xy":[[0.11117760884152139,-1.0586773343532125],[0.19321349561426315,-0.9586773330912979]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6861174491365623,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6571.png","name":"6571"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6571.png","name":"6571"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3921.png","name":"3921"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9992.png","name":"9992"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/532.png","name":"532"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/277.png","name":"277"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":815.6718092324959,"rotation_z_degrees":228.31484447149904,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015432587369612304,0.011585329115965864,-0.019140401205902657]},{"name":"camera_2","offset_m":[0.01606786600760275,0.013946494867710196,-0.0022791480209944127]},{"name":"camera_3","offset_m":[0.01899109948194558,-0.014594754198915942,0.006696766450476038]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006109545946148581,0.00044870839186833935,-0.0012123436277367617],"end_effector_yaw_offset_degrees":0.20967895871295594},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007865241263725503,-0.0019040603693704769,0.0011844798168364392],"end_effector_yaw_offset_degrees":0.021770193233490165},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018349087260734348,0.000282192874606325,0.0013698388528403647],"end_effector_yaw_offset_degrees":0.19316759412918016}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014268489591471455,0.0015920252260393439],"position_m":[0.3175731510408529,-0.08780797477396066,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004889817643398555,-0.0016403369537271893],"position_m":[0.27021018235660144,-0.3446403369537272,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004756685604813965,0.0014972038763313338],"position_m":[0.30154331439518606,0.23889720387633134,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003308432970266819,0.004896694215289787],"position_m":[0.34289156702973317,0.10209669421528979,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6212c23c1e639720637c71725f95742f8f2a0c24d40e9a28afe29fe9d2116779","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6571/tex_ceiling_textures_277/tex_floor_textures_532/tex_table_textures_3921/tex_wall_textures_9992","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7403242777736891450,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7403242777736891450,"visual_seed":7403242777736891450,"scene_id":"lab_003","finished_at":"2026-09-03T21:33:22"} +{"episode_id":"ep_000065","started_at":"2026-09-03T21:33:25","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.443284481821284,-1.2026791389870801,0.71338606911949],"aabb_xy":[[0.38829127048414736,-1.2576791393258735],[0.49827769315842085,-1.1476791386482863]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[-0.20716993241255582,-0.1842818274682152,0.71338606911949],"aabb_xy":[[-0.21528358708593293,-0.19238764392224428],[-0.19905627773917872,-0.17617601101418612]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.1391780772695035,-2.5597178044577213,0.71338606911949],"aabb_xy":[[-0.22917807586397343,-2.575968390771142],[-0.04917807867503354,-2.5434672181443005]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.3842106773525229,0.3763476219436286,0.71338606911949],"aabb_xy":[[0.34671067616773,0.371929399247568],[0.4217106785373156,0.38076584463968904]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[0.1704947683723571,1.7663250156945227,0.71338606911949],"aabb_xy":[[0.15493899896209187,1.7507745824501157],[0.1860505377826224,1.7818754489389301]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[0.01622047034777363,1.6153461898416466,0.71338606911949],"aabb_xy":[[-0.06377952666647435,1.5952116381682353],[0.09622046736202161,1.6354807415150578]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[0.547536593804262,0.13015815516012896,0.71338606911949],"aabb_xy":[[0.5110407731769833,0.09367421273337137],[0.5840324144315407,0.1666420975868865]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[0.4834483136649792,1.6378276951933155,0.71338606911949],"aabb_xy":[[0.4621703055215069,1.5728276928672422],[0.5047263218084515,1.7028276975193883]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[0.2669429471783308,-1.1900583969871124,0.71338606911949],"aabb_xy":[[0.2169641386680149,-1.2400583969928312],[0.31692175568864667,-1.1400583969813936]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[0.1783893000533563,-2.1179369268686674,0.71338606911949],"aabb_xy":[[0.11438929864536561,-2.169725878392592],[0.24238930146134693,-2.0661479753447427]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[-0.6269479667656463,0.37643337960547285,0.71338606911949],"aabb_xy":[[-0.6362949743479416,0.3621297573878288],[-0.6176009591833511,0.3907370018231169]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.19868598581469177,0.5457340650683804,0.71338606911949],"aabb_xy":[[-0.2636859839706108,0.5194378205184682],[-0.1336859876587727,0.5720303096182926]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[0.3565098900652435,-2.1617552766754615,0.71338606911949],"aabb_xy":[[0.28650989365528157,-2.1821932123271424],[0.42650988647520516,-2.141317341023779]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.26867211349462605,-2.160012730530253,0.71338606911949],"aabb_xy":[[-0.30617211191802635,-2.173176944498083],[-0.23117211507122565,-2.1468485165624216]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.49508525772145995,0.49253272744771914,0.71338606911949],"aabb_xy":[[0.46393833887787683,0.42253272876091186],[0.5262321765650431,0.5625327261345262]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.5274519302747186,0.751926999859629,0.71338606911949],"aabb_xy":[[-0.5354882649760033,0.7438888805552121],[-0.5194155955734336,0.7599651191640456]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.6529557587854273,-1.719968184499134,0.71338606911949],"aabb_xy":[[0.6170422543604377,-1.7558816927158882],[0.688869263210417,-1.6840546762823791]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[-0.34830117344079914,0.2112588405357121,0.71338606911949],"aabb_xy":[[-0.35314476820202917,0.206407188056728],[-0.3434575786795692,0.21611049301469623]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.39850090777623537,-1.8034024821593642,0.71338606911949],"aabb_xy":[[-0.4160792099651822,-1.820976971733469],[-0.3809226055872885,-1.785827992585259]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.4787364911407881,-0.28256664307345547,0.71338606911949],"aabb_xy":[[0.4087364885042017,-0.3026715080693209],[0.5487364937773744,-0.2624617780775899]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.08141706704376761,-2.3863731108929733,0.71338606911949],"aabb_xy":[[0.07349378680501928,-2.4088731111309767],[0.08934034728251594,-2.36387311065497]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.4996303557274997,-0.3780071009876873,0.71338606911949],"aabb_xy":[[-0.5279600656760399,-0.3824678431814044],[-0.4713006457789595,-0.3735463587939703]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[-0.41623382250173674,-1.517972130114593,0.71338606911949],"aabb_xy":[[-0.43378051741785567,-1.555472131678844],[-0.3986871275856178,-1.4804721285503415]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.5547526068944033,-0.8808253699196595,0.71338606911949],"aabb_xy":[[-0.5890688840690212,-0.9308253698928373],[-0.5204363297197854,-0.8308253699464818]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[0.11039880172624672,-1.250548032351016,0.71338606911949],"aabb_xy":[[0.06326942272441104,-1.3145480333954178],[0.1575281807280824,-1.186548031306614]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[-0.15325064901697316,-0.36366209109061387,0.71338606911949],"aabb_xy":[[-0.2032506503008131,-0.413640945481236],[-0.10325064773313318,-0.31368323669999176]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_26","position":[0.09385313598877065,-1.7090897784265398,0.71338606911949],"aabb_xy":[[0.04387018580129131,-1.7590897780690997],[0.14383608617624996,-1.659089778783979]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[0.22749913117599319,0.9418862244479351,0.71338606911949],"aabb_xy":[[0.18999913082776543,0.9300948288668514],[0.26499913152422094,0.9536776200290185]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[0.26514345643166537,1.133340995812762,0.71338606911949],"aabb_xy":[[0.20114345438193332,1.093246512723454],[0.3291434584813973,1.17343547890207]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_29","position":[0.440714195603197,-0.8717305920264367,0.71338606911949],"aabb_xy":[[0.3757141929654035,-0.9232101907258836],[0.5057141982409905,-0.8202509933269897]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_30","position":[0.49207944139248694,-2.1712088465959676,0.71338606911949],"aabb_xy":[[0.48405317076186105,-2.1799603415733206],[0.500105712023113,-2.1624573516186154]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_31","position":[-0.6167286864835413,-2.1089132172916365,0.71338606911949],"aabb_xy":[[-0.6867286886149706,-2.131675182917332],[-0.5467286843521115,-2.08615125166594]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6868622032290942,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8613.png","name":"8613"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8613.png","name":"8613"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3617.png","name":"3617"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7962.png","name":"7962"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8567.png","name":"8567"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2286.png","name":"2286"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":564.6141703014827,"rotation_z_degrees":337.9189105858369,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010068040024480012,0.00710299835087044,0.014818786794886327]},{"name":"camera_2","offset_m":[0.00811896902218507,-0.006242991909103162,0.007119598056885688]},{"name":"camera_3","offset_m":[0.0049447057760947585,-0.00998976954741544,-0.018304835487419437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000686480321618776,0.0009466229888981373,0.0017490756490268792],"end_effector_yaw_offset_degrees":-0.615948535180322},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010583475196999583,0.0007519760665476087,0.001228218402715931],"end_effector_yaw_offset_degrees":-0.17859625496351295},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005269593544819022,0.0016258680370483361,-0.0012547551685540257],"end_effector_yaw_offset_degrees":-0.5843371183607204}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023198681248827614,-0.0026046600789970853],"position_m":[0.31668013187511723,-0.09200466007899707,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034928222774870824,-0.000714929955767326],"position_m":[0.2716071777225129,-0.34371492995576736,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004486867774832401,-0.004441066766928705],"position_m":[0.31078686777483244,0.2329589332330713,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041000290793606255,0.001479217614182263],"position_m":[0.3420999709206394,0.09867921761418226,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"16f360b642bcc8dcca61afd76b8d7bf8b0d794e23fb37957b2b440f3363cc378","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8613/tex_ceiling_textures_2286/tex_floor_textures_8567/tex_table_textures_3617/tex_wall_textures_7962","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3686307472605338242,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3686307472605338242,"visual_seed":3686307472605338242,"scene_id":"lab_003","finished_at":"2026-09-03T21:36:13"} +{"episode_id":"ep_000066","started_at":"2026-09-03T21:36:18","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.12016471658319061,0.9876507335162121,0.71338606911949],"aabb_xy":[[-0.1250640088897541,0.9599738142136435],[-0.11526542427662712,1.015327652818781]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.18333154933162366,0.7098758996023675,0.71338606911949],"aabb_xy":[[-0.23331035784193954,0.6598758995966487],[-0.13335274082130777,0.7598758996080863]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.16271868248662302,1.3847067515726303,0.71338606911949],"aabb_xy":[[-0.2037366258729939,1.334706750941673],[-0.12170073910025214,1.4347067522035877]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[0.4640185050579253,-2.2650652338409842,0.71338606911949],"aabb_xy":[[0.4598826487252251,-2.3025652332853412],[0.4681543613906255,-2.2275652343966272]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.46724000181711933,0.5463529301823544,0.71338606911949],"aabb_xy":[[-0.48975369364057647,0.4763529295813468],[-0.4447263099936621,0.6163529307833618]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.0003211036708916648,-1.0747822808096352,0.71338606911949],"aabb_xy":[[-0.0187912036870872,-1.0939170596868772],[0.01943341102887053,-1.0556475019323932]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.14517578775944018,-1.3469395655465637,0.71338606911949],"aabb_xy":[[-0.1626757880187768,-1.3610311077353365],[-0.12767578750010355,-1.3328480233577913]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[0.6498451411114623,1.4031237502993856,0.71338606911949],"aabb_xy":[[0.5998621909239829,1.353123750656825],[0.6998280912989415,1.4531237499419458]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.2326950355022145,-0.9043634389595709,0.71338606911949],"aabb_xy":[[-0.316417261002297,-0.9943634424942669],[-0.14897281000213208,-0.814363435424875]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[-0.35831800332626873,1.3120638890168688,0.71338606911949],"aabb_xy":[[-0.4183180049691906,1.2600637397249246],[-0.2983180016833469,1.364064038308813]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.5619991005850222,-0.9868400049642978,0.71338606911949],"aabb_xy":[[0.5519173935064486,-1.0668400028564122],[0.5720808076635956,-0.9068400070721829]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[-0.5649554442658182,0.28998940726504463,0.71338606911949],"aabb_xy":[[-0.6062042552957329,0.2349894077528271],[-0.5237066332359034,0.344989406777262]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.4997843303014373,-2.248996878122931,0.71338606911949],"aabb_xy":[[-0.5058789581895556,-2.2575662726746],[-0.493689702413319,-2.2404274835712625]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.2745145117602471,0.5528188269504191,0.71338606911949],"aabb_xy":[[0.2245370948949935,0.5028188254611704],[0.32449192862550064,0.6028188284396675]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[-0.3460137525728251,-0.555075253772439,0.71338606911949],"aabb_xy":[[-0.35205076557348985,-0.5611019548413874],[-0.3399767395721604,-0.549048552703491]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[0.25794276996809373,1.6383860423799512,0.71338606911949],"aabb_xy":[[0.17794276853796653,1.558868887367342],[0.33794277139822093,1.717903197392561]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.530787741215399,-0.6442176848459853,0.71338606911949],"aabb_xy":[[-0.5678218506434587,-0.6785948921796947],[-0.4937536317873392,-0.6098404775122759]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[-0.48116246844655497,-0.9780084494966466,0.71338606911949],"aabb_xy":[[-0.5272475597012863,-1.0420084467492017],[-0.43507737719182343,-0.9140084522440914]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[-0.19304538007580307,-0.5206565547508784,0.71338606911949],"aabb_xy":[[-0.19747600943064325,-0.526104926485561],[-0.1886147507209629,-0.5152081830161958]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[0.2347399822937718,-1.555392013859182,0.71338606911949],"aabb_xy":[[0.2109037646531668,-1.6453920146676686],[0.2585761999343769,-1.4653920130506954]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[-0.14675601631920376,0.07032642892488017,0.71338606911949],"aabb_xy":[[-0.1945621839329724,0.005326426217821214],[-0.0989498487054351,0.13532643163193914]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.5260129740192987,-0.5523608372106237,0.71338606911949],"aabb_xy":[[-0.5315946456534275,-0.5648608370283992],[-0.5204313023851699,-0.5398608373928482]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[0.21896365902565706,-2.2012975422737755,0.71338606911949],"aabb_xy":[[0.17379234117748812,-2.265297539418314],[0.2641349768738261,-2.137297545129237]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[0.33028249822524103,-1.9312970278411314,0.71338606911949],"aabb_xy":[[0.24028249880687014,-1.9646725246853212],[0.4202824976436119,-1.8979215309969417]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[-0.31210440121814426,1.1370272835768542,0.71338606911949],"aabb_xy":[[-0.34710439948826416,1.129953155881866],[-0.27710440294802435,1.1441014112718424]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[-0.11829142867215603,-2.036774484721267,0.71338606911949],"aabb_xy":[[-0.18229142796632425,-2.100760625090121],[-0.054291429377987824,-1.9727883443524128]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_26","position":[-0.10537802144006814,1.6905615147539055,0.71338606911949],"aabb_xy":[[-0.1653780216914693,1.6362801897174406],[-0.04537802118866695,1.74484283979037]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_27","position":[-0.24743054697993894,0.8266625820155662,0.71338606911949],"aabb_xy":[[-0.2849305472721137,0.8226211066149626],[-0.20993054668776406,0.8307040574161698]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[0.2201639322022877,1.3668280300662161,0.71338606911949],"aabb_xy":[[0.21312362226875076,1.2868280306665447],[0.22720424213582474,1.4468280294658875]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_29","position":[0.021841336546586154,1.5094608916715369,0.71338606911949],"aabb_xy":[[0.013847347968882758,1.5014608115764463],[0.029835325124289543,1.517460971766627]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_30","position":[-0.5356698730995586,1.6104776031301893,0.71338606911949],"aabb_xy":[[-0.6156698733731655,1.5375280553044726],[-0.45566987282595156,1.683427150955906]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_31","position":[0.30699848667541696,-0.6987813942464174,0.71338606911949],"aabb_xy":[[0.2694984863271891,-0.7105727898275009],[0.3444984870236446,-0.6869899986653338]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_32","position":[-0.10069350036606395,0.8428069708957162,0.71338606911949],"aabb_xy":[[-0.1252071244630698,0.8185423775936798],[-0.0761798762690581,0.8670715641977527]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_33","position":[0.6359222364669055,-1.5235953532587676,0.71338606911949],"aabb_xy":[[0.6184222373325382,-1.5334749802963552],[0.6534222356012725,-1.5137157262211796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.691226834251201,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1789.png","name":"1789"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1789.png","name":"1789"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2455.png","name":"2455"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9197.png","name":"9197"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1054.png","name":"1054"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9248.png","name":"9248"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":523.2805325717611,"rotation_z_degrees":200.64187771053182,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005169030996816162,0.01918948766958337,-0.01530642129480331]},{"name":"camera_2","offset_m":[0.017217195001880087,-0.010273416465925283,0.009765572938336367]},{"name":"camera_3","offset_m":[0.018384212392776957,0.015158838213143167,-0.01114828544925735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021345440229842902,0.0019040227102050666,0.0017963182865513281],"end_effector_yaw_offset_degrees":-0.7886685287387869},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-7.692975861814909e-05,-0.0015696669633465214,-0.001720122860598893],"end_effector_yaw_offset_degrees":-0.06683547859187522},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00040489170470273486,-0.001759193859822505,0.0012755748000145978],"end_effector_yaw_offset_degrees":-0.8370007200696996}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001020513114403412,0.002746369785623706],"position_m":[0.32002051311440344,-0.08665363021437629,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003999290012066105,0.0036063559821148524],"position_m":[0.2790992900120661,-0.3393936440178852,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016854958882715262,0.0027110275971308564],"position_m":[0.30798549588827157,0.24011102759713085,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004228439010020252,-0.0035279958764850737],"position_m":[0.35042843901002024,0.09367200412351492,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d6c9238c2a5405f3067f6b4e667edc23ef57e761ca97083bc793a008c738a210","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1789/tex_ceiling_textures_9248/tex_floor_textures_1054/tex_table_textures_2455/tex_wall_textures_9197","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7886149812904563978,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7886149812904563978,"visual_seed":7886149812904563978,"scene_id":"lab_003","finished_at":"2026-09-03T21:38:58"} +{"episode_id":"ep_000067","started_at":"2026-09-03T21:39:02","dimensions":{"distractor":{"count":24,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.5622334186371692,-1.1639231245758306,0.71338606911949],"aabb_xy":[[-0.5735951532904554,-1.1752915909821184],[-0.5508716839838831,-1.1525546581695423]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.07492332524867229,1.4060136247907948,0.71338606911949],"aabb_xy":[[0.05242418952244532,1.3835136240125319],[0.09742246097489926,1.4285136255690578]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[-0.17068035346265398,-2.0955219585919402,0.71338606911949],"aabb_xy":[[-0.18584322643959109,-2.110687415887059],[-0.15551748048571692,-2.0803565012968215]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.38718318248490885,-2.3307575999460886,0.71338606911949],"aabb_xy":[[-0.437183183845796,-2.380735504521504],[-0.33718318112402157,-2.280779695370673]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.019941026570677867,0.6266735855429357,0.71338606911949],"aabb_xy":[[-0.03458443212471085,0.6120148658861515],[-0.005297621016644879,0.64133230519972]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.6135906722852016,-1.5265891258505102,0.71338606911949],"aabb_xy":[[-0.6357631992618524,-1.548764793006633],[-0.5914181453085507,-1.5044134586943865]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[0.4546308827723371,0.7854884530886004,0.71338606911949],"aabb_xy":[[0.41332633970860105,0.7214884535204833],[0.49593542583607303,0.8494884526567175]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[0.5668728373021985,-1.4023580478146078,0.71338606911949],"aabb_xy":[[0.5634321610621413,-1.4062194807889723],[0.5703135135422557,-1.3984966148402433]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.2023534345424715,1.4384873645425036,0.71338606911949],"aabb_xy":[[-0.26634913193756804,1.3744873662417947],[-0.1383577371473749,1.502487362843212]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.2103620819403813,0.1702687272479939,0.71338606911949],"aabb_xy":[[-0.2743620839901133,0.13017424415868595],[-0.1463620798906493,0.21036321033730188]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.5402570872136911,-0.2744637404776329,0.71338606911949],"aabb_xy":[[0.5305010977045173,-0.2842262745368673],[0.550013076722865,-0.2647012064183984]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.2620628313313066,-2.2281587004008667,0.71338606911949],"aabb_xy":[[0.1920628286947202,-2.2482635653967318],[0.3320628339678929,-2.2080538354050008]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[-0.2399773535716564,-2.3446417129099366,0.71338606911949],"aabb_xy":[[-0.24389122676707892,-2.3533907283164934],[-0.23606348037623387,-2.33589269750338]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.22797709646157038,1.6586997534615135,0.71338606911949],"aabb_xy":[[-0.2779770977454103,1.6087208990708912],[-0.1779770951777304,1.7086786078521354]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.46138679010390554,-0.7359823005434614,0.71338606911949],"aabb_xy":[[-0.4843025029889555,-0.758886597679885],[-0.4384710772188557,-0.7130780034070379]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[-0.06615987503347631,-0.9185050047403795,0.71338606911949],"aabb_xy":[[-0.07876257417055275,-0.9311004009652452],[-0.05355717589639984,-0.9059096085155142]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.5515080213399437,-1.9301009203119368,0.71338606911949],"aabb_xy":[[0.48150802492998174,-1.950538855963618],[0.6215080177499053,-1.9096629846602546]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.40820984038061225,-1.2091644683213727,0.71338606911949],"aabb_xy":[[0.35321436255995287,-1.2641644697552794],[0.46320531820127164,-1.1541644668874655]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[-0.2176081375810276,1.2953605735549103,0.71338606911949],"aabb_xy":[[-0.2351548324971465,1.257860571990659],[-0.20006144266490863,1.3328605751191616]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[0.1313551418027601,-1.149138360193982,0.71338606911949],"aabb_xy":[[0.06735514263299015,-1.1959050473129444],[0.19535514097253004,-1.1023716730750195]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[-0.09787319841682729,-1.6766752350828482,0.71338606911949],"aabb_xy":[[-0.11074510191776743,-1.7566752354966841],[-0.08500129491588715,-1.5966752346690118]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[0.6412555477852497,0.8558117717860463,0.71338606911949],"aabb_xy":[[0.5612555507710018,0.835677220112635],[0.7212555447994977,0.8759463234594576]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.4463137215547446,1.475421834785736,0.71338606911949],"aabb_xy":[[0.43121142009372637,1.4603203131546736],[0.46141602301576257,1.4905233564167975]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[-0.5687023685168624,-2.0954440860897776,0.71338606911949],"aabb_xy":[[-0.6583894448249779,-2.185444086344228],[-0.47901529220874695,-2.005444085835327]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6833984521332073,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/974.png","name":"974"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/974.png","name":"974"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7843.png","name":"7843"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8401.png","name":"8401"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1196.png","name":"1196"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7619.png","name":"7619"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":645.331410142246,"rotation_z_degrees":311.58774962718275,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005837170820654349,-0.004604996075064944,-0.00917063378093733]},{"name":"camera_2","offset_m":[-0.016088854604448317,0.00230030202950934,0.016768844911698538]},{"name":"camera_3","offset_m":[-0.008217397487217162,0.008566392902361497,-0.014287410515892537]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00011092241201311509,-0.0018049343018318096,-0.0015349651858584626],"end_effector_yaw_offset_degrees":0.23582565323845173},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005514736853495391,0.0016207589590630624,0.0016076036899257216],"end_effector_yaw_offset_degrees":0.5059661986320851},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006752870635933954,-0.0018245974335121806,0.0015187133244954662],"end_effector_yaw_offset_degrees":-0.11149991905092937}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021966415762082804,0.003485966763348977],"position_m":[0.3168033584237917,-0.08591403323665102,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049467409199602744,0.0037053274767318194],"position_m":[0.27015325908003973,-0.3392946725232682,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009647493655496808,-0.0016162127994237695],"position_m":[0.3072647493655497,0.23578378720057622,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002714507873945759,0.0014393434503306261],"position_m":[0.3489145078739458,0.09863934345033062,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2c9524d349f02a11d31ce732e7de4bfc01bc721de11109db481627da05779a85","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0067.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_974/tex_ceiling_textures_7619/tex_floor_textures_1196/tex_table_textures_7843/tex_wall_textures_8401","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7779455817274708604,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7779455817274708604,"visual_seed":7779455817274708604,"scene_id":"lab_003","finished_at":"2026-09-03T21:41:48"} +{"episode_id":"ep_000068","started_at":"2026-09-03T21:41:50","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.12568749277075586,1.5352636689694852,0.71338606911949],"aabb_xy":[[0.1130847936336794,1.5226682727446197],[0.13829019190783232,1.5478590651943507]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[0.04886690269325955,-0.7728239602919293,0.71338606911949],"aabb_xy":[[0.011366901177627835,-0.7840507333080742],[0.08636690420889126,-0.7615971872757841]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.0712708776486004,0.8258785760894978,0.71338606911949],"aabb_xy":[[0.049098350671949564,0.8037029089333745],[0.09344340462525125,0.8480542432456208]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.5580974715698594,-1.4262895272536846,0.71338606911949],"aabb_xy":[[-0.5757731021584577,-1.4439697435330872],[-0.540421840981261,-1.4086093109742817]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.6662993732394495,-1.6671410623294411,0.71338606911949],"aabb_xy":[[0.6287993720546565,-1.6715592850255012],[0.7037993744242421,-1.6627228396333802]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.032260998349281755,-2.0812985215873243,0.71338606911949],"aabb_xy":[[-0.07834608960401324,-2.145298518839879],[0.013824092905449717,-2.0172985243347688]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.3775615685843276,0.9266468015143778,0.71338606911949],"aabb_xy":[[-0.42032827546374785,0.8626467980925754],[-0.33479486170490746,0.9906468049361803]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.5741556289458916,-0.7063614210740401,0.71338606911949],"aabb_xy":[[0.5416939280639639,-0.7364942531889425],[0.6066173298278188,-0.6762285889591373]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[-0.28758615441709584,-0.7287803169543843,0.71338606911949],"aabb_xy":[[-0.32508615476532354,-0.7405717125354677],[-0.250086154068868,-0.7169889213733006]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.5170324762108685,-0.5687692925809738,0.71338606911949],"aabb_xy":[[0.513071992441134,-0.5764371571664944],[0.5209929599806027,-0.5611014279954532]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[-0.4989282151990293,1.6749901635243716,0.71338606911949],"aabb_xy":[[-0.5148127084643543,1.6606372232255475],[-0.4830437219337041,1.6893431038231956]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.1009988063594024,-1.4296406049499857,0.71338606911949],"aabb_xy":[[0.0922175792121662,-1.438420352238516],[0.10978003350663866,-1.4208608576614554]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.2015671925997387,1.7245998756507146,0.71338606911949],"aabb_xy":[[-0.23504635986077968,1.6911207622796076],[-0.1680880253386978,1.7580789890218216]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.50030956043454,-0.1172505566016282,0.71338606911949],"aabb_xy":[[0.46351492730963373,-0.15415643169821047],[0.5371041935594463,-0.08034468150504592]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[0.20227141869133436,0.6508145071257765,0.71338606911949],"aabb_xy":[[0.19737212638477086,0.6231375878232076],[0.20717071099789786,0.6784914264283451]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.45006484308755446,-2.4171151402891424,0.71338606911949],"aabb_xy":[[0.4325648438094675,-2.434453240355488],[0.4675648423656413,-2.399777040222796]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[-0.5874971322642553,-1.0922191084023554,0.71338606911949],"aabb_xy":[[-0.6045992102226234,-1.1093259139336253],[-0.5703950543058871,-1.0751123028710858]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[-0.2931239621798096,-0.9125175551350095,0.71338606911949],"aabb_xy":[[-0.3306239607554304,-0.9252538507985674],[-0.25562396360418876,-0.8997812594714515]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.3705254803886866,-1.432645579656117,0.71338606911949],"aabb_xy":[[0.3611784728063914,-1.4469492018737613],[0.3798724879709819,-1.4183419574384732]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.4034828216938722,-2.162325025508275,0.71338606911949],"aabb_xy":[[0.3902518761591908,-2.175552444530274],[0.4167137672285534,-2.1490976064862752]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.6474411748885659,1.7545856310805283,0.71338606911949],"aabb_xy":[[-0.6724411744403044,1.7444431472153936],[-0.6224411753368274,1.764728114945663]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[0.0656289426871638,-1.5794615171828186,0.71338606911949],"aabb_xy":[[0.015633931727711773,-1.6294615162184105],[0.11562395364661585,-1.529461518147227]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.5386508017011744,1.3112722921090567,0.71338606911949],"aabb_xy":[[-0.5561507351351577,1.293772292188822],[-0.5211508682671909,1.328772292029291]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[-0.36529552512268076,-1.3411486609920626,0.71338606911949],"aabb_xy":[[-0.37332179575330676,-1.3499001559694155],[-0.35726925449205477,-1.3323971660147103]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_24","position":[-0.36647763363731084,-1.414688435734718,0.71338606911949],"aabb_xy":[[-0.3724441725780466,-1.4206495803940822],[-0.360511094696575,-1.4087272910753539]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[-0.19588854315569554,0.10772617221312775,0.71338606911949],"aabb_xy":[[-0.2758885418125816,0.09322131328886495],[-0.11588854449880956,0.12223103113739052]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.691147940505813,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1227.png","name":"1227"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1227.png","name":"1227"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6048.png","name":"6048"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2378.png","name":"2378"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3728.png","name":"3728"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/697.png","name":"697"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":609.9070459140189,"rotation_z_degrees":128.95550068245026,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01342091590953395,0.01707774348352727,0.006109779164241876]},{"name":"camera_2","offset_m":[0.01726548124019588,0.013045902596044396,-0.005037012243447627]},{"name":"camera_3","offset_m":[0.019469915896788436,0.00475186501620397,-0.004133506857178611]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015545986922746362,-0.0004853510485463594,0.0009170313741024821],"end_effector_yaw_offset_degrees":-0.11340501760541555},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016949968694925446,-0.0002978498597202685,-0.0019105870820464931],"end_effector_yaw_offset_degrees":0.7124619057654487},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009235448573736301,-0.001775260321781627,0.0016184945901698217],"end_effector_yaw_offset_degrees":0.22417530889924953}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003432560473212421,0.002815866081939772],"position_m":[0.32243256047321245,-0.08658413391806022,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[4.54872587531234e-05,-0.003157363099926208],"position_m":[0.27514548725875315,-0.34615736309992623,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003083071794246076,-0.0029775133782874554],"position_m":[0.30321692820575397,0.23442248662171256,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0039820701773023584,-0.00300903520479198],"position_m":[0.35018207017730235,0.09419096479520801,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f5f2a55837926103da26b1132ef4e559b0e0a0d0455f61bcf5f64a48cd1211a9","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1227/tex_ceiling_textures_697/tex_floor_textures_3728/tex_table_textures_6048/tex_wall_textures_2378","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3111731044350965575,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3111731044350965575,"visual_seed":3111731044350965575,"scene_id":"lab_003","finished_at":"2026-09-03T21:44:24"} +{"episode_id":"ep_000069","started_at":"2026-09-03T21:44:27","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[-0.574034148543378,-0.9432891846257754,0.71338606911949],"aabb_xy":[[-0.5990341478153401,-0.9596345482219377],[-0.5490341492714156,-0.926943821029613]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.43698141777260197,-0.6617642125381569,0.71338606911949],"aabb_xy":[[-0.4544813512065853,-0.6792642124583914],[-0.41948148433861854,-0.6442642126179223]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[-0.2725882159280122,-1.0075990971464044,0.71338606911949],"aabb_xy":[[-0.337588214485085,-1.0373516305602868],[-0.20758821737093935,-0.9778465637325215]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.2920893538116971,1.6992809815783354,0.71338606911949],"aabb_xy":[[-0.30815128127021474,1.6142809797657436],[-0.27602742635317945,1.7842809833909272]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.6019803005566828,-0.6330594323417242,0.71338606911949],"aabb_xy":[[0.5519803009803482,-0.6830400112938303],[0.6519803001330177,-0.5830788533896184]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[-0.3904644234412582,0.8402244561263861,0.71338606911949],"aabb_xy":[[-0.39770818948750347,0.7602244579227836],[-0.3832206573950128,0.9202244543299883]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[0.30957873741677133,-1.6937664389511595,0.71338606911949],"aabb_xy":[[0.22457873899934805,-1.7786407344134445],[0.3945787358341945,-1.6088921434888745]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.20226372344300703,0.018910645585156427,0.71338606911949],"aabb_xy":[[-0.21413580645450817,-0.06608935410849393],[-0.19039164043150594,0.10391064527880678]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[0.1106530977798188,-1.8810000681166597,0.71338606911949],"aabb_xy":[[0.10532058312520583,-1.8863243963618954],[0.1159856124344318,-1.8756757398714243]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.6811826095386992,0.5592142748598969,0.71338606911949],"aabb_xy":[[-0.690600084108562,0.5497980977221779],[-0.6717651349688365,0.568630451997616]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.5717570715875178,0.5167533984030097,0.71338606911949],"aabb_xy":[[0.5472434474905118,0.49248880510097326],[0.5962706956845235,0.5410179917050462]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.5785483690507427,-1.541020122889152,0.71338606911949],"aabb_xy":[[0.5286656721730465,-1.591020122135427],[0.6284310659284389,-1.4910201236428773]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.3699792163349804,-2.0955858518352724,0.71338606911949],"aabb_xy":[[-0.45370144183506284,-2.1855858553699683],[-0.2862569908348979,-2.0055858483005764]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.16434322893816378,1.3962508370641018,0.71338606911949],"aabb_xy":[[-0.19063205325860438,1.3699794034094503],[-0.13805440461772306,1.4225222707187528]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.2386635831514189,0.6510216935828521,0.71338606911949],"aabb_xy":[[-0.3286635828745931,0.6279483410476722],[-0.1486635834282447,0.6740950461180318]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.4026769523554321,-1.92892439140152,0.71338606911949],"aabb_xy":[[0.31267695293706116,-1.9622998882457094],[0.49267695177380294,-1.89554889455733]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[-0.1812630023457107,0.1667258579756674,0.71338606911949],"aabb_xy":[[-0.18925649214099274,0.15872772603519178],[-0.17326951255042866,0.1747239899161431]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[-0.37591571066851687,-0.17320457550878965,0.71338606911949],"aabb_xy":[[-0.39719371881198906,-0.23820457783486268],[-0.35463770252504456,-0.10820457318271656]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[0.4288348716971566,-0.6878820941503752,0.71338606911949],"aabb_xy":[[0.3688348711893037,-0.7447288278362965],[0.48883487220500954,-0.6310353604644539]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.11567570644324499,-2.3075003519219996,0.71338606911949],"aabb_xy":[[0.051675710047671894,-2.3714636403407328],[0.17967570283881806,-2.2435370635032656]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.2193085227127753,1.2099497939902113,0.71338606911949],"aabb_xy":[[-0.2743040005334347,1.1549497925563041],[-0.1643130448921159,1.264949795424118]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[0.4485558870026971,-1.5198892684249403,0.71338606911949],"aabb_xy":[[0.42605588747898965,-1.542385215875561],[0.47105588652640445,-1.4973933209743195]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[0.6429171990423876,-2.34898975227009,0.71338606911949],"aabb_xy":[[0.5629171957845447,-2.4289862600620737],[0.7229172023002306,-2.268993244478106]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[-0.3641439795459474,1.459245713347968,0.71338606911949],"aabb_xy":[[-0.4241439801419636,1.4044332408027445],[-0.3041439789499312,1.5140581858931914]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_24","position":[0.501819866628491,1.5077723997895043,0.71338606911949],"aabb_xy":[[0.4218198692248976,1.4277798285913212],[0.5818198640320844,1.5877649709876869]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[-0.1561233553286795,-0.9450298587922679,0.71338606911949],"aabb_xy":[[-0.16075847048091285,-0.9488971938694164],[-0.15148824017644608,-0.9411625237151191]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_26","position":[0.4623024333049477,0.6176530261706534,0.71338606911949],"aabb_xy":[[0.4248024321201549,0.6132348034745929],[0.4998024344897405,0.6220712488667139]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[-0.4106649582028177,-0.9174471469265693,0.71338606911949],"aabb_xy":[[-0.4273420941959132,-0.9341470709004996],[-0.39398782220972217,-0.9007472229526391]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888986170867172,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1448.png","name":"1448"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1448.png","name":"1448"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2688.png","name":"2688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/65.png","name":"65"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1267.png","name":"1267"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1707.png","name":"1707"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":827.6379272689653,"rotation_z_degrees":14.670663974632618,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018981196271389313,-0.019477085240849356,-0.019181138298144215]},{"name":"camera_2","offset_m":[-0.019930409636394128,-0.00833359367063109,0.005284470673939761]},{"name":"camera_3","offset_m":[0.0025864259994221386,-0.014533859722134598,0.0016343046323786178]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013387742007739689,-0.0015145169735613707,0.0011064768458075368],"end_effector_yaw_offset_degrees":0.6472125359240042},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010674565566675793,0.0017404780489255621,0.0003288534564058515],"end_effector_yaw_offset_degrees":-0.11909011123825297},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003710925188619529,0.0006403198902166056,-0.0008499074127762732],"end_effector_yaw_offset_degrees":-0.5680855961436335}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022025156352421596,0.003662112955283817],"position_m":[0.32120251563524216,-0.08573788704471617,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011795467688812,0.0033490715243984686],"position_m":[0.2762795467688812,-0.3396509284756016,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023393113001142227,0.001567436760127978],"position_m":[0.30863931130011424,0.23896743676012797,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010697462304384365,-0.004961255777127119],"position_m":[0.3451302537695616,0.09223874422287287,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea9e00a066a4e8977a83aea153f5aa3b1feb604db700f621c3674c153188f9b8","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1448/tex_ceiling_textures_1707/tex_floor_textures_1267/tex_table_textures_2688/tex_wall_textures_65","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":8798761833853206543,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":8798761833853206543,"visual_seed":8798761833853206543,"scene_id":"lab_003","finished_at":"2026-09-03T21:47:05"} +{"episode_id":"ep_000070","started_at":"2026-09-03T21:47:09","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[-0.21382220359089843,-0.19692707376348562,0.71338606911949],"aabb_xy":[[-0.29382220224778444,-0.2114319326877484],[-0.13382220493401242,-0.18242221483922283]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.2671193262730215,-1.2127962345286374,0.71338606911949],"aabb_xy":[[0.24584131812954924,-1.2777962368547104],[0.28839733441649373,-1.1477962322025643]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[0.04443234194441237,-2.4323173549315933,0.71338606911949],"aabb_xy":[[-0.035567655018626805,-2.5093929965753667],[0.12443233890745153,-2.35524171328782]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.3267453064976571,-1.845765448739345,0.71338606911949],"aabb_xy":[[0.3158937002487815,-1.8566247394669961],[0.3375969127465327,-1.834906158011694]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[-0.6606617564610507,-1.4004488363585246,0.71338606911949],"aabb_xy":[[-0.6749961815872141,-1.4125090519130632],[-0.6463273313348872,-1.3883886208039855]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[-0.2580706336459889,-1.3645262732594186,0.71338606911949],"aabb_xy":[[-0.26352857928300893,-1.4445262765670777],[-0.2526126880089688,-1.2845262699517594]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.658107315382952,1.1714831182788275,0.71338606911949],"aabb_xy":[[0.6406073151379027,1.1539833304392606],[0.6756073156280015,1.1889829061183943]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[-0.4524029730763891,0.1412027792255226,0.71338606911949],"aabb_xy":[[-0.49342091646275993,0.09120277859456524],[-0.41138502969001817,0.1912027798564799]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.3534826647382556,0.42973142253616947,0.71338606911949],"aabb_xy":[[-0.40847814255891496,0.3747314211022625],[-0.2984871869175962,0.48473142397007635]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.015032653417352049,-2.1013472536501125,0.71338606911949],"aabb_xy":[[-0.022467347374643398,-2.1077150946083028],[0.052532654209347496,-2.0949794126919223]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[0.6713527273333124,1.753732241013783,0.71338606911949],"aabb_xy":[[0.6363527282033566,1.7479870199381187],[0.706352726463268,1.7594774620894469]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.01031879122405599,1.2767235645176642,0.71338606911949],"aabb_xy":[[-0.06531879040064548,1.2217338897427066],[0.0446812079525335,1.3317132392926219]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.04752014301141638,-1.8850540231083017,0.71338606911949],"aabb_xy":[[-0.06268301598835346,-1.9002194804034207],[-0.0323572700344793,-1.8698885658131832]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.2221427715832308,0.7630615576510045,0.71338606911949],"aabb_xy":[[0.15714277342731175,0.7367653131010923],[0.2871427697391499,0.7893578022009167]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[-0.21010611741225704,0.9773531994051452,0.71338606911949],"aabb_xy":[[-0.2651061170340029,0.9223695066176725],[-0.1551061177905112,1.032336892192618]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[0.2831309287789857,0.8661343337475329,0.71338606911949],"aabb_xy":[[0.27050414149178936,0.85658826004596],[0.29575771606618206,0.8756804074491058]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[0.4485673450631342,-1.9428641415245531,0.71338606911949],"aabb_xy":[[0.41106734524610056,-1.9475023528356947],[0.4860673448801677,-1.938225930213411]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[-0.5607680648734104,0.7281808455563201,0.71338606911949],"aabb_xy":[[-0.6247680667857526,0.6722696962983098],[-0.4967680629610679,0.7840919948143307]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.6785632416513505,-0.960623082877333,0.71338606911949],"aabb_xy":[[0.6715217907006029,-0.9676498346151277],[0.6856046926020981,-0.9535963311395386]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[0.4603815404950926,-0.43625776963906704,0.71338606911949],"aabb_xy":[[0.40525633486550183,-0.4962577710803541],[0.5155067461246834,-0.37625776819777984]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[-0.3525806130687631,-0.4964477022378895,0.71338606911949],"aabb_xy":[[-0.41258061332016427,-0.5507290272743541],[-0.2925806128173619,-0.44216637720142477]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6880879317046829,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3935.png","name":"3935"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3935.png","name":"3935"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5452.png","name":"5452"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7172.png","name":"7172"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8617.png","name":"8617"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3611.png","name":"3611"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":704.1150876597985,"rotation_z_degrees":347.64729559122776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01981875226703907,0.008232909948870666,-0.0024871469290350216]},{"name":"camera_2","offset_m":[-0.014471699755904135,-0.007249255643357499,0.0011809626668038385]},{"name":"camera_3","offset_m":[-0.0012179081686086828,0.018197181437338294,-0.0007166090890180152]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000354652863528889,0.001368050906610393,0.0010787106241243885],"end_effector_yaw_offset_degrees":0.2175525717679292},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00019890089638960134,0.0009200765846860974,0.0019452276582184284],"end_effector_yaw_offset_degrees":0.980079808883805},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001141583989951147,0.0012424938347438395,-0.001706945919527263],"end_effector_yaw_offset_degrees":0.8823927339005131}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004590574189667567,-0.004039342523444776],"position_m":[0.3235905741896676,-0.09343934252344477,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00014203405013712284,0.002663613235078026],"position_m":[0.2749579659498629,-0.340336386764922,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004342712264633887,-0.0029533500562109604],"position_m":[0.3106427122646339,0.23444664994378903,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004553904868303986,0.0013867786144022252],"position_m":[0.350753904868304,0.09858677861440222,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4a80cd422c4130927882d2a6a3ea663c9e33d834f84ad7973d4a3732f8e23f3e","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3935/tex_ceiling_textures_3611/tex_floor_textures_8617/tex_table_textures_5452/tex_wall_textures_7172","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6198259757351381962,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6198259757351381962,"visual_seed":6198259757351381962,"scene_id":"lab_003","finished_at":"2026-09-03T21:49:45"} +{"episode_id":"ep_000071","started_at":"2026-09-03T21:49:47","dimensions":{"distractor":{"count":25,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[-0.24990826442491998,1.470784231690915,0.71338606911949],"aabb_xy":[[-0.3299082648951359,1.462473524076567],[-0.16990826395470404,1.4790949393052635]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.45603132754215703,-0.30877369312004177,0.71338606911949],"aabb_xy":[[-0.4805775431649078,-0.33902258966907883],[-0.43148511191940636,-0.2785247965710047]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.1951175906112822,0.5591200372294498,0.71338606911949],"aabb_xy":[[0.18455011095318322,0.5485750071164412],[0.20568507026938124,0.5696650673424584]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.32256775078043065,1.693317941608711,0.71338606911949],"aabb_xy":[[-0.3450677510239461,1.681113306948939],[-0.3000677505369153,1.705522576268483]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[0.1943581905051055,-2.5016886192279655,0.71338606911949],"aabb_xy":[[0.18259000371044798,-2.586688619133187],[0.20612637729976305,-2.416688619322744]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[-0.5680160763959684,1.4950697349050297,0.71338606911949],"aabb_xy":[[-0.6179893703992289,1.4450697343504821],[-0.518042782392708,1.5450697354595768]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.2384752218139492,0.8234588479471161,0.71338606911949],"aabb_xy":[[0.18847522086341637,0.7919097009435946],[0.288475222764482,0.8550079949506374]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[0.564358994218692,-1.2169960007064666,0.71338606911949],"aabb_xy":[[0.5464898864642365,-1.2308289086836777],[0.5822281019731474,-1.203163092729256]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[0.5337955861619412,-2.084007638831152,0.71338606911949],"aabb_xy":[[0.5179110928966162,-2.0983605791299764],[0.5496800794272665,-2.069654698532328]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[-0.48150277894383087,-1.474707539311062,0.71338606911949],"aabb_xy":[[-0.5047846211419621,-1.5597075406082899],[-0.45822093674569947,-1.3897075380138337]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[-0.1475996324924692,-1.2682099490621142,0.71338606911949],"aabb_xy":[[-0.1631554019027345,-1.2837603823065216],[-0.13204386308220398,-1.2526595158177072]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[-0.4970031507500756,-1.7869589063106863,0.71338606911949],"aabb_xy":[[-0.5620031517072028,-1.838907118244392],[-0.4320031497929484,-1.7350106943769807]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.10384421370924857,1.3322926092431473,0.71338606911949],"aabb_xy":[[-0.14883680042769898,1.2872926099686983],[-0.058851626990798156,1.3772926085175958]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[0.18315399593411297,-2.0900978646335995,0.71338606911949],"aabb_xy":[[0.1697074693000696,-2.103567716286691],[0.19660052256815627,-2.076628012980508]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.5113000939551077,0.8370779234193213,0.71338606911949],"aabb_xy":[[-0.591300092542427,0.7577623214811605],[-0.4313000953677882,0.9163935253574823]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.35010976112780556,-2.230613836910679,0.71338606911949],"aabb_xy":[[-0.4401097597222755,-2.2468644232240997],[-0.2601097625333356,-2.214363250597258]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[0.43395272678524366,0.32486256949581716,0.71338606911949],"aabb_xy":[[0.42317975286387594,0.28986257127677817],[0.4447257007066115,0.35986256771485614]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[-0.21192464175773762,0.13888942562245754,0.71338606911949],"aabb_xy":[[-0.21991863033544098,0.1308893455273672],[-0.2039306531800342,0.14688950571754789]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[0.4852876593120887,-2.4275027002663867,0.71338606911949],"aabb_xy":[[0.43547087984725397,-2.47750269875069],[0.5351044387769235,-2.3775027017820833]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[-0.4814265694475987,0.20620381826888723,0.71338606911949],"aabb_xy":[[-0.566426567865022,0.12132952280660228],[-0.3964265710301755,0.2910781137311722]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.66582812576948,-2.418774374358348,0.71338606911949],"aabb_xy":[[0.628328125597608,-2.451475109741254],[0.7033281259413519,-2.38607363897544]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.659588794210729,1.5553089064832384,0.71338606911949],"aabb_xy":[[0.5955887969083826,1.5109424795153816],[0.7235887915130754,1.5996753334510951]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[-0.5973323935917212,-0.7073424468478222,0.71338606911949],"aabb_xy":[[-0.6523256049288579,-0.7623424471866159],[-0.5423391822545844,-0.6523424465090286]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[-0.19098985926313838,-0.9614500114929667,0.71338606911949],"aabb_xy":[[-0.2709898625271515,-0.97501004380188],[-0.11098985599912525,-0.9478899791840534]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[0.6403006646176315,1.2001398480906444,0.71338606911949],"aabb_xy":[[0.5903164289094541,1.1501398492771486],[0.6902849003258086,1.2501398469041398]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863331168076503,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7702.png","name":"7702"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7702.png","name":"7702"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7467.png","name":"7467"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2190.png","name":"2190"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5566.png","name":"5566"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1750.png","name":"1750"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":603.9371596896772,"rotation_z_degrees":205.63620402018296,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006991479148010092,0.0014022664896820997,-0.019843339146408057]},{"name":"camera_2","offset_m":[0.0004508179598278865,0.014225963731446998,-0.011439560808145907]},{"name":"camera_3","offset_m":[0.008489483518090538,-0.004347514433251355,-0.01738351374821271]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00016966012801903447,-0.0012155963506131635,0.001735127405184866],"end_effector_yaw_offset_degrees":-0.17971103473705274},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014284390796141999,-0.0004309934296342153,0.001592747549749799],"end_effector_yaw_offset_degrees":-0.7888744119764728},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005339421161422316,0.0011888313070549145,-0.0011937050095792343],"end_effector_yaw_offset_degrees":-0.9185899720298167}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005205317772483866,0.0014398808223565727],"position_m":[0.31847946822275164,-0.08796011917764342,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003976752302822012,-0.0004948940703698697],"position_m":[0.271123247697178,-0.34349489407036987,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014715832579523707,-0.0006126459741472821],"position_m":[0.3077715832579524,0.23678735402585271,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004677039256009753,0.0015133640230876122],"position_m":[0.35087703925600977,0.09871336402308761,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a96cf932e30b9cd5e65f76f1d0a7bf63b1f3c24db76d17626b89269eb74ffa73","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7702/tex_ceiling_textures_1750/tex_floor_textures_5566/tex_table_textures_7467/tex_wall_textures_2190","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":5684133795187308679,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":5684133795187308679,"visual_seed":5684133795187308679,"scene_id":"lab_003","finished_at":"2026-09-03T21:52:25"} +{"episode_id":"ep_000072","started_at":"2026-09-03T21:52:27","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.41491749433204816,-1.8552573496049924,0.71338606911949],"aabb_xy":[[-0.438502617795943,-1.920257351850424],[-0.3913323708681533,-1.7902573473595604]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.6559955624963353,0.3140555334106838,0.71338606911949],"aabb_xy":[[-0.6620325754970001,0.30802883234173567],[-0.6499585494956707,0.3200822344796321]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[0.5294868809032307,-0.07839108305490106,0.71338606911949],"aabb_xy":[[0.5214933911079487,-0.08638921499537675],[0.5374803706985127,-0.07039295111442542]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.42844224789835733,1.7556224459260394,0.71338606911949],"aabb_xy":[[-0.4360665159885357,1.7479892223894957],[-0.4208179798081792,1.7632556694625832]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.17524437298123008,-0.6523514989559192,0.71338606911949],"aabb_xy":[[-0.18784707211830654,-0.6649468951807848],[-0.16264167384415362,-0.6397561027310538]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[0.3353516889798005,-2.518627863039881,0.71338606911949],"aabb_xy":[[0.327939233438412,-2.524479073461509],[0.342764144521189,-2.512776652618253]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[0.4843905347926549,-2.0781610636911196,0.71338606911949],"aabb_xy":[[0.43921921694448607,-2.1421610608356585],[0.529561852640824,-2.0141610665465817]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[0.6001716063303075,0.08985072006400197,0.71338606911949],"aabb_xy":[[0.5401716054694946,0.03842429005751557],[0.6601716071911202,0.14127715007048833]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.28292739427278146,-0.793864111566345,0.71338606911949],"aabb_xy":[[0.2604309728389174,-0.8163641113730925],[0.3054238157066456,-0.7713641117595976]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.0382073266523425,-0.8351553345812861,0.71338606911949],"aabb_xy":[[-0.04228548455939223,-0.8392363148295493],[-0.03412916874529275,-0.8310743543330227]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[-0.11020910936218709,-2.0401675942404767,0.71338606911949],"aabb_xy":[[-0.15629420061691857,-2.1041675914930313],[-0.0641240181074556,-1.9761675969879213]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.2958057761525185,1.201685902637232,0.71338606911949],"aabb_xy":[[-0.3049656550963951,1.1951546845936947],[-0.2866458972086419,1.2082171206807688]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[-0.39651701872600914,1.645805170337502,0.71338606911949],"aabb_xy":[[-0.41680132144940785,1.625522545194793],[-0.3762327160026103,1.6660877954802107]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.07984921022144353,0.3969977705772463,0.71338606911949],"aabb_xy":[[-0.14984921235287307,0.37423580495155057],[-0.00984920809001398,0.4197597362029419]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[0.6164354000679644,-1.3546905021436388,0.71338606911949],"aabb_xy":[[0.5614431494324535,-1.4096905038869516],[0.6714276507034754,-1.299690500400326]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[-0.6088204349054426,-0.10207777021197639,0.71338606911949],"aabb_xy":[[-0.658793500437958,-0.15207777002450928],[-0.5588473693729271,-0.0520777703994435]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.5894596942758252,-1.7591535325226924,0.71338606911949],"aabb_xy":[[0.5519596941702322,-1.7659756943756733],[0.6269596943814181,-1.752331370669711]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.17819180596511142,-2.083054576218113,0.71338606911949],"aabb_xy":[[0.16947783691517687,-2.1055545768773007],[0.18690577501504585,-2.0605545755589243]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[-0.052585131899215765,1.8142786464772818,0.71338606911949],"aabb_xy":[[-0.0677573011808491,1.7991097895490786],[-0.037412962617582424,1.8294475034054853]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[0.10502607625168792,-2.361030618346319,0.71338606911949],"aabb_xy":[[0.082110363366638,-2.383934915482743],[0.12794178913673782,-2.338126321209896]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[0.11863915345805809,-1.5495834661051398,0.71338606911949],"aabb_xy":[[0.1145032971253579,-1.5870834655494968],[0.12277500979075828,-1.5120834666607827]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[0.502407846288885,0.912624845015154,0.71338606911949],"aabb_xy":[[0.4552784672870491,0.8486248439707519],[0.5495372252907205,0.9766248460595558]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[-0.5580934914266101,-1.851667189903639,0.71338606911949],"aabb_xy":[[-0.5620073646220326,-1.8604162053101958],[-0.5541796182311874,-1.8429181744970822]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.4471992649115657,0.6972022186169791,0.71338606911949],"aabb_xy":[[0.3971018009304921,0.6332022181071673],[0.4972967288926393,0.7612022191267909]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[0.2314796874010946,-1.8676466680540282,0.71338606911949],"aabb_xy":[[0.19397968673651586,-1.8833337260542502],[0.26897968806567324,-1.8519596100538058]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[-0.1454697028820341,-2.525463205383507,0.71338606911949],"aabb_xy":[[-0.15105137451616285,-2.537963205201282],[-0.13988803124790533,-2.5129632055657316]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_26","position":[0.07315028672730273,1.2438467997074545,0.71338606911949],"aabb_xy":[[0.009150284814960385,1.1879356504494443],[0.13715028863964507,1.2997579489654651]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[0.49517397945418384,-0.551300019664231,0.71338606911949],"aabb_xy":[[0.47267397921066834,-0.563504654324003],[0.5176739796976991,-0.5390953850044591]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_28","position":[0.08395454135558622,-1.9208151617154705,0.71338606911949],"aabb_xy":[[0.048954541459567354,-1.9291893972274106],[0.1189545412516051,-1.9124409262035305]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_29","position":[-0.440645317613886,-0.17816934039635912,0.71338606911949],"aabb_xy":[[-0.4446058013836203,-0.18583720498187972],[-0.4366848338441515,-0.17050147581083852]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_30","position":[-0.2566256843927868,-2.5110827938082894,0.71338606911949],"aabb_xy":[[-0.2787982113694376,-2.533258460964412],[-0.23445315741613593,-2.488907126652166]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_31","position":[0.6940114061461051,-0.9848852632492922,0.71338606911949],"aabb_xy":[[0.679368000592072,-0.9995439829060763],[0.708654811700138,-0.9702265435925078]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_32","position":[-0.19376200312694825,-1.0018813718267812,0.71338606911949],"aabb_xy":[[-0.2307961125550079,-1.0362585791604906],[-0.15672789369888848,-0.9675041644930717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892391751262935,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9258.png","name":"9258"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9258.png","name":"9258"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5221.png","name":"5221"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3636.png","name":"3636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3651.png","name":"3651"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7382.png","name":"7382"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":768.7586126035129,"rotation_z_degrees":242.57540305066803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0020249388867773013,-0.014225627404331878,0.010571385769341971]},{"name":"camera_2","offset_m":[0.01607589819260218,0.012072454702532782,-0.009250523239229405]},{"name":"camera_3","offset_m":[-0.01961463804075772,0.005078120997839549,0.0010794365213932476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010499173602159383,0.001616709060861323,-0.00011499174759672221],"end_effector_yaw_offset_degrees":-0.9347708599143332},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015828119988987952,-0.001768039026790859,-5.7746221840499976e-05],"end_effector_yaw_offset_degrees":0.5410246753291363},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001878695647064323,0.0015079851925529097,0.00026745448028695027],"end_effector_yaw_offset_degrees":0.440743429782664}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031455212377382294,-0.00024880213523776566],"position_m":[0.3221455212377382,-0.08964880213523777,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001828037400159549,0.0038033936964388957],"position_m":[0.2769280374001596,-0.33919660630356113,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008545987695627215,-0.003351448396329007],"position_m":[0.30715459876956275,0.234048551603671,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[8.24247761234331e-05,-0.002833198732314224],"position_m":[0.3462824247761234,0.09436680126768578,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"63586740194d159858dad500d92a91830b67d418cc457a694ec17b8c564a229e","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9258/tex_ceiling_textures_7382/tex_floor_textures_3651/tex_table_textures_5221/tex_wall_textures_3636","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6491938250606161080,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6491938250606161080,"visual_seed":6491938250606161080,"scene_id":"lab_003","finished_at":"2026-09-03T21:55:04"} +{"episode_id":"ep_000073","started_at":"2026-09-03T21:55:06","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.5705076320392182,-2.187317341165042,0.71338606911949],"aabb_xy":[[-0.5903986719195584,-2.1999731524497395],[-0.5506165921588779,-2.174661529880346]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.17312114956294988,0.8156826065566296,0.71338606911949],"aabb_xy":[[-0.26312115189696894,0.738200251971517],[-0.08312114722893083,0.8931649611417423]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[0.10419647990726555,-2.0533659764324486,0.71338606911949],"aabb_xy":[[0.09539442459829282,-2.061177302587377],[0.11299853521623825,-2.045554650277519]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.26225835246601137,1.750719746437817,0.71338606911949],"aabb_xy":[[-0.3272583534665119,1.6999333812831419],[-0.19725835146551085,1.8015061115924917]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.48481952144222684,0.9263655407585638,0.71338606911949],"aabb_xy":[[0.39981952275015215,0.8943796773636851],[0.5698195201343015,0.9583514041534428]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.31532857600090014,-1.387887306822503,0.71338606911949],"aabb_xy":[[0.31089794664606,-1.3933356785571858],[0.3197592053557404,-1.3824389350878208]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[0.4514794666280726,-0.931174150889367,0.71338606911949],"aabb_xy":[[0.44011773197478643,-0.942542617295655],[0.46284120128135875,-0.9198056844830789]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.6661798241046311,1.5638349265908045,0.71338606911949],"aabb_xy":[[0.6324042649139381,1.5497964313776393],[0.699955383295324,1.5778734218039692]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[-0.36875577436034584,-1.4529032150892713,0.71338606911949],"aabb_xy":[[-0.37890878991449517,-1.4889727566620117],[-0.35860275880619646,-1.416833673516531]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.18502071676257825,-2.0565836218761793,0.71338606911949],"aabb_xy":[[-0.23999443879891114,-2.1115836214404125],[-0.13004699472624537,-2.001583622311946]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.15059129788659198,1.5159226208380754,0.71338606911949],"aabb_xy":[[0.13309129762725536,1.501831078649303],[0.1680912981459286,1.5300141630268482]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[0.1048259239692243,-1.6027793125941139,0.71338606911949],"aabb_xy":[[0.04982592434747847,-1.6577630053815866],[0.15982592359097014,-1.5477956198066412]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.0184347308840761,1.207136099300456,0.71338606911949],"aabb_xy":[[-0.031061518171272447,1.1975900255988832],[-0.0058079435968797465,1.216682173002029]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[0.1282840082241793,1.2734233381394908,0.71338606911949],"aabb_xy":[[0.11127391093412864,1.2572888496412167],[0.14529410551422994,1.2895578266377645]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[-0.18272965661713303,-0.21075989865869582,0.71338606911949],"aabb_xy":[[-0.2527296530270947,-0.2311978343103775],[-0.11272966020717119,-0.19032196300701404]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.375086496730249,1.2775843762500694,0.71338606911949],"aabb_xy":[[-0.38278968740432606,1.269875005551331],[-0.367383306056172,1.2852937469488073]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[-0.3721662686683381,-0.7873712090284333,0.71338606911949],"aabb_xy":[[-0.4096662693329167,-0.8030582670286552],[-0.3346662680037593,-0.7716841510282109]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.015192723910650519,-1.085738237363846,0.71338606911949],"aabb_xy":[[-0.080192726548444,-1.137217836063293],[0.04980727872714297,-1.034258638664399]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.5537031979997136,1.615021491519482,0.71338606911949],"aabb_xy":[[-0.5907373074277732,1.5806442841857722],[-0.5166690885716537,1.649398698853191]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.4471265308238024,-1.78804150653397,0.71338606911949],"aabb_xy":[[0.3831265294158117,-1.8398304580578946],[0.511126532231793,-1.7362525550100452]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[-0.45276180242896213,0.22300106727652347,0.71338606911949],"aabb_xy":[[-0.5167617988245352,0.15903777885778989],[-0.38876180603338906,0.286964355695257]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[0.27072067016043033,1.1185597011357276,0.71338606911949],"aabb_xy":[[0.2157251923397709,1.0635596997018204],[0.32571614798108967,1.1735597025696343]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[0.1907283709698533,-2.546099024662248,0.71338606911949],"aabb_xy":[[0.14072836995071805,-2.5825652404000765],[0.2407283719889886,-2.5096328089244206]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.029809538458456797,-1.4143645261229076,0.71338606911949],"aabb_xy":[[-0.06427188585659858,-1.4488584085207301],[0.004652808939685004,-1.3798706437250847]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[0.5470971208863671,-2.008994792436884,0.71338606911949],"aabb_xy":[[0.5346297627766314,-2.0214601170702076],[0.5595644789961027,-1.9965294678035606]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[-0.5420019354848732,-0.6738469645229308,0.71338606911949],"aabb_xy":[[-0.6120019381214594,-0.6939518295187962],[-0.47200193284828673,-0.6537420995270652]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_26","position":[0.08597121868603064,1.056156304324742,0.71338606911949],"aabb_xy":[[0.06568691596263186,1.0358736791820329],[0.10625552140942938,1.0764389294674506]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_27","position":[0.3500830424402126,-2.427367751223061,0.71338606911949],"aabb_xy":[[0.29606744615831254,-2.4913677541153176],[0.40409863872211255,-2.3633677483308033]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_28","position":[-0.25068928914415617,-2.398148929125445,0.71338606911949],"aabb_xy":[[-0.30050606860899093,-2.4481489276097483],[-0.2008725096793214,-2.3481489306411416]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_29","position":[-0.23218994398603127,0.12678924955195336,0.71338606911949],"aabb_xy":[[-0.2961899443635648,0.0770439827011411],[-0.16818994360849762,0.17653451640276563]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_30","position":[-0.5472086211645333,-0.5223078939605856,0.71338606911949],"aabb_xy":[[-0.5542489310980703,-0.602307893360257],[-0.5401683112309963,-0.44230789456091424]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_31","position":[-0.4863260402926416,0.5268358008171874,0.71338606911949],"aabb_xy":[[-0.5115468771524811,0.5016120499643005],[-0.4611052034328019,0.552059551670074]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_32","position":[0.27374592078950255,1.4613384660180038,0.71338606911949],"aabb_xy":[[0.21374592019348637,1.4065259934727803],[0.33374592138551873,1.5161509385632272]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_33","position":[0.4388434158609138,0.6932339444485649,0.71338606911949],"aabb_xy":[[0.39356480097976454,0.6292339451003812],[0.48412203074206306,0.7572339437967486]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909547989660518,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4626.png","name":"4626"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4626.png","name":"4626"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/338.png","name":"338"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5925.png","name":"5925"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4855.png","name":"4855"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7463.png","name":"7463"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":778.6046159124267,"rotation_z_degrees":145.41770043345045,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.000723879141325167,-0.014251235058127292,0.01738434169992101]},{"name":"camera_2","offset_m":[0.0005103619810188816,0.012318361532110512,0.019691956349366938]},{"name":"camera_3","offset_m":[0.010990840748544041,-0.005767410075953454,-0.01322483597845081]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00030897760204180356,0.0008210966183599981,0.0018080603225703509],"end_effector_yaw_offset_degrees":0.5170616642416794},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011365905497954687,0.0006224840424250856,0.0017522775819886643],"end_effector_yaw_offset_degrees":0.08973018844172942},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[5.9468798141293095e-05,0.0008671191869783377,0.0014786723546975312],"end_effector_yaw_offset_degrees":-0.34835341085687754}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018144612942760574,-0.003956672981367756],"position_m":[0.31718553870572397,-0.09335667298136775,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009167684561125341,-0.0012598305597730018],"position_m":[0.27601676845611256,-0.34425983055977305,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033259257628411223,0.0011279518082760844],"position_m":[0.3029740742371589,0.23852795180827607,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012399146429076888,-0.004857246637092063],"position_m":[0.3474399146429077,0.09234275336290793,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"256b965f6db297945b69a8b513717f6a4b4f5b6843c725198345419d3dbb4315","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4626/tex_ceiling_textures_7463/tex_floor_textures_4855/tex_table_textures_338/tex_wall_textures_5925","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3913279690519823271,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3913279690519823271,"visual_seed":3913279690519823271,"scene_id":"lab_003","finished_at":"2026-09-03T21:57:45"} +{"episode_id":"ep_000074","started_at":"2026-09-03T21:57:49","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[0.17312942163565515,1.7144884513452419,0.71338606911949],"aabb_xy":[[0.10812941899786163,1.6630088526457951],[0.2381294242734486,1.765968050044689]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.5200814030702222,1.35257214405978,0.71338606911949],"aabb_xy":[[-0.5535215782662416,1.3191285182288497],[-0.48664122787420244,1.3860157698907098]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.31378522562723044,-1.9565575459680256,0.71338606911949],"aabb_xy":[[0.29557940196598276,-1.9675829465500174],[0.3319910492884781,-1.9455321453860341]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[0.655531566472616,0.877800847625533,0.71338606911949],"aabb_xy":[[0.6408881609185829,0.8631421279687487],[0.6701749720266489,0.8924595672823171]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[-0.5099064450749173,-1.0280448227808265,0.71338606911949],"aabb_xy":[[-0.5484521379001183,-1.0665905938370153],[-0.4713607522497162,-0.9894990517246379]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[-0.020784652971423734,-0.9137407404983848,0.71338606911949],"aabb_xy":[[-0.07575837500775662,-0.968740740062618],[0.03418906906490915,-0.8587407409341516]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.5481076108426585,-0.7207486900839408,0.71338606911949],"aabb_xy":[[-0.6281076082462518,-0.8007412612821236],[-0.468107613439065,-0.640756118885758]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[-0.322698579154133,-1.1561301104766146,0.71338606911949],"aabb_xy":[[-0.3472122032511389,-1.180394703778651],[-0.29818495505712717,-1.1318655171745782]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.19260610493077535,-1.0553858253427248,0.71338606911949],"aabb_xy":[[-0.2576061034878482,-1.0851383587566072],[-0.12760610637370248,-1.025633291928842]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[-0.12122785072380982,1.0362417402751278,0.71338606911949],"aabb_xy":[[-0.21122784722468152,0.9903300978566695],[-0.03122785422293804,1.0821533826935859]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[0.4089305239715477,1.4390010824939616,0.71338606911949],"aabb_xy":[[0.3715992474463051,1.4043480276991094],[0.4462618004967903,1.473654137288814]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[-0.44118816234426744,-0.32332670984646983,0.71338606911949],"aabb_xy":[[-0.4824369733741821,-0.3783267093586872],[-0.39993935131435265,-0.26832671033425226]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[0.5111057850214484,1.7177117157058253,0.71338606911949],"aabb_xy":[[0.5076651087813914,1.713850282731461],[0.5145464612615057,1.72157314868019]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.5972887863007391,-0.2948832830760657,0.71338606911949],"aabb_xy":[[-0.6043290962342762,-0.37488328247573716],[-0.5902484763672022,-0.21488328367639437]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.2498692864752185,-0.47563199784024146,0.71338606911949],"aabb_xy":[[-0.2854984423751783,-0.5112646645970944],[-0.21424013057525879,-0.4399993310833885]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[0.4818389625452082,-1.585288241333032,0.71338606911949],"aabb_xy":[[0.4730369072362355,-1.5930995674879609],[0.4906410178541809,-1.5774769151781027]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.5751377063554568,0.8311310133492653,0.71338606911949],"aabb_xy":[[-0.5942500137134357,0.8119962344720233],[-0.5560253989974779,0.8502657922265073]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[0.0061437629093340496,-1.8073702997004202,0.71338606911949],"aabb_xy":[[-0.04787183337256595,-1.8713703025926773],[0.06015935919123405,-1.743370296808163]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[-0.4545279478217028,-0.5339571283555458,0.71338606911949],"aabb_xy":[[-0.5185279511114109,-0.5772920473594633],[-0.3905279445319947,-0.4906222093516281]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.006948881045389488,1.7670275714199541,0.71338606911949],"aabb_xy":[[-0.008213991931547596,1.7518621141248356],[0.02211175402232657,1.7821930287150731]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[0.2864133200321072,1.5019621278943052,0.71338606911949],"aabb_xy":[[0.26389962820864993,1.4319621272932974],[0.3089270118555643,1.5719621284953125]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.5723053945700005,-1.1223646443336832,0.71338606911949],"aabb_xy":[[0.5609436599167144,-1.133733110739971],[0.5836671292232867,-1.110996177927395]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.42625430927371677,-1.9068029817975154,0.71338606911949],"aabb_xy":[[-0.4762273748062323,-1.956802981610049],[-0.37628124374120137,-1.8568029819849832]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[-0.0633665628170692,-2.514756938709899,0.71338606911949],"aabb_xy":[[-0.09986238344434793,-2.551240881136656],[-0.02687074218979045,-2.478272996283141]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[0.1098153386893238,-1.2135944789405053,0.71338606911949],"aabb_xy":[[0.029815340032437826,-1.228099337864768],[0.18981533734620984,-1.1990896200162426]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[0.3410770211523586,-1.0259867496242594,0.71338606911949],"aabb_xy":[[0.29394764215052294,-1.0899867506686611],[0.3882064001541943,-0.9619867485798572]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_26","position":[0.4732279173385394,-0.23130903528772429,0.71338606911949],"aabb_xy":[[0.4563171849021976,-0.24478124088033879],[0.49013864977488114,-0.21783682969510973]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_27","position":[-0.2688871348035345,1.459857581682591,0.71338606911949],"aabb_xy":[[-0.2797929108910972,1.379857585283762],[-0.2579813587159718,1.5398575780814203]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_28","position":[-0.11115545181617148,-2.1522152552584934,0.71338606911949],"aabb_xy":[[-0.13443729401430277,-2.237215256555721],[-0.08787360961804011,-2.067215253961265]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_29","position":[0.5358048154881008,0.825047170262085,0.71338606911949],"aabb_xy":[[0.48580481604790515,0.7750792457777687],[0.5858048149282964,0.8750150947464013]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858692947171718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6990.png","name":"6990"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6990.png","name":"6990"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7109.png","name":"7109"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/198.png","name":"198"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/295.png","name":"295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5339.png","name":"5339"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":774.986891739747,"rotation_z_degrees":146.13694685418687,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017946911618361074,0.01185960864849461,0.006054939909793621]},{"name":"camera_2","offset_m":[0.0189614679090513,-0.00782890435296328,-0.016951404801210834]},{"name":"camera_3","offset_m":[-0.003701512307764946,0.01732175304098971,0.009380793259158814]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015211544298481608,7.652547978042419e-05,0.0018082195364642942],"end_effector_yaw_offset_degrees":0.8934674272276868},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014243749781010077,0.0003586909496205936,0.00099722665099469],"end_effector_yaw_offset_degrees":0.16782069963980906},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016002942181556263,0.00020453069084092708,-0.00040531537706240653],"end_effector_yaw_offset_degrees":0.6904249257777444}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023253614758960185,-0.0010707636318485012],"position_m":[0.316674638524104,-0.0904707636318485,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037379993211014853,0.0008472267273005917],"position_m":[0.27136200067889854,-0.34215277327269944,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019517910191790269,-0.0011156022672146604],"position_m":[0.304348208980821,0.23628439773278534,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012606586310315647,-0.004982956298499562],"position_m":[0.3449393413689684,0.09221704370150044,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"17a9b2a5c9cf60fea4a71f49cb5948c620457a1d819b8c0aa28198a0ab4a829a","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0074.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6990/tex_ceiling_textures_5339/tex_floor_textures_295/tex_table_textures_7109/tex_wall_textures_198","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1400274080641616252,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1400274080641616252,"visual_seed":1400274080641616252,"scene_id":"lab_003","finished_at":"2026-09-03T22:00:26"} +{"episode_id":"ep_000075","started_at":"2026-09-03T22:00:29","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.14942563726160474,-2.365371898265275,0.71338606911949],"aabb_xy":[[0.145347479354555,-2.3694528785135383],[0.15350379516865448,-2.361290918017012]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[0.6733434715569426,-2.2314863223540993,0.71338606911949],"aabb_xy":[[0.637429967131953,-2.267399830570854],[0.7092569759819323,-2.1955728141373445]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.5217177592642888,-1.8194071341693645,0.71338606911949],"aabb_xy":[[0.4517177571328591,-1.8421690997950597],[0.5917177613957182,-1.7966451685436684]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.4829642730305683,-1.966709833025154,0.71338606911949],"aabb_xy":[[0.45796427375860604,-1.9830551966213164],[0.5079642723025306,-1.9503644694289917]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.5532818698205819,-1.0180548481431984,0.71338606911949],"aabb_xy":[[-0.5907818701688097,-1.0298462437242817],[-0.5157818694723542,-1.0062634525621146]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.41550796495476044,-1.4212550798181836,0.71338606911949],"aabb_xy":[[-0.4795079666327578,-1.4697724712974976],[-0.3515079632767631,-1.372737688338869]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.4722242793684819,0.09885724953723596,0.71338606911949],"aabb_xy":[[0.4677936500136418,0.09340887780255337],[0.47665490872332217,0.10430562127191857]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[0.2367002203408194,1.588179389558206,0.71338606911949],"aabb_xy":[[0.2329969590116805,1.584477371249488],[0.24040348166995823,1.5918814078669234]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.6353541751149197,0.4555892593632134,0.71338606911949],"aabb_xy":[[0.62520115956077,0.4195197177904728],[0.6455071906690688,0.4916588009359535]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[-0.4550268280177997,-0.45678545652156455,0.71338606911949],"aabb_xy":[[-0.5200268258994476,-0.5079091202281054],[-0.39002683013615197,-0.40566179281502374]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[0.07574517656691016,-1.0654719160562114,0.71338606911949],"aabb_xy":[[0.01174517926456374,-1.109838343024068],[0.13974517386925656,-1.0211054890883544]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[0.49594035230669764,-1.6570032044069936,0.71338606911949],"aabb_xy":[[0.46164344128895696,-1.6913000906169344],[0.5302372633244381,-1.6227063181970518]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[-0.6052321796273183,-0.7942687972168936,0.71338606911949],"aabb_xy":[[-0.6852321810574455,-0.873785952229503],[-0.5252321781971911,-0.714751642204284]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[-0.28582080509313323,-2.031292181163166,0.71338606911949],"aabb_xy":[[-0.3032515201721397,-2.0485642958270165],[-0.26839009001412667,-2.0140200664993144]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[0.49148123038848013,1.277743058837701,0.71338606911949],"aabb_xy":[[0.4689820946622531,1.255243058059438],[0.5139803661147071,1.300243059615964]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.3318254717195279,1.5825348323143111,0.71338606911949],"aabb_xy":[[0.31432547146019135,1.568443290125539],[0.3493254719788646,1.5966263745030842]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[0.316657253861617,-0.5096927340554993,0.71338606911949],"aabb_xy":[[0.2801614332343383,-0.5461766764822569],[0.35315307448889577,-0.47320879162874174]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.5428336744989061,-1.1316381536909712,0.71338606911949],"aabb_xy":[[-0.5469695308316063,-1.1691381531353284],[-0.5386978181662059,-1.0941381542466144]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.36576531240451793,-1.3989188587688342,0.71338606911949],"aabb_xy":[[0.3057653121531167,-1.4532001838052986],[0.42576531265591905,-1.3446375337323693]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.20641984222894216,1.2215895529362264,0.71338606911949],"aabb_xy":[[0.15660306276410738,1.171589554451923],[0.2562366216937769,1.2715895514205298]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[0.02096245292986476,-1.8697722566220345,0.71338606911949],"aabb_xy":[[-0.044037545627208075,-1.8995247900359173],[0.0859624514869376,-1.840019723208152]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.4644578698089641,-1.0901212560598337,0.71338606911949],"aabb_xy":[[0.45288888906202757,-1.1151212561767654],[0.4760268505559007,-1.065121255942902]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[-0.21551765379135196,1.1391591376327863,0.71338606911949],"aabb_xy":[[-0.26551765507519187,1.0891802832421642],[-0.16551765250751196,1.1891379920234084]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[-0.46002815151425613,-1.2215915497963326,0.71338606911949],"aabb_xy":[[-0.48867748387467236,-1.2502371090734081],[-0.4313788191538399,-1.1929459905192565]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863445637571592,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1619.png","name":"1619"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1619.png","name":"1619"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8872.png","name":"8872"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2304.png","name":"2304"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9459.png","name":"9459"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8245.png","name":"8245"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":684.3397258142044,"rotation_z_degrees":111.42570036574747,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014292837719114024,-0.014177646114139124,0.0013442412668317576]},{"name":"camera_2","offset_m":[-0.0007447721171125812,0.0026050317092748757,-0.01390068796225723]},{"name":"camera_3","offset_m":[-0.01918206356184247,-0.0013896615710484762,-0.012959301416552282]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-6.52059322023208e-05,2.4197832894001705e-05,-0.00046701029466668094],"end_effector_yaw_offset_degrees":-0.7259407068510222},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010711687960474913,-0.0018736587641879675,-0.0009881287654195563],"end_effector_yaw_offset_degrees":0.35841255277309725},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016986011993995632,0.0012804881100148607,-0.0018017750166484225],"end_effector_yaw_offset_degrees":-0.8205186000530893}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017591278191676765,0.00020971194341576262],"position_m":[0.31724087218083236,-0.08919028805658423,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00149077178331407,0.003818537672353714],"position_m":[0.27360922821668593,-0.3391814623276463,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004332072136743554,-0.003775409972024877],"position_m":[0.3106320721367436,0.23362459002797512,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003110745164021566,0.00019156525909013074],"position_m":[0.34931074516402155,0.09739156525909012,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"117dc0b992d7564af48400d57d5efcf317d6092c749b9e135ca6dea1e1d545ae","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1619/tex_ceiling_textures_8245/tex_floor_textures_9459/tex_table_textures_8872/tex_wall_textures_2304","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":2712802552421713439,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":2712802552421713439,"visual_seed":2712802552421713439,"scene_id":"lab_003","finished_at":"2026-09-03T22:03:05"} +{"episode_id":"ep_000076","started_at":"2026-09-03T22:03:08","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.17068859909527734,-1.0498835632930168,0.71338606911949],"aabb_xy":[[-0.22568859729702215,-1.0904055299194542],[-0.11568860089353249,-1.009361596666579]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.1782817257843874,-0.14697330431830835,0.71338606911949],"aabb_xy":[[-0.24228172605836562,-0.19703940451559632],[-0.11428172551040916,-0.09690720412102038]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.563686422574945,-0.6326727492020217,0.71338606911949],"aabb_xy":[[-0.5792421919852102,-0.6482231824464288],[-0.5481306531646797,-0.6171223159576145]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[-0.20931024275984228,-1.5587029259536331,0.71338606911949],"aabb_xy":[[-0.23181024228354966,-1.5811988734042537],[-0.18681024323613485,-1.5362069785030121]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.5512437788584335,-0.543772141070435,0.71338606911949],"aabb_xy":[[-0.5618112585165324,-0.5543171711834436],[-0.5406762992003343,-0.5332271109574265]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.5906819254734723,0.9199861020846867,0.71338606911949],"aabb_xy":[[0.5569063662827795,0.9059476068715218],[0.6244574846641654,0.9340245972978518]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[0.26994196573776397,0.8486151496352599,0.71338606911949],"aabb_xy":[[0.17994196631939308,0.8152396527910701],[0.35994196515613486,0.8819906464794496]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.29096198264826023,-0.33346508528780916,0.71338606911949],"aabb_xy":[[-0.35496198456060263,-0.38937623454581965],[-0.22696198073591795,-0.2775539360297988]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[0.46850888707645466,-1.6595912875870757,0.71338606911949],"aabb_xy":[[0.4605856068377064,-1.682091287825079],[0.47643216731520305,-1.6370912873490724]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.42776279795375377,-0.4246459738011281,0.71338606911949],"aabb_xy":[[-0.45641213031416994,-0.45329153307820386],[-0.3991134655933375,-0.39600041452405227]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.32131669245373873,1.4861020075536175,0.71338606911949],"aabb_xy":[[0.25131669064499323,1.4647482387894302],[0.3913166942624841,1.507455776317805]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.3558354313940657,-0.9909081905683093,0.71338606911949],"aabb_xy":[[0.29183543280749324,-1.037915153967818],[0.41983542998063816,-0.9439012271688004]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[-0.06831411767112183,-2.165815980443193,0.71338606911949],"aabb_xy":[[-0.08499125366421734,-2.1825159044171234],[-0.05163698167802633,-2.149116056469263]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.12200522261259483,0.804891594479654,0.71338606911949],"aabb_xy":[[-0.13958352480154168,0.7873171049055491],[-0.10442692042364798,0.8224660840537589]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[-0.3042726870283091,0.15343415994416443,0.71338606911949],"aabb_xy":[[-0.36827269024694703,0.1067110480451561],[-0.24027268380967132,0.2001572718431728]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[0.5472952058514244,-0.8711012776631166,0.71338606911949],"aabb_xy":[[0.5423391856665434,-0.8936012778652385],[0.5522512260363057,-0.8486012774609952]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.09278938140462611,-0.7341601623129448,0.71338606911949],"aabb_xy":[[-0.12278104413849644,-0.7641601616497453],[-0.06279771867075579,-0.7041601629761443]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.3783164896611574,1.618085298999333,0.71338606911949],"aabb_xy":[[-0.3895615452317753,1.6068435012752376],[-0.3670714340905396,1.6293270967234281]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.3500827059457785,0.9851168907676904,0.71338606911949],"aabb_xy":[[0.3331719735094367,0.9716446851750759],[0.3669934383821203,0.9985890963603049]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.5137373165208046,-2.1315405443993596,0.71338606911949],"aabb_xy":[[0.449741619125708,-2.1955405427000683],[0.5777330139159012,-2.067540546098651]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[0.46812689204424873,0.2795617225010907,0.71338606911949],"aabb_xy":[[0.44358067642149807,0.24931282595205365],[0.4926731076669995,0.30981061905012774]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.28677959097066463,1.3854528091427896,0.71338606911949],"aabb_xy":[[0.2584498810221244,1.3809920669490727],[0.31510930091920486,1.3899135513365068]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6916718499202205,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7089.png","name":"7089"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7089.png","name":"7089"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5348.png","name":"5348"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3654.png","name":"3654"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8658.png","name":"8658"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9803.png","name":"9803"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":529.9949750322962,"rotation_z_degrees":274.9239797512119,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032871873506626313,0.007290260442723989,-0.01837038630474879]},{"name":"camera_2","offset_m":[0.018463552038870432,-0.018392161545455313,0.01557089750430318]},{"name":"camera_3","offset_m":[-0.01881547697441228,0.002496533039749508,-0.016471174827351196]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001998693674815353,-0.00128349927040516,-0.0019523812770479952],"end_effector_yaw_offset_degrees":-0.28961136598203674},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017091850621192913,-0.0019005154867117113,0.0013839924265375237],"end_effector_yaw_offset_degrees":-0.7862194150007624},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015363086610565768,6.705161582086809e-05,0.001174141536497998],"end_effector_yaw_offset_degrees":0.40959533580449925}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016185297874398308,-0.0013264805907974944],"position_m":[0.3206185297874398,-0.09072648059079749,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007424427911256878,-0.0029986381456884826],"position_m":[0.2758424427911257,-0.3459986381456885,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013385410253057063,0.004307741729195131],"position_m":[0.3049614589746943,0.24170774172919512,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001143107841463621,-0.002315905663806985],"position_m":[0.3450568921585364,0.094884094336193,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bd893f8756f65d40804a33c8c11c72c70aa8917f75bf0f849fdc0a7610f0351e","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0076.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7089/tex_ceiling_textures_9803/tex_floor_textures_8658/tex_table_textures_5348/tex_wall_textures_3654","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6323839508776144092,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6323839508776144092,"visual_seed":6323839508776144092,"scene_id":"lab_003","finished_at":"2026-09-03T22:05:45"} +{"episode_id":"ep_000077","started_at":"2026-09-03T22:05:48","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.15383718972032734,-1.053625944115933,0.71338606911949],"aabb_xy":[[-0.19992228097505882,-1.117625941368488],[-0.10775209846559587,-0.9896259468633778]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[0.533675187966598,1.298110223775352,0.71338606911949],"aabb_xy":[[0.4858690203528292,1.2331102210682927],[0.5814813555803665,1.3631102264824106]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[0.16368926689271646,-0.8655933798440363,0.71338606911949],"aabb_xy":[[0.08368926661910946,-0.9385429276697529],[0.24368926716632341,-0.7926438320183194]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.4520013401158769,-0.5840674586562571,0.71338606911949],"aabb_xy":[[-0.45733891578188146,-0.609067459585397],[-0.4466637644498723,-0.5590674577271174]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.2996327535101122,-1.4281993292832866,0.71338606911949],"aabb_xy":[[-0.3340952315231999,-1.4348630064662093],[-0.2651702754970244,-1.421535652100364]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[0.5759384224286852,-0.3480951372854424,0.71338606911949],"aabb_xy":[[0.5679449326334033,-0.35609326922591805],[0.5839319122239673,-0.34009700534496673]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[0.295607611409721,-2.1720820393788243,0.71338606911949],"aabb_xy":[[0.258107611304128,-2.178904201231805],[0.33310761151531393,-2.1652598775258425]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[-0.6235102515381601,1.1651368697126143,0.71338606911949],"aabb_xy":[[-0.6735102525572955,1.1286706539747866],[-0.5735102505190249,1.2016030854504425]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[0.5038923750438757,-0.9178500576853517,0.71338606911949],"aabb_xy":[[0.4704521998478561,-0.9512936835162817],[0.5373325502398952,-0.8844064318544216]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[-0.3190074123121574,-1.8987364810808947,0.71338606911949],"aabb_xy":[[-0.3565074128095156,-1.9027051646290132],[-0.2815074118147991,-1.8947677975327761]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.5567542446499449,-2.377809312150637,0.71338606911949],"aabb_xy":[[0.5067754361396289,-2.4278093121563553],[0.6067330531602607,-2.3278093121449177]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.6115014498233893,-1.499370254826237,0.71338606911949],"aabb_xy":[[0.5882196076252579,-1.5843702561234654],[0.6347832920215206,-1.4143702535290092]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.2102857285040436,1.676296039041683,0.71338606911949],"aabb_xy":[[-0.22105870242541137,1.641296040822644],[-0.1995127545826758,1.711296037260722]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.4670257713879754,0.31882782268208665,0.71338606911949],"aabb_xy":[[-0.478594752134912,0.293827822565155],[-0.45545679064103883,0.3438278227990184]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.5329979154301026,-1.9284247918561652,0.71338606911949],"aabb_xy":[[-0.6129979168602296,-2.0079419468687743],[-0.45299791399997524,-1.8489076368435553]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[-0.19280171172214167,-2.3397723808636,0.71338606911949],"aabb_xy":[[-0.2262808789831826,-2.3732514942347076],[-0.15932254446110072,-2.3062932674924936]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[0.2821378230090287,0.8912417833428994,0.71338606911949],"aabb_xy":[[0.23214471089983685,0.8412417826687039],[0.3321309351182206,0.9412417840170951]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[-0.6310937516089159,-1.4401897720566899,0.71338606911949],"aabb_xy":[[-0.6721116949952868,-1.490189772687647],[-0.590075808222545,-1.3901897714257323]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[-0.027371369632338105,1.0329220239485863,0.71338606911949],"aabb_xy":[[-0.06487136944937166,1.0282838126374443],[0.010128630184695453,1.037560235259728]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.21497808415042552,0.19640318712900395,0.71338606911949],"aabb_xy":[[-0.239978083702164,0.18626070326386923],[-0.18997808459868704,0.20654567099413867]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[0.5633833875361944,-1.747795879023107,0.71338606911949],"aabb_xy":[[0.5334158306263689,-1.7777958793209927],[0.5933509444460202,-1.7177958787252212]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[0.46114576351583203,-1.4132489362294378,0.71338606911949],"aabb_xy":[[0.38114576635625663,-1.4247965371872549],[0.5411457606754072,-1.4017013352716208]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[0.4151826680659678,-0.5951501429118438,0.71338606911949],"aabb_xy":[[0.3351826700851827,-0.6027516838736957],[0.4951826660467528,-0.5875486019499918]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[0.2953966023991108,1.2422393438511645,0.71338606911949],"aabb_xy":[[0.25011798751796155,1.1782393445029806],[0.34067521728026007,1.306239343199348]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[-0.4284805060084954,-0.7826212305779361,0.71338606911949],"aabb_xy":[[-0.46348050520131356,-0.7935882765755985],[-0.39348050681567703,-0.7716541845802732]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_25","position":[-0.3571192991188923,-1.2533868686939376,0.71338606911949],"aabb_xy":[[-0.40229061696706137,-1.3173868658384762],[-0.3119479812707234,-1.1893868715493994]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[-0.22296330324324054,1.0425497480685677,0.71338606911949],"aabb_xy":[[-0.2454769950666977,0.97254974746756],[-0.20044961141978332,1.112549748669575]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_27","position":[-0.5620055037338677,-2.195392201506917,0.71338606911949],"aabb_xy":[[-0.6160211000157677,-2.2593922043991737],[-0.5079899074519677,-2.1313921986146593]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_28","position":[-0.23972958674482114,-1.6348069600131647,0.71338606911949],"aabb_xy":[[-0.24936122296525076,-1.6444442727928734],[-0.23009795052439153,-1.6251696472334556]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_29","position":[-0.5467056955312082,-0.5225858830024408,0.71338606911949],"aabb_xy":[[-0.5812967783852533,-0.5875858832874716],[-0.5121146126771629,-0.4575858827174096]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_30","position":[0.6783897714358058,-0.8679680225621702,0.71338606911949],"aabb_xy":[[0.6682367558816564,-0.9040375641349104],[0.6885427869899552,-0.8318984809894298]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[0.5450979273999879,-2.2564402079700256,0.71338606911949],"aabb_xy":[[0.4750979247634014,-2.2765450729658907],[0.6150979300365741,-2.2363353429741597]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_32","position":[0.707088372958556,-0.05259962629086745,0.71338606911949],"aabb_xy":[[0.6944856738214796,-0.06519502251573295],[0.7196910720956325,-0.040004230066001956]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6901659466412818,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2075.png","name":"2075"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2075.png","name":"2075"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9549.png","name":"9549"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5710.png","name":"5710"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9695.png","name":"9695"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/760.png","name":"760"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":513.0698522578004,"rotation_z_degrees":48.79996765554132,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00524819191861595,-0.00425686810585324,0.012312285639888707]},{"name":"camera_2","offset_m":[-0.00822175435540045,-0.007855264706480632,-0.0007712992066089101]},{"name":"camera_3","offset_m":[0.018968757360927128,0.008596324160890227,-0.008233330937572397]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008774091957100859,-0.0011793741979722835,-0.0012054022941893764],"end_effector_yaw_offset_degrees":-0.008517653133303105},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003581875159860185,-0.0008098786031968373,-0.0008704854923096623],"end_effector_yaw_offset_degrees":-0.048556270035196025},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001471810336063313,-0.0013489592259764973,0.0009213609798256954],"end_effector_yaw_offset_degrees":0.31378339519391774}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031091603970426302,0.0028160542609789114],"position_m":[0.3221091603970426,-0.08658394573902108,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035045092205822264,0.0048902596949217765],"position_m":[0.2786045092205822,-0.33810974030507823,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035463703342593156,0.0021364326549769474],"position_m":[0.3027536296657407,0.23953643265497696,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027832893581419315,0.0019264129372420016],"position_m":[0.3434167106418581,0.099126412937242,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b906b92ec90d29851311c544c60643f5578ecc5dd954442078f345dfe353745d","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2075/tex_ceiling_textures_760/tex_floor_textures_9695/tex_table_textures_9549/tex_wall_textures_5710","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1301851635683384107,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1301851635683384107,"visual_seed":1301851635683384107,"scene_id":"lab_003","finished_at":"2026-09-03T22:08:26"} +{"episode_id":"ep_000078","started_at":"2026-09-03T22:08:30","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[0.4474798231478607,0.361042471388227,0.71338606911949],"aabb_xy":[[0.3834798228873899,0.316033672035299],[0.5114798234083315,0.406051270741155]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[0.5565889932023858,-1.9777439430459332,0.71338606911949],"aabb_xy":[[0.5485950046246824,-1.9857440231410233],[0.5645829817800891,-1.9697438629508426]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[0.3947991146756369,1.135930276773951,0.71338606911949],"aabb_xy":[[0.34480600256644506,1.0859302760997553],[0.4447922267848289,1.1859302774481466]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.45846948382388564,-1.6790947320698082,0.71338606911949],"aabb_xy":[[0.408372019842812,-1.74309473257962],[0.5085669478049593,-1.6150947315599964]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[0.06767691305418788,-1.3870857841036621,0.71338606911949],"aabb_xy":[[0.057595205975614405,-1.4670857819957768],[0.07775862013276136,-1.3070857862115475]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[-0.6466976334997567,0.7397988137618521,0.71338606911949],"aabb_xy":[[-0.669197633023464,0.7173028663112312],[-0.6241976339760492,0.7622947612124727]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[0.6133570923506093,-0.9695203462021493,0.71338606911949],"aabb_xy":[[0.6069432787074243,-0.9759301664498177],[0.6197709059937941,-0.963110525954481]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.26774970485494115,0.4456447338704175,0.71338606911949],"aabb_xy":[[-0.33174970215728755,0.4012783069025607],[-0.20374970755259475,0.49001116083827423]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.5531070689036928,-0.401652892859659,0.71338606911949],"aabb_xy":[[-0.5586887405378216,-0.4141528926774345],[-0.547525397269564,-0.3891528930418835]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[-0.4992456062931376,0.17138647986138045,0.71338606911949],"aabb_xy":[[-0.536745606236904,0.16309338982654387],[-0.4617456063493711,0.17967956989621703]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[-0.504421916774382,1.3270747577159079,0.71338606911949],"aabb_xy":[[-0.5694219168086847,1.2803740810355806],[-0.43942191674007924,1.3737754343962352]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.5058688223333854,-0.5654417563063023,0.71338606911949],"aabb_xy":[[-0.5758688187433469,-0.5858796919579837],[-0.4358688259234234,-0.5450038206546203]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[0.15081305151949176,-1.3098497267279003,0.71338606911949],"aabb_xy":[[0.14585703133461056,-1.3323497269300222],[0.15576907170437296,-1.287349726525779]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.10681006841507812,1.0410414945040278,0.71338606911949],"aabb_xy":[[0.08389435553002823,1.0181371973676043],[0.12972578130012805,1.0639457916404513]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[0.5036912376713918,0.5902052153692394,0.71338606911949],"aabb_xy":[[0.46806208177143205,0.5545725486123865],[0.5393203935713515,0.6258378821260924]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[-0.2910610638089744,-1.7005883703144493,0.71338606911949],"aabb_xy":[[-0.33236560687271033,-1.7645883698825664],[-0.24975652074523835,-1.6365883707463322]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.22130271705559956,0.5964214447303102,0.71338606911949],"aabb_xy":[[-0.2558937999096447,0.5314214444452792],[-0.18671163420155432,0.6614214450153413]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.03675141688832528,-0.7790300483213186,0.71338606911949],"aabb_xy":[[-0.0617514160539584,-0.7859822940266753],[-0.01175141772269217,-0.7720778026159621]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.6528995128549356,-1.5546057270758038,0.71338606911949],"aabb_xy":[[-0.6878995111656311,-1.5623207419993494],[-0.6178995145442402,-1.5468907121522582]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.6162941696488202,-1.5264073639381086,0.71338606911949],"aabb_xy":[[0.5362941709919342,-1.5409122228623713],[0.6962941683057062,-1.511902505013846]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[-0.5060181141447905,-1.6334729963343497,0.71338606911949],"aabb_xy":[[-0.5435181125681907,-1.6466372103021798],[-0.46851811572139,-1.6203087823665188]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[0.06430893391075465,0.6831364970596279,0.71338606911949],"aabb_xy":[[0.00030893320728529744,0.6371181145867069],[0.128308934614224,0.7291548795325489]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6901250322989788,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1130.png","name":"1130"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1130.png","name":"1130"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4851.png","name":"4851"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3739.png","name":"3739"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/159.png","name":"159"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/237.png","name":"237"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":695.9618907103603,"rotation_z_degrees":347.52428997034076,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006813585720088219,-0.018441686375769033,-0.009284144070395373]},{"name":"camera_2","offset_m":[-0.01799673767709451,-0.008727625607840413,-0.018626639903624002]},{"name":"camera_3","offset_m":[0.018573558050110458,-0.0097928983324429,-0.013898647729993729]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014036833960746776,0.001550066880499587,-0.0005822903084544233],"end_effector_yaw_offset_degrees":-0.35032348939577806},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015042241483137762,-0.0010948801819225715,0.001331325725977921],"end_effector_yaw_offset_degrees":-0.6648554707158074},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004393371293852483,-0.001417247990016826,0.0003877057534902146],"end_effector_yaw_offset_degrees":0.657949279644134}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014845340916389291,-0.0016508873632510891],"position_m":[0.32048453409163896,-0.09105088736325108,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007491078564517192,-0.0024881373596807445],"position_m":[0.2743508921435483,-0.34548813735968076,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004213085625999605,-0.00432888807914925],"position_m":[0.3020869143740004,0.23307111192085075,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009162565601877806,0.0044862494573260836],"position_m":[0.3471162565601878,0.10168624945732607,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"797c939c485622878fe902edf79868a49747e38662a8b00caea2d88066a64510","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0078.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1130/tex_ceiling_textures_237/tex_floor_textures_159/tex_table_textures_4851/tex_wall_textures_3739","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3264766934217450464,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3264766934217450464,"visual_seed":3264766934217450464,"scene_id":"lab_003","finished_at":"2026-09-03T22:11:11"} +{"episode_id":"ep_000079","started_at":"2026-09-03T22:11:14","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[-0.29293280798269,1.279972544760819,0.71338606911949],"aabb_xy":[[-0.32292447071656033,1.2499725454240183],[-0.2629411452488197,1.3099725440976193]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[0.15719051047420607,1.4091148009003578,0.71338606911949],"aabb_xy":[[0.15223449028932487,1.3866148006982362],[0.16214653065908727,1.4316148011024794]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.5688949399435757,-0.4584992820444418,0.71338606911949],"aabb_xy":[[0.5038949417876566,-0.484795526594354],[0.6338949380994947,-0.4322030374945296]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[0.5006427532204816,1.6796313047534466,0.71338606911949],"aabb_xy":[[0.48314275296114506,1.6655397625646742],[0.5181427534798183,1.6937228469422194]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[-0.5653704929618631,0.5615110686184908,0.71338606911949],"aabb_xy":[[-0.6253704938226758,0.5100846386120041],[-0.5053704921010502,0.6129374986249769]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.1887837006962516,-1.6566499631445843,0.71338606911949],"aabb_xy":[[0.14350508581510235,-1.720649962492768],[0.23406231557740087,-1.5926499637964007]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.6163583309958529,-0.7122072670302704,0.71338606911949],"aabb_xy":[[0.566358329334358,-0.762205709285973],[0.6663583326573476,-0.6622088247745676]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.6417360640135872,-2.2569079198536537,0.71338606911949],"aabb_xy":[[-0.6760523411882051,-2.3069079198268314],[-0.6074197868389692,-2.206907919880476]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.46191342550029624,1.1235285380719358,0.71338606911949],"aabb_xy":[[-0.4701279706159801,1.1148519477742942],[-0.45369888038461215,1.1322051283695769]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.5574194891256283,-0.8248318758557087,0.71338606911949],"aabb_xy":[[-0.5949194894178031,-0.8288733512563122],[-0.5199194888334535,-0.820790400455105]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.30122492205885726,0.1242067222695864,0.71338606911949],"aabb_xy":[[-0.331192478968683,0.09420672197170067],[-0.27125736514903165,0.15420672256747214]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[0.08871936962134586,0.7363462832177703,0.71338606911949],"aabb_xy":[[0.06417315399859512,0.7060973866687332],[0.11326558524409656,0.7665951797668074]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.3562461187980466,1.037076822219667,0.71338606911949],"aabb_xy":[[-0.3634898848442919,0.9570768240160645],[-0.34900235275180125,1.1170768204232693]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.5476413088543038,-0.23404724979919855,0.71338606911949],"aabb_xy":[[-0.6276413060138791,-0.24559485075701556],[-0.46764131169472856,-0.2224996488413815]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[0.10755438813565277,1.180255574516765,0.71338606911949],"aabb_xy":[[0.02755438706253245,1.1704775281793807],[0.1875543892087731,1.1900336208541495]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.21814123887334597,-1.937966986527196,0.71338606911949],"aabb_xy":[[-0.2261775735746308,-1.9460051058316128],[-0.21010490417206112,-1.9299288672227792]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.6495250075082318,-1.2155494343652242,0.71338606911949],"aabb_xy":[[-0.6621277066453083,-1.2281448305900897],[-0.6369223083711554,-1.2029540381403587]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[0.32351387652581587,0.9027057725693899,0.71338606911949],"aabb_xy":[[0.2595138772316476,0.8387196322005357],[0.38751387581998403,0.9666919129382441]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[0.4034291010651647,1.243450116389993,0.71338606911949],"aabb_xy":[[0.3534298258967286,1.1934501151140458],[0.45342837623360094,1.29345011766594]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[0.03035967408660256,1.3134441018190604,0.71338606911949],"aabb_xy":[[-0.034640326913897956,1.2626577366643854],[0.09535967508710308,1.3642304669737353]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[-0.10487649600617921,-1.170084217492747,0.71338606911949],"aabb_xy":[[-0.16887649638371283,-1.2198294843435593],[-0.04087649562864558,-1.1203389506419348]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.3234398128718142,0.8043467177060522,0.71338606911949],"aabb_xy":[[-0.41343980960742444,0.7511632543887574],[-0.23343981613620401,0.8575301810233464]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[-0.13127863259407746,1.5281986751875363,0.71338606911949],"aabb_xy":[[-0.1399926016440119,1.505698674528348],[-0.12256466354414293,1.5506986758467245]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[0.6554570673720754,-2.5285786747207535,0.71338606911949],"aabb_xy":[[0.6056402879072406,-2.5785786732050573],[0.7052738468369101,-2.4785786762364506]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_24","position":[-0.4087169607707063,-2.0762911835001643,0.71338606911949],"aabb_xy":[[-0.46634742965797704,-2.1362911824268744],[-0.3510864918834354,-2.0162911845734532]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.3655552393614947,-2.549421501444984,0.71338606911949],"aabb_xy":[[0.35677401221425853,-2.5582012487335146],[0.374336466508731,-2.540641754156454]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.480991165399959,0.5587176415514037,0.71338606911949],"aabb_xy":[[0.4760918730933955,0.5310407222488349],[0.4858904577065225,0.5863945608539725]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_27","position":[-0.07708962417181364,-1.8589088355067247,0.71338606911949],"aabb_xy":[[-0.12708962453237968,-1.9088888227163274],[-0.027089623811247573,-1.8089288482971215]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_28","position":[0.6022281014879722,-2.221318402669637,0.71338606911949],"aabb_xy":[[0.565433468363066,-2.258224277766219],[0.6390227346128785,-2.1844125275730546]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_29","position":[0.14996816860147344,-2.4831237347003197,0.71338606911949],"aabb_xy":[[0.0799681721915116,-2.5035616703520005],[0.21996816501143518,-2.462685799048637]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_30","position":[-0.5414013349139433,1.693716855217406,0.71338606911949],"aabb_xy":[[-0.5612923747942836,1.6810610439327096],[-0.5215102950336031,1.7063726665021033]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[-0.5037983428270935,-1.3853024059518422,0.71338606911949],"aabb_xy":[[-0.5126003981360661,-1.393113732106771],[-0.4949962875181207,-1.3774910797969129]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_32","position":[-0.5477530277996767,-0.5308330642889856,0.71338606911949],"aabb_xy":[[-0.6117530285031462,-0.5768514467619067],[-0.4837530270962075,-0.4848146818160647]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_33","position":[-0.652960899998981,1.5124624160175055,0.71338606911949],"aabb_xy":[[-0.6582984756649857,1.4874624150883657],[-0.6476233243329765,1.5374624169466453]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_34","position":[-0.007847845235212758,-1.6827938338519108,0.71338606911949],"aabb_xy":[[-0.07184784550919099,-1.7328599340491988],[0.05615215503876547,-1.6327277336546229]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889658900237926,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6879.png","name":"6879"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6879.png","name":"6879"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/100.png","name":"100"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7399.png","name":"7399"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3561.png","name":"3561"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9687.png","name":"9687"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":790.5937897881618,"rotation_z_degrees":142.4529376843222,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006712976761004505,0.004402964613512538,-0.00042918255399324035]},{"name":"camera_2","offset_m":[0.015702331996253507,0.011712336909576796,-0.007889453472953977]},{"name":"camera_3","offset_m":[-0.01540474665531686,0.019855714914175867,0.0045795010312835276]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012745662266639211,0.0014969977214872323,0.00026181070156215593],"end_effector_yaw_offset_degrees":0.35114028610053816},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006617212306190691,-0.0012315689053078124,-0.00011614313255646513],"end_effector_yaw_offset_degrees":0.612794173688465},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006513946844649357,0.0007342314945319684,0.0010786898199473672],"end_effector_yaw_offset_degrees":0.8763171703418502}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003541932785638321,5.433412457877575e-05],"position_m":[0.3154580672143617,-0.08934566587542121,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009946346448792042,0.002886700148433144],"position_m":[0.2760946346448792,-0.3401132998515669,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009517325168509529,-0.002879839587460915],"position_m":[0.3053482674831491,0.2345201604125391,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004748316139697311,-0.001333431220993614],"position_m":[0.3414516838603027,0.09586656877900639,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe21870e7d927d4be7028038d292f5abab17516c775ad2b5e316e22acb4db7c4","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0079.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6879/tex_ceiling_textures_9687/tex_floor_textures_3561/tex_table_textures_100/tex_wall_textures_7399","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6655930431458032862,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6655930431458032862,"visual_seed":6655930431458032862,"scene_id":"lab_003","finished_at":"2026-09-03T22:13:50"} +{"episode_id":"ep_000080","started_at":"2026-09-03T22:13:53","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.49785317158482,-1.6614186639247785,0.71338606911949],"aabb_xy":[[0.4338531742824735,-1.705785090892635],[0.5618531688871663,-1.6170522369569216]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.08201529802880736,-2.404789833894728,0.71338606911949],"aabb_xy":[[-0.0880523110294721,-2.4108165349636765],[-0.07597828502814265,-2.3987631328257804]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[-0.00351394313521336,-1.1238036907034443,0.71338606911949],"aabb_xy":[[-0.011437223373961691,-1.1463036909414477],[0.0044093371035349715,-1.101303690465441]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.2491017259966607,0.5954767975631263,0.71338606911949],"aabb_xy":[[0.22998941863868183,0.5763420186858844],[0.26821403335463956,0.6146115764403685]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[-0.013710302783221273,-1.8305070767854947,0.71338606911949],"aabb_xy":[[-0.031256997699340205,-1.8680070783497458],[0.0038363921328976574,-1.7930070752212433]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.5082395343103838,-2.0695152283568796,0.71338606911949],"aabb_xy":[[-0.5311552471954337,-2.0924195254933036],[-0.4853238214253339,-2.0466109312204566]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[0.42628073552621126,0.6084944774625383,0.71338606911949],"aabb_xy":[[0.41824440082492637,0.6004563581581216],[0.43431707022749605,0.6165325967669552]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[0.3816003181888321,-2.1582440175922066,0.71338606911949],"aabb_xy":[[0.3266265961524993,-2.21324401715644],[0.43657404022516505,-2.1032440180279734]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[-0.16379155766282605,-1.9265663148957834,0.71338606911949],"aabb_xy":[[-0.18629155817486662,-1.9490581732611814],[-0.14129155715078542,-1.9040744565303847]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.2081210620350778,1.3707168070019917,0.71338606911949],"aabb_xy":[[-0.2881210600158628,1.3631152660401398],[-0.12812106405429274,1.3783183479638437]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.5073926622305617,0.3763205481951766,0.71338606911949],"aabb_xy":[[-0.5623849128660727,0.3213205464518638],[-0.45240041159505084,0.4313205499384894]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[-0.2856913177704998,1.6991123286398273,0.71338606911949],"aabb_xy":[[-0.3496913181480334,1.649367061789015],[-0.22169131739296616,1.7488575954906396]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[-0.3870788414669409,-0.24746625011163248,0.71338606911949],"aabb_xy":[[-0.43717630544801456,-0.3114662506214443],[-0.3369813774858673,-0.18346624960182067]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.5381764580140618,-1.3255007135141692,0.71338606911949],"aabb_xy":[[-0.6181764550283098,-1.3456352651875805],[-0.4581764609998138,-1.305366161840758]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[0.08306279424934615,-1.531516497845128,0.71338606911949],"aabb_xy":[[0.07119071123784504,-1.6165164975387785],[0.09493487726084726,-1.4465164981514778]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[-0.11069631372250055,-0.32900396553836897,0.71338606911949],"aabb_xy":[[-0.14754686165948816,-0.3665039663614027],[-0.07384576578551294,-0.29150396471533524]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.23976073755720695,1.5646019967614717,0.71338606911949],"aabb_xy":[[0.19851192652729222,1.509601997249254],[0.2810095485871217,1.619601996273689]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.25723807784918795,1.3829193651061744,0.71338606911949],"aabb_xy":[[0.22890836790064772,1.3784586229124576],[0.2855677877977282,1.3873801072998917]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_18","position":[-0.19237497045934127,0.3001562203556727,0.71338606911949],"aabb_xy":[[-0.20294245011744028,0.28961119024266413],[-0.18180749080124226,0.31070125046868124]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.1839164794528093,-2.1715829720589714,0.71338606911949],"aabb_xy":[[0.1790171871462458,-2.1992598913615398],[0.18881577175937278,-2.1439060527564022]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.2752168319660455,-1.99666146138087,0.71338606911949],"aabb_xy":[[0.23771683214901196,-2.001299672692012],[0.3127168317830791,-1.9920232500697281]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.2822543811051289,-0.5441939735232846,0.71338606911949],"aabb_xy":[[0.260081854128478,-0.5663696406794078],[0.3044269080817797,-0.5220183063671614]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[0.36938790450950076,-0.976350258726898,0.71338606911949],"aabb_xy":[[0.3580261698562145,-0.9877187251331859],[0.3807496391627868,-0.9649817923206098]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[0.5232767505223486,0.7371359902589538,0.71338606911949],"aabb_xy":[[0.4682835391852118,0.6821359899201602],[0.5782699618594853,0.7921359905977475]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[0.17741477702777286,-0.7895170471349766,0.71338606911949],"aabb_xy":[[0.15495000705636772,-0.8120170480138372],[0.19987954699917795,-0.7670170462561162]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[-0.43792311831033204,-1.8381812459803195,0.71338606911949],"aabb_xy":[[-0.5019231147059051,-1.902144534399053],[-0.3739231219147589,-1.774217957561586]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[-0.46887997718568775,0.6252926622949797,0.71338606911949],"aabb_xy":[[-0.47965295110705547,0.5902926640759407],[-0.4581070032643199,0.6602926605140187]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[-0.28817676057016234,0.2592512737156718,0.71338606911949],"aabb_xy":[[-0.31339759743000195,0.23402752286278497],[-0.2629559237103226,0.28447502456855844]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_28","position":[0.5528323844988672,-0.4215140035884817,0.71338606911949],"aabb_xy":[[0.5028375515709256,-0.47151400248372527],[0.6028272174268088,-0.3715140046932382]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[0.5385368762203366,-2.315517055088907,0.71338606911949],"aabb_xy":[[0.5229811068100714,-2.3310674883333142],[0.5540926456306019,-2.2999666218445]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_30","position":[-0.45450753281395273,-1.4883250831910813,0.71338606911949],"aabb_xy":[[-0.5045075323902874,-1.5383056621431872],[-0.404507533237618,-1.4383445042389753]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_31","position":[-0.5444869217223611,-0.5310202825144961,0.71338606911949],"aabb_xy":[[-0.6044869219737623,-0.5853016075509607],[-0.48448692147095995,-0.4767389574780314]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_32","position":[-0.6733039440335802,0.6372457224970702,0.71338606911949],"aabb_xy":[[-0.6793985719216985,0.6286763279454016],[-0.6672093161454619,0.6458151170487391]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_33","position":[-0.29280412062114514,-2.3284795141918146,0.71338606911949],"aabb_xy":[[-0.3000478866673905,-2.408479512395417],[-0.28556035457489987,-2.2484795159882123]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_34","position":[0.28064753470964177,-1.3851699975588,0.71338606911949],"aabb_xy":[[0.2581338428861846,-1.4551699981598076],[0.30316122653309896,-1.3151699969577926]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6856841342434136,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4906.png","name":"4906"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4906.png","name":"4906"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/975.png","name":"975"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9972.png","name":"9972"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6543.png","name":"6543"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3207.png","name":"3207"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":507.5906143794061,"rotation_z_degrees":176.920341624933,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0027167033465812992,-0.00829245316060994,-0.000952557746037027]},{"name":"camera_2","offset_m":[0.004334387147498578,-0.017014931099791544,0.007439179736597534]},{"name":"camera_3","offset_m":[0.011192412363948651,0.005285958698125936,-0.011418744364410106]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011691171804601148,0.0001908567528978492,-0.00129887122337569],"end_effector_yaw_offset_degrees":-0.23901986341682702},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006418456005087667,-0.0010560378026624635,0.000488025163418115],"end_effector_yaw_offset_degrees":-0.7268794689351987},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00021562570621696002,-0.0005861100027455669,0.0017995096652348368],"end_effector_yaw_offset_degrees":0.2683727816959871}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033614863778158857,-0.004072096064183732],"position_m":[0.31563851362218415,-0.09347209606418372,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003300470604548106,0.0019805991428537483],"position_m":[0.27179952939545193,-0.34101940085714627,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003051104934238315,0.002787306705929711],"position_m":[0.30935110493423834,0.24018730670592972,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002985411595255001,0.0035724124087551093],"position_m":[0.343214588404745,0.1007724124087551,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"04f52afc68fd4c0d9e3cf3cff7b948f34b8e2771c4895ec4de75011555511854","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4906/tex_ceiling_textures_3207/tex_floor_textures_6543/tex_table_textures_975/tex_wall_textures_9972","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":527400030884398507,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":527400030884398507,"visual_seed":527400030884398507,"scene_id":"lab_003","finished_at":"2026-09-03T22:16:28"} +{"episode_id":"ep_000081","started_at":"2026-09-03T22:16:30","dimensions":{"distractor":{"count":24,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.6254306003976642,0.8479865804309452,0.71338606911949],"aabb_xy":[[0.6029306003875159,0.833890360791342],[0.6479306004078125,0.8620828000705486]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.6472050681404047,1.4505077487467966,0.71338606911949],"aabb_xy":[[0.6347377100306691,1.438042424113473],[0.6596724262501404,1.46297307338012]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[0.5674482363237687,-1.091571610885715,0.71338606911949],"aabb_xy":[[0.5572952207696192,-1.1276411524584549],[0.577601251877918,-1.0555020693129742]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.5008288870557008,-0.2728332500991315,0.71338606911949],"aabb_xy":[[-0.5376235201806071,-0.3097391251957138],[-0.46403425393079456,-0.23592737500254923]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[-0.252146742831389,-2.149369234103972,0.71338606911949],"aabb_xy":[[-0.29339555386130367,-2.204369233616189],[-0.21089793180147423,-2.094369234591754]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[0.4006590815808293,0.7992248256535541,0.71338606911949],"aabb_xy":[[0.33665908017283863,0.7474358741296293],[0.46465908298881997,0.8510137771774787]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[-0.5167430608586747,1.392716664324264,0.71338606911949],"aabb_xy":[[-0.5807430640773126,1.345993552425256],[-0.45274305764003686,1.4394397762232727]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[0.5892633369155815,-2.4379526521600074,0.71338606911949],"aabb_xy":[[0.5342710862800706,-2.49295265390332],[0.6442555875510925,-2.3829526504166947]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[-0.5042462980222585,1.6305426715816478,0.71338606911949],"aabb_xy":[[-0.5540630774870933,1.5805426730973444],[-0.45442951855742375,1.6805426700659511]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[0.10953226602076893,-2.0467421461118374,0.71338606911949],"aabb_xy":[[0.05955484915551534,-2.096742147601086],[0.1595096828860225,-1.996742144622589]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.15447533359360655,0.21122923015125084,0.71338606911949],"aabb_xy":[[-0.1719753338386559,0.19372944231168399],[-0.13697533334855713,0.22872901799081768]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[-0.3670358619274311,0.7953905925801479,0.71338606911949],"aabb_xy":[[-0.3709497351228536,0.7866415771735912],[-0.36312198873200857,0.8041396079867048]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[-0.19171202857530956,-0.7125211795362985,0.71338606911949],"aabb_xy":[[-0.21421202881882495,-0.7247258141960705],[-0.16921202833179416,-0.7003165448765266]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[-0.008304475206191597,-1.39774909619294,0.71338606911949],"aabb_xy":[[-0.04076617608811905,-1.4278819283078423],[0.02415722567573586,-1.3676162640780372]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.6335379054701525,-1.9326558111902892,0.71338606911949],"aabb_xy":[[-0.651407013224608,-1.9464887191675],[-0.615668797715697,-1.918822903213078]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.6653386907653438,-2.1537767670752874,0.71338606911949],"aabb_xy":[[0.6544329146777811,-2.2337767634741166],[0.6762444668529065,-2.0737767706764583]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[0.37770254033504735,-1.6772025843094323,0.71338606911949],"aabb_xy":[[0.3127025417779745,-1.7069551177233147],[0.4427025388921202,-1.6474500508955494]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.48415128970323984,-1.9507531902822828,0.71338606911949],"aabb_xy":[[0.4041512886301195,-1.9605312366196674],[0.5641512907763602,-1.9409751439448986]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.5183611492621768,0.0518621792326881,0.71338606911949],"aabb_xy":[[-0.5683342147946924,0.0018621794201552013],[-0.46838808372966145,0.10186217904522102]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.02872740855676592,1.6919891374225906,0.71338606911949],"aabb_xy":[[-0.03788728750064252,1.6854579193790535],[-0.019567529612889323,1.6985203554661277]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.6379164833479729,0.23174731637010249,0.71338606911949],"aabb_xy":[[0.6154173476217459,0.2092473155918395],[0.6604156190741999,0.25424731714836546]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[-0.3428133120960509,-1.0244544416192385,0.71338606911949],"aabb_xy":[[-0.36309761481944963,-1.044737066761947],[-0.3225290093726521,-1.0041718164765294]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[-0.12758244122875262,1.7675838991658366,0.71338606911949],"aabb_xy":[[-0.14459253851880324,1.7514494106675627],[-0.11057234393870194,1.7837183876641105]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_23","position":[-0.21745958418676142,-1.0598787732789123,0.71338606911949],"aabb_xy":[[-0.2814595812988671,-1.108911143073323],[-0.15345958707465573,-1.0108464034845017]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918936901830532,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9214.png","name":"9214"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9214.png","name":"9214"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4980.png","name":"4980"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5854.png","name":"5854"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8163.png","name":"8163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7000.png","name":"7000"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":593.1392777439148,"rotation_z_degrees":124.31837348995928,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012557535547643495,0.012967223225377012,0.0007344575686712811]},{"name":"camera_2","offset_m":[-0.007726659219784358,0.0013848062338457645,-0.0030212837710084685]},{"name":"camera_3","offset_m":[0.0011536630022356865,0.01970494459481487,-0.014655943234545582]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00013867894081519847,0.0017079773855322175,0.0012393663112630474],"end_effector_yaw_offset_degrees":-0.1979490074157091},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021715486525989152,0.0002910879944942064,-0.0004552326898398524],"end_effector_yaw_offset_degrees":0.6550341339865633},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00018235650829134939,0.0018252156280389527,-0.0003841958008009411],"end_effector_yaw_offset_degrees":0.31667031143364555}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006743628641150438,0.001590122352567498],"position_m":[0.31832563713588496,-0.08780987764743249,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032040997342775634,0.0008488903593168581],"position_m":[0.27830409973427755,-0.3421511096406832,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007650309887200068,0.00275203228188108],"position_m":[0.30706503098872,0.2401520322818811,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003302842386401139,0.0014901673565489836],"position_m":[0.34653028423864013,0.09869016735654898,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"adcfd190c4698462aa16fde09f57e7dd772501f1cd098aa5abdf1d859e1d6e25","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9214/tex_ceiling_textures_7000/tex_floor_textures_8163/tex_table_textures_4980/tex_wall_textures_5854","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":9182546884648374753,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":9182546884648374753,"visual_seed":9182546884648374753,"scene_id":"lab_003","finished_at":"2026-09-03T22:19:10"} +{"episode_id":"ep_000082","started_at":"2026-09-03T22:19:14","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.3095897236176797,0.8336913566495112,0.71338606911949],"aabb_xy":[[-0.32948076349802,0.8210355453648145],[-0.28969868373733954,0.8463471679342082]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[-0.29909238438730035,0.10618083286232594,0.71338606911949],"aabb_xy":[[-0.38909238088817205,0.06026919044386767],[-0.20909238788642856,0.15209247528078412]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[-0.4705139591188514,0.6427475824435689,0.71338606911949],"aabb_xy":[[-0.5321047183428442,0.5787475843345221],[-0.40892319989485865,0.7067475805526159]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[-0.5586636086268013,0.4677627809732008,0.71338606911949],"aabb_xy":[[-0.5996815520131721,0.41776278034224346],[-0.5176456652404303,0.5177627816041581]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.0649104267288847,-2.4481242958569625,0.71338606911949],"aabb_xy":[[0.0607745703961845,-2.4856242953013195],[0.06904628306158489,-2.4106242964126054]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.005971536660625554,-1.2254166625796015,0.71338606911949],"aabb_xy":[[-0.02307361461899371,-1.2425234681108712],[0.011130541297742602,-1.2083098570483317]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[0.2770212445899477,1.2666603781962187,0.71338606911949],"aabb_xy":[[0.22702124501361298,1.2166797992441127],[0.3270212441662824,1.3166409571483246]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.08194235454240828,-1.9613777591620067,0.71338606911949],"aabb_xy":[[0.07698633435752708,-1.983877759364129],[0.08689837472728948,-1.9388777589598858]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.2892689729957819,-1.4834713718963275,0.71338606911949],"aabb_xy":[[-0.29805020014301814,-1.4922511191848578],[-0.2804877458485457,-1.4746916246077977]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[0.5411069309327601,-0.17426126810237585,0.71338606911949],"aabb_xy":[[0.5111393740229344,-0.2042612684002616],[0.5710744878425857,-0.1442612678044901]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.6201331013999412,-0.44741080662538746,0.71338606911949],"aabb_xy":[[0.5651593793636083,-0.5024108061896206],[0.675106823436274,-0.39241080706115433]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.436601935187108,1.799800810488469,0.71338606911949],"aabb_xy":[[0.40160193691698803,1.7927266827934811],[0.47160193345722784,1.8068749381834575]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[0.380292449269682,-2.399526263516509,0.71338606911949],"aabb_xy":[[0.3651295762927449,-2.414691720811628],[0.3954553222466191,-2.3843608062213906]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.24675239346472833,-2.3061863991203,0.71338606911949],"aabb_xy":[[-0.2596242969656684,-2.386186399534136],[-0.23388048996378816,-2.2261863987064636]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[0.6035770405612657,-2.3584492236813523,0.71338606911949],"aabb_xy":[[0.5585844538428153,-2.4034492229558007],[0.6485696272797161,-2.313449224406903]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.1480950908447477,1.7056099358110193,0.71338606911949],"aabb_xy":[[0.08809509033689476,1.648763202125098],[0.2080950913526006,1.7624566694969406]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[-0.4988500008652301,-2.243677211417055,0.71338606911949],"aabb_xy":[[-0.5131844259913936,-2.255737426971594],[-0.4845155757390667,-2.231616995862516]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.5598411720760554,0.19558071348845552,0.71338606911949],"aabb_xy":[[-0.6148343834131923,0.14058071314966192],[-0.5048479607389188,0.2505807138272491]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[0.6397736958847584,1.2651749483499328,0.71338606911949],"aabb_xy":[[0.5747736947788151,1.2402095752818048],[0.7047736969907017,1.2901403214180613]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.4267090003771725,-0.8153772266812331,0.71338606911949],"aabb_xy":[[0.361708997739379,-0.86685682538068],[0.49170900301496595,-0.7638976279817861]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.042754671491232354,-1.628303863035448,0.71338606911949],"aabb_xy":[[0.018918453850627296,-1.718303863843935],[0.06659088913183743,-1.538303862226962]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[-0.35898654603017505,-1.0911360580674447,0.71338606911949],"aabb_xy":[[-0.4239865445872479,-1.1208885914813274],[-0.2939865474731022,-1.0613835246535621]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[0.3205577732883025,0.4732854875931527,0.71338606911949],"aabb_xy":[[0.30538560400666914,0.4581166306649494],[0.3357299425699358,0.4884543445213561]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[0.10592671152194832,-2.1955459360824032,0.71338606911949],"aabb_xy":[[0.03592670971320289,-2.2168997048465906],[0.17592671333069376,-2.174192167318216]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[0.6768142955625518,0.0784504332861915,0.71338606911949],"aabb_xy":[[0.665569239991934,0.0672086355620962],[0.6880593511331696,0.08969223101028677]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[-0.05751238469105102,0.9962973275554456,0.71338606911949],"aabb_xy":[[-0.06887411934433718,0.9849288611491573],[-0.04615065003776487,1.0076657939617335]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[0.2532938585015996,-1.5781965067867016,0.71338606911949],"aabb_xy":[[0.23773808909133437,-1.593746940031109],[0.2688496279118649,-1.5626460735422947]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[-0.4323556583578544,0.7857038710403521,0.71338606911949],"aabb_xy":[[-0.45124004212636465,0.7668179462599993],[-0.41347127458934424,0.8045897958207049]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_28","position":[0.19180832832142436,-2.0081893061079823,0.71338606911949],"aabb_xy":[[0.18647581366681137,-2.013513634353218],[0.19714084297603734,-2.0028649778627465]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_29","position":[0.19929209749946986,1.1130725914846344,0.71338606911949],"aabb_xy":[[0.16683039661754237,1.0829397593697316],[0.23175379838139729,1.1432054235995368]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_30","position":[-0.5815610196802987,-1.9486719651903308,0.71338606911949],"aabb_xy":[[-0.5907208986241753,-1.9552031832338677],[-0.5724011407364221,-1.9421407471467935]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_31","position":[-0.08000913345840621,1.562382488814936,0.71338606911949],"aabb_xy":[[-0.11650495408568494,1.5258985463881787],[-0.04351331283112746,1.5988664312416938]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_32","position":[0.31410640326432104,-1.2044079469361664,0.71338606911949],"aabb_xy":[[0.2796440558661792,-1.2389018293339888],[0.3485687506624628,-1.1699140645383435]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_33","position":[0.47609050309536194,-1.6006369339631559,0.71338606911949],"aabb_xy":[[0.41209050104562994,-1.640731417052464],[0.5400905051450939,-1.5605424508738481]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_34","position":[-0.03238037551252515,-0.7957404694984074,0.71338606911949],"aabb_xy":[[-0.03888201202052977,-0.8055082915247173],[-0.02587873900452054,-0.7859726474720977]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915182299130926,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4465.png","name":"4465"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4465.png","name":"4465"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2961.png","name":"2961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4195.png","name":"4195"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2124.png","name":"2124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2455.png","name":"2455"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":506.35295379594373,"rotation_z_degrees":266.4957463251522,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009928513929590564,0.0029166628249638685,-0.0014527046528324782]},{"name":"camera_2","offset_m":[0.01017746946130554,-0.013408771795186394,-0.0016546482198673516]},{"name":"camera_3","offset_m":[-0.010025691407892312,0.0005056565088067504,0.0050451358089384744]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010280828572488835,-0.0003370416595314344,-0.0007868431331988694],"end_effector_yaw_offset_degrees":-0.6491300141059912},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-2.3566531248804968e-05,0.0015193311293481837,-0.0002107792742961521],"end_effector_yaw_offset_degrees":-0.493100649825043},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013722074558425736,-0.0004783125204697641,0.0004747522513322373],"end_effector_yaw_offset_degrees":-0.9738343064789443}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016136115248982963,0.0008133023677945935],"position_m":[0.3173863884751017,-0.0885866976322054,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037063826142946,0.0024950444027741804],"position_m":[0.27880638261429463,-0.3405049555972258,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0044895757381117245,-0.0035633530305208827],"position_m":[0.3107895757381117,0.23383664696947912,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003389054744103751,0.0006418979700872421],"position_m":[0.3428109452558963,0.09784189797008724,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7937d39ae77e6e8ff389bd4b18321412a552a16f86ee4cf9708846751d95160e","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0082.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4465/tex_ceiling_textures_2455/tex_floor_textures_2124/tex_table_textures_2961/tex_wall_textures_4195","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":4017303856748204350,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":4017303856748204350,"visual_seed":4017303856748204350,"scene_id":"lab_003","finished_at":"2026-09-03T22:21:53"} +{"episode_id":"ep_000083","started_at":"2026-09-03T22:21:55","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.6170224981322675,0.44293390051388837,0.71338606911949],"aabb_xy":[[-0.6229890370730033,0.4369727558545243],[-0.6110559591915317,0.44889504517325235]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.2274550490864019,0.6878798805497066,0.71338606911949],"aabb_xy":[[0.2181080415041067,0.6735762583320625],[0.23680205666869716,0.7021835027673505]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.5439990306394991,-2.296452606066667,0.71338606911949],"aabb_xy":[[-0.5989912812750101,-2.35145260780998],[-0.48900678000398823,-2.2414526043233547]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.007087642616970702,-1.6943255139453013,0.71338606911949],"aabb_xy":[[-0.04358346324424944,-1.7308094563720586],[0.02940817801030804,-1.6578415715185435]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[-0.6066320351453715,-0.9141214285511439,0.71338606911949],"aabb_xy":[[-0.6616320333471162,-0.9546433951775815],[-0.5516320369436265,-0.8735994619247063]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[0.6855722368683406,0.6049457208291833,0.71338606911949],"aabb_xy":[[0.6785319269348036,0.524945721429512],[0.6926125468018776,0.6849457202288548]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.35899432636800593,-0.14691544701853854,0.71338606911949],"aabb_xy":[[-0.37927862909140464,-0.16719807216124735],[-0.3387100236446071,-0.12663282187582967]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.6137062176793553,-1.0470548208701451,0.71338606911949],"aabb_xy":[[0.5904243754812238,-1.132054822167373],[0.6369880598774865,-0.9620548195729169]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[0.40922625129139467,-1.6227455288853672,0.71338606911949],"aabb_xy":[[0.3842262517396562,-1.6328880127505017],[0.43422625084313315,-1.6126030450202322]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[0.32054597637874815,-0.5951244302831149,0.71338606911949],"aabb_xy":[[0.2654207707491573,-0.6551244317244019],[0.3756711820083389,-0.5351244288418276]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[-0.361830092012803,0.8371023415601115,0.71338606911949],"aabb_xy":[[-0.4118249249407446,0.787102342664868],[-0.31183525908486137,0.8871023404553551]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[0.0823466627940167,-2.13781087390946,0.71338606911949],"aabb_xy":[[-0.007653333941593524,-2.190994337226754],[0.1723466595296269,-2.084627410592165]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[-0.2518923885778206,-0.40569632879405315,0.71338606911949],"aabb_xy":[[-0.3017750854555168,-0.45569632804032795],[-0.2020096917001244,-0.3556963295477784]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.4595393519842669,1.4827832566127248,0.71338606911949],"aabb_xy":[[-0.54453935040169,1.39790896115044],[-0.3745393535668436,1.56765755207501]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.5967062619202366,-1.2628868274078329,0.71338606911949],"aabb_xy":[[-0.6767062588832757,-1.3399624690516063],[-0.5167062649571974,-1.1858111857640594]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.03676778957925886,1.328411804740711,0.71338606911949],"aabb_xy":[[-0.051411195133291836,1.3137530850839265],[-0.022124384025225867,1.343070524397495]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.24776989018401407,-1.4708625708458591,0.71338606911949],"aabb_xy":[[0.23620090943707756,-1.4958625709627908],[0.2593388709309507,-1.4458625707289274]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.2901432124952633,-1.605341910107809,0.71338606911949],"aabb_xy":[[0.2821169418646373,-1.6140934050851619],[0.2981694831258893,-1.5965904151304566]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[0.2661461392187837,-1.9234100283958808,0.71338606911949],"aabb_xy":[[0.2316837918206419,-1.9579039107937033],[0.30060848661692546,-1.888916145998058]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.18336932699330877,1.1060470115217336,0.71338606911949],"aabb_xy":[[-0.24496008621730164,1.0420470134126867],[-0.121778567769316,1.1700470096307805]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.4238000215322568,-0.2810673051287651,0.71338606911949],"aabb_xy":[[-0.48380002204010975,-0.33791403881468635],[-0.3638000210244039,-0.22422057144284377]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.46610816307825065,0.3192746081291866,0.71338606911949],"aabb_xy":[[0.40610816282684953,0.2649932830927219],[0.5261081633296518,0.3735559331656512]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[0.3545058270743606,0.5845566214356572,0.71338606911949],"aabb_xy":[[0.32451416434049024,0.5545566220988568],[0.3844974898082309,0.6145566207724579]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[0.3141662257877813,-1.681830921095627,0.71338606911949],"aabb_xy":[[0.29166622527574065,-1.7043227794610254],[0.33666622629982185,-1.6593390627302287]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[0.44116073313282955,1.432461598488151,0.71338606911949],"aabb_xy":[[0.39118331626757585,1.3824615969989023],[0.49113814999808303,1.4824615999773993]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6897662385952923,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3063.png","name":"3063"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3063.png","name":"3063"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1221.png","name":"1221"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5868.png","name":"5868"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2640.png","name":"2640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5803.png","name":"5803"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":658.6246893953175,"rotation_z_degrees":224.03293664895648,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0126875719137307,0.01707045167097718,-0.0027130224439347976]},{"name":"camera_2","offset_m":[-0.006635354939558122,0.0010337776596957941,0.016804741553172586]},{"name":"camera_3","offset_m":[0.017080808715625676,0.006256728982352425,-0.0016512231413359883]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009612024244234764,0.0017781153680652617,0.0002062931577306113],"end_effector_yaw_offset_degrees":0.6954506091061656},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00029436264521509646,0.0009568813487923025,-0.0001020542754620365],"end_effector_yaw_offset_degrees":0.9569129355217492},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016133448768935845,-0.00042832759140230174,-0.001198045460801957],"end_effector_yaw_offset_degrees":-0.06129078448582126}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002606306757368974,-0.0005307401320359664],"position_m":[0.32160630675736895,-0.08993074013203596,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003805985520045699,0.0001940570430639969],"position_m":[0.2754805985520046,-0.342805942956936,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001520198636424744,0.0037922662425983024],"position_m":[0.30782019863642474,0.2411922662425983,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014591978181334544,0.0005421450407301553],"position_m":[0.34474080218186653,0.09774214504073014,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"88a7b3d40b0ca49cf1bcd754d0f7f6f87baec134b9f16062693d8db2fc186a6d","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0083.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3063/tex_ceiling_textures_5803/tex_floor_textures_2640/tex_table_textures_1221/tex_wall_textures_5868","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":9145911257934529862,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":9145911257934529862,"visual_seed":9145911257934529862,"scene_id":"lab_003","finished_at":"2026-09-03T22:24:40"} +{"episode_id":"ep_000084","started_at":"2026-09-03T22:24:45","dimensions":{"distractor":{"count":27,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.07531010142285544,1.706330825423294,0.71338606911949],"aabb_xy":[[0.06394836676956926,1.6949623590170058],[0.08667183607614158,1.717699291829582]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.5618857332783035,-0.877926757523402,0.71338606911949],"aabb_xy":[[-0.6118850084467397,-0.9279267587993494],[-0.5118864581098673,-0.827926756247455]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[-0.012787788681149492,-2.3620826941153306,0.71338606911949],"aabb_xy":[[-0.03284620029438978,-2.382147781024488],[0.007270622932090798,-2.342017607206173]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.17105378720924413,0.6302847106667842,0.71338606911949],"aabb_xy":[[0.13355378878584379,0.6171204966989534],[0.20855378563264448,0.6434489246346147]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.3451579119158663,1.74867692111629,0.71338606911949],"aabb_xy":[[0.2851579116644651,1.6943955960798254],[0.40515791216726743,1.8029582461527547]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.024984449231582384,-1.1579787129727395,0.71338606911949],"aabb_xy":[[0.002484449417679998,-1.16245332934322],[0.04748444904548477,-1.1535040966022585]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.016875216502599377,0.42738458855811823,0.71338606911949],"aabb_xy":[[-0.022456888136728134,0.41488458874034273],[-0.011293544868470616,0.4398845883758937]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[-0.34749083435109057,-1.0765491841518358,0.71338606911949],"aabb_xy":[[-0.35119409568022936,-1.0802512024605535],[-0.3437875730219517,-1.0728471658431176]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.58265190890334,-1.300053546127597,0.71338606911949],"aabb_xy":[[0.5326519093270053,-1.350034125079703],[0.6326519084796748,-1.250072967175491]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.40365055035714137,0.031223131128016224,0.71338606911949],"aabb_xy":[[-0.4736505519594209,0.017790337926358646],[-0.33365054875486194,0.0446559243296738]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[-0.20929854693451072,-1.1124584470764511,0.71338606911949],"aabb_xy":[[-0.2396966580336543,-1.1428653490781204],[-0.17890043583536713,-1.0820515450747814]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[0.44699291266275143,-1.6434482030532747,0.71338606911949],"aabb_xy":[[0.3829929134929815,-1.6902148901722374],[0.5109929118325214,-1.5966815159343124]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.514310328346403,1.4770073546031104,0.71338606911949],"aabb_xy":[[0.44431032570981654,1.4569024896072447],[0.5843103309829892,1.4971122195989757]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[0.4292026492421599,-2.4725059542323473,0.71338606911949],"aabb_xy":[[0.4117026489828234,-2.48659749642112],[0.44670264950149663,-2.4584144120435747]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[-0.30781217761066215,-1.2453976145026948,0.71338606911949],"aabb_xy":[[-0.3233679470209274,-1.2609480477471018],[-0.2922564082003969,-1.2298471812582874]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[-0.31982907286058343,-1.8241829529225149,0.71338606911949],"aabb_xy":[[-0.32912269109773407,-1.861682951410649],[-0.3105354546234329,-1.7866829544343812]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.3222706270352136,0.24660789414283713,0.71338606911949],"aabb_xy":[[-0.3331111052617285,0.22942161285218832],[-0.3114301488086987,0.26379417543348593]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.4676846542258766,0.6765677819212756,0.71338606911949],"aabb_xy":[[-0.5576846536442475,0.6431922850770859],[-0.3776846548075056,0.7099432787654654]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[0.6324460198647406,0.48308181509058157,0.71338606911949],"aabb_xy":[[0.6199786617550049,0.4706164904572581],[0.6449133779744762,0.49554713972390513]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[0.4380762639427691,-1.0093276471937025,0.71338606911949],"aabb_xy":[[0.38044579505549814,-1.0693276461204129],[0.49570673283003985,-0.9493276482669917]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.24223675525071853,-1.3836545022162516,0.71338606911949],"aabb_xy":[[0.18723675704897366,-1.424176468842689],[0.2972367534524633,-1.3431325355898138]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[-0.5208197130076356,-1.6068147843489158,0.71338606911949],"aabb_xy":[[-0.600819710411229,-1.6868073555470984],[-0.44081971560404215,-1.5268222131507327]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.315038732717331,-0.9889411777434896,0.71338606911949],"aabb_xy":[[-0.3372112596939818,-1.0111168448996128],[-0.2928662057406801,-0.9667655105873663]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_23","position":[-0.24406295693258567,-2.563028364460065,0.71338606911949],"aabb_xy":[[-0.2522775020482696,-2.5717049547577053],[-0.23584841181690167,-2.5543517741624227]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_24","position":[-0.38467967728664687,1.382103314904223,0.71338606911949],"aabb_xy":[[-0.4221796772304132,1.3738102248693864],[-0.3471796773428804,1.3903964049390596]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_25","position":[-0.5256457334247014,0.5502545816914761,0.71338606911949],"aabb_xy":[[-0.5364187073460692,0.5152545834724372],[-0.5148727595033337,0.5852545799105152]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[-0.19537324187439598,-1.5428708951833194,0.71338606911949],"aabb_xy":[[-0.2328732416914295,-1.547509106494461],[-0.1578732420573624,-1.5382326838721774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6865751843677664,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6643.png","name":"6643"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6643.png","name":"6643"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2767.png","name":"2767"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4644.png","name":"4644"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1399.png","name":"1399"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7983.png","name":"7983"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":531.3311780907253,"rotation_z_degrees":38.40187961510888,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012653954223114768,0.008804035411050567,0.0004210584167263151]},{"name":"camera_2","offset_m":[0.01633480644628212,-0.013155329897838573,0.014632632653185092]},{"name":"camera_3","offset_m":[-0.016722010868858304,-0.006967130810604209,-0.0013943869846978173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00045208153049222546,0.00041129012735708357,0.0016544390843015538],"end_effector_yaw_offset_degrees":-0.0776878839359818},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00010084831875471767,0.0017268217964884966,-0.0015396686787337917],"end_effector_yaw_offset_degrees":0.9325536852535479},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001685884816971172,-0.0009095134708516049,-0.0011627709990053043],"end_effector_yaw_offset_degrees":-0.6759008518167673}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018710356215356151,0.003140961129780199],"position_m":[0.3171289643784644,-0.0862590388702198,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015310695384095209,0.0032813411388457952],"position_m":[0.2735689304615905,-0.3397186588611542,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001464647659494932,-0.0029210602214698035],"position_m":[0.30776464765949496,0.2344789397785302,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028651355018784,0.00458861667788544],"position_m":[0.3433348644981216,0.10178861667788544,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"af8917fb69e6ea4e6edee11431abc0dcdd6146fabb1fe3bf788837904a8c3f7e","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6643/tex_ceiling_textures_7983/tex_floor_textures_1399/tex_table_textures_2767/tex_wall_textures_4644","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":277639471211340901,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":277639471211340901,"visual_seed":277639471211340901,"scene_id":"lab_003","finished_at":"2026-09-03T22:27:22"} +{"episode_id":"ep_000085","started_at":"2026-09-03T22:27:25","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[0.5585789696704413,-2.4565228158067667,0.71338606911949],"aabb_xy":[[0.5520773331624368,-2.4662906378330764],[0.565080606178446,-2.446754993780457]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.5030974318078683,0.27977436045615045,0.71338606911949],"aabb_xy":[[0.4848916081466207,0.2687489598741588],[0.521303255469116,0.2907997610381421]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[0.26026978541105006,-0.6216425355263466,0.71338606911949],"aabb_xy":[[0.22276978683542922,-0.6343788311899045],[0.2977697839866708,-0.6089062398627886]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.3022062196906299,-2.3409020835812693,0.71338606911949],"aabb_xy":[[0.2833218359221197,-2.3597880083616225],[0.3210906034591401,-2.322016158800917]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[0.10162167741915973,-1.3727386225395422,0.71338606911949],"aabb_xy":[[0.011621680683549504,-1.4259220858568364],[0.19162167415476994,-1.3195551592222474]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[-0.22394082284966077,-1.678208950963366,0.71338606911949],"aabb_xy":[[-0.2624865156748618,-1.7167547220195545],[-0.18539513002445973,-1.639663179907177]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[0.13436907209016902,-1.8166716691695965,0.71338606911949],"aabb_xy":[[0.05436907066004182,-1.896188824182206],[0.21436907352029622,-1.737154514156987]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[0.3724659834793844,-1.5697857609628683,0.71338606911949],"aabb_xy":[[0.30746598084159094,-1.6212653596623152],[0.4374659861171779,-1.5183061622634213]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[0.6043848601215642,-0.7394334633025335,0.71338606911949],"aabb_xy":[[0.5243848621407792,-0.7470350042643853],[0.6843848581023493,-0.7318319223406814]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.5507530056932912,0.6017091378808632,0.71338606911949],"aabb_xy":[[0.5427096457673359,0.5167091367854968],[0.5587963656192463,0.6867091389762296]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[0.5296519252120846,-2.151246747610934,0.71338606911949],"aabb_xy":[[0.4596519236098051,-2.1646795408125916],[0.5996519268143641,-2.1378139544092765]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[-0.0478408093917162,-2.4227120925837116,0.71338606911949],"aabb_xy":[[-0.07284080894345468,-2.4328545764488463],[-0.022840809839977716,-2.412569608718577]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[0.3588474474790382,0.8834811751058771,0.71338606911949],"aabb_xy":[[0.3135688325978889,0.8194811757576934],[0.40412606236018744,0.9474811744540608]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[-0.5923008712540881,0.46784227418848,0.71338606911949],"aabb_xy":[[-0.6273008726055698,0.4474825382316592],[-0.5573008699026063,0.48820201014530085]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[0.06809742962470777,1.208754824592961,0.71338606911949],"aabb_xy":[[0.004097430330539553,1.1447686842241067],[0.132097428918876,1.272740964961815]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.07124973872259421,0.35769426507929714,0.71338606911949],"aabb_xy":[[-0.12106651818742897,0.30769426659499377],[-0.021432959257759454,0.4076942635636005]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.5852263847729384,0.0774328737619503,0.71338606911949],"aabb_xy":[[-0.6077263852849789,0.054941015396551926],[-0.5627263842608977,0.09992473212734863]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[-0.2122318160152286,0.7424966681476532,0.71338606911949],"aabb_xy":[[-0.2922318192730715,0.6625001603556693],[-0.1322318127573856,0.8224931759396372]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[0.12285484994897322,-2.091371444273482,0.71338606911949],"aabb_xy":[[0.06285484908816039,-2.1427978742799674],[0.18285485080978597,-2.039945014266995]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[-0.12231999480011357,-1.2655705091330558,0.71338606911949],"aabb_xy":[[-0.12645585113281377,-1.303070508577413],[-0.1181841384674134,-1.228070509688699]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[0.47535611969808533,0.33914069151695614,0.71338606911949],"aabb_xy":[[0.4403561205681296,0.33339547044129203],[0.510356118828041,0.34488591259262025]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[0.5156902262485386,-0.8372876524033832,0.71338606911949],"aabb_xy":[[0.4931902267248311,-0.8597835998540038],[0.5381902257722458,-0.8147917049527622]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[0.2933707232146937,1.1213900419255283,0.71338606911949],"aabb_xy":[[0.25657609008978743,1.084484166828946],[0.3301653563396,1.1582959170221105]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.13746041505608186,-2.1089586818939106,0.71338606911949],"aabb_xy":[[-0.22746041447445275,-2.1423341787381],[-0.04746041563771097,-2.0755831850497204]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_24","position":[-0.2582115221050394,0.4783194524751657,0.71338606911949],"aabb_xy":[[-0.34193374760512185,0.38831944894046977],[-0.17448929660495693,0.5683194560098617]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[-0.6505535906210318,0.28520805710243424,0.71338606911949],"aabb_xy":[[-0.6850160686341195,0.27854437991951136],[-0.6160911126079439,0.291871734285357]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.2594499015066589,-0.8415175170302887,0.71338606911949],"aabb_xy":[[-0.32344990384946043,-0.8864583682744211],[-0.19544989916385733,-0.7965766657861562]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_27","position":[-0.5446492971394964,-0.856452730219297,0.71338606911949],"aabb_xy":[[-0.5946492980900291,-0.8880018772228185],[-0.49464929618896347,-0.8249035832157757]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_28","position":[-0.34186769055212657,-1.7531049159374135,0.71338606911949],"aabb_xy":[[-0.37432939143405397,-1.7832377480523158],[-0.30940598967019906,-1.7229720838225107]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_29","position":[-0.4063764219619896,-2.392111444163255,0.71338606911949],"aabb_xy":[[-0.41049237207406214,-2.3962269991961005],[-0.4022604718499168,-2.3879958891304094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6942624935681316,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6818.png","name":"6818"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6818.png","name":"6818"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2138.png","name":"2138"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9380.png","name":"9380"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3991.png","name":"3991"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3693.png","name":"3693"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":648.8680146480555,"rotation_z_degrees":22.06685216366159,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019194193435878165,-0.0008144695576058382,0.0013194938132880252]},{"name":"camera_2","offset_m":[-0.005820360572663335,-0.013276469515671883,-0.004876991495336207]},{"name":"camera_3","offset_m":[-0.011691223483784428,-0.00971156893419916,0.005401709638543951]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011753490614741864,0.0004098317272002261,-0.0006680652754685213],"end_effector_yaw_offset_degrees":0.7478992636473587},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002751094842329217,0.0019606892250555842,0.0008419980804146247],"end_effector_yaw_offset_degrees":-0.4442181201941193},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017493305959024377,0.0008452124228945212,-0.001859921059733202],"end_effector_yaw_offset_degrees":-0.4647381595961444}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027078403564130557,-0.0020833255772704663],"position_m":[0.3217078403564131,-0.09148332557727046,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004866788076930701,-0.0010179393280480538],"position_m":[0.2799667880769307,-0.3440179393280481,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036432856483768895,-0.0014097184103458605],"position_m":[0.3026567143516231,0.23599028158965413,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0043470309922141815,-0.00204512583151818],"position_m":[0.34185296900778583,0.09515487416848181,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"89fc65ed0d86335756bc679f6a5090a176b11c34d197c6b57746827c7e654dda","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6818/tex_ceiling_textures_3693/tex_floor_textures_3991/tex_table_textures_2138/tex_wall_textures_9380","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6458918118626169997,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6458918118626169997,"visual_seed":6458918118626169997,"scene_id":"lab_003","finished_at":"2026-09-03T22:30:08"} +{"episode_id":"ep_000086","started_at":"2026-09-03T22:30:11","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.512537773445207,-2.3202472634259967,0.71338606911949],"aabb_xy":[[0.48895264998131216,-2.385247265671429],[0.5361228969091019,-2.2552472611805654]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.38918194829496433,0.6746319200267674,0.71338606911949],"aabb_xy":[[0.3392088827624489,0.6246319202142346],[0.4391550138274799,0.7246319198393004]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.5421452845854191,0.3027897598786131,0.71338606911949],"aabb_xy":[[0.5315778049273201,0.2922447297656045],[0.5527127642435181,0.3133347899916216]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[0.0322095795752797,1.0701597895565822,0.71338606911949],"aabb_xy":[[0.027365984814049726,1.0653081370775983],[0.037053174336509676,1.0750114420355665]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.5482147086865952,-0.8329409026082035,0.71338606911949],"aabb_xy":[[0.523214709520962,-0.8398931483135599],[0.5732147078522283,-0.8259886569028467]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.6428907192429043,-1.1175322861092991,0.71338606911949],"aabb_xy":[[0.6053907194258707,-1.122170497420441],[0.6803907190599379,-1.1128940747981573]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.4214305874676083,-0.6285059079658981,0.71338606911949],"aabb_xy":[[-0.43227106569412316,-0.6456921892565468],[-0.41059010924109335,-0.6113196266752492]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.14862231467679554,-1.6417822775195412,0.71338606911949],"aabb_xy":[[-0.19862231633829028,-1.6917807197752437],[-0.09862231301530076,-1.5917838352638383]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[0.5283400740736415,-1.916060309029255,0.71338606911949],"aabb_xy":[[0.4683400732128286,-1.9674867390357413],[0.5883400749344542,-1.8646338790227686]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.40717551615961467,0.3693874904748813,0.71338606911949],"aabb_xy":[[0.40303965982691453,0.33188749103052434],[0.4113113724923149,0.40688748991923834]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.40947156077702873,-0.9963523897286459,0.71338606911949],"aabb_xy":[[0.3719715604848539,-1.0003938651292494],[0.44697156106920355,-0.9923109143280423]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[0.21566227398108206,-1.9812928731448762,0.71338606911949],"aabb_xy":[[0.16566227269724207,-2.031271727535498],[0.265662275264922,-1.931314018754254]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[0.5241643917365499,-2.5193475139119856,0.71338606911949],"aabb_xy":[[0.4741651165681139,-2.569347515187933],[0.5741636669049862,-2.4693475126360385]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.11352236457333331,-1.279367234278001,0.71338606911949],"aabb_xy":[[-0.13119799516193162,-1.2970474505574034],[-0.09584673398473496,-1.261687017998598]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[0.5695615488785915,0.02436057308684747,0.71338606911949],"aabb_xy":[[0.5412318389300513,0.01989983089313041],[0.5978912588271318,0.02882131528056453]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.11586224118080668,1.7087063487853675,0.71338606911949],"aabb_xy":[[-0.1798622404749749,1.6447202084165136],[-0.05186224188663846,1.772692489154222]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.11183853295832569,-2.4181606730435474,0.71338606911949],"aabb_xy":[[0.07752225578370774,-2.468160673016725],[0.14615481013294362,-2.3681606730703697]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.21535748870331295,0.38910677821373785,0.71338606911949],"aabb_xy":[[-0.27935748908084657,0.3393615113629256],[-0.1513574883257793,0.4388520450645501]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[-0.6043874409822964,-1.1842727660095926,0.71338606911949],"aabb_xy":[[-0.6116697573589599,-1.274272769619101],[-0.5971051246056326,-1.094272762400083]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.544594300528503,0.7029082159277351,0.71338606911949],"aabb_xy":[[-0.5527219887218162,0.6939946075170275],[-0.5364666123351898,0.7118218243384428]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[0.47990174000257557,-0.297925622990423,0.71338606911949],"aabb_xy":[[0.3999079164240174,-0.3779256255832646],[0.5598955635811338,-0.21792562039758145]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941357302944795,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2221.png","name":"2221"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2221.png","name":"2221"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/889.png","name":"889"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/469.png","name":"469"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6615.png","name":"6615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7138.png","name":"7138"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":730.5309393926897,"rotation_z_degrees":92.07026786295843,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010407004457700098,0.016322810374022476,-0.005033833074252989]},{"name":"camera_2","offset_m":[0.010029553904720753,0.018074596455156435,0.010602610932023526]},{"name":"camera_3","offset_m":[0.014173456892993107,-0.010161804978392492,-0.014709262940230712]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015533030204174128,-0.0009288693805290214,-0.0015271095539331192],"end_effector_yaw_offset_degrees":-0.24432637968071558},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00024218861356941832,0.0006163577440690517,0.0005122359307880402],"end_effector_yaw_offset_degrees":-0.1376465524954913},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018355533317087414,0.0014234071920732907,-0.00012794097026205798],"end_effector_yaw_offset_degrees":-0.9191703501752018}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003935982130782009,-0.0019241158268603776],"position_m":[0.322935982130782,-0.09132411582686037,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00419250896252374,-0.0019421666537974202],"position_m":[0.2792925089625238,-0.34494216665379746,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007707431107821352,0.004959858059978344],"position_m":[0.30707074311078214,0.24235985805997834,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004108400762491645,0.0018598535829574669],"position_m":[0.34209159923750837,0.09905985358295746,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cdff6992d70a324051f94667ca316d0150f60318891bb4c20b1b6fdb3409a0b2","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2221/tex_ceiling_textures_7138/tex_floor_textures_6615/tex_table_textures_889/tex_wall_textures_469","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":6087601416444573566,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":6087601416444573566,"visual_seed":6087601416444573566,"scene_id":"lab_003","finished_at":"2026-09-03T22:32:55"} +{"episode_id":"ep_000087","started_at":"2026-09-03T22:32:57","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[0.6084301040451909,0.8493296605905569,0.71338606911949],"aabb_xy":[[0.5484301024022691,0.7973295112986128],[0.6684301056881128,0.9013298098825012]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.3214442506605244,0.7203796486794523,0.71338606911949],"aabb_xy":[[-0.33467519619520564,0.7071522296574527],[-0.30821330512584305,0.7336070677014516]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[0.5785746779090377,-1.6248288439992375,0.71338606911949],"aabb_xy":[[0.4985746776354307,-1.6977783918249543],[0.6585746781826446,-1.5518792961735208]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[-0.2971327990371147,1.1804137061260254,0.71338606911949],"aabb_xy":[[-0.30583076132783,1.1682887318185506],[-0.2884348367463994,1.1925386804335]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[-0.5487680482242746,1.1790338411926116,0.71338606911949],"aabb_xy":[[-0.563102473350438,1.1669736256380727],[-0.534433623098111,1.1910940567471504]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.36894415418434123,-1.461980662666856,0.71338606911949],"aabb_xy":[[0.31894415460800657,-1.511961241618962],[0.418944153760676,-1.4120000837147502]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.3966881027999911,1.0934563279666554,0.71338606911949],"aabb_xy":[[0.36222562478690334,1.0867926507837324],[0.4311505808130789,1.1001200051495779]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.24243143561375102,0.5789240824187529,0.71338606911949],"aabb_xy":[[0.20996973473182357,0.5487912503038501],[0.2748931364956785,0.6090569145336553]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.47317419108052416,1.3795419090908347,0.71338606911949],"aabb_xy":[[-0.4956389610519292,1.357041908211974],[-0.450709421109119,1.402041909969695]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[0.04810933511062376,0.712467199752242,0.71338606911949],"aabb_xy":[[0.0003031674968551126,0.6474671970451831],[0.09591550272439239,0.7774672024593009]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.25073081312867396,-1.4431400406606998,0.71338606911949],"aabb_xy":[[0.24527286749165383,-1.5231400439683587],[0.25618875876569397,-1.3631400373530405]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[0.406877361308448,-2.2928754416133614,0.71338606911949],"aabb_xy":[[0.3955156266551618,-2.304243908019649],[0.41823909596173414,-2.281506975207073]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.5714706085684027,0.4888978327317197,0.71338606911949],"aabb_xy":[[0.507470607160412,0.4371088812077951],[0.6354706099763934,0.5406867842556444]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[0.2597701225748337,-1.7117982761367951,0.71338606911949],"aabb_xy":[[0.209770123134638,-1.7617662006211112],[0.30977012201502924,-1.6618303516524786]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.3424996504703563,0.16478078157589682,0.71338606911949],"aabb_xy":[[-0.3599996507154057,0.14728099373632994],[-0.3249996502253069,0.18228056941546364]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[0.2602015355087124,-2.4802251655463534,0.71338606911949],"aabb_xy":[[0.2513994801997396,-2.4880364917012825],[0.26900359081768505,-2.4724138393914243]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.11658122310804564,-2.17974488110759,0.71338606911949],"aabb_xy":[[-0.15361533253610532,-2.2141220884412993],[-0.07954711367998592,-2.1453676737738805]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[-0.18664755198776362,0.957601083674279,0.71338606911949],"aabb_xy":[[-0.2703697774878461,0.867601080139583],[-0.10292532648768116,1.047601087208975]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.012624619911938861,1.6079111568862632,0.71338606911949],"aabb_xy":[[-0.025496523412879,1.5279111564724268],[0.00024728358900127917,1.687911157300099]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.6077812197710362,1.6023115034520328,0.71338606911949],"aabb_xy":[[0.527781218340909,1.5227943484394233],[0.6877812212011634,1.6818286584646422]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_20","position":[-0.5755670453685239,-0.8085414921586547,0.71338606911949],"aabb_xy":[[-0.5932426759571222,-0.8262217084380573],[-0.5578914147799255,-0.7908612758792518]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[0.15614215090685024,-0.7701094265266761,0.71338606911949],"aabb_xy":[[0.09214215020338092,-0.8161278089995972],[0.22014215161031964,-0.7240910440537551]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.45639271373544954,-0.26508694135816757,0.71338606911949],"aabb_xy":[[-0.5063927147545849,-0.30155315709599556],[-0.4063927127163144,-0.2286207256203397]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[-0.62078830929684,0.3736438882463262,0.71338606911949],"aabb_xy":[[-0.6847883096743737,0.32389862139551395],[-0.5567883089193064,0.4233891550971385]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.6542039818333432,0.1605558749749756,0.71338606911949],"aabb_xy":[[-0.679203981765861,0.15367320675405227],[-0.6292039819008253,0.1674385431958989]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[0.5544515227230475,-0.22213127816105072,0.71338606911949],"aabb_xy":[[0.5450340481531847,-0.23154745529876972],[0.5638689972929102,-0.21271510102333166]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[0.5797800787221716,-0.9219949138304186,0.71338606911949],"aabb_xy":[[0.5297800770606769,-0.9719933560861213],[0.6297800803836664,-0.8719964715747158]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_27","position":[-0.2338049489118812,-0.305796075292073,0.71338606911949],"aabb_xy":[[-0.24573768327370926,-0.31817822809993235],[-0.22187221455005313,-0.2934139224842136]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[-0.3792727621216969,-1.9462298419145756,0.71338606911949],"aabb_xy":[[-0.44327276239567515,-1.9962959421118638],[-0.3152727618477187,-1.8961637417172879]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_29","position":[0.3628282791383133,1.3018969961417097,0.71338606911949],"aabb_xy":[[0.3376074422784735,1.2766732452888228],[0.38804911599815284,1.3271207469945963]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_30","position":[0.4573063523185623,0.5903142955157632,0.71338606911949],"aabb_xy":[[0.4492700176172775,0.5822761762113463],[0.46534268701984716,0.5983524148201799]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_31","position":[-0.1663257768466151,1.4779027122974466,0.71338606911949],"aabb_xy":[[-0.24632577900937758,1.397947528671303],[-0.08632577468385261,1.5578578959235903]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_32","position":[-0.5498044657100913,0.096596904087908,0.71338606911949],"aabb_xy":[[-0.5748044652618298,0.08645442022277328],[-0.5248044661583529,0.10673938795304272]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_33","position":[0.24451379142508967,-2.288299075723839,0.71338606911949],"aabb_xy":[[0.19451379006420244,-2.3382769802992542],[0.2945137927859769,-2.238321171148423]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_34","position":[0.0026876812338300082,1.354976210598227,0.71338606911949],"aabb_xy":[[-0.034812318709936396,1.3466831205633907],[0.04018768117759641,1.3632693006330638]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.693140686175798,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1819.png","name":"1819"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1819.png","name":"1819"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/39.png","name":"39"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3618.png","name":"3618"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9201.png","name":"9201"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8788.png","name":"8788"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":690.7929165907806,"rotation_z_degrees":138.60591259532487,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00025007361531413294,-0.003294181831705257,0.003221535131403202]},{"name":"camera_2","offset_m":[0.007313905242419639,0.0032253963224663854,-0.003330507651486854]},{"name":"camera_3","offset_m":[-0.004626774474775783,-0.018127979111097727,0.01122390229532685]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017903782310993515,-0.0018257143890193124,-0.0019712364055275823],"end_effector_yaw_offset_degrees":-0.22166703469584026},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008438127418193852,0.0003811201335323709,0.00028153287376172847],"end_effector_yaw_offset_degrees":0.24792001444843592},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00029120834979025996,0.0015981110696322415,-0.0005896688582922116],"end_effector_yaw_offset_degrees":0.4454130140346939}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004490408832709322,0.0003609621706356066],"position_m":[0.32349040883270935,-0.08903903782936438,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002651237219578345,-0.0026285613391365827],"position_m":[0.27775123721957834,-0.3456285613391366,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004090317071671712,0.0023264315865376695],"position_m":[0.31039031707167175,0.23972643158653767,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039973251723060535,0.002369866680792642],"position_m":[0.34220267482769395,0.09956986668079264,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e6e8d0625814d38f89be848e402ceecfab1311869d44c0ed1a8fd9184e166073","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0087.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1819/tex_ceiling_textures_8788/tex_floor_textures_9201/tex_table_textures_39/tex_wall_textures_3618","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3814574034513416247,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3814574034513416247,"visual_seed":3814574034513416247,"scene_id":"lab_003","finished_at":"2026-09-03T22:35:36"} +{"episode_id":"ep_000088","started_at":"2026-09-03T22:35:40","dimensions":{"distractor":{"count":25,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[-0.3424259397236038,-2.2758526465204802,0.71338606911949],"aabb_xy":[[-0.35250764680217717,-2.3558526444125945],[-0.3323442326450302,-2.195852648628365]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[-0.14500283356503696,0.4888287023619977,0.71338606911949],"aabb_xy":[[-0.20500283407288988,0.43198196867607647],[-0.08500283305718405,0.545675436047919]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[-0.2531595579098483,-0.7545181190981063,0.71338606911949],"aabb_xy":[[-0.28815955710266644,-0.7654851650957688],[-0.2181595587170299,-0.7435510731004435]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.5530478346081713,0.7513147102219362,0.71338606911949],"aabb_xy":[[-0.590547836123803,0.7400879372057911],[-0.5155478330925396,0.7625414832380812]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.11249470541524542,-2.4846916174041165,0.71338606911949],"aabb_xy":[[-0.12334631166412102,-2.4955509081317677],[-0.10164309916636982,-2.4738323266764652]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[0.38634445461235,1.1381463926732147,0.71338606911949],"aabb_xy":[[0.33634445325146284,1.088168488097799],[0.4363444559732373,1.1881242972486303]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.5976492116725576,0.5155030706614068,0.71338606911949],"aabb_xy":[[-0.6776492121427735,0.5071923630470585],[-0.5176492112023416,0.5238137782757553]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.5030743373103761,0.8475338853333345,0.71338606911949],"aabb_xy":[[0.46557433873475523,0.8347975896697767],[0.5405743358859968,0.8602701809968926]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[0.08830374424136533,-2.47339689281358,0.71338606911949],"aabb_xy":[[0.008309920662807127,-2.553396895406422],[0.16829756781992355,-2.393396890220739]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.6264013605625725,0.6519854144211585,0.71338606911949],"aabb_xy":[[0.5614013626809248,0.6008617507146178],[0.6914013584442203,0.7031090781276995]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[0.5646956470173892,-2.5544553387375175,0.71338606911949],"aabb_xy":[[0.5421956474936817,-2.576951286188138],[0.5871956465410965,-2.5319593912868963]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[-0.41200461747708494,-2.5307708320549773,0.71338606911949],"aabb_xy":[[-0.4464669648752267,-2.5652647144527996],[-0.3775422700789431,-2.496276949657154]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.26814838780255457,-0.897531802910829,0.71338606911949],"aabb_xy":[[0.17814839106694436,-0.9507152662281235],[0.3581483845381648,-0.8443483395935345]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[-0.3807435739923142,0.6635670666599038,0.71338606911949],"aabb_xy":[[-0.41114168509145776,0.6331601646582342],[-0.3503454628931706,0.6939739686615732]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.26727338283014573,1.616447779138444,0.71338606911949],"aabb_xy":[[-0.2908585062940406,1.5514477768930122],[-0.24368825936625088,1.6814477813838757]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.3329877637904066,0.47158798592403794,0.71338606911949],"aabb_xy":[[0.28300481360292723,0.4215879862814774],[0.3829707139778859,0.5215879855665981]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[0.14955392061355,1.152011292284382,0.71338606911949],"aabb_xy":[[0.11455392071753114,1.1436370567724419],[0.18455392050956887,1.160385527796322]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[-0.31692382706089284,0.4873479525155746,0.71338606911949],"aabb_xy":[[-0.32879591007239395,0.4023479528219242],[-0.3050517440493917,0.572347952209225]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[-0.10758365653976476,0.10128153979445598,0.71338606911949],"aabb_xy":[[-0.15758365597996038,0.05131361531013966],[-0.05758365709956913,0.15124946427877228]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[0.51518272674413,-0.6279090664283684,0.71338606911949],"aabb_xy":[[0.4651877157846781,-0.6779090654639601],[0.5651777377035822,-0.5779090673927767]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.06780642005659021,-1.2294209348082366,0.71338606911949],"aabb_xy":[[0.02503971317717002,-1.2934209382300388],[0.1105731269360104,-1.1654209313864339]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.21693668155781864,-1.0181865164775743,0.71338606911949],"aabb_xy":[[-0.25824122462155463,-1.0821865160456914],[-0.17563213849408263,-0.9541865169094572]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_22","position":[-0.2409810271157834,-1.8354035532717097,0.71338606911949],"aabb_xy":[[-0.2584810273751201,-1.8494950954604825],[-0.22348102685644683,-1.8213120110829373]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[-0.256975626538851,-2.5223568097796716,0.71338606911949],"aabb_xy":[[-0.2940097359669107,-2.5567340171133806],[-0.21994151711079127,-2.4879796024459617]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[0.4957877637996715,-1.0526990213463046,0.71338606911949],"aabb_xy":[[0.4623085965386306,-1.0861781347174115],[0.5292669310607125,-1.0192199079751976]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6881644960574939,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5980.png","name":"5980"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5980.png","name":"5980"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5752.png","name":"5752"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3209.png","name":"3209"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6445.png","name":"6445"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2438.png","name":"2438"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":578.6636783118378,"rotation_z_degrees":136.02738543862228,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014056285028945705,-0.00981191827346899,-0.014288090572765247]},{"name":"camera_2","offset_m":[0.0005895048934561747,-0.0161880032105518,-0.010756404825161842]},{"name":"camera_3","offset_m":[-0.0027095359078292552,-0.009338582882544664,0.004325276796399845]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007329326099085689,-0.0007172413353270489,-0.0014550389192905433],"end_effector_yaw_offset_degrees":0.8462905458607022},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019850856138250374,-0.0014488741838761371,0.0011115810079771176],"end_effector_yaw_offset_degrees":0.2147965040224682},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000571920597853293,-0.0013156324218404213,0.0004154392504736857],"end_effector_yaw_offset_degrees":0.30953571809538527}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000969520085642237,-0.001673290207737398],"position_m":[0.3180304799143578,-0.0910732902077374,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001823702581843346,-0.0004278711910604459],"position_m":[0.2732762974181567,-0.3434278711910605,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008667609582274785,-0.0038674649440624213],"position_m":[0.3071667609582275,0.23353253505593757,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004112721627393978,0.002068455232624623],"position_m":[0.35031272162739396,0.09926845523262462,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f82a535d3656fa832d6a3758535fb3f18cf20ce3898d8bd78ed248047f8dc16c","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0088.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5980/tex_ceiling_textures_2438/tex_floor_textures_6445/tex_table_textures_5752/tex_wall_textures_3209","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":4799312365445865990,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":4799312365445865990,"visual_seed":4799312365445865990,"scene_id":"lab_003","finished_at":"2026-09-03T22:38:14"} +{"episode_id":"ep_000089","started_at":"2026-09-03T22:38:17","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[0.3912222993995633,-2.2527352793559534,0.71338606911949],"aabb_xy":[[0.38252433710884803,-2.264860253663428],[0.3999202616902786,-2.2406103050484787]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.6328174794811896,-0.617233039173456,0.71338606911949],"aabb_xy":[[-0.6628091422150599,-0.6472330385102564],[-0.6028258167473193,-0.5872330398366553]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.2619962272847728,-1.160224357110939,0.71338606911949],"aabb_xy":[[-0.2692399933310181,-1.2402243553145411],[-0.25475246123852746,-1.0802243589073364]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[0.5032332861097049,-2.40527430597092,0.71338606911949],"aabb_xy":[[0.4382332879537858,-2.4315705505208323],[0.5682332842656239,-2.378978061421008]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[0.5910275194348764,0.003634169003344123,0.71338606911949],"aabb_xy":[[0.5837452030582125,-0.08636583460616486],[0.5983098358115398,0.0936341726128531]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[0.15047780239568875,-2.222038382092853,0.71338606911949],"aabb_xy":[[0.0864778009876981,-2.273827333616777],[0.21447780380367942,-2.1702494305689277]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[0.19011570257471166,1.0246477568118015,0.71338606911949],"aabb_xy":[[0.13512022475405225,0.9696477553778944],[0.24511118039537103,1.0796477582457082]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.30738651739877554,-2.3616291366264535,0.71338606911949],"aabb_xy":[[-0.32988651791081613,-2.3841209949918514],[-0.28488651688673494,-2.3391372782610547]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.3204794371042681,1.0151108575084278,0.71338606911949],"aabb_xy":[[0.29920142896079577,0.9501108551823547],[0.34175744524774027,1.0801108598345008]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[0.46925316662690353,-1.331344873080225,0.71338606911949],"aabb_xy":[[0.40925316576609067,-1.3827713030867113],[0.5292531674877162,-1.2799184430737385]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[0.12405854678888428,-1.1586003401760487,0.71338606911949],"aabb_xy":[[0.10155854677873599,-1.172696559815652],[0.14655854679903257,-1.1445041205364455]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[-0.4823232099751148,-0.1272282162378029,0.71338606911949],"aabb_xy":[[-0.48836022297577963,-0.1332549173067511],[-0.4762861969744502,-0.12120151516885469]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.5658279712050018,-1.471477397886228,0.71338606911949],"aabb_xy":[[-0.573955659398315,-1.4803910062969354],[-0.5577002830116886,-1.4625637894755203]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[-0.050907338548859316,-0.7443388391588979,0.71338606911949],"aabb_xy":[[-0.05970939385783202,-0.7521501653138268],[-0.0421052832398866,-0.7365275130039687]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.039519336738824795,-1.7185920200635596,0.71338606911949],"aabb_xy":[[-0.010479938429611368,-1.7685920213395068],[0.08951861190726096,-1.6685920187876124]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.29789575793667,-1.9047204709359633,0.71338606911949],"aabb_xy":[[0.24791280774919064,-1.9547204705785235],[0.3478787081241493,-1.8547204712934027]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.581423837451513,-1.879367134613029,0.71338606911949],"aabb_xy":[[-0.6148640126475325,-1.9128107604439586],[-0.5479836622554933,-1.8459235087820984]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[-0.3387143478532901,1.3924104224270115,0.71338606911949],"aabb_xy":[[-0.40871435048987637,1.3723055574311458],[-0.2687143452167037,1.4125152874228768]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[-0.5871633195045984,-1.116337785073394,0.71338606911949],"aabb_xy":[[-0.6046633187826853,-1.13367588513974],[-0.5696633202265116,-1.098999685007048]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.22829715221005942,-1.4225552341603074,0.71338606911949],"aabb_xy":[[-0.3082971524836664,-1.4955047819860243],[-0.14829715193645243,-1.3496056863345909]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6927977665730066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/881.png","name":"881"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/881.png","name":"881"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9675.png","name":"9675"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7917.png","name":"7917"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1615.png","name":"1615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9601.png","name":"9601"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":592.0496564114205,"rotation_z_degrees":104.266061680802,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018549028526179095,0.005204262726352375,0.017854224792934952]},{"name":"camera_2","offset_m":[-0.0008930899840923004,-0.00010114501843648885,0.00724666244162386]},{"name":"camera_3","offset_m":[-0.015990054858792634,0.01261681174961166,-0.007631862869359551]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004121248039361293,-1.6030437600364576e-05,-0.0004979962610102771],"end_effector_yaw_offset_degrees":-0.8333900566140038},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019131019616958154,0.0016607733107164963,1.3285291929748203e-05],"end_effector_yaw_offset_degrees":0.5858418832721224},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005303211277504763,0.0018063163908608533,-5.3411164182805325e-05],"end_effector_yaw_offset_degrees":0.9258959437613881}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004066339735590106,-0.0037086460681704627],"position_m":[0.3230663397355901,-0.09310864606817046,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004690235925409478,0.0016356474325140034],"position_m":[0.27979023592540947,-0.34136435256748604,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014552878478908812,0.002042155384235283],"position_m":[0.3077552878478909,0.23944215538423527,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014012860431307271,0.0005540601293892392],"position_m":[0.34760128604313073,0.09775406012938924,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c7e1be067d64f3a3c3ae6fbc377f2fe498ec05163d47865547e73235424f0eac","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0089.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_881/tex_ceiling_textures_9601/tex_floor_textures_1615/tex_table_textures_9675/tex_wall_textures_7917","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1916502387198819478,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1916502387198819478,"visual_seed":1916502387198819478,"scene_id":"lab_003","finished_at":"2026-09-03T22:40:56"} +{"episode_id":"ep_000090","started_at":"2026-09-03T22:41:00","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.6648430422245333,-1.2982030784564986,0.71338606911949],"aabb_xy":[[0.6148482092965917,-1.3482030773517422],[0.7148378751524749,-1.248203079561255]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.028898620653363016,-1.851630889618244,0.71338606911949],"aabb_xy":[[-0.03521072018970145,-1.857397828871463],[-0.022586521117024583,-1.8458639503650252]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.11156334756684605,1.781479264033473,0.71338606911949],"aabb_xy":[[-0.12026130985756134,1.7693542897259982],[-0.10286538527613076,1.7936042383409476]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.5923752760373643,-2.1223204439065877,0.71338606911949],"aabb_xy":[[-0.6173752752029974,-2.1292726896119443],[-0.5673752768717312,-2.115368198201231]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[0.6212645792657463,-1.4470494259584459,0.71338606911949],"aabb_xy":[[0.5712645779048591,-1.4970273305338615],[0.6712645806266335,-1.3970715213830303]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[0.004821901815940111,-0.7194711354032055,0.71338606911949],"aabb_xy":[[-0.0326780996996916,-0.7306979084193506],[0.04232190333157182,-0.7082443623870605]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[-0.29653530372010967,-0.10359318501134851,0.71338606911949],"aabb_xy":[[-0.31903530353401205,-0.1080678013818292],[-0.2740353039062073,-0.09911856864086782]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.4659929971763732,-1.8524231252641268,0.71338606911949],"aabb_xy":[[0.45284175120508385,-1.8774231250208133],[0.4791442431476626,-1.8274231255074402]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.004986079818193656,1.448978411397127,0.71338606911949],"aabb_xy":[[-0.04109901143653782,1.3849784141445716],[0.05107117107292513,1.5129784086496818]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[0.22100440518375697,0.704802289142433,0.71338606911949],"aabb_xy":[[0.2035736901047504,0.687530174478582],[0.23843512026276342,0.7220744038062836]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[-0.03104763182517578,0.5615507094889249,0.71338606911949],"aabb_xy":[[-0.04660340123544105,0.5460002762445179],[-0.015491862414910521,0.5771011427333322]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[-0.13885873803092885,0.09123227708730663,0.71338606911949],"aabb_xy":[[-0.2038587389880561,0.03928406515360106],[-0.07385873707380168,0.1431804890210122]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.5609434067085037,-0.8420182719143059,0.71338606911949],"aabb_xy":[[-0.5834081766799087,-0.8645182727931664],[-0.5384786367370985,-0.8195182710354454]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[-0.5382301205399832,0.619613059644617,0.71338606911949],"aabb_xy":[[-0.6032301216459265,0.5946476865764887],[-0.4732301194340399,0.6445784327127453]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[-0.5357012946817442,1.1247203551214642,0.71338606911949],"aabb_xy":[[-0.600701293238817,1.0949678217075813],[-0.4707012961246714,1.1544728885353466]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.4239748258659512,-2.202244463868958,0.71338606911949],"aabb_xy":[[-0.4464748258760995,-2.2163406835085615],[-0.4014748258558029,-2.188148244229355]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[0.5235071439106636,1.0139802620696394,0.71338606911949],"aabb_xy":[[0.4735071428915284,0.9775140463318117],[0.5735071449297989,1.0504464778074676]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[0.5966533330033719,-0.00893502968610349,0.71338606911949],"aabb_xy":[[0.5926928492336375,-0.01660289427162409],[0.6006138167731062,-0.00126716510058289]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[0.5274485482426403,-0.5198194975624268,0.71338606911949],"aabb_xy":[[0.46344854965606774,-0.5668264609619356],[0.5914485468292127,-0.47281253416291813]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[-0.3765722939234786,-0.34482265105570686,0.71338606911949],"aabb_xy":[[-0.3804861671189011,-0.3535716664622636],[-0.37265842072805605,-0.3360736356491501]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.44474386346517697,0.35121078999102817,0.71338606911949],"aabb_xy":[[-0.4997370748023138,0.2962107896522346],[-0.3897506521280403,0.4062107903298218]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.6555691969735047,1.2338962769946389,0.71338606911949],"aabb_xy":[[-0.6643712522824773,1.2260849508397096],[-0.6467671416645319,1.2417076031495677]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[0.6612246360238196,1.0117530743472614,0.71338606911949],"aabb_xy":[[0.6519310177866691,0.9742530758591272],[0.6705182542609702,1.049253072835395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874793679287157,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6454.png","name":"6454"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6454.png","name":"6454"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/243.png","name":"243"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5826.png","name":"5826"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1311.png","name":"1311"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2028.png","name":"2028"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":566.485037155946,"rotation_z_degrees":153.11752851902682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006277039816959273,0.00044755673376250735,0.002356506070325927]},{"name":"camera_2","offset_m":[0.013687541948230884,0.01348294711427268,0.011834838119442168]},{"name":"camera_3","offset_m":[-0.005927845673207864,-0.005783381329242556,-0.0063390563201314535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018412902746924753,-0.0019828448551081693,0.0016749562919506082],"end_effector_yaw_offset_degrees":-0.7921983211790387},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013148297314437385,-0.0006839440743550793,0.0018660431096642846],"end_effector_yaw_offset_degrees":0.09289222017788368},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013026133756231105,0.001432633853027132,-0.0005084177338792117],"end_effector_yaw_offset_degrees":0.15546221916547176}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003254699719713378,-0.0008177887488293942],"position_m":[0.3222546997197134,-0.09021778874882938,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002299658726148779,0.00011859701993254847],"position_m":[0.2728003412738512,-0.3428814029800675,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014703381705379439,-0.00283936064248666],"position_m":[0.30777033817053795,0.23456063935751334,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002929240345781048,0.0036432196240174025],"position_m":[0.34327075965421894,0.10084321962401739,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0e52a28c919b846f33623fc79346aa4a6101496bdae0c5040da1d063436a4c0d","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6454/tex_ceiling_textures_2028/tex_floor_textures_1311/tex_table_textures_243/tex_wall_textures_5826","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":3887370476715055537,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":3887370476715055537,"visual_seed":3887370476715055537,"scene_id":"lab_003","finished_at":"2026-09-03T22:43:40"} +{"episode_id":"ep_000091","started_at":"2026-09-03T22:43:43","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[-0.20277910519884923,0.6394031606381287,0.71338606911949],"aabb_xy":[[-0.26040957408612003,0.579403161711418],[-0.14514863631157834,0.6994031595648392]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[0.2817019365707223,-1.61721830312267,0.71338606911949],"aabb_xy":[[0.2592019360586817,-1.6397101614880685],[0.3042019370827629,-1.5947264447572718]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[-0.1898890458304272,1.3569470241834005,0.71338606911949],"aabb_xy":[[-0.2244801286844724,1.2919470238983695],[-0.15529796297638196,1.4219470244684316]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.0781833767484088,1.7167586924685723,0.71338606911949],"aabb_xy":[[-0.11521748617646851,1.6823814851348629],[-0.04114926732034909,1.7511358998022817]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[0.2826208928285021,0.9219010339722495,0.71338606911949],"aabb_xy":[[0.22762768149136536,0.866901033633456],[0.33761410416563886,0.9769010343110432]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.2611919041130488,-0.8222474381973826,0.71338606911949],"aabb_xy":[[0.2201739607266779,-0.8722474388283398],[0.30220984749941965,-0.7722474375664251]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.5088303172042428,-2.1583791147834006,0.71338606911949],"aabb_xy":[[-0.526505947792841,-2.176059331062803],[-0.4911546866156444,-2.1406988985039974]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.014944481184922975,-2.223469890620029,0.71338606911949],"aabb_xy":[[-0.03405678854290184,-2.242604669497271],[0.00416782617305589,-2.204335111742787]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[0.1383474146865843,1.5175727429714745,0.71338606911949],"aabb_xy":[[0.12076911249763744,1.4999982533973693],[0.15592571687553114,1.5351472325455793]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[0.3027560670672398,1.474586226221994,0.71338606911949],"aabb_xy":[[0.2387560651548975,1.4186750769639835],[0.3667560689795822,1.5304973754800044]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.5866864001864057,1.798581442701884,0.71338606911949],"aabb_xy":[[-0.6033635361795012,1.7818815187279538],[-0.5700092641933102,1.8152813666758143]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.13515339574419538,-1.2621750608455,0.71338606911949],"aabb_xy":[[-0.19515339634021156,-1.3169875333907235],[-0.0751533951481792,-1.2073625883002765]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[0.5850450569570633,1.394618119570639,0.71338606911949],"aabb_xy":[[0.5758851780131867,1.388086901527102],[0.5942049359009399,1.4011493376141761]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.358405240297637,-0.5495290242255106,0.71338606911949],"aabb_xy":[[0.3084278234323833,-0.5995290257147591],[0.40838265716289046,-0.49952902273626204]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[-0.647748503667626,0.8931272189861064,0.71338606911949],"aabb_xy":[[-0.6603512028047025,0.8805318227612409],[-0.6351458045305496,0.9057226152109719]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.36919202321752126,-0.39364976870119195,0.71338606911949],"aabb_xy":[[-0.37409131552408476,-0.42132668800376066],[-0.36429273091095776,-0.3659728493986231]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.4027944364664027,-0.48056449434688675,0.71338606911949],"aabb_xy":[[-0.48279443753952306,-0.4903425406842712],[-0.3227944353932824,-0.4707864480095023]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[0.1458682609025057,1.0179843376995241,0.71338606911949],"aabb_xy":[[0.14102466614127576,1.01313268522054],[0.1507118556637357,1.0228359901785082]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_18","position":[-0.6059573113994797,1.2488968188874159,0.71338606911949],"aabb_xy":[[-0.6138805916382281,1.2263968186494127],[-0.5980340311607314,1.2713968191254195]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.34749892411231587,1.1115040166862906,0.71338606911949],"aabb_xy":[[0.3414042962241976,1.102934622134622],[0.35359355200043424,1.1200734112379593]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6908872753300094,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9867.png","name":"9867"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9867.png","name":"9867"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2662.png","name":"2662"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3596.png","name":"3596"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/965.png","name":"965"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3106.png","name":"3106"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":842.0216680758801,"rotation_z_degrees":35.60023253016729,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002246991798518616,0.005799949957130148,0.009279031756957247]},{"name":"camera_2","offset_m":[-0.009520908166040388,0.011329191436386808,-0.01624201368934885]},{"name":"camera_3","offset_m":[-0.01193329307625651,-0.019427937297951985,0.015147972884781941]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010185260557195172,-0.00038662774126037346,0.0012505318299668032],"end_effector_yaw_offset_degrees":0.8798718910402792},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014429417756030316,-0.0009631508754970107,0.001959909764859365],"end_effector_yaw_offset_degrees":0.7132013482155537},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004644514441177446,0.0006361511577694197,-0.0016293748941171977],"end_effector_yaw_offset_degrees":-0.5630263349659399}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018600072473683917,0.001566817093642799],"position_m":[0.3171399927526316,-0.0878331829063572,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023851598391646765,0.0014446771140723376],"position_m":[0.27748515983916466,-0.3415553228859277,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016147524406523606,-0.004969408511997688],"position_m":[0.30791475244065236,0.23243059148800232,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003448117143612736,0.0017802632974501728],"position_m":[0.34275188285638725,0.09898026329745016,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b25288f62ac65d56cba24a72c462c2775a2ff28a26b29aba37ba6127f23ee0af","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0091.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9867/tex_ceiling_textures_3106/tex_floor_textures_965/tex_table_textures_2662/tex_wall_textures_3596","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7188026109048106315,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7188026109048106315,"visual_seed":7188026109048106315,"scene_id":"lab_003","finished_at":"2026-09-03T22:46:20"} +{"episode_id":"ep_000092","started_at":"2026-09-03T22:46:24","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[-0.6306229719741067,0.03587863252941892,0.71338606911949],"aabb_xy":[[-0.6946229736521039,-0.012638758949895301],[-0.5666229702961092,0.08439602400873314]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[-0.5709897316667654,-0.5162909368239617,0.71338606911949],"aabb_xy":[[-0.575067889573815,-0.5203719170722249],[-0.5669115737597157,-0.5122099565756982]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[-0.039514723342916946,1.1353665886015332,0.71338606911949],"aabb_xy":[[-0.07701472191853775,1.122630292937975],[-0.0020147247672961453,1.1481028842650909]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[-0.27422294639643247,-0.8855116256735487,0.71338606911949],"aabb_xy":[[-0.2861556807582605,-0.8978937784814081],[-0.26229021203460434,-0.8731294728656893]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.5160442456555816,0.004254498853103694,0.71338606911949],"aabb_xy":[[0.4460442422640197,-0.031061274850327166],[0.5860442490471436,0.03957027255653455]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[-0.16448990369287897,0.6434875140074414,0.71338606911949],"aabb_xy":[[-0.18948990285851208,0.6365352683020848],[-0.13948990452724586,0.650439759712798]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[0.6462696244595552,0.13216898424681656,0.71338606911949],"aabb_xy":[[0.5962963304562946,0.08216898369226919],[0.6962429184628155,0.18216898480136387]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.21095411849923457,-0.98950106836507,0.71338606911949],"aabb_xy":[[-0.24845411879140938,-0.9935425437656737],[-0.17345411820705975,-0.9854595929644665]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.42737608910470026,1.158034142316477,0.71338606911949],"aabb_xy":[[0.406098080961228,1.0930341399904038],[0.4486540972481725,1.22303414464255]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.5623009697497485,-1.0549222787013095,0.71338606911949],"aabb_xy":[[-0.627300970750249,-1.1057086438559844],[-0.497300968749248,-1.0041359135466346]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[-0.42290751456685777,0.8578363189021485,0.71338606911949],"aabb_xy":[[-0.44296592618009806,0.8377712319929911],[-0.4028491029536175,0.8779014058113062]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[0.4295276412097573,-2.384742007286171,0.71338606911949],"aabb_xy":[[0.41690085392256093,-2.3942880809877436],[0.44215442849695363,-2.3751959335845974]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.07369725829601848,-0.09061792079089859,0.71338606911949],"aabb_xy":[[-0.10366481520584414,-0.12061792108878434],[-0.04372970138619281,-0.06061792049301286]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.3070819415585633,0.77237850130129,0.71338606911949],"aabb_xy":[[-0.3445819415023297,0.7640854112664535],[-0.26958194161479687,0.7806715913361266]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.18243813107534324,0.7281188738361144,0.71338606911949],"aabb_xy":[[0.1324650655428278,0.6781188740235816],[0.23241119660785875,0.7781188736486475]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.011811152414039183,-2.3530956604214346,0.71338606911949],"aabb_xy":[[-0.011104560471010718,-2.3759999575578585],[0.03472686529908909,-2.3301913632850115]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.536655339134346,-0.8493660574040425,0.71338606911949],"aabb_xy":[[-0.6006553414771476,-0.894306908648175],[-0.47265533679154453,-0.80442520615991]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.09306431904858536,0.22545168482515798,0.71338606911949],"aabb_xy":[[-0.1209093558291925,0.19466718608684627],[-0.06521928226797825,0.25623618356346967]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[-0.36255085067239096,-1.5013075777952205,0.71338606911949],"aabb_xy":[[-0.39755084986520917,-1.512274623792883],[-0.32755085147957264,-1.4903405317975575]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[-0.5510691321600183,0.20021377480426628,0.71338606911949],"aabb_xy":[[-0.5835308330419455,0.1700809426893636],[-0.5186074312780906,0.23034660691916883]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.6422031492449063,0.4945039051957365,0.71338606911949],"aabb_xy":[[0.626647379834641,0.47895347195132937],[0.6577589186551716,0.5100543384401437]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.013427435081386108,-0.9390721435444058,0.71338606911949],"aabb_xy":[[-0.10342743741540517,-1.0165544981295185],[0.07657256725263295,-0.8615897889592932]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[0.5708276375157655,-2.3759824617431424,0.71338606911949],"aabb_xy":[[0.557596691981084,-2.3892098807651414],[0.5840585830504466,-2.3627550427211426]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[-0.36836415575532283,-2.3763629572245693,0.71338606911949],"aabb_xy":[[-0.4383641583919091,-2.3964678222204343],[-0.29836415311873643,-2.3562580922287033]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[-0.6403598326961156,-1.5653444770079723,0.71338606911949],"aabb_xy":[[-0.673800007892135,-1.5987881028389022],[-0.6069196575000958,-1.531900851177042]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[0.11968106735443795,1.062570699208902,0.71338606911949],"aabb_xy":[[0.09718106734428965,1.0484744795692986],[0.14218106736458624,1.0766669188485052]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_26","position":[-0.4097133567161344,-0.3154350334267071,0.71338606911949],"aabb_xy":[[-0.47371335401848075,-0.35980146039456384],[-0.34571335941378795,-0.27106860645885034]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_27","position":[0.654006487575717,-0.5782861049175492,0.71338606911949],"aabb_xy":[[0.6197095765579763,-0.6125829911274903],[0.6883033985934575,-0.5439892187076076]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[-0.6459764075498364,-2.557179817823647,0.71338606911949],"aabb_xy":[[-0.6538996877885848,-2.57967981806165],[-0.6380531273110881,-2.5346798175856433]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[-0.6473646138204362,-1.9250385630489093,0.71338606911949],"aabb_xy":[[-0.6634265412789537,-2.0100385648615013],[-0.6313026863619184,-1.8400385612363175]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_30","position":[0.3031930487595469,1.671055466665305,0.71338606911949],"aabb_xy":[[0.27867942466254103,1.6467908733632688],[0.32770667285655275,1.6953200599673417]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_31","position":[-0.5461199218046197,0.8010366918762082,0.71338606911949],"aabb_xy":[[-0.5509635165658496,0.7961850393972241],[-0.5412763270433897,0.8058883443551923]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_32","position":[-0.17744694880595513,-1.4988144029505932,0.71338606911949],"aabb_xy":[[-0.2674469474004251,-1.515064989264014],[-0.08744695021148519,-1.482563816637172]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945079197565328,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7711.png","name":"7711"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7711.png","name":"7711"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9258.png","name":"9258"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2495.png","name":"2495"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8099.png","name":"8099"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2963.png","name":"2963"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":787.0128574965859,"rotation_z_degrees":327.8088323901242,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00577420491754058,-0.017178907519305557,0.01274779053632957]},{"name":"camera_2","offset_m":[0.016518384738706263,-0.016166613671128816,0.004574589097051135]},{"name":"camera_3","offset_m":[-0.01098860513898218,-0.017522033142879662,0.0031595089574650743]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016570872623261437,-0.0002877016772910013,-0.0015770687554796283],"end_effector_yaw_offset_degrees":-0.21962001975260304},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007103370003437868,-0.0014295704194642966,-0.00024819440378760055],"end_effector_yaw_offset_degrees":-0.2720537252212145},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010682924380006394,-0.0003120414307607566,0.0007994639742399069],"end_effector_yaw_offset_degrees":0.1796764818580392}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006640161836684345,-0.00022623303338129095],"position_m":[0.31966401618366846,-0.08962623303338128,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004699996784523495,-0.0018047328801089348],"position_m":[0.2797999967845235,-0.344804732880109,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0001906654456235871,-0.00268854455087572],"position_m":[0.3064906654456236,0.23471145544912428,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014410629317633998,-0.0005092305350015676],"position_m":[0.3476410629317634,0.09669076946499842,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"60f26c01f23728305764c54be2e558682da7eee230c0beced1dc08074567b522","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7711/tex_ceiling_textures_2963/tex_floor_textures_8099/tex_table_textures_9258/tex_wall_textures_2495","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":5451003407875079916,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":5451003407875079916,"visual_seed":5451003407875079916,"scene_id":"lab_003","finished_at":"2026-09-03T22:48:54"} +{"episode_id":"ep_000093","started_at":"2026-09-03T22:48:58","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[-0.06043905706870911,-1.1662921178340253,0.71338606911949],"aabb_xy":[[-0.14043906032655207,-1.2462886256260093],[0.019560946189133843,-1.0862956100420413]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.32217929282714763,-1.8796484606486827,0.71338606911949],"aabb_xy":[[0.29968015710092066,-1.9021484614269455],[0.3446784285533746,-1.8571484598704195]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.3886859136523027,-2.092456365748188,0.71338606911949],"aabb_xy":[[-0.41701562360084293,-2.096917107941905],[-0.3603562037037625,-2.087995623554471]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.17950576450706768,-0.6879489172698983,0.71338606911949],"aabb_xy":[[0.16763368149556657,-0.7729489169635486],[0.1913778475185688,-0.6029489175762479]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.595343193575351,0.12700344530411645,0.71338606911949],"aabb_xy":[[0.535343192714538,0.07557701529763002],[0.6553431944361636,0.17842987531060278]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[0.6677020645400149,-1.509714528153496,0.71338606911949],"aabb_xy":[[0.6545508185687255,-1.534714527910183],[0.6808533105113043,-1.4847145283968097]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.614043158299254,-1.2520185240428179,0.71338606911949],"aabb_xy":[[-0.6316759938927815,-1.2696414700584406],[-0.5964103227057264,-1.2343955780271947]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[0.35466004760799197,1.2928677869258816,0.71338606911949],"aabb_xy":[[0.3343757448845931,1.2725851617831725],[0.3749443503313906,1.3131504120685902]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[-0.038015219445736936,-1.7102258940202546,0.71338606911949],"aabb_xy":[[-0.11800904302429516,-1.7902258966130962],[0.04197860413282128,-1.630225891427413]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.10601029067612122,1.468615882714818,0.71338606911949],"aabb_xy":[[-0.11012624078819387,1.4645003276819721],[-0.10189434056404854,1.4727314377476632]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[-0.28450887522965596,1.2807539768723912,0.71338606911949],"aabb_xy":[[-0.31079769955009656,1.2544825432177396],[-0.25822005090921524,1.307025410527042]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[-0.3494284491975753,-0.9309920371225198,0.71338606911949],"aabb_xy":[[-0.3992452286624101,-0.9809920356068229],[-0.29961166973274056,-0.8809920386382162]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.1684812470633934,-2.0539861155447356,0.71338606911949],"aabb_xy":[[0.08848124599027307,-2.06376416188212],[0.24848124813651373,-2.044208069207351]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[0.14748925278056335,-1.645858728886456,0.71338606911949],"aabb_xy":[[0.1434110948735136,-1.6499397091347192],[0.1515674106876131,-1.6417777486381926]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.38337822767489804,0.109327421240208,0.71338606911949],"aabb_xy":[[-0.3904185376084351,0.029327421840536612],[-0.3763379177413611,0.18932742063987945]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[0.21044433754581404,1.6310159674565177,0.71338606911949],"aabb_xy":[[0.18916632940234177,1.5660159651304444],[0.23172234568928626,1.6960159697825905]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[0.20722443603635055,-2.509262304476338,0.71338606911949],"aabb_xy":[[0.1622244345701217,-2.554262161337819],[0.2522244375025794,-2.464262447614858]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.599381521578054,-2.2258481023315246,0.71338606911949],"aabb_xy":[[0.5669198206961265,-2.255980934446427],[0.6318432224599814,-2.1957152702166214]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_18","position":[0.36637648805659495,-0.7994880575473196,0.71338606911949],"aabb_xy":[[0.3558090083984959,-0.8100330876603281],[0.3769439677146939,-0.788943027434311]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[0.5207916509748329,1.0518174835716203,0.71338606911949],"aabb_xy":[[0.49750980877670165,0.9668174822743921],[0.5440734931729643,1.1368174848688481]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[0.1612484134335579,0.9294961533291959,0.71338606911949],"aabb_xy":[[0.15161677721312827,0.9198588405494869],[0.1708800496539875,0.9391334661089047]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.045034017602684995,-2.1125529193583126,0.71338606911949],"aabb_xy":[[-0.10903401951502734,-2.1684640686163235],[0.01896598430965734,-2.0566417701003026]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[-0.6194420366789373,0.3305917295503673,0.71338606911949],"aabb_xy":[[-0.6302936429278129,0.31973243882271624],[-0.6085904304300617,0.34145102027801827]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[-0.39201826233126863,1.5407611851508825,0.71338606911949],"aabb_xy":[[-0.4560182643810006,1.5006667020615745],[-0.32801826028153663,1.5808556682401904]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[-0.6003162306025291,0.7428386284866138,0.71338606911949],"aabb_xy":[[-0.6228162311145697,0.7203467701212153],[-0.5778162300904885,0.765330486852012]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[0.4202932934092478,-1.1440211685529078,0.71338606911949],"aabb_xy":[[0.38989518231010417,-1.174428070554577],[0.45069140450839135,-1.113614266551238]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[-0.5479112378191282,-0.9699785466736637,0.71338606911949],"aabb_xy":[[-0.5520470941518285,-1.007478546118021],[-0.5437753814864281,-0.9324785472293068]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[0.3873793741957683,-1.5553993278973164,0.71338606911949],"aabb_xy":[[0.3273793725528465,-1.6073994771892608],[0.4473793758386902,-1.5033991786053724]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859687901290891,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3197.png","name":"3197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3197.png","name":"3197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7693.png","name":"7693"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7810.png","name":"7810"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1854.png","name":"1854"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3689.png","name":"3689"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":581.1531131315581,"rotation_z_degrees":211.40752581463602,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01868091380347606,0.012528290356918503,-0.0024895419091782063]},{"name":"camera_2","offset_m":[0.011163530038651844,-0.010698474236354243,0.0033462453065189156]},{"name":"camera_3","offset_m":[0.0008080396940766572,-0.006325224123689814,0.0011177431666313034]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00019049231559494645,-0.001634505236185345,-0.0015580640007247033],"end_effector_yaw_offset_degrees":-0.5725288566197348},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001969595496903823,0.00015376938519903217,0.0013993180096378032],"end_effector_yaw_offset_degrees":-0.5695955535413859},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009565398743763671,0.001316752150601,-0.0014170939367365843],"end_effector_yaw_offset_degrees":-0.8568917380096164}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004873925086494979,0.0043979971682554094],"position_m":[0.314126074913505,-0.08500200283174458,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0048641253532408215,-0.0013000266727625298],"position_m":[0.2702358746467592,-0.34430002667276255,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019391655867996207,-5.5450101070077945e-05],"position_m":[0.30823916558679965,0.23734454989892992,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00019594252967679478,-0.0031826303952027847],"position_m":[0.3460040574703232,0.09401736960479722,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"50ba0ef918c2024b4910a119e4ecc74da4804f3b0f6a564bc238d761858a042d","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3197/tex_ceiling_textures_3689/tex_floor_textures_1854/tex_table_textures_7693/tex_wall_textures_7810","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":288727078488096465,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":288727078488096465,"visual_seed":288727078488096465,"scene_id":"lab_003","finished_at":"2026-09-03T22:51:30"} +{"episode_id":"ep_000094","started_at":"2026-09-03T22:51:33","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[0.6557217607369392,-1.3395167310062577,0.71338606911949],"aabb_xy":[[0.6057286486277473,-1.3895167316804533],[0.7057148728461311,-1.289516730332062]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[0.645764423290383,-2.1948461361020044,0.71338606911949],"aabb_xy":[[0.6153663121912393,-2.2252530381036735],[0.6761625343895264,-2.1644392341003345]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.4322197107524902,-2.07581700477932,0.71338606911949],"aabb_xy":[[-0.47739102860065924,-2.1398170019238583],[-0.3870483929043213,-2.0118170076347814]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[-0.09944277640732979,0.6488668736367318,0.71338606911949],"aabb_xy":[[-0.1353562808323195,0.612953365419977],[-0.0635292719823401,0.6847803818534863]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[0.4302506347848505,-1.1918448873757912,0.71338606911949],"aabb_xy":[[0.38416554353011895,-1.255844884628346],[0.4763357260395819,-1.1278448901232359]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.45584767121636444,-1.3743610151041925,0.71338606911949],"aabb_xy":[[-0.4933476715085393,-1.3784024905047958],[-0.4183476709241897,-1.3703195397035888]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[0.38012485587852396,-1.6206624144658108,0.71338606911949],"aabb_xy":[[0.36262485674415673,-1.6305420415033987],[0.3976248550128911,-1.610782787428223]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[0.5272077816480873,1.0727601180386603,0.71338606911949],"aabb_xy":[[0.4372077819249131,1.0496867655034803],[0.6172077813712614,1.09583347057384]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[0.2225773092009805,-1.2239539948168792,0.71338606911949],"aabb_xy":[[0.20507730895593107,-1.241453782656446],[0.24007730944602984,-1.2064542069773123]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[0.544204839694745,-2.0671677734147806,0.71338606911949],"aabb_xy":[[0.5309738941600636,-2.0803951924367796],[0.5574357852294262,-2.0539403543927808]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.4950794603920803,-0.8977033843350284,0.71338606911949],"aabb_xy":[[0.44008720975656945,-0.9527033860783414],[0.5500717110275913,-0.8427033825917158]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.059343323473052156,-1.7789596246174098,0.71338606911949],"aabb_xy":[[-0.02437890202703031,-1.868959628152106],[0.14306554897313462,-1.688959621082714]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.1836114089161225,-0.47801804318131014,0.71338606911949],"aabb_xy":[[-0.18906935455314255,-0.5580180464889692],[-0.17815346327910242,-0.39801803987365103]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.24163375980045065,-0.3700852283105105,0.71338606911949],"aabb_xy":[[-0.24721543143457936,-0.382585228128286],[-0.23605208816632184,-0.357585228492735]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[0.2380884136599173,-1.8840751866831287,0.71338606911949],"aabb_xy":[[0.20129378053501099,-1.920981061779711],[0.27488304678482356,-1.8471693115865464]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.1338873457715971,1.5847677049806017,0.71338606911949],"aabb_xy":[[0.11097163288654721,1.5618634078441784],[0.156803058656647,1.6076720021170254]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[0.25000124803897883,-1.030037417789501,0.71338606911949],"aabb_xy":[[0.24258879249759036,-1.035888628211129],[0.2574137035803673,-1.0241862073678731]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.5187283865970151,0.08105487621824503,0.71338606911949],"aabb_xy":[[0.4687283856464822,0.04950572921472361],[0.5687283875475478,0.11260402322176642]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.060379963451202556,-2.3541766901770806,0.71338606911949],"aabb_xy":[[-0.12037996431201535,-2.405603120183567],[-0.0003799625903897485,-2.3027502601705936]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[-0.2880144597723402,0.14445110517809434,0.71338606911949],"aabb_xy":[[-0.32231137079008076,0.11015421896815294],[-0.2537175487545995,0.17874799138803568]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.2876257664046435,0.6800239896525397,0.71338606911949],"aabb_xy":[[-0.33262576787087234,0.6350241327910592],[-0.24262576493841465,0.7250238465140205]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6842705241763167,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/883.png","name":"883"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/883.png","name":"883"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8673.png","name":"8673"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4633.png","name":"4633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9109.png","name":"9109"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8743.png","name":"8743"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":670.15252703524,"rotation_z_degrees":348.92695655425774,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011971486280756522,0.00276957816466342,-0.01145542357441582]},{"name":"camera_2","offset_m":[0.012318051327340141,-0.011026851179126251,-0.0022419768133224056]},{"name":"camera_3","offset_m":[0.0065876469572824815,-0.001426946386392805,-0.016247775095026493]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001231695015921381,0.001548554351441903,-0.0017640173449817304],"end_effector_yaw_offset_degrees":0.18067114751920577},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007720273179824134,-0.0008482368169851072,0.0017792533115917677],"end_effector_yaw_offset_degrees":-0.019755877765740282},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008242152503067151,0.0004148238746934617,9.963231371206381e-05],"end_effector_yaw_offset_degrees":-0.07133378009436186}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020362749666034416,0.003406981974296958],"position_m":[0.3210362749666035,-0.08599301802570304,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004310248349548827,0.003061758324141922],"position_m":[0.27078975165045116,-0.3399382416758581,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010987727899526775,0.001631571863379977],"position_m":[0.3073987727899527,0.23903157186337998,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-5.7789952051415065e-05,-0.001692957928303417],"position_m":[0.3461422100479486,0.09550704207169658,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7a1d456bf6d893b268bdd062728562535ea3a0320925d196fd4fe235c2731a2e","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_883/tex_ceiling_textures_8743/tex_floor_textures_9109/tex_table_textures_8673/tex_wall_textures_4633","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":2810855206846421484,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":2810855206846421484,"visual_seed":2810855206846421484,"scene_id":"lab_003","finished_at":"2026-09-03T22:54:04"} +{"episode_id":"ep_000095","started_at":"2026-09-03T22:54:07","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.6274521831140198,1.4078831013234123,0.71338606911949],"aabb_xy":[[0.6055435009746688,1.3859824345033211],[0.6493608652533709,1.4297837681435026]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.4210435289935133,-0.3775885256547027,0.71338606911949],"aabb_xy":[[-0.47104353035440055,-0.4275664302301183],[-0.3710435276326261,-0.32761062107928707]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[0.507460233782177,0.9454176268852614,0.71338606911949],"aabb_xy":[[0.4574609586137407,0.8954176256093144],[0.557459508950613,0.9954176281612087]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[0.25988526685042934,-2.2080766878519027,0.71338606911949],"aabb_xy":[[0.24524186129639636,-2.2227354075086865],[0.2745286724044623,-2.193417968195118]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.36824329643099496,0.7171411840463313,0.71338606911949],"aabb_xy":[[0.3082432947880731,0.6651410347543871],[0.4282432980739168,0.7691413333382755]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[-0.6131655369708205,-0.8644009311888974,0.71338606911949],"aabb_xy":[[-0.6381655361364537,-0.871353176894254],[-0.5881655378051874,-0.8574486854835408]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.37596555828338524,0.6246024372482357,0.71338606911949],"aabb_xy":[[-0.4005117739061359,0.5943535406991987],[-0.35141934266063446,0.6548513337972728]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.40204865044802796,-2.325754280019825,0.71338606911949],"aabb_xy":[[-0.4385444710753066,-2.362238222446582],[-0.3655528298207491,-2.289270337593067]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.2522733759782938,-2.4120660962693132,0.71338606911949],"aabb_xy":[[-0.27416312356723455,-2.502066093558562],[-0.23038362838935297,-2.3220660989800637]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.5612621414019368,-2.258804361480411,0.71338606911949],"aabb_xy":[[0.5237621414581703,-2.2670974515152476],[0.5987621413457032,-2.2505112714455744]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.6608217148107872,-0.3035825683742952,0.71338606911949],"aabb_xy":[[-0.6726937978222883,-0.3885825680679456],[-0.6489496317992861,-0.2185825686806449]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[-0.09754891308071723,-2.3006965346582158,0.71338606911949],"aabb_xy":[[-0.13317806898067697,-2.3363292014150687],[-0.06191975718075747,-2.265063867901363]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[0.2738108728880758,-1.9254111714866209,0.71338606911949],"aabb_xy":[[0.20981087054527428,-1.9703520227307534],[0.3378108752308774,-1.8804703202424884]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[0.40625380238890685,-0.7514374107316841,0.71338606911949],"aabb_xy":[[0.38619539077566656,-0.7715024976408417],[0.42631221400214714,-0.7313723238225266]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.12266465068888521,-2.3101480197893682,0.71338606911949],"aabb_xy":[[0.10678015742356006,-2.3245009600881925],[0.13854914395421036,-2.295795079490544]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[0.5011237158243227,-0.13912955283899509,0.71338606911949],"aabb_xy":[[0.49313022602904066,-0.14712768477947077],[0.5091172056196047,-0.13113142089851945]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[0.4512403240866847,-1.1282522402119048,0.71338606911949],"aabb_xy":[[0.40126703008342424,-1.178252240766452],[0.5012136180899451,-1.0782522396573573]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.32235100932413385,1.0225596822576914,0.71338606911949],"aabb_xy":[[-0.35985100914116747,1.0179214709465496],[-0.28485100950710035,1.0271978935688333]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.06224404837970299,-1.8913928858321918,0.71338606911949],"aabb_xy":[[-0.08474404862321838,-1.9035975204919635],[-0.03974404813618759,-1.8791882511724196]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[0.3482548568225674,-2.3502792317389005,0.71338606911949],"aabb_xy":[[0.33075485657751796,-2.367779019578467],[0.36575485706761673,-2.3327794438993332]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[-0.32903905870651723,-2.0263326525465564,0.71338606911949],"aabb_xy":[[-0.3940390597070177,-2.0771190177012313],[-0.26403905770601666,-1.9755462873918814]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[0.5444882222438137,-0.22182067870000877,0.71338606911949],"aabb_xy":[[0.53958892993725,-0.24949759800257754],[0.549387514550377,-0.19414375939744]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.689102509236975,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1661.png","name":"1661"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1661.png","name":"1661"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4509.png","name":"4509"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3897.png","name":"3897"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7559.png","name":"7559"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9768.png","name":"9768"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":550.5419643158954,"rotation_z_degrees":305.7734046640997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013771930221105042,-0.014786353756799486,-0.01535016382018482]},{"name":"camera_2","offset_m":[0.0052225522570908504,-0.0025980095841227763,-0.002576618333336146]},{"name":"camera_3","offset_m":[-0.015317046329284826,-0.01810152429478023,-0.007638469869077076]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000922225150551511,0.0010161752009732743,-0.0008845100014628509],"end_effector_yaw_offset_degrees":0.08991463518056109},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014285690992799408,-0.001700201976630022,-0.0015472505954845467],"end_effector_yaw_offset_degrees":-0.40459621334616314},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017547011963145623,0.0007389793252208761,-0.00024782950393056695],"end_effector_yaw_offset_degrees":-0.5820313582514662}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030916850376135306,-0.0026280422822831397],"position_m":[0.31590831496238647,-0.09202804228228313,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013085222607797957,0.003163133387160376],"position_m":[0.27640852226077983,-0.3398368666128396,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006243275261963686,0.0006331873200091697],"position_m":[0.30692432752619636,0.23803318732000917,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004918921113061323,0.0048337412140708755],"position_m":[0.3412810788869387,0.10203374121407087,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ffa3d3d6b483d8b66ca502abb210efd76701f244ee25ba23bca055eb0462f7d0","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1661/tex_ceiling_textures_9768/tex_floor_textures_7559/tex_table_textures_4509/tex_wall_textures_3897","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":9212100944309500456,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":9212100944309500456,"visual_seed":9212100944309500456,"scene_id":"lab_003","finished_at":"2026-09-03T22:56:45"} +{"episode_id":"ep_000096","started_at":"2026-09-03T22:56:48","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[-0.5345799817611205,1.4964364617675012,0.71338606911949],"aabb_xy":[[-0.5720799829459132,1.4920182390714407],[-0.4970799805763277,1.5008546844635617]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[-0.21108253304146796,-2.291382077884526,0.71338606911949],"aabb_xy":[[-0.24858253370604663,-2.3070691358847477],[-0.17358253237688923,-2.2756950198843033]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.23244568303374274,-1.2455012197335027,0.71338606911949],"aabb_xy":[[-0.2964456816203152,-1.2925081831330114],[-0.16844568444717029,-1.198494256333994]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[-0.13272286357239638,-1.6836321764175448,0.71338606911949],"aabb_xy":[[-0.1455947670733365,-1.7636321768313807],[-0.11985096007145622,-1.6036321760037084]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.44811764428898804,-0.10069608962154186,0.71338606911949],"aabb_xy":[[0.42311764512335487,-0.10764833532689842],[0.4731176434546211,-0.09374384391618527]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.25802510583325666,-0.9719840195574281,0.71338606911949],"aabb_xy":[[0.23774080310985787,-0.9922666447001368],[0.27830940855665537,-0.9517013944147191]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[0.30761988013188657,1.2559367141105704,0.71338606911949],"aabb_xy":[[0.29244771085025323,1.240767857182367],[0.3227920494135199,1.2711055710387738]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.15955188513733998,-1.896633537447773,0.71338606911949],"aabb_xy":[[0.11455188367111113,-1.9416333943092539],[0.20455188660356885,-1.8516336805862925]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.45847985333016206,-1.391588538051457,0.71338606911949],"aabb_xy":[[-0.49597985382752025,-1.3955572215995755],[-0.42097985283280376,-1.387619854503339]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.05950084464354788,1.4472007331459307,0.71338606911949],"aabb_xy":[[-0.06546738358428367,1.4412395884865663],[-0.053534305702812084,1.4531618778052946]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.24436250530121234,-0.654180682925426,0.71338606911949],"aabb_xy":[[-0.2672782181862623,-0.6770849800618495],[-0.2214467924161625,-0.6312763857890025]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[0.4651322207151012,1.3510412406816847,0.71338606911949],"aabb_xy":[[0.44749938512157356,1.3334182946660615],[0.4827650563086287,1.3686641866973075]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[0.3524125380121137,-1.6433416403590972,0.71338606911949],"aabb_xy":[[0.3179500599990259,-1.6500053175420197],[0.38687501602520147,-1.6366779631761743]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.48666427208896385,-0.001869086656259178,0.71338606911949],"aabb_xy":[[-0.5241642736045955,-0.013095859672404231],[-0.4491642705733321,0.009357686359885875]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[0.5037061228403412,-0.3641986068407208,0.71338606911949],"aabb_xy":[[0.4836477112271008,-0.38426369374987834],[0.5237645344535814,-0.34413351993156327]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[-0.0022070450447533307,-0.9229826500573424,0.71338606911949],"aabb_xy":[[-0.05220704540531939,-0.9729626372669452],[0.04779295531581273,-0.8730026628477393]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[0.3684022993452123,-2.3273604992055237,0.71338606911949],"aabb_xy":[[0.3184023006992911,-2.377280042864986],[0.4184022979911335,-2.2774409555460613]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[-0.15581744876264458,-0.21445364991773896,0.71338606911949],"aabb_xy":[[-0.23581744577689256,-0.23458820159115024],[-0.0758174517483966,-0.1943190982443277]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.5963862460622062,-0.5603443304145985,0.71338606911949],"aabb_xy":[[0.5553683026758354,-0.6103443310455559],[0.6374041894485771,-0.5103443297836412]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[0.21990515477098982,-0.712624642136217,0.71338606911949],"aabb_xy":[[0.1874434538890623,-0.7427574742511194],[0.25236685565291717,-0.6824918100213142]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.4339986138274317,-2.5742613903193514,0.71338606911949],"aabb_xy":[[-0.4522044374886795,-2.5852867909013435],[-0.41579279016618415,-2.56323598973736]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.4744384592247029,1.0440923242564013,0.71338606911949],"aabb_xy":[[-0.48075055876104134,1.0383253850031824],[-0.46812635968836447,1.0498592635096202]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[-0.5340076167344958,-0.5473627313858973,0.71338606911949],"aabb_xy":[[-0.5464749748442315,-0.5598280560192208],[-0.5215402586247602,-0.5348974067525738]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[-0.14424835878366882,-1.9257841980391803,0.71338606911949],"aabb_xy":[[-0.15227462941429484,-1.9345356930165332],[-0.13622208815304285,-1.917032703061828]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[-0.11209460787012637,-1.1129377000988396,0.71338606911949],"aabb_xy":[[-0.12959460700449354,-1.1228173271364275],[-0.0945946087357592,-1.1030580730612518]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[-0.6523986966803111,-0.5761868318762176,0.71338606911949],"aabb_xy":[[-0.6748986964942134,-0.5806614482466982],[-0.6298986968664086,-0.5717122155057367]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.09290368186994602,1.112533216149639,0.71338606911949],"aabb_xy":[[0.07967273633526471,1.0993057971276394],[0.1061346274046273,1.1257606351716383]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[-0.6078917146273495,-0.9321634938275676,0.71338606911949],"aabb_xy":[[-0.6718917119296958,-0.9765299207954243],[-0.543891717325003,-0.8877970668597108]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[-0.5634234326593395,1.2840133563520721,0.71338606911949],"aabb_xy":[[-0.5808541477383459,1.2667412416882209],[-0.5459927175803329,1.3012854710159225]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_29","position":[0.17882771598529468,-1.3460286186987331,0.71338606911949],"aabb_xy":[[0.12885029912004106,-1.3960286201879815],[0.22880513285054824,-1.2960286172094844]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6928416801392274,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4693.png","name":"4693"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4693.png","name":"4693"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6488.png","name":"6488"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3005.png","name":"3005"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2634.png","name":"2634"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":831.2552164844391,"rotation_z_degrees":259.26555122956427,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0024905249496716617,-0.017409756360903094,-0.012753857466377597]},{"name":"camera_2","offset_m":[0.006577439001879952,-0.011744256075653294,-0.014029647559803054]},{"name":"camera_3","offset_m":[-0.005201141258313578,-0.008792963375600796,-0.01554666617138008]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001633552052572533,-0.001517081934996758,0.0011305824012104704],"end_effector_yaw_offset_degrees":-0.9189603011262859},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018081552264668681,-0.001824284316954234,-0.0010327235991768567],"end_effector_yaw_offset_degrees":-0.332649015532376},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001755162670212168,-0.0014389977607599668,0.001371791795028956],"end_effector_yaw_offset_degrees":0.9967469306394166}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004374257866604632,-0.0040940389545942694],"position_m":[0.3233742578666046,-0.09349403895459427,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004844947346609163,0.0018198254565666453],"position_m":[0.2799449473466092,-0.34118017454343336,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003625835987710313,0.0027176573516168477],"position_m":[0.30992583598771034,0.24011765735161686,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00037081349302330296,-0.003146645467339443],"position_m":[0.3458291865069767,0.09405335453266055,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e6701db7c7d55953adb76bf66da7cafa543e7d2c86100759e161022672ead964","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4693/tex_ceiling_textures_3393/tex_floor_textures_2634/tex_table_textures_6488/tex_wall_textures_3005","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1613556808971869505,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1613556808971869505,"visual_seed":1613556808971869505,"scene_id":"lab_003","finished_at":"2026-09-03T22:59:30"} +{"episode_id":"ep_000097","started_at":"2026-09-03T22:59:33","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[0.15835926740278206,1.1430086209837054,0.71338606911949],"aabb_xy":[[0.13586284596891796,1.120508621176958],[0.18085568883664616,1.1655086207904528]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.010910172975278298,0.9196767426414789,0.71338606911949],"aabb_xy":[[-0.023782076476218435,0.8396767422276427],[0.001961730525661842,0.999676743055315]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[0.42201874163250874,-0.7963684942891716,0.71338606911949],"aabb_xy":[[0.3720345059243315,-0.846368493102667],[0.47200297734068597,-0.7463684954756759]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[-0.4458480110969613,0.9149648626402582,0.71338606911949],"aabb_xy":[[-0.4502786404518015,0.9095164909055756],[-0.44141738174212114,0.9204132343749408]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[0.3847730890069423,1.7289680929183082,0.71338606911949],"aabb_xy":[[0.3347730873454475,1.678969650662605],[0.434773090668437,1.7789665351740105]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.6278536101056864,1.3288303984012315,0.71338606911949],"aabb_xy":[[0.5478536129461111,1.3172827974434145],[0.7078536072652617,1.3403779993590486]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.15686769519186228,1.721717833575775,0.71338606911949],"aabb_xy":[[-0.17275218845718743,1.707364893276951],[-0.14098320192653713,1.736070773874599]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[0.38076837061425817,-1.796838986228487,0.71338606911949],"aabb_xy":[[0.300768367350245,-1.8103990185374002],[0.46076837387827124,-1.7832789539195735]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[-0.4613547791976014,-0.2875718021511502,0.71338606911949],"aabb_xy":[[-0.5253547763097071,-0.3366041719455608],[-0.3973547820854957,-0.23853943235673958]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[0.33870773372623164,-2.0198878210404096,0.71338606911949],"aabb_xy":[[0.2887129007982901,-2.069887819935653],[0.3887025666541733,-1.9698878221451661]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[0.32623937411295056,-1.1632943898814674,0.71338606911949],"aabb_xy":[[0.27624436315349854,-1.213294388917059],[0.37623438507240264,-1.1132943908458757]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[0.24973110600008352,1.5195185267572753,0.71338606911949],"aabb_xy":[[0.1857311039503515,1.4794240436679673],[0.3137311080498155,1.5596130098465832]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[-0.4472478052003266,-2.0057099821691597,0.71338606911949],"aabb_xy":[[-0.46974780472403393,-2.02820592961978],[-0.42474780567661913,-1.9832140347185387]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.47389070406098943,0.14547100203388919,0.71338606911949],"aabb_xy":[[0.4699768308655669,0.13672198662733243],[0.47780457725641196,0.15422001744044594]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.33603778275745866,1.3929326065193925,0.71338606911949],"aabb_xy":[[-0.35792753034639946,1.3029326092301432],[-0.31414803516851786,1.4829326038086414]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.41309605218367307,1.2995731094052787,0.71338606911949],"aabb_xy":[[0.3979331792067361,1.28440765211016],[0.42825892516061026,1.3147385667003975]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.103989781225857,1.2945977287736206,0.71338606911949],"aabb_xy":[[0.06967350405123905,1.2445977288004428],[0.13830605840047494,1.3445977287467983]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.23159588377978046,1.3014589933775045,0.71338606911949],"aabb_xy":[[0.2086801708947306,1.2785546962410812],[0.25451159666483036,1.3243632905139282]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.03540847886716714,1.2399822806409402,0.71338606911949],"aabb_xy":[[-0.04421053417613984,1.232170954486011],[-0.026606423558194422,1.2477936067958693]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.11028176538723211,0.05853178003265569,0.71338606911949],"aabb_xy":[[-0.11962877296952734,0.04422815781501166],[-0.10093475780493688,0.07283540225029972]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6848737587038894,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/842.png","name":"842"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/842.png","name":"842"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/477.png","name":"477"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8880.png","name":"8880"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7938.png","name":"7938"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9915.png","name":"9915"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":768.9862347511479,"rotation_z_degrees":92.25067552277926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019112528845194196,-0.0006206701831764187,-0.004302858225545655]},{"name":"camera_2","offset_m":[0.008234652059277613,0.008492744724312929,-0.0179668984963303]},{"name":"camera_3","offset_m":[-0.0046746493934127775,-0.010026723058556617,0.010865736859578385]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004720908536587844,-0.0013773270556541694,-0.0011870615995293967],"end_effector_yaw_offset_degrees":-0.6573653520581166},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014831895671151237,0.001982528305420158,0.0010976084623913894],"end_effector_yaw_offset_degrees":0.0289182136745727},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001530502780786858,-0.0005484163955626965,0.0003765812584758852],"end_effector_yaw_offset_degrees":0.5605816294634667}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004435737736668265,-0.004247949107084063],"position_m":[0.31456426226333173,-0.09364794910708406,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030474811184668903,0.004056723122527276],"position_m":[0.27205251888153315,-0.3389432768774728,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008346932648601391,-0.004725865225522888],"position_m":[0.3054653067351399,0.23267413477447713,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035400990689243147,-0.001357286272215319],"position_m":[0.34974009906892434,0.09584271372778468,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2a615daeda62d2972c232960c9d96451bf8601abd582d1869d6dace54f269b97","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_842/tex_ceiling_textures_9915/tex_floor_textures_7938/tex_table_textures_477/tex_wall_textures_8880","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":952854013954344277,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":952854013954344277,"visual_seed":952854013954344277,"scene_id":"lab_003","finished_at":"2026-09-03T23:02:04"} +{"episode_id":"ep_000098","started_at":"2026-09-03T23:02:07","dimensions":{"distractor":{"count":23,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[0.5905993974637971,-2.132197112366738,0.71338606911949],"aabb_xy":[[0.5680993972202817,-2.1444017470265098],[0.6130993977073125,-2.119992477706966]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.062244607804144425,-2.2001927191414365,0.71338606911949],"aabb_xy":[[0.05308472886026783,-2.2067239371849734],[0.07140448674802102,-2.1936615010978997]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[0.6446042912491639,0.8284133491034611,0.71338606911949],"aabb_xy":[[0.6271042910041144,0.8109135612638944],[0.6621042914942131,0.845913136943028]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[0.5705177117830393,-1.0451686571180463,0.71338606911949],"aabb_xy":[[0.5206350149053431,-1.0951686563643213],[0.6204004086607355,-0.9951686578717718]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[-0.36204236134268736,1.1627746993768615,0.71338606911949],"aabb_xy":[[-0.37294813743025,1.0827747029780324],[-0.3511365852551246,1.2427746957756907]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[-0.27408043047356195,1.7171586806854324,0.71338606911949],"aabb_xy":[[-0.29654520044496707,1.694658679806572],[-0.25161566050215683,1.739658681564293]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[0.28282191443539295,-1.1445070244093412,0.71338606911949],"aabb_xy":[[0.22282191357458012,-1.1959334544158273],[0.3428219152962057,-1.0930805944028545]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.05125068031333735,0.829313088904811,0.71338606911949],"aabb_xy":[[-0.07315936245268839,0.8074124220847203],[-0.0293419981739863,0.8512137557249018]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.0594432466655771,1.5446760439760845,0.71338606911949],"aabb_xy":[[-0.10443583338402751,1.4996760447016357],[-0.01445065994712668,1.5896760432505332]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.43688451158804265,1.0723606435977056,0.71338606911949],"aabb_xy":[[0.39938451164427624,1.064067553562869],[0.47438451153180905,1.0806537336325421]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.6653753028734597,-1.4713170058037626,0.71338606911949],"aabb_xy":[[0.6573319429475045,-1.5563170068991288],[0.6734186627994149,-1.386317004708396]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.21565966549000187,-0.8987689133746137,0.71338606911949],"aabb_xy":[[-0.2531596658382296,-0.9105603089556971],[-0.1781596651417741,-0.88697751779353]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.309581216546587,1.453996583021302,0.71338606911949],"aabb_xy":[[0.26245183754475127,1.3899965819769],[0.3567105955484226,1.517996584065704]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[0.2454218013417191,-2.459103312246618,0.71338606911949],"aabb_xy":[[0.21543013860784874,-2.4891033115834187],[0.2754134640755894,-2.4291033129098176]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.12260520064787839,1.2948867511539088,0.71338606911949],"aabb_xy":[[-0.20260519923519782,1.215571149215748],[-0.04260520206055896,1.3742023530920697]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[-0.20174766882668949,-0.9925755146974145,0.71338606911949],"aabb_xy":[[-0.2385982167636771,-1.0300755155204482],[-0.16489712088970188,-0.9550755138743806]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.5648250239897872,0.6102541320082158,0.71338606911949],"aabb_xy":[[0.5008250266874407,0.5658877050403589],[0.6288250212921335,0.6546205589760724]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.16112736114022308,-0.7831545711692234,0.71338606911949],"aabb_xy":[[-0.16990858828745933,-0.7919343184577537],[-0.15234613399298688,-0.7743748238806935]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[0.3303840427275919,-2.276010974368981,0.71338606911949],"aabb_xy":[[0.27038404213157574,-2.330823446914205],[0.3903840433236081,-2.221198501823758]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.45190781883919895,-0.6854924757845955,0.71338606911949],"aabb_xy":[[0.41440781854702413,-0.6895339511851991],[0.48940781913137377,-0.6814510003839919]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[-0.5454414160582363,-0.08618083613728666,0.71338606911949],"aabb_xy":[[-0.6094414164357699,-0.13592610298809893],[-0.48144141568070264,-0.0364355692864744]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[-0.2911010458708966,-1.3967892404990645,0.71338606911949],"aabb_xy":[[-0.31021335322887544,-1.4159240193763063],[-0.2719887385129177,-1.3776544616218223]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[0.3591804484296546,-1.4313670411275108,0.71338606911949],"aabb_xy":[[0.3041804488079088,-1.4863507339149837],[0.4141804480514005,-1.3763833483400383]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937997094127636,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6407.png","name":"6407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6407.png","name":"6407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9019.png","name":"9019"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6149.png","name":"6149"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1236.png","name":"1236"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2248.png","name":"2248"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":683.7749956141071,"rotation_z_degrees":101.27220397179175,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019197468255593188,0.006136363697455658,-0.010196242768254439]},{"name":"camera_2","offset_m":[0.010269796757318917,-0.00031513494592545765,-0.012377012052992709]},{"name":"camera_3","offset_m":[0.011914363877317567,-0.015307842050230738,0.014162955507337763]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-1.7676821804867536e-06,-0.00042032845969947096,-0.0012303630207991666],"end_effector_yaw_offset_degrees":0.08241468555833431},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00020746356154704776,0.0011036515417087562,0.001264762073630031],"end_effector_yaw_offset_degrees":0.7169057352482702},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004669355911380178,-2.880100955702505e-05,1.7886407372858047e-05],"end_effector_yaw_offset_degrees":0.48882520074221114}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002691212612404357,-0.002896068530597411],"position_m":[0.31630878738759566,-0.09229606853059741,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029938347757043826,-0.0033543325334677012],"position_m":[0.2780938347757044,-0.3463543325334677,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004254289518020486,-0.002545550830647546],"position_m":[0.3105542895180205,0.23485444916935244,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00375759660353014,0.0034428035904982566],"position_m":[0.34995759660353015,0.10064280359049825,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a5ab9b3cd1a0a9ed4bf1df10bc4cbe2d08200d41c78ad7cba7598b5677e148b0","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6407/tex_ceiling_textures_2248/tex_floor_textures_1236/tex_table_textures_9019/tex_wall_textures_6149","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":1893128138414042588,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":1893128138414042588,"visual_seed":1893128138414042588,"scene_id":"lab_003","finished_at":"2026-09-03T23:04:16"} +{"episode_id":"ep_000099","started_at":"2026-09-03T23:04:19","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.3307883792031492,0.6975771829507464,0.71338606911949],"aabb_xy":[[0.3055675423433094,0.6723534320978596],[0.35600921606298874,0.7228009338036331]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[-0.49694188800682215,-2.282960580555874,0.71338606911949],"aabb_xy":[[-0.5039821979403593,-2.3629605799555455],[-0.48990157807328527,-2.2029605811562027]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[0.34410218134180526,-1.1995161873923852,0.71338606911949],"aabb_xy":[[0.27910218038467804,-1.2514643993260905],[0.40910218229893247,-1.1475679754586794]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[0.5092426954373466,1.5018374957362002,0.71338606911949],"aabb_xy":[[0.4742426962445282,1.4908704497385377],[0.5442426946301647,1.5128045417338627]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.14763860569160858,-1.8038597990281113,0.71338606911949],"aabb_xy":[[-0.17122372915550343,-1.8688598012735431],[-0.12405348222771373,-1.7388597967826795]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[-0.17930506820738368,0.6748713734495313,0.71338606911949],"aabb_xy":[[-0.21521857263237335,0.6389578652327766],[-0.14339156378239395,0.710784881666286]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[0.48592788475497595,-0.4341980817417044,0.71338606911949],"aabb_xy":[[0.430954162718643,-0.48919808130593756],[0.5409016067913088,-0.3791980821774712]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.37820896971223006,1.7533991414081416,0.71338606911949],"aabb_xy":[[-0.3895707043655162,1.7420306750018533],[-0.3668472350589439,1.7647676078144294]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.09415944830682899,-0.7660766302948121,0.71338606911949],"aabb_xy":[[0.07898727902519564,-0.7812454872230155],[0.10933161758846233,-0.7509077733666087]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.4833717359192314,0.07056544818008526,0.71338606911949],"aabb_xy":[[-0.507917951541982,0.0403165516310482],[-0.45882552029648066,0.10081434472912232]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[0.5740930559386712,0.7181325078139187,0.71338606911949],"aabb_xy":[[0.5676792422954862,0.7117226875662503],[0.580506869581856,0.724542328061587]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.2197435322955706,-1.349856898523926,0.71338606911949],"aabb_xy":[[-0.24425715639257645,-1.3741214918259625],[-0.19522990819856473,-1.3255923052218896]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[0.38650698426028063,1.3335517816332163,0.71338606911949],"aabb_xy":[[0.32650698375242765,1.276705047947295],[0.4465069847681335,1.3903985153191376]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.6812347973936881,-1.5418105794038566,0.71338606911949],"aabb_xy":[[-0.6868164690278168,-1.554310579221632],[-0.6756531257595592,-1.529310579586081]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.3605973629879726,-0.6343530340911638,0.71338606911949],"aabb_xy":[[0.3381325930165675,-0.6568530349700243],[0.38306213295937774,-0.6118530332123033]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.18918138654105143,-2.089858007999241,0.71338606911949],"aabb_xy":[[-0.2691813835040906,-2.1669336496430143],[-0.10918138957801224,-2.0127823663554674]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.5387169827511249,-0.9318819810941457,0.71338606911949],"aabb_xy":[[0.5087253200172545,-0.9618819804309462],[0.5687086454849951,-0.9018819817573451]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[0.16247443257956218,-1.6744810532722547,0.71338606911949],"aabb_xy":[[0.09847443399298972,-1.7214880166717634],[0.22647443116613464,-1.627474089872746]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[0.01799074087004293,1.0115703036921397,0.71338606911949],"aabb_xy":[[-0.03200853429839323,0.9615703024161926],[0.0679900160384791,1.061570304968087]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[-0.07072942978162311,1.2134950913798135,0.71338606911949],"aabb_xy":[[-0.12072942922181873,1.1635271668954972],[-0.02072943034142749,1.2634630158641298]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[-0.5042009236884252,-0.8722062520199441,0.71338606911949],"aabb_xy":[[-0.569200922245498,-0.9019587854338268],[-0.43920092513135234,-0.8424537186060616]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[0.629654026098416,-0.8833500458441859,0.71338606911949],"aabb_xy":[[0.6241960804613959,-0.9633500491518447],[0.635111971735436,-0.8033500425365265]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[-0.10886763190887905,-1.4110437901563988,0.71338606911949],"aabb_xy":[[-0.14590174133693876,-1.445420997490108],[-0.07183352248081934,-1.3766665828226892]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898597917244118,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3415.png","name":"3415"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3415.png","name":"3415"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/678.png","name":"678"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1779.png","name":"1779"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9534.png","name":"9534"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1324.png","name":"1324"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":829.1371578029425,"rotation_z_degrees":38.595933364367,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01915072388455658,-2.9030478762091805e-05,-0.016238110072534128]},{"name":"camera_2","offset_m":[-0.016968468517520905,-0.005727724217976248,0.005096281136486577]},{"name":"camera_3","offset_m":[0.0052349090768898515,-0.0035216473325974766,0.019428806110765386]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003537538160810947,-0.0004163670772773869,-0.0013150765273476463],"end_effector_yaw_offset_degrees":-0.8690694712074964},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013746270353389577,-0.0015442389305479467,0.0006753832133144281],"end_effector_yaw_offset_degrees":-0.6156820818468323},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015638207461763517,0.0016701441503728623,0.0013882960571251868],"end_effector_yaw_offset_degrees":-0.9039596997616581}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004334822435946631,0.002602992191675292],"position_m":[0.3146651775640534,-0.0867970078083247,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014162590964592672,0.0018194661788557241],"position_m":[0.27651625909645927,-0.3411805338211443,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029647268240488313,0.0032680957804725455],"position_m":[0.30333527317595116,0.24066809578047255,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027797956498451697,-0.003007451050996529],"position_m":[0.34897979564984516,0.09419254894900346,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f5ae53af0f70ede08a94bfc200371cb7b4c1d75174d5beecef4ff481f55a2c5d","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/dataset/episode_0099.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3415/tex_ceiling_textures_1324/tex_floor_textures_9534/tex_table_textures_678/tex_wall_textures_1779","seeds":{"action_seed":575825182625704749,"physical_seed":3364008238377877894,"visual_seed":7909690226213837393,"layout_id":"layout_00002","physical_randomization_enabled":true},"episode_seed":7909690226213837393,"visual_seed":7909690226213837393,"scene_id":"lab_003","finished_at":"2026-09-03T23:06:39"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ad81458853660c9907aceaf5dea4223c9122c10 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00002 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00002 + reproducibility: + enabled: true + layout_id: layout_00002 + action_seed: 575825182625704749 + step_seeds: + - 5345309411159085880 + - 5445981180960300046 + - 9151210094967360062 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.319 + - 0.319 + 'y': + - -0.0894 + - -0.0894 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3063 + - 0.3063 + 'y': + - 0.2374 + - 0.2374 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3462 + - 0.3462 + 'y': + - 0.0972 + - 0.0972 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2751 + - 0.2751 + 'y': + - -0.343 + - -0.343 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eee2375627333bfe0d14773228fd592fb9941ed7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.349325882253187, + -0.09364039857744301, + 1.1673881925501925 + ], + "current_z": 1.1673881925501925, + "required_z": 0.8611066955442134, + "initial_z": 0.7611066955442134, + "lift_margin": 0.3062814970059792, + "gripper_z": 1.1574659245480685, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3450637896723211, + -0.09823344838431784, + 1.1574659245480685 + ], + "object_minus_gripper": [ + 0.004262092580865906, + 0.004593049806874833, + 0.009922268002124035 + ], + "object_to_gripper_xy": 0.006265902943415669, + "object_to_gripper_z": 0.009922268002124035, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.349325882253187, + -0.11705420769488617, + 1.1673881925501925 + ], + "finger_b": [ + 0.33856180733604224, + -0.09364039857744301, + 1.1673881925501925 + ], + "finger_midpoint": [ + 0.3439438447946146, + -0.10534730313616458, + 1.1673881925501925 + ], + "object_minus_finger_midpoint": [ + 0.0053820374585724085, + 0.011706904558721573, + 0.0 + ], + "finger_gap": 0.025769589950365324, + "fingertip_max_gap": 0.09101620984374989, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012884794975182667, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1673881925501925, + "object_top_z": 1.2172741801139337, + "finger_top_clearance": 0.049885987563741185, + "fingertip_min_top_clearance": 0.014965796269122388, + "object_projection_between_fingers": 0.8255229107492728, + "object_to_finger_line_xy": 0.009780054549618946, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04800810492187495, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.966241374431383, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33698016157447264, + -0.3451264026950525, + 0.8515396136612299 + ], + "target_position": [ + 0.32902068447945165, + -0.34706953357688847, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008193230940850393, + "xy_threshold": 0.08, + "gripper_dist": 0.18346030467806504, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396136612299, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534626195329558, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858894607320506, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1521505300617283, + "release_required_pad_clearance": 0.0529447303660253, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9261879766569463, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008119285106658936, + "max_z_decrease": 0.008119285106658936, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503087475030176, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008119285106658936, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02135479312585227, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008119285106658936, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008119296157474485, + "max_button_displacement": 0.12, + "button_start": [ + 0.18472060561180112, + -0.4033309817314148, + 0.7768088579177856 + ], + "button_final": [ + 0.18472060561180112, + -0.4033309817314148, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1855735555746947, + -0.4046319924673267, + 0.8036853402757478 + ], + "closest_button": [ + 0.18470935523509974, + -0.4033237099647522, + 0.7686895728111267 + ], + "closest_ee_minus_button": [ + 0.0008642003395949727, + -0.001308282502574476, + 0.034995767464621075 + ], + "button_min_z_position": [ + 0.18470935523509974, + -0.4033237099647522, + 0.7686895728111267 + ], + "min_active_finger_to_button": 0.1449544375853017, + "closest_active_finger": [ + 0.04488995671272278, + -0.3880380392074585, + 0.808210015296936 + ], + "closest_active_finger_button": [ + 0.18473067879676816, + -0.40333452820777893, + 0.773247480392456 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13984072208404538, + 0.015296489000320435, + 0.03496253490447998 + ], + "min_contact_pad_to_button": 0.02135479312585227, + "closest_contact_pad": [ + 0.18470935523509974, + -0.40586249587969797, + 0.7898929158382538 + ], + "closest_contact_pad_button": [ + 0.18470935523509974, + -0.4033237099647522, + 0.7686895728111267 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025387859149457737, + 0.02120334302712712 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "66b61329c81f7853bcd9160a1665cf8d17630dc24db1f329d9794b4bf089dfbd", + "visual_seed": 7516457197622282679, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0760d6de2dec765ed6b4708e3c23256068e8e2b6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3506511801920602, + -0.09845162650647747, + 1.1664214176767334 + ], + "current_z": 1.1664214176767334, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.3053146116387435, + "gripper_z": 1.1566001965947037, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3464750410208173, + -0.10277119888218424, + 1.1566001965947037 + ], + "object_minus_gripper": [ + 0.004176139171242932, + 0.004319572375706765, + 0.009821221082029652 + ], + "object_to_gripper_xy": 0.006008231344294141, + "object_to_gripper_z": 0.009821221082029652, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3506511801920602, + -0.12213004566958698, + 1.1664214176767334 + ], + "finger_b": [ + 0.34074908780231783, + -0.09845162650647747, + 1.1664214176767334 + ], + "finger_midpoint": [ + 0.345700133997189, + -0.11029083608803222, + 1.1664214176767334 + ], + "object_minus_finger_midpoint": [ + 0.004951046194871189, + 0.011839209581554752, + 0.0 + ], + "finger_gap": 0.02566552099137879, + "fingertip_max_gap": 0.09285236782512155, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012832760495689394, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1664214176767334, + "object_top_z": 1.2162797563019505, + "finger_top_clearance": 0.04985833862521716, + "fingertip_min_top_clearance": 0.014957501587565147, + "object_projection_between_fingers": 0.8511483067982927, + "object_to_finger_line_xy": 0.009135442614818344, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048926183912560775, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6455896675975477, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33260678131383736, + -0.34521278991633364, + 0.8515396015373874 + ], + "target_position": [ + 0.32595351379112314, + -0.3460519580367146, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006705980305896195, + "xy_threshold": 0.08, + "gripper_dist": 0.18449232756811032, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396015373874, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753551218200719, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08821219797854472, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1529571754762148, + "release_required_pad_clearance": 0.054106098989272364, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2257808315014933, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008333742618560791, + "max_z_decrease": 0.008333742618560791, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035086424561464775, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008333742618560791, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021163040702850022, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008333742618560791, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008333798989880072, + "max_button_displacement": 0.12, + "button_start": [ + 0.1816534399986267, + -0.4023134112358093, + 0.7768088579177856 + ], + "button_final": [ + 0.1816534399986267, + -0.4023134112358093, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18297389653095447, + -0.40025570088805695, + 0.8034756370049517 + ], + "closest_button": [ + 0.1816240400075912, + -0.4023047387599945, + 0.7684751152992249 + ], + "closest_ee_minus_button": [ + 0.0013498565233632798, + 0.0020490378719375535, + 0.03500052170572687 + ], + "button_min_z_position": [ + 0.1816240400075912, + -0.4023047387599945, + 0.7684751152992249 + ], + "min_active_finger_to_button": 0.14390406150200794, + "closest_active_finger": [ + 0.05588766932487488, + -0.46297091245651245, + 0.8076052665710449 + ], + "closest_active_finger_button": [ + 0.18166632950305936, + -0.40231898427009577, + 0.7728281021118164 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12577866017818448, + -0.06065192818641668, + 0.034777164459228516 + ], + "min_contact_pad_to_button": 0.021163040702850022, + "closest_contact_pad": [ + 0.1816240400075912, + -0.4023047387599945, + 0.7896381560020749 + ], + "closest_contact_pad_button": [ + 0.1816240400075912, + -0.4023047387599945, + 0.7684751152992249 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021163040702850022 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c612d956e89fe804d032671e0d3549eb09ba2023c242fdb285917223a482bccb", + "visual_seed": 8798701744869291003, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..62a40f59da0cce5c29dc3a838422bf2cdded61d5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34884177099844516, + -0.09349222806549522, + 1.1642781200474386 + ], + "current_z": 1.1642781200474386, + "required_z": 0.8611069252472794, + "initial_z": 0.7611069252472794, + "lift_margin": 0.3031711948001592, + "gripper_z": 1.1544102010198702, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34472117252153284, + -0.09774910147478362, + 1.1544102010198702 + ], + "object_minus_gripper": [ + 0.004120598476912318, + 0.004256873409288403, + 0.00986791902756834 + ], + "object_to_gripper_xy": 0.00592455087163903, + "object_to_gripper_z": 0.00986791902756834, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34884177099844516, + -0.1170276935045297, + 1.1642781200474386 + ], + "finger_b": [ + 0.3388885777485239, + -0.09349222806549522, + 1.1642781200474386 + ], + "finger_midpoint": [ + 0.3438651743734845, + -0.10525996078501246, + 1.1642781200474386 + ], + "object_minus_finger_midpoint": [ + 0.004976596624960639, + 0.01176773271951724, + 0.0 + ], + "finger_gap": 0.025553555316281625, + "fingertip_max_gap": 0.09279794371043473, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012776777658140812, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642781200474386, + "object_top_z": 1.214040313610059, + "finger_top_clearance": 0.04976219356262046, + "fingertip_min_top_clearance": 0.014928658068786104, + "object_projection_between_fingers": 0.8482872058875824, + "object_to_finger_line_xy": 0.009167140651942747, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889897185521737, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7878673283649897, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 350, + "max_stable_success_frames": 350, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33199496592556377, + -0.34564352248495556, + 0.8515395691801767 + ], + "target_position": [ + 0.3250441811355058, + -0.3468263166809788, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007050702894594781, + "xy_threshold": 0.08, + "gripper_dist": 0.18348629274795475, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691801767, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583707790595585, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0898516334614272, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15094212365885062, + "release_required_pad_clearance": 0.0549258167307136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.918348633877827, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00839853286743164, + "max_z_decrease": 0.00839853286743164, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500274754613984, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00839853286743164, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021213275341329194, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00839853286743164, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0083985564868266, + "max_button_displacement": 0.12, + "button_start": [ + 0.18074411153793324, + -0.40308776497840876, + 0.7768088579177856 + ], + "button_final": [ + 0.18074411153793324, + -0.40308776497840876, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18076373173947105, + -0.4038982654973814, + 0.8034032150002431 + ], + "closest_button": [ + 0.18074347078800193, + -0.40306785702705383, + 0.768410325050354 + ], + "closest_ee_minus_button": [ + 2.026095146911988e-05, + -0.0008304084703275594, + 0.03499288994988914 + ], + "button_min_z_position": [ + 0.18074347078800193, + -0.40306785702705383, + 0.768410325050354 + ], + "min_active_finger_to_button": 0.14577108902220776, + "closest_active_finger": [ + 0.04006738215684891, + -0.3873196542263031, + 0.8075144290924072 + ], + "closest_active_finger_button": [ + 0.1807540208101272, + -0.40309405326843256, + 0.772763192653656 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406866386532783, + 0.01577439904212946, + 0.03475123643875122 + ], + "min_contact_pad_to_button": 0.021213275341329194, + "closest_contact_pad": [ + 0.18074347078800193, + -0.40512322469289574, + 0.7895237926590927 + ], + "closest_contact_pad_button": [ + 0.18074347078800193, + -0.40306785702705383, + 0.768410325050354 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020553676658419118, + 0.021113467608738667 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3e8be777b537c8c73b1da6b00b8151a5137d0231bcdc85ae210b7992126420aa", + "visual_seed": 2841883272495722113, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1d09ddf4989756a623f022dc6d4e089e5c3a1859 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3499222439891094, + -0.09376608311642695, + 1.1669075837425567 + ], + "current_z": 1.1669075837425567, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30580119493708036, + "gripper_z": 1.1570226751347237, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34553258123869546, + -0.09822409359571317, + 1.1570226751347237 + ], + "object_minus_gripper": [ + 0.00438966275041397, + 0.00445801047928622, + 0.009884908607832976 + ], + "object_to_gripper_xy": 0.006256436405478577, + "object_to_gripper_z": 0.009884908607832976, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3499222439891094, + -0.11751818549476561, + 1.1669075837425567 + ], + "finger_b": [ + 0.33969995262644914, + -0.09376608311642695, + 1.1669075837425567 + ], + "finger_midpoint": [ + 0.3448110983077793, + -0.10564213430559628, + 1.1669075837425567 + ], + "object_minus_finger_midpoint": [ + 0.005111145681330143, + 0.011876051189169332, + 0.0 + ], + "finger_gap": 0.02585841464773508, + "fingertip_max_gap": 0.09208939917584222, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01292920732386754, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1669075837425567, + "object_top_z": 1.2167579963704998, + "finger_top_clearance": 0.0498504126279431, + "fingertip_min_top_clearance": 0.014955123788382894, + "object_projection_between_fingers": 0.8437238439551296, + "object_to_finger_line_xy": 0.009389628648730044, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854469958792111, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9938609098244071, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33452730311679385, + -0.34100007922187403, + 0.8515395462475785 + ], + "target_position": [ + 0.32729150771052756, + -0.3423686684092506, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007364086604946225, + "xy_threshold": 0.08, + "gripper_dist": 0.18641689456273391, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395462475785, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544856178800069, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873182862642171, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15470491852958618, + "release_required_pad_clearance": 0.05365914313210855, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.327976959334416, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008152246475219727, + "max_z_decrease": 0.008152246475219727, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501197493518493, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008152246475219727, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021082420104886174, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008152246475219727, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008152322223345122, + "max_button_displacement": 0.12, + "button_start": [ + 0.18299143016338348, + -0.3986301124095916, + 0.7768088579177856 + ], + "button_final": [ + 0.18299143016338348, + -0.3986301124095916, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1809866019347132, + -0.40026274098208603, + 0.8035703736214783 + ], + "closest_button": [ + 0.18301962316036224, + -0.39860913157463074, + 0.7686566114425659 + ], + "closest_ee_minus_button": [ + -0.002033021225649051, + -0.001653609407455292, + 0.0349137621789124 + ], + "button_min_z_position": [ + 0.18301962316036224, + -0.39860913157463074, + 0.7686566114425659 + ], + "min_active_finger_to_button": 0.14761088750533818, + "closest_active_finger": [ + 0.0400049090385437, + -0.3862912654876709, + 0.808455765247345 + ], + "closest_active_finger_button": [ + 0.18299715220928192, + -0.39863792061805725, + 0.7739629745483398 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14299224317073822, + 0.012346655130386353, + 0.03449279069900513 + ], + "min_contact_pad_to_button": 0.021082420104886174, + "closest_contact_pad": [ + 0.18301962316036224, + -0.40124972822208743, + 0.789573009001045 + ], + "closest_contact_pad_button": [ + 0.18301962316036224, + -0.39860913157463074, + 0.7686566114425659 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026405966474566944, + 0.020916397558479072 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bbdfd43836437e5bbfd844cfcc037f54e2fcb2c758e711140a864e5cc15e72d8", + "visual_seed": 498892801066833430, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3b3182c4eac90982833b24099d72199175896347 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3497030947542658, + -0.08926171870074422, + 1.1636377109470413 + ], + "current_z": 1.1636377109470413, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3025312029322753, + "gripper_z": 1.1538165645381582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3453838130635808, + -0.09365949246978765, + 1.1538165645381582 + ], + "object_minus_gripper": [ + 0.004319281690685017, + 0.004397773769043434, + 0.009821146408883097 + ], + "object_to_gripper_xy": 0.006164138905570941, + "object_to_gripper_z": 0.009821146408883097, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3497030947542658, + -0.11308824558289957, + 1.1636377109470413 + ], + "finger_b": [ + 0.33975491645648404, + -0.08926171870074422, + 1.1636377109470413 + ], + "finger_midpoint": [ + 0.3447290056053749, + -0.10117498214182188, + 1.1636377109470413 + ], + "object_minus_finger_midpoint": [ + 0.0049740891488909145, + 0.011913263441077668, + 0.0 + ], + "finger_gap": 0.025819946450574366, + "fingertip_max_gap": 0.0933979127692279, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012909973225287186, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636377109470413, + "object_top_z": 1.2135589726983524, + "finger_top_clearance": 0.049921261751311174, + "fingertip_min_top_clearance": 0.014976378525393385, + "object_projection_between_fingers": 0.851551283736767, + "object_to_finger_line_xy": 0.009180132812990379, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049198956384613954, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1515597329071072, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33757689587403483, + -0.34129300481503966, + 0.8515395803837422 + ], + "target_position": [ + 0.331702756732128, + -0.34169179227258656, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005887660154490789, + "xy_threshold": 0.08, + "gripper_dist": 0.18447605248633683, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395803837422, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513632852823346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08802939722506813, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1534926342509324, + "release_required_pad_clearance": 0.054014698612534065, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0409123789598933, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008371829986572266, + "max_z_decrease": 0.008371829986572266, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504322205061112, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008371829986572266, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021122175491682826, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008371829986572266, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008371878059059593, + "max_button_displacement": 0.12, + "button_start": [ + 0.187402680516243, + -0.3979532420635223, + 0.7768088579177856 + ], + "button_final": [ + 0.187402680516243, + -0.3979532420635223, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18824917014702247, + -0.3964196560932807, + 0.8034362894462325 + ], + "closest_button": [ + 0.18737660348415378, + -0.39794206619262695, + 0.7684370279312134 + ], + "closest_ee_minus_button": [ + 0.0008725666628686957, + 0.0015224100993462275, + 0.03499926151501909 + ], + "button_min_z_position": [ + 0.18737660348415378, + -0.39794206619262695, + 0.7684370279312134 + ], + "min_active_finger_to_button": 0.14451392151552145, + "closest_active_finger": [ + 0.0622490718960762, + -0.46132490038871765, + 0.8074206113815308 + ], + "closest_active_finger_button": [ + 0.18741428852081304, + -0.3979611396789551, + 0.772736668586731 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12516521662473684, + -0.06336376070976257, + 0.034683942794799805 + ], + "min_contact_pad_to_button": 0.021122175491682826, + "closest_contact_pad": [ + 0.18737660348415378, + -0.39794206619262695, + 0.7895592034228962 + ], + "closest_contact_pad_button": [ + 0.18737660348415378, + -0.39794206619262695, + 0.7684370279312134 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021122175491682826 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "18eac184086ef0650b641ab13498bd5909a16162e1ae0d780043db2caf8c72bc", + "visual_seed": 5676718747024212777, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec38d8b0d6a27ad514b4f1c574abce785d0e870f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34184387791448334, + -0.09804741028271072, + 1.1646577088356929 + ], + "current_z": 1.1646577088356929, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.30355132003021623, + "gripper_z": 1.154969125441852, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33764647549148485, + -0.102410842036791, + 1.154969125441852 + ], + "object_minus_gripper": [ + 0.004197402422998486, + 0.004363431754080285, + 0.009688583393840933 + ], + "object_to_gripper_xy": 0.006054562228031826, + "object_to_gripper_z": 0.009688583393840933, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34184387791448334, + -0.1218555517827091, + 1.1646577088356929 + ], + "finger_b": [ + 0.3320207254289166, + -0.09804741028271072, + 1.1646577088356929 + ], + "finger_midpoint": [ + 0.33693230167169996, + -0.10995148103270991, + 1.1646577088356929 + ], + "object_minus_finger_midpoint": [ + 0.0049115762427833776, + 0.01190407074999919, + 0.0 + ], + "finger_gap": 0.025755036913944453, + "fingertip_max_gap": 0.09325528461803775, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012877518456972227, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646577088356929, + "object_top_z": 1.2145756131690306, + "finger_top_clearance": 0.04991790433333776, + "fingertip_min_top_clearance": 0.014975371300001294, + "object_projection_between_fingers": 0.8545286671393906, + "object_to_finger_line_xy": 0.009080592861655343, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04912764230901888, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.993650588720908, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3333878331982267, + -0.34251085741941967, + 0.8515396285957657 + ], + "target_position": [ + 0.3273950129693307, + -0.3430970547039675, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006021421887916174, + "xy_threshold": 0.08, + "gripper_dist": 0.1830398693929934, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396285957657, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582799718106426, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08985874113387625, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15029144392840765, + "release_required_pad_clearance": 0.05492937056693813, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.925824603350273, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008304178714752197, + "max_z_decrease": 0.008304178714752197, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035012018047613384, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008304178714752197, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021124161900949564, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008304178714752197, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008304210748280427, + "max_button_displacement": 0.12, + "button_start": [ + 0.18309493362903595, + -0.3993585109710693, + 0.7768088579177856 + ], + "button_final": [ + 0.18309493362903595, + -0.3993585109710693, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18360137590109882, + -0.4001481365517956, + 0.8035677211099115 + ], + "closest_button": [ + 0.18308286368846888, + -0.3993450999259948, + 0.768568754196167 + ], + "closest_ee_minus_button": [ + 0.0005185122126299402, + -0.0008030366258007793, + 0.03499896691374449 + ], + "button_min_z_position": [ + 0.18307745456695554, + -0.3993434607982635, + 0.7685046792030334 + ], + "min_active_finger_to_button": 0.14527869374177993, + "closest_active_finger": [ + 0.042636528611183167, + -0.3859883248806, + 0.8079785704612732 + ], + "closest_active_finger_button": [ + 0.18310335278511047, + -0.3993652760982513, + 0.7733949422836304 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1404668241739273, + 0.013376951217651312, + 0.03458362817764282 + ], + "min_contact_pad_to_button": 0.021124161900949564, + "closest_contact_pad": [ + 0.18307745456695554, + -0.40115001881407014, + 0.78955145007538 + ], + "closest_contact_pad_button": [ + 0.18307745456695554, + -0.3993434607982635, + 0.7685046792030334 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018065580158066474, + 0.02104677087234652 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad37fa0d08ec860520f841aa1ff062e3c90051ba1fb886450f41cc34bf3e40f5", + "visual_seed": 1182203508954254318, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..21ca4152a1b800d83dc7ee113a724cccbaf594b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35095709401434666, + -0.09130456856176639, + 1.164921174114765 + ], + "current_z": 1.164921174114765, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.30381448728606486, + "gripper_z": 1.1551551464217422, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3465916603470641, + -0.09582860019709949, + 1.1551551464217422 + ], + "object_minus_gripper": [ + 0.004365433667282537, + 0.004524031635333103, + 0.009766027693022705 + ], + "object_to_gripper_xy": 0.006286801519130262, + "object_to_gripper_z": 0.009766027693022705, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35095709401434666, + -0.11483809674422148, + 1.164921174114765 + ], + "finger_b": [ + 0.34036853339637074, + -0.09130456856176639, + 1.164921174114765 + ], + "finger_midpoint": [ + 0.3456628137053587, + -0.10307133265299392, + 1.164921174114765 + ], + "object_minus_finger_midpoint": [ + 0.005294280308987986, + 0.011766764091227538, + 0.0 + ], + "finger_gap": 0.025805901741170728, + "fingertip_max_gap": 0.09216799713937521, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012902950870585371, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164921174114765, + "object_top_z": 1.2147620169110436, + "finger_top_clearance": 0.04984084279627865, + "fingertip_min_top_clearance": 0.01495225283888356, + "object_projection_between_fingers": 0.8316412177411883, + "object_to_finger_line_xy": 0.009656170600588581, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048583998569687606, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0995614321331995, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33491281691214353, + -0.3406246970049214, + 0.8515395996138075 + ], + "target_position": [ + 0.32707570414020254, + -0.34224836949957427, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008003539777499263, + "xy_threshold": 0.08, + "gripper_dist": 0.18410549075993135, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395996138075, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521825170443878, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086643213336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15302961924856875, + "release_required_pad_clearance": 0.053321606668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6607888882184614, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008255243301391602, + "max_z_decrease": 0.008255243301391602, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035006236373707186, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008255243301391602, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021330262578701496, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008255243301391602, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008255277027505472, + "max_button_displacement": 0.12, + "button_start": [ + 0.18277563154697418, + -0.3985098302364348, + 0.7768088579177856 + ], + "button_final": [ + 0.18277563154697418, + -0.3985098302364348, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18281702983123918, + -0.39947123276437896, + 0.8039066747501897 + ], + "closest_button": [ + 0.1827375888824463, + -0.3985137045383453, + 0.7689136266708374 + ], + "closest_ee_minus_button": [ + 7.944094879289154e-05, + -0.000957528226033677, + 0.03499304807935233 + ], + "button_min_z_position": [ + 0.182754784822464, + -0.398498773574829, + 0.768553614616394 + ], + "min_active_finger_to_button": 0.14577472593820487, + "closest_active_finger": [ + 0.04220785200595856, + -0.3822365403175354, + 0.8078807592391968 + ], + "closest_active_finger_button": [ + 0.1827872097492218, + -0.39851403236389155, + 0.7729128003120422 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14057935774326324, + 0.016277492046356146, + 0.03496795892715454 + ], + "min_contact_pad_to_button": 0.021330262578701496, + "closest_contact_pad": [ + 0.182754784822464, + -0.4007524766002738, + 0.7897644826879618 + ], + "closest_contact_pad_button": [ + 0.182754784822464, + -0.398498773574829, + 0.768553614616394 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022537030254448087, + 0.0212108680715678 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "386efbf64e0c73964cc007b4f870c0dce5357f18b5dd6f95318cc5eb6548d057", + "visual_seed": 10174687274240840, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..34ad2e6bf503cb881ef0f5cabf8791be3df852a3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35098928388033473, + -0.08999337784604902, + 1.1661007331248734 + ], + "current_z": 1.1661007331248734, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3049940462961731, + "gripper_z": 1.1561524763532223, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3470730306380502, + -0.0943060135970788, + 1.1561524763532223 + ], + "object_minus_gripper": [ + 0.003916253242284562, + 0.004312635751029775, + 0.00994825677165112 + ], + "object_to_gripper_xy": 0.005825449903549467, + "object_to_gripper_z": 0.00994825677165112, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35098928388033473, + -0.11325346508260994, + 1.1661007331248734 + ], + "finger_b": [ + 0.3407567682828429, + -0.08999337784604902, + 1.1661007331248734 + ], + "finger_midpoint": [ + 0.3458730260815888, + -0.10162342146432948, + 1.1661007331248734 + ], + "object_minus_finger_midpoint": [ + 0.005116257798745916, + 0.011630043618280461, + 0.0 + ], + "finger_gap": 0.025411336716224472, + "fingertip_max_gap": 0.0927200657074467, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012705668358112236, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661007331248734, + "object_top_z": 1.2159387851216295, + "finger_top_clearance": 0.04983805199675606, + "fingertip_min_top_clearance": 0.014951415599026784, + "object_projection_between_fingers": 0.8378526673630045, + "object_to_finger_line_xy": 0.00936626074043434, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048860032853723354, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6485470405452562, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3376991942685088, + -0.34567773292694626, + 0.8515395105732004 + ], + "target_position": [ + 0.33022496933674195, + -0.3472637882286428, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0076406550603128915, + "xy_threshold": 0.08, + "gripper_dist": 0.1851259574664419, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395105732004, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537216556652572, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874395015133692, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15355440790468425, + "release_required_pad_clearance": 0.0537197507566846, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.448905453577218, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008155345916748047, + "max_z_decrease": 0.008155345916748047, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035031693800110175, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008155345916748047, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021403978859793647, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008155345916748047, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008155392878947086, + "max_button_displacement": 0.12, + "button_start": [ + 0.1859249025583267, + -0.4035252332687378, + 0.7768088579177856 + ], + "button_final": [ + 0.1859249025583267, + -0.4035252332687378, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1865654284404332, + -0.40499165904008405, + 0.8038791861671266 + ], + "closest_button": [ + 0.18590541183948517, + -0.4035252630710601, + 0.7688844203948975 + ], + "closest_ee_minus_button": [ + 0.0006600166009480268, + -0.0014663959690239259, + 0.03499476577222915 + ], + "button_min_z_position": [ + 0.18589805066585538, + -0.40351852774620056, + 0.7686535120010376 + ], + "min_active_finger_to_button": 0.14519746299316696, + "closest_active_finger": [ + 0.045928359031677246, + -0.38781243562698364, + 0.8083274960517883 + ], + "closest_active_finger_button": [ + 0.1859362870454788, + -0.4035314321517944, + 0.7732134461402893 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14000792801380155, + 0.015718996524810736, + 0.03511404991149902 + ], + "min_contact_pad_to_button": 0.021403978859793647, + "closest_contact_pad": [ + 0.18589805066585538, + -0.4062614346522337, + 0.7898810123893388 + ], + "closest_contact_pad_button": [ + 0.18589805066585538, + -0.40351852774620056, + 0.7686535120010376 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002742906906033127, + 0.021227500388301235 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "84db6cedcd81a4f27e367c6a329557fa94f621b7f4bd2166d126e0a075c2845e", + "visual_seed": 6604439072227392514, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f387e07d79fa8b65148a1a454032a8c2e2a9fcdf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34525273690386876, + -0.0894255285515786, + 1.1664180130805715 + ], + "current_z": 1.1664180130805715, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3053113262518712, + "gripper_z": 1.1566775907233868, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.341091799514498, + -0.09380360365466092, + 1.1566775907233868 + ], + "object_minus_gripper": [ + 0.004160937389370789, + 0.004378075103082316, + 0.009740422357184642 + ], + "object_to_gripper_xy": 0.006039945493669046, + "object_to_gripper_z": 0.009740422357184642, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34525273690386876, + -0.1129334598701416, + 1.1664180130805715 + ], + "finger_b": [ + 0.33502859725370093, + -0.0894255285515786, + 1.1664180130805715 + ], + "finger_midpoint": [ + 0.3401406670787849, + -0.1011794942108601, + 1.1664180130805715 + ], + "object_minus_finger_midpoint": [ + 0.005112069825083887, + 0.011753965659281496, + 0.0 + ], + "finger_gap": 0.025635051520611553, + "fingertip_max_gap": 0.09274184676753358, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012817525760305766, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1664180130805715, + "object_top_z": 1.216315005028096, + "finger_top_clearance": 0.049896991947524505, + "fingertip_min_top_clearance": 0.014969097584257351, + "object_projection_between_fingers": 0.8409311444657165, + "object_to_finger_line_xy": 0.009375771002226904, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887092338376679, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.561803251910645, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3392414003428623, + -0.33794389961520616, + 0.8515396120696455 + ], + "target_position": [ + 0.3312198539401064, + -0.3399835940817957, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008276808576293313, + "xy_threshold": 0.08, + "gripper_dist": 0.1852597752760013, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396120696455, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577053441259811, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08741670991887783, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1527876312271173, + "release_required_pad_clearance": 0.05370835495943892, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.426105663180619, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008175909519195557, + "max_z_decrease": 0.008175909519195557, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503802135059796, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008175909519195557, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02115759261181368, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008175909519195557, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008175915373525635, + "max_button_displacement": 0.12, + "button_start": [ + 0.18691977858543393, + -0.39624506235122686, + 0.7768088579177856 + ], + "button_final": [ + 0.18691977858543393, + -0.39624506235122686, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18532223592635497, + -0.3959969263957223, + 0.8071318533211816 + ], + "closest_button": [ + 0.186907485127449, + -0.39624750614166265, + 0.7721306085586548 + ], + "closest_ee_minus_button": [ + -0.001585249201094041, + 0.00025057974594033805, + 0.03500124476252686 + ], + "button_min_z_position": [ + 0.1869106143712997, + -0.3962416350841522, + 0.7686329483985901 + ], + "min_active_finger_to_button": 0.14752122556447025, + "closest_active_finger": [ + 0.05835544317960739, + -0.45970115065574646, + 0.8077039122581482 + ], + "closest_active_finger_button": [ + 0.18692904710769653, + -0.3962490260601044, + 0.7729883790016174 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12857360392808914, + -0.06345212459564203, + 0.03471553325653076 + ], + "min_contact_pad_to_button": 0.02115759261181368, + "closest_contact_pad": [ + 0.1869106143712997, + -0.3971603742354718, + 0.7897705841107341 + ], + "closest_contact_pad_button": [ + 0.1869106143712997, + -0.3962416350841522, + 0.7686329483985901 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009187391513195697, + 0.021137635712144 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2210a2c454ca8b21c0ec7807305ebff504215f2758eb7231ba19b91ac08ddfd7", + "visual_seed": 588925562707291086, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fc3352be9a2c3e4f4198e8ba3b4b671444b741c6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34191056956241106, + -0.09584095962365412, + 1.1653456970330107 + ], + "current_z": 1.1653456970330107, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30423918901824454, + "gripper_z": 1.1557106857321473, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3376517825729086, + -0.10015682511179962, + 1.1557106857321473 + ], + "object_minus_gripper": [ + 0.004258786989502439, + 0.004315865488145498, + 0.009635011300863416 + ], + "object_to_gripper_xy": 0.006063329245036973, + "object_to_gripper_z": 0.009635011300863416, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34191056956241106, + -0.11957932314716728, + 1.1653456970330107 + ], + "finger_b": [ + 0.33201368482890903, + -0.09584095962365412, + 1.1653456970330107 + ], + "finger_midpoint": [ + 0.33696212719566004, + -0.1077101413854107, + 1.1653456970330107 + ], + "object_minus_finger_midpoint": [ + 0.004948442366751016, + 0.011869181761756581, + 0.0 + ], + "finger_gap": 0.025718830265054546, + "fingertip_max_gap": 0.0934610276375061, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012859415132527273, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1653456970330107, + "object_top_z": 1.215232521871961, + "finger_top_clearance": 0.04988682483895035, + "fingertip_min_top_clearance": 0.014966047451685071, + "object_projection_between_fingers": 0.8519206157610104, + "object_to_finger_line_xy": 0.009134779658832248, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049230513818753055, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.32301783655731, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3371470820711352, + -0.3395167511494114, + 0.8515395906845394 + ], + "target_position": [ + 0.33063519463320795, + -0.340364055184947, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00656678019526081, + "xy_threshold": 0.08, + "gripper_dist": 0.18290604926109738, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395906845394, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538292424287485, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08928715537836666, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15146112701778908, + "release_required_pad_clearance": 0.054643577689183334, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.328206696561715, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008158564567565918, + "max_z_decrease": 0.008158564567565918, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502651942738307, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008158564567565918, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021225902871437552, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008158564567565918, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008158620148496649, + "max_button_displacement": 0.12, + "button_start": [ + 0.1863351166248321, + -0.3966255187988281, + 0.7768088579177856 + ], + "button_final": [ + 0.1863351166248321, + -0.3966255187988281, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18604641687272613, + -0.39511492834040113, + 0.805164751336607 + ], + "closest_button": [ + 0.18631823360919947, + -0.39662423729896545, + 0.7701718211174011 + ], + "closest_ee_minus_button": [ + -0.0002718167364733348, + 0.001509308958564326, + 0.03499293021920591 + ], + "button_min_z_position": [ + 0.1863050460815429, + -0.3966238796710968, + 0.7686502933502197 + ], + "min_active_finger_to_button": 0.14575112877170437, + "closest_active_finger": [ + 0.05839979648590088, + -0.45696455240249634, + 0.8080913424491882 + ], + "closest_active_finger_button": [ + 0.1863462626934051, + -0.3966323435306549, + 0.7729755640029907 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12794646620750422, + -0.06033220887184143, + 0.03511577844619751 + ], + "min_contact_pad_to_button": 0.021225902871437552, + "closest_contact_pad": [ + 0.1863050460815429, + -0.3966238796710968, + 0.7898761962216573 + ], + "closest_contact_pad_button": [ + 0.1863050460815429, + -0.3966238796710968, + 0.7686502933502197 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021225902871437552 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aa02ea8deec5800429db5e04bfa31ce0772f11dc36fd69e0563875177967ddae", + "visual_seed": 102343241460230628, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0ca8ed0e6e0dfda0054ea2fab792ba92cd742ada --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3440933411376072, + -0.0928819980497962, + 1.1670432419245862 + ], + "current_z": 1.1670432419245862, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.3059366147005306, + "gripper_z": 1.1573658895080865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33983799556212413, + -0.09721073253169507, + 1.1573658895080865 + ], + "object_minus_gripper": [ + 0.004255345575483072, + 0.004328734481898869, + 0.009677352416499696 + ], + "object_to_gripper_xy": 0.006070083045689212, + "object_to_gripper_z": 0.009677352416499696, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3440933411376072, + -0.1165884285126965, + 1.1670432419245862 + ], + "finger_b": [ + 0.3341370895348394, + -0.0928819980497962, + 1.1670432419245862 + ], + "finger_midpoint": [ + 0.3391152153362233, + -0.10473521328124635, + 1.1670432419245862 + ], + "object_minus_finger_midpoint": [ + 0.004978125801383904, + 0.011853215231450151, + 0.0 + ], + "finger_gap": 0.02571228872095878, + "fingertip_max_gap": 0.09297075794992113, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01285614436047939, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1670432419245862, + "object_top_z": 1.2168516398970461, + "finger_top_clearance": 0.04980839797245995, + "fingertip_min_top_clearance": 0.01494251939173795, + "object_projection_between_fingers": 0.8500625039341022, + "object_to_finger_line_xy": 0.009179547913981003, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04898537897496057, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9482509037751488, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3309063284409157, + -0.343450935947444, + 0.8515395624685294 + ], + "target_position": [ + 0.3241378659858705, + -0.3445268124847739, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006853436680157876, + "xy_threshold": 0.08, + "gripper_dist": 0.18191455444485974, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395624685294, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584589677093251, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08977590189865557, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1493039694250685, + "release_required_pad_clearance": 0.05488795094932779, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.838749642933526, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008129239082336426, + "max_z_decrease": 0.008129239082336426, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499521627977006, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008129239082336426, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021020039931823067, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008129239082336426, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008129285019641753, + "max_button_displacement": 0.12, + "button_start": [ + 0.1798377931118011, + -0.40078827738761896, + 0.7768088579177856 + ], + "button_final": [ + 0.1798377931118011, + -0.40078827738761896, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1793667822241996, + -0.40151401841257495, + 0.8036635109107232 + ], + "closest_button": [ + 0.17986074090003962, + -0.4007734358310699, + 0.7686796188354492 + ], + "closest_ee_minus_button": [ + -0.0004939586758400116, + -0.000740582581505056, + 0.03498389207527397 + ], + "button_min_z_position": [ + 0.17986074090003962, + -0.4007734358310699, + 0.7686796188354492 + ], + "min_active_finger_to_button": 0.14616632336224025, + "closest_active_finger": [ + 0.038372717797756195, + -0.3878561556339264, + 0.81082683801651 + ], + "closest_active_finger_button": [ + 0.17984013259410853, + -0.40079057216644276, + 0.7764136791229248 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14146741479635233, + 0.012934416532516368, + 0.034413158893585205 + ], + "min_contact_pad_to_button": 0.021020039931823067, + "closest_contact_pad": [ + 0.17986074090003962, + -0.40247049461502454, + 0.789631040510821 + ], + "closest_contact_pad_button": [ + 0.17986074090003962, + -0.4007734358310699, + 0.7686796188354492 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016970587839546525, + 0.020951421675371784 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3002cb24a650237d64f595de77900b0c6b2b13269fff630b3e76eae76b906d7b", + "visual_seed": 6874350547560539176, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..762da032c495aea75cae809c9b32442ecf66bf22 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3420641233214708, + -0.09036724425014647, + 1.1661935798820502 + ], + "current_z": 1.1661935798820502, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.3050871910765739, + "gripper_z": 1.156566441427085, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33781847345044236, + -0.09480333226627552, + 1.156566441427085 + ], + "object_minus_gripper": [ + 0.004245649871028434, + 0.004436088016129047, + 0.0096271384549651 + ], + "object_to_gripper_xy": 0.006140392472326789, + "object_to_gripper_z": 0.0096271384549651, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3420641233214708, + -0.11392397923989846, + 1.1661935798820502 + ], + "finger_b": [ + 0.33173854298992533, + -0.09036724425014647, + 1.1661935798820502 + ], + "finger_midpoint": [ + 0.33690133315569804, + -0.10214561174502246, + 1.1661935798820502 + ], + "object_minus_finger_midpoint": [ + 0.005162790165772757, + 0.011778367494875985, + 0.0 + ], + "finger_gap": 0.025720368826294148, + "fingertip_max_gap": 0.09250375101094746, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01286018441314708, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661935798820502, + "object_top_z": 1.216096171029901, + "finger_top_clearance": 0.04990259114785078, + "fingertip_min_top_clearance": 0.014970777344355235, + "object_projection_between_fingers": 0.8388335812827701, + "object_to_finger_line_xy": 0.009456977896714625, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875187550547373, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.361098592349315, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3361639161202991, + -0.339482460621671, + 0.8515395830076328 + ], + "target_position": [ + 0.32869977218482477, + -0.341205984668074, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007660546966634163, + "xy_threshold": 0.08, + "gripper_dist": 0.18463455619061953, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395830076328, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581446200783953, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08870374334517593, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1522205798599865, + "release_required_pad_clearance": 0.05435187167258797, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.726812853683772, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00814807415008545, + "max_z_decrease": 0.00814807415008545, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035018949143458926, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00814807415008545, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02117710064031169, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00814807415008545, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008148081623553606, + "max_button_displacement": 0.12, + "button_start": [ + 0.18439969420433042, + -0.3974674344062805, + 0.7768088579177856 + ], + "button_final": [ + 0.18439969420433042, + -0.3974674344062805, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18352288279244722, + -0.39647623127330284, + 0.8036550191729814 + ], + "closest_button": [ + 0.18438869714736933, + -0.3974665105342865, + 0.7686607837677002 + ], + "closest_ee_minus_button": [ + -0.000865814354922112, + 0.000990279260983662, + 0.03499423540528124 + ], + "button_min_z_position": [ + 0.18438869714736933, + -0.3974665105342865, + 0.7686607837677002 + ], + "min_active_finger_to_button": 0.14624643628991615, + "closest_active_finger": [ + 0.05653281509876251, + -0.4593171775341034, + 0.8077871799468994 + ], + "closest_active_finger_button": [ + 0.18441124260425562, + -0.3974722623825073, + 0.7729973196983337 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1278784275054931, + -0.06184491515159607, + 0.034789860248565674 + ], + "min_contact_pad_to_button": 0.02117710064031169, + "closest_contact_pad": [ + 0.18438869714736933, + -0.3976757184463151, + 0.789836851003602 + ], + "closest_contact_pad_button": [ + 0.18438869714736933, + -0.3974665105342865, + 0.7686607837677002 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00020920791202860833, + 0.02117606723590182 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c36224dcc9e83e52f36d1e8f0c28a9ec195ffc817700e02e8350e8ecdd16f0ff", + "visual_seed": 4595571378457955927, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0fb9f2c7f526954745006e6172e35f86f9eba789 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34843865715110944, + -0.09504609431960206, + 1.1640542380321306 + ], + "current_z": 1.1640542380321306, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3029477896220092, + "gripper_z": 1.1541450142304932, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3443927892511083, + -0.09932846269733271, + 1.1541450142304932 + ], + "object_minus_gripper": [ + 0.0040458679000011655, + 0.004282368377730647, + 0.00990922380163739 + ], + "object_to_gripper_xy": 0.005891326335117353, + "object_to_gripper_z": 0.00990922380163739, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34843865715110944, + -0.11851680264009429, + 1.1640542380321306 + ], + "finger_b": [ + 0.3384207946786614, + -0.09504609431960206, + 1.1640542380321306 + ], + "finger_midpoint": [ + 0.3434297259148854, + -0.10678144847984818, + 1.1640542380321306 + ], + "object_minus_finger_midpoint": [ + 0.005008931236224035, + 0.011735354160246111, + 0.0 + ], + "finger_gap": 0.02551924210439068, + "fingertip_max_gap": 0.0927238478696947, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01275962105219534, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1640542380321306, + "object_top_z": 1.2138785364662215, + "finger_top_clearance": 0.04982429843409086, + "fingertip_min_top_clearance": 0.014947289530227259, + "object_projection_between_fingers": 0.8458957605912848, + "object_to_finger_line_xy": 0.009213687738993587, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048861923934847354, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7310544821544465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3383500977499445, + -0.341332666459774, + 0.8515395671819238 + ], + "target_position": [ + 0.3318724387235724, + -0.3423487380927318, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006556864191459315, + "xy_threshold": 0.08, + "gripper_dist": 0.18486477692565406, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395671819238, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566130696691134, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08871574606216685, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152500994220979, + "release_required_pad_clearance": 0.05435787303108343, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7391853209848342, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008194327354431152, + "max_z_decrease": 0.008194327354431152, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505160662077026, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008194327354431152, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021203457142753956, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008194327354431152, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008194381745472523, + "max_button_displacement": 0.12, + "button_start": [ + 0.18757236003875732, + -0.39861020445823664, + 0.7768088579177856 + ], + "button_final": [ + 0.18757236003875732, + -0.39861020445823664, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18828366649894682, + -0.3966441879435808, + 0.8037409842458518 + ], + "closest_button": [ + 0.1875510513782501, + -0.39860898256301874, + 0.7687521576881409 + ], + "closest_ee_minus_button": [ + 0.0007326151206967224, + 0.0019647946194379373, + 0.03498882655771096 + ], + "button_min_z_position": [ + 0.18754258751869202, + -0.3986079692840576, + 0.7686145305633545 + ], + "min_active_finger_to_button": 0.1446182561359231, + "closest_active_finger": [ + 0.060579828917980194, + -0.4580748677253723, + 0.8083050847053528 + ], + "closest_active_finger_button": [ + 0.18758621811866757, + -0.39861547946929926, + 0.7729724049568176 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12700638920068738, + -0.059459388256073054, + 0.035332679748535156 + ], + "min_contact_pad_to_button": 0.021203457142753956, + "closest_contact_pad": [ + 0.18754258751869202, + -0.3986079692840576, + 0.7898179877061084 + ], + "closest_contact_pad_button": [ + 0.18754258751869202, + -0.3986079692840576, + 0.7686145305633545 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021203457142753956 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c88eea1a9787c6c23d129b5c62251d7e5b7342d68cece3ec34631efa7716b35", + "visual_seed": 3571122136712013782, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f9a1497a97db74f9b7c704bea9b79e933fbfc112 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34899052793132335, + -0.09257118790513713, + 1.1676627723987654 + ], + "current_z": 1.1676627723987654, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.30655614517470964, + "gripper_z": 1.1578128502821643, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3447608977764083, + -0.09690404967030244, + 1.1578128502821643 + ], + "object_minus_gripper": [ + 0.004229630154915065, + 0.004332861765165313, + 0.009849922116601073 + ], + "object_to_gripper_xy": 0.006055036112476812, + "object_to_gripper_z": 0.009849922116601073, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34899052793132335, + -0.11622326001613717, + 1.1676627723987654 + ], + "finger_b": [ + 0.338973307137293, + -0.09257118790513713, + 1.1676627723987654 + ], + "finger_midpoint": [ + 0.3439819175343082, + -0.10439722396063715, + 1.1676627723987654 + ], + "object_minus_finger_midpoint": [ + 0.005008610397015167, + 0.01182603605550002, + 0.0 + ], + "finger_gap": 0.025685895498897826, + "fingertip_max_gap": 0.09274142254511633, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012842947749448913, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1676627723987654, + "object_top_z": 1.2174873964867061, + "finger_top_clearance": 0.04982462408794075, + "fingertip_min_top_clearance": 0.014947387226382225, + "object_projection_between_fingers": 0.8479084555511214, + "object_to_finger_line_xy": 0.009224051720617679, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887071127255817, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7232666533424763, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33465602966633, + -0.3383306777642545, + 0.8515396027694352 + ], + "target_position": [ + 0.327377264363534, + -0.33971828964662504, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007409850947845257, + "xy_threshold": 0.08, + "gripper_dist": 0.18608496452362136, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396027694352, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557957077917661, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08835910127021178, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15402932570190586, + "release_required_pad_clearance": 0.05417955063510589, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3749684695147746, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007990062236785889, + "max_z_decrease": 0.007990062236785889, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501553591693562, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007990062236785889, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021248020445562062, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007990062236785889, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007990084088178787, + "max_button_displacement": 0.12, + "button_start": [ + 0.183077186346054, + -0.3959797620773316, + 0.7768088579177856 + ], + "button_final": [ + 0.183077186346054, + -0.3959797620773316, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1819828210832604, + -0.39666848045456304, + 0.8067288020989684 + ], + "closest_button": [ + 0.18306550383567802, + -0.395982027053833, + 0.771736741065979 + ], + "closest_ee_minus_button": [ + -0.0010826827524176297, + -0.000686453400730036, + 0.03499206103298935 + ], + "button_min_z_position": [ + 0.18305866420269004, + -0.3959822356700897, + 0.7688187956809998 + ], + "min_active_finger_to_button": 0.14718533818920101, + "closest_active_finger": [ + 0.04099065065383911, + -0.3799412250518799, + 0.8079758286476135 + ], + "closest_active_finger_button": [ + 0.18308709561824787, + -0.39598381519317627, + 0.7731224298477173 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14209644496440876, + 0.016042590141296387, + 0.03485339879989624 + ], + "min_contact_pad_to_button": 0.021248020445562062, + "closest_contact_pad": [ + 0.18305866420269004, + -0.39793805900386886, + 0.7899766105006372 + ], + "closest_contact_pad_button": [ + 0.18305866420269004, + -0.3959822356700897, + 0.7688187956809998 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019558233337791386, + 0.02115781481963741 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f25636d1f35b87c53899cde5e74e8448ca5b291c5d91157ffe62375067690507", + "visual_seed": 7647759511596376388, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fbc53bd036d03b3202a135c69da222a770e76be3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3436285745162775, + -0.09548700781703118, + 1.1659642345201333 + ], + "current_z": 1.1659642345201333, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.30485766690072236, + "gripper_z": 1.1562837995477795, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33961779313611634, + -0.09985302300730953, + 1.1562837995477795 + ], + "object_minus_gripper": [ + 0.004010781380161144, + 0.0043660151902783495, + 0.009680434972353824 + ], + "object_to_gripper_xy": 0.005928613321948786, + "object_to_gripper_z": 0.009680434972353824, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3436285745162775, + -0.11884629684314396, + 1.1659642345201333 + ], + "finger_b": [ + 0.33336597611025687, + -0.09548700781703118, + 1.1659642345201333 + ], + "finger_midpoint": [ + 0.3384972753132672, + -0.10716665233008757, + 1.1659642345201333 + ], + "object_minus_finger_midpoint": [ + 0.005131299203010309, + 0.011679644513056392, + 0.0 + ], + "finger_gap": 0.025514256991900235, + "fingertip_max_gap": 0.09298833252519037, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012757128495950117, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1659642345201333, + "object_top_z": 1.2159370509626504, + "finger_top_clearance": 0.049972816442517054, + "fingertip_min_top_clearance": 0.014991844932755082, + "object_projection_between_fingers": 0.8382110644259925, + "object_to_finger_line_xy": 0.009395805741129923, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899416626259519, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6748040742589843, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.334386499694355, + -0.34042951496211954, + 0.8515394570065403 + ], + "target_position": [ + 0.32687416576479933, + -0.34190481377694104, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007655825733529167, + "xy_threshold": 0.08, + "gripper_dist": 0.18395101928475296, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394570065403, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526378007037844, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554088059345864, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15287098914796202, + "release_required_pad_clearance": 0.05277044029672932, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5895010307584957, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00814962387084961, + "max_z_decrease": 0.00814962387084961, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035021613540352006, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00814962387084961, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021135526971636565, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00814962387084961, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00814962711428023, + "max_button_displacement": 0.12, + "button_start": [ + 0.1825740933418274, + -0.3981662690639496, + 0.7768088579177856 + ], + "button_final": [ + 0.1825740933418274, + -0.3981662690639496, + 0.7768088579177856 + ], + "closest_ee": [ + 0.182174783496484, + -0.3969124931641711, + 0.8037265736190656 + ], + "closest_button": [ + 0.18257614970207214, + -0.3981605768203735, + 0.7687295079231262 + ], + "closest_ee_minus_button": [ + -0.00040136620558814395, + 0.0012480836562023812, + 0.03499706569593941 + ], + "button_min_z_position": [ + 0.18257741630077362, + -0.39815980195999146, + 0.768659234046936 + ], + "min_active_finger_to_button": 0.145713684657118, + "closest_active_finger": [ + 0.05528184026479721, + -0.45999979972839355, + 0.8087298274040222 + ], + "closest_active_finger_button": [ + 0.18258221447467804, + -0.39817032217979426, + 0.7740281224250793 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12730037420988083, + -0.0618294775485993, + 0.03470170497894287 + ], + "min_contact_pad_to_button": 0.021135526971636565, + "closest_contact_pad": [ + 0.18257741630077362, + -0.39815980195999146, + 0.7897947610185726 + ], + "closest_contact_pad_button": [ + 0.18257741630077362, + -0.39815980195999146, + 0.768659234046936 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021135526971636565 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0e733775bb3a6ff43c3a0310ff6dffa5e88c22c13ea6e75d27037806ebf2e66e", + "visual_seed": 5428613081924756290, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..038a97605ab1c5bf55d3520ff297fc21c526a85e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3467238739012419, + -0.0934394087756032, + 1.164924295548858 + ], + "current_z": 1.164924295548858, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.30381772792944695, + "gripper_z": 1.1551281955354964, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34240543031884374, + -0.09785427403952644, + 1.1551281955354964 + ], + "object_minus_gripper": [ + 0.004318443582398135, + 0.004414865263923248, + 0.009796100013361508 + ], + "object_to_gripper_xy": 0.006175758275139315, + "object_to_gripper_z": 0.009796100013361508, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3467238739012419, + -0.11709121388538708, + 1.164924295548858 + ], + "finger_b": [ + 0.33649559020793207, + -0.0934394087756032, + 1.164924295548858 + ], + "finger_midpoint": [ + 0.341609732054587, + -0.10526531133049513, + 1.164924295548858 + ], + "object_minus_finger_midpoint": [ + 0.005114141846654874, + 0.011825902554891937, + 0.0 + ], + "finger_gap": 0.025768695587127154, + "fingertip_max_gap": 0.09217132012171789, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01288434779356356, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164924295548858, + "object_top_z": 1.214782596904127, + "finger_top_clearance": 0.04985830135526914, + "fingertip_min_top_clearance": 0.014957490406580742, + "object_projection_between_fingers": 0.8424491827937268, + "object_to_finger_line_xy": 0.00938803330978829, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048585660060858946, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.066910494898672, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3319053360947582, + -0.33657641971360275, + 0.8515395476374986 + ], + "target_position": [ + 0.32396909838076465, + -0.3382538086015036, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008111565972996015, + "xy_threshold": 0.08, + "gripper_dist": 0.1832218658241377, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395476374986, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570164910311612, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08857061667996312, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15100816414414167, + "release_required_pad_clearance": 0.05428530833998156, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5905191333356754, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008218765258789062, + "max_z_decrease": 0.008218765258789062, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500050914852791, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008218765258789062, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021001479932565122, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008218765258789062, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008218779864103496, + "max_button_displacement": 0.12, + "button_start": [ + 0.17966902256011957, + -0.39451527595520014, + 0.7768088579177856 + ], + "button_final": [ + 0.17966902256011957, + -0.39451527595520014, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17901697832185107, + -0.39464139525539665, + 0.8036496110627791 + ], + "closest_button": [ + 0.17968329787254328, + -0.3945033252239227, + 0.7686557173728943 + ], + "closest_ee_minus_button": [ + -0.0006663195506922126, + -0.00013807003147398023, + 0.034993893689884814 + ], + "button_min_z_position": [ + 0.17967873811721796, + -0.3945032060146331, + 0.7685900926589966 + ], + "min_active_finger_to_button": 0.14640215777011376, + "closest_active_finger": [ + 0.038012899458408356, + -0.38104623556137085, + 0.8104200959205627 + ], + "closest_active_finger_button": [ + 0.17967192828655237, + -0.39451980590820307, + 0.7759995460510254 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14165902882814402, + 0.01347357034683222, + 0.034420549869537354 + ], + "min_contact_pad_to_button": 0.021001479932565122, + "closest_contact_pad": [ + 0.17967873811721796, + -0.3955881775501165, + 0.7895635281459435 + ], + "closest_contact_pad_button": [ + 0.17967873811721796, + -0.3945032060146331, + 0.7685900926589966 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00108497153548337, + 0.020973435486946967 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "723d1e03038388be4260dce320dd9479ab6db37f253b8da9526e88613aae38ab", + "visual_seed": 8413757408455548660, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2e474438caef90241e146dbdc88a6d61dd4f3cb1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3489248449515463, + -0.09358430133048704, + 1.1662754159577786 + ], + "current_z": 1.1662754159577786, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.305168788733723, + "gripper_z": 1.1564265493520103, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3446758574441705, + -0.0979864508680513, + 1.1564265493520103 + ], + "object_minus_gripper": [ + 0.00424898750737579, + 0.004402149537564265, + 0.009848866605768336 + ], + "object_to_gripper_xy": 0.006118236297243904, + "object_to_gripper_z": 0.009848866605768336, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3489248449515463, + -0.11719509712948001, + 1.1662754159577786 + ], + "finger_b": [ + 0.3387192619247966, + -0.09358430133048704, + 1.1662754159577786 + ], + "finger_midpoint": [ + 0.34382205343817146, + -0.10538969922998352, + 1.1662754159577786 + ], + "object_minus_finger_midpoint": [ + 0.005102791513374838, + 0.011805397899496486, + 0.0 + ], + "finger_gap": 0.025722045081556507, + "fingertip_max_gap": 0.09224292584456803, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012861022540778254, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1662754159577786, + "object_top_z": 1.216141999166052, + "finger_top_clearance": 0.04986658320827342, + "fingertip_min_top_clearance": 0.014959974962482026, + "object_projection_between_fingers": 0.8425782810412841, + "object_to_finger_line_xy": 0.009367915190656127, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04862146292228402, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.180375396444784, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33231444343781574, + -0.34519015735734887, + 0.8515395724642518 + ], + "target_position": [ + 0.3246005175892895, + -0.3469196298244202, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007905423898243495, + "xy_threshold": 0.08, + "gripper_dist": 0.18413649419076433, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395724642518, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560929391426778, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08838218880120612, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1521617589448209, + "release_required_pad_clearance": 0.05419109440060306, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.398544181807653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008190333843231201, + "max_z_decrease": 0.008190333843231201, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035070650842802815, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008190333843231201, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021066442572737043, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008190333843231201, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008190347758802974, + "max_button_displacement": 0.12, + "button_start": [ + 0.1803004443645477, + -0.4031810760498047, + 0.7768088579177856 + ], + "button_final": [ + 0.1803004443645477, + -0.4031810760498047, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17868282559341145, + -0.4014103976498821, + 0.8036759441029794 + ], + "closest_button": [ + 0.18030935525894162, + -0.4031723439693451, + 0.76868736743927 + ], + "closest_ee_minus_button": [ + -0.0016265296655301742, + 0.0017619463194629703, + 0.03498857666370936 + ], + "button_min_z_position": [ + 0.1803125441074371, + -0.40317204594612127, + 0.7686185240745544 + ], + "min_active_finger_to_button": 0.14651234334985974, + "closest_active_finger": [ + 0.0517035573720932, + -0.4642784595489502, + 0.8108910322189331 + ], + "closest_active_finger_button": [ + 0.18030396103858948, + -0.4031830132007599, + 0.7763200998306274 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12860040366649628, + -0.06109544634819031, + 0.034570932388305664 + ], + "min_contact_pad_to_button": 0.021066442572737043, + "closest_contact_pad": [ + 0.1803125441074371, + -0.40317204594612127, + 0.7896849666472915 + ], + "closest_contact_pad_button": [ + 0.1803125441074371, + -0.40317204594612127, + 0.7686185240745544 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021066442572737043 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b13625be3a99efdb747b9e11a64ef24bb389118aec633ee4c637226317ebb462", + "visual_seed": 7610577276879228626, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..147d40a04536c476540e9bb6266f976435c2e55a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3476604843047256, + -0.09129170062654857, + 1.16590047505608 + ], + "current_z": 1.16590047505608, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3047939670413139, + "gripper_z": 1.156164594502783, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34337545026753913, + -0.09566772175346126, + 1.156164594502783 + ], + "object_minus_gripper": [ + 0.004285034037186497, + 0.004376021126912696, + 0.009735880553296994 + ], + "object_to_gripper_xy": 0.006124628772671293, + "object_to_gripper_z": 0.009735880553296994, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3476604843047256, + -0.11493125716389355, + 1.16590047505608 + ], + "finger_b": [ + 0.33752710690913945, + -0.09129170062654857, + 1.16590047505608 + ], + "finger_midpoint": [ + 0.34259379560693254, + -0.10311147889522106, + 1.16590047505608 + ], + "object_minus_finger_midpoint": [ + 0.005066688697793087, + 0.01181977826867249, + 0.0 + ], + "finger_gap": 0.025719913894173645, + "fingertip_max_gap": 0.09280778010730764, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012859956947086823, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16590047505608, + "object_top_z": 1.2157131491965236, + "finger_top_clearance": 0.04981267414044366, + "fingertip_min_top_clearance": 0.01494380224213313, + "object_projection_between_fingers": 0.8447722315992248, + "object_to_finger_line_xy": 0.009313738329095956, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890389005365382, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.652009523091904, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3374282867574349, + -0.337507022725318, + 0.8515395626585938 + ], + "target_position": [ + 0.33057517024526933, + -0.33854589658314677, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006931411459565542, + "xy_threshold": 0.08, + "gripper_dist": 0.18267825264230952, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395626585938, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541958443023535, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08802861223174262, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15101360452966897, + "release_required_pad_clearance": 0.05401430611587131, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0401400385226203, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00804072618484497, + "max_z_decrease": 0.00804072618484497, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503356282991666, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00804072618484497, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021229636666586726, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.00804072618484497, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008040759429321436, + "max_button_displacement": 0.12, + "button_start": [ + 0.18627509474754333, + -0.394807368516922, + 0.7768088579177856 + ], + "button_final": [ + 0.18627509474754333, + -0.394807368516922, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18592248819795346, + -0.39316695315494804, + 0.8060436978564018 + ], + "closest_button": [ + 0.1862611025571823, + -0.3948064148426056, + 0.7710501551628113 + ], + "closest_ee_minus_button": [ + -0.00033861435922885597, + 0.0016394616876575507, + 0.03499354269359056 + ], + "button_min_z_position": [ + 0.18625198304653168, + -0.3948066830635071, + 0.7687681317329407 + ], + "min_active_finger_to_button": 0.14583104093497964, + "closest_active_finger": [ + 0.05819009989500046, + -0.45501768589019775, + 0.8081831336021423 + ], + "closest_active_finger_button": [ + 0.1862863153219223, + -0.39481380581855774, + 0.7730612754821777 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12809621542692184, + -0.060203880071640015, + 0.0351218581199646 + ], + "min_contact_pad_to_button": 0.021229636666586726, + "closest_contact_pad": [ + 0.18625198304653168, + -0.3948066830635071, + 0.7899977683995274 + ], + "closest_contact_pad_button": [ + 0.18625198304653168, + -0.3948066830635071, + 0.7687681317329407 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021229636666586726 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "966907d17dc62d0a9fb6c678af1e363831d3c9585ffd7432120b586a366e168c", + "visual_seed": 6081936555710148792, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bf6c0e6fe6889ecea58eeea5791d9d8dc3629e80 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3443714309754444, + -0.09511308489202744, + 1.1640772044877927 + ], + "current_z": 1.1640772044877927, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30297051765909244, + "gripper_z": 1.154379284442737, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3400478489590641, + -0.09951087125650022, + 1.154379284442737 + ], + "object_minus_gripper": [ + 0.004323582016380334, + 0.004397786364472786, + 0.009697920045055763 + ], + "object_to_gripper_xy": 0.006167161937221221, + "object_to_gripper_z": 0.009697920045055763, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3443714309754444, + -0.11894390616109159, + 1.1640772044877927 + ], + "finger_b": [ + 0.33441411394415865, + -0.09511308489202744, + 1.1640772044877927 + ], + "finger_midpoint": [ + 0.33939277245980154, + -0.10702849552655952, + 1.1640772044877927 + ], + "object_minus_finger_midpoint": [ + 0.004978658515642886, + 0.011915410634532081, + 0.0 + ], + "finger_gap": 0.025827431247021332, + "fingertip_max_gap": 0.09264411289673083, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012913715623510673, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1640772044877927, + "object_top_z": 1.2140287083993653, + "finger_top_clearance": 0.04995150391157255, + "fingertip_min_top_clearance": 0.014985451173471796, + "object_projection_between_fingers": 0.8513646050435202, + "object_to_finger_line_xy": 0.009187558771232653, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04882205644836542, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3354282242972726, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3315605058637221, + -0.3455576962454597, + 0.8515395373553152 + ], + "target_position": [ + 0.3242806626459221, + -0.34678246899322446, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007382153179081024, + "xy_threshold": 0.08, + "gripper_dist": 0.18286915905765036, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395373553152, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075799209460598, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08957366545324023, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15027690308151745, + "release_required_pad_clearance": 0.05478683272662012, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.6268451738817795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008355021476745605, + "max_z_decrease": 0.008355021476745605, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035002801220978326, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008355021476745605, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021193252813126173, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008355021476745605, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008355116768638489, + "max_button_displacement": 0.12, + "button_start": [ + 0.17998059093952173, + -0.40304392576217646, + 0.7768088579177856 + ], + "button_final": [ + 0.17998059093952173, + -0.40304392576217646, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18045818495737248, + -0.4029713380536768, + 0.8038172892282034 + ], + "closest_button": [ + 0.17995175719261164, + -0.4030292332172393, + 0.768818199634552 + ], + "closest_ee_minus_button": [ + 0.0005064277647608417, + 5.7895163562526886e-05, + 0.03499908959365139 + ], + "button_min_z_position": [ + 0.17994350194931025, + -0.40302920341491694, + 0.76845383644104 + ], + "min_active_finger_to_button": 0.14544142455854417, + "closest_active_finger": [ + 0.039851315319538116, + -0.38574111461639404, + 0.8076432347297668 + ], + "closest_active_finger_button": [ + 0.17999240756034846, + -0.4030491113662719, + 0.7727990746498108 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14014109224081034, + 0.017307996749877874, + 0.034844160079956055 + ], + "min_contact_pad_to_button": 0.021193252813126173, + "closest_contact_pad": [ + 0.17994350194931025, + -0.40424541867725194, + 0.7896121630581604 + ], + "closest_contact_pad_button": [ + 0.17994350194931025, + -0.40302920341491694, + 0.76845383644104 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012162152623350075, + 0.02115832661712036 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f51695c5346b00decae5a15567d3a2cd84192b96703b7544c26b616b99f0c772", + "visual_seed": 3370647996358008390, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..89f999188758b530150db96b974db8a53bffe3f2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3468285936591094, + -0.09553767778674012, + 1.1646177775453683 + ], + "current_z": 1.1646177775453683, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.30351109071666826, + "gripper_z": 1.15473925008408, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3426548885105669, + -0.09996043575591278, + 1.15473925008408 + ], + "object_minus_gripper": [ + 0.004173705148542484, + 0.004422757969172658, + 0.009878527461288256 + ], + "object_to_gripper_xy": 0.006081167874746617, + "object_to_gripper_z": 0.009878527461288256, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3468285936591094, + -0.1190521586509841, + 1.1646177775453683 + ], + "finger_b": [ + 0.33654746166607014, + -0.09553767778674012, + 1.1646177775453683 + ], + "finger_midpoint": [ + 0.34168802766258977, + -0.10729491821886211, + 1.1646177775453683 + ], + "object_minus_finger_midpoint": [ + 0.00514056599651963, + 0.011757240432121993, + 0.0 + ], + "finger_gap": 0.025663836139073054, + "fingertip_max_gap": 0.09216126770715302, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012831918069536527, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646177775453683, + "object_top_z": 1.2144093398272973, + "finger_top_clearance": 0.049791562281928936, + "fingertip_min_top_clearance": 0.014937468684578714, + "object_projection_between_fingers": 0.8395134199941519, + "object_to_finger_line_xy": 0.00942008358388078, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858063385357651, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0571683646183616, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33156442089250593, + -0.33790963917937233, + 0.8515395849423136 + ], + "target_position": [ + 0.324366223694811, + -0.33917797362052104, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007309084426349664, + "xy_threshold": 0.08, + "gripper_dist": 0.1845464659706971, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395849423136, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549129742698167, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562191608402901, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15269100647586462, + "release_required_pad_clearance": 0.05281095804201451, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6679296487205654, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007961094379425049, + "max_z_decrease": 0.007961094379425049, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035107517275560406, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007961094379425049, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02110176524232087, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007961094379425049, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007961118060329366, + "max_button_displacement": 0.12, + "button_start": [ + 0.1800661534070968, + -0.39543944597244257, + 0.7768088579177856 + ], + "button_final": [ + 0.1800661534070968, + -0.39543944597244257, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17934168089277547, + -0.3951042514056528, + 0.8077153815844924 + ], + "closest_button": [ + 0.18005545437335962, + -0.3954418003559112, + 0.7726167440414429 + ], + "closest_ee_minus_button": [ + -0.0007137734805841567, + 0.0003375489502583928, + 0.03509863754304954 + ], + "button_min_z_position": [ + 0.1800468862056732, + -0.395441859960556, + 0.7688477635383606 + ], + "min_active_finger_to_button": 0.14663800848295844, + "closest_active_finger": [ + 0.05304032564163208, + -0.46013471484184265, + 0.8109557628631592 + ], + "closest_active_finger_button": [ + 0.1800694018602371, + -0.395441859960556, + 0.7765878438949585 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.127029076218605, + -0.06469285488128668, + 0.034367918968200684 + ], + "min_contact_pad_to_button": 0.02110176524232087, + "closest_contact_pad": [ + 0.1800468862056732, + -0.3960947267599167, + 0.7899394268507766 + ], + "closest_contact_pad_button": [ + 0.1800468862056732, + -0.395441859960556, + 0.7688477635383606 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006528667993607185, + 0.021091663312415965 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b1d1847f616f30c95d5783d235468db2ddce870ed694899cb9548eb6b2027187", + "visual_seed": 594567589144284630, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2617625ab83885161ca8bf0df1f266c1fb4544d2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.343997866152624, + -0.09116136069976154, + 1.1648028207618473 + ], + "current_z": 1.1648028207618473, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30369643195637086, + "gripper_z": 1.1551039628434876, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3397415094716375, + -0.09553380594084267, + 1.1551039628434876 + ], + "object_minus_gripper": [ + 0.004256356680986506, + 0.00437244524108113, + 0.009698857918359671 + ], + "object_to_gripper_xy": 0.006102036511037236, + "object_to_gripper_z": 0.009698857918359671, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.343997866152624, + -0.11481601097781037, + 1.1648028207618473 + ], + "finger_b": [ + 0.333895457022154, + -0.09116136069976154, + 1.1648028207618473 + ], + "finger_midpoint": [ + 0.338946661587389, + -0.10298868583878595, + 1.1648028207618473 + ], + "object_minus_finger_midpoint": [ + 0.005051204565235001, + 0.011827325139024417, + 0.0 + ], + "finger_gap": 0.02572160862030599, + "fingertip_max_gap": 0.09285009692760424, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012860804310152995, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1648028207618473, + "object_top_z": 1.2146965737492952, + "finger_top_clearance": 0.049893752987447915, + "fingertip_min_top_clearance": 0.014968125896234407, + "object_projection_between_fingers": 0.8457398838606845, + "object_to_finger_line_xy": 0.009290591365206454, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892504846380212, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6776643113024217, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3363781080913925, + -0.34518011158605344, + 0.8515395732607571 + ], + "target_position": [ + 0.3291388174656702, + -0.3466456459495398, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007386143766149582, + "xy_threshold": 0.08, + "gripper_dist": 0.18215554063204442, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395732607571, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570116853112649, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08885916960709787, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1499500570968594, + "release_required_pad_clearance": 0.05442958480354894, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8863967997950835, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008438408374786377, + "max_z_decrease": 0.008438408374786377, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500833428003194, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008438408374786377, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021354901756814235, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008438408374786377, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008438481207945736, + "max_button_displacement": 0.12, + "button_start": [ + 0.1848387420177459, + -0.40290710330009455, + 0.7768088579177856 + ], + "button_final": [ + 0.1848387420177459, + -0.40290710330009455, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18493809771373046, + -0.4039540422387029, + 0.8033621068628122 + ], + "closest_button": [ + 0.18481588363647453, + -0.4028805196285248, + 0.7683704495429993 + ], + "closest_ee_minus_button": [ + 0.00012221407725593325, + -0.0010735226101781237, + 0.03499165731981291 + ], + "button_min_z_position": [ + 0.18481588363647453, + -0.4028805196285248, + 0.7683704495429993 + ], + "min_active_finger_to_button": 0.145732982606298, + "closest_active_finger": [ + 0.04437679797410965, + -0.38640743494033813, + 0.8078925013542175 + ], + "closest_active_finger_button": [ + 0.18485130369663227, + -0.4029127359390258, + 0.7727842330932617 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14047450572252262, + 0.01650530099868769, + 0.03510826826095581 + ], + "min_contact_pad_to_button": 0.021354901756814235, + "closest_contact_pad": [ + 0.18481588363647453, + -0.40527171976181686, + 0.7895910525260846 + ], + "closest_contact_pad_button": [ + 0.18481588363647453, + -0.4028805196285248, + 0.7683704495429993 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002391200133292082, + 0.021220602983085368 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d152abbc2462f5da0974750ee6fd5a80139a7e848c6fce4f7d660779b85b860", + "visual_seed": 5721238717931771454, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f8746bc089a3202f1036c4845be1ff2f7a16f8f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3441511255475704, + -0.09084019541384038, + 1.1679869945019465 + ], + "current_z": 1.1679869945019465, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.30688036727789114, + "gripper_z": 1.1582559347243067, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3400045672457609, + -0.09533413365378261, + 1.1582559347243067 + ], + "object_minus_gripper": [ + 0.004146558301809489, + 0.004493938239942236, + 0.009731059777639883 + ], + "object_to_gripper_xy": 0.006114689416047254, + "object_to_gripper_z": 0.009731059777639883, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3441511255475704, + -0.11422297037822586, + 1.1679869945019465 + ], + "finger_b": [ + 0.3336012012818654, + -0.09084019541384038, + 1.1679869945019465 + ], + "finger_midpoint": [ + 0.3388761634147179, + -0.10253158289603312, + 1.1679869945019465 + ], + "object_minus_finger_midpoint": [ + 0.005274962132852501, + 0.011691387482192742, + 0.0 + ], + "finger_gap": 0.025652584022807602, + "fingertip_max_gap": 0.09228095217832707, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012826292011403801, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1679869945019465, + "object_top_z": 1.217858691040392, + "finger_top_clearance": 0.049871696538445365, + "fingertip_min_top_clearance": 0.014961508961533608, + "object_projection_between_fingers": 0.8308638477452415, + "object_to_finger_line_xy": 0.009616438826473084, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864047608916354, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1108006800618586, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3326649282379459, + -0.34358655028654594, + 0.8515396086728048 + ], + "target_position": [ + 0.3248474440668575, + -0.3453658171921147, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008017409150496807, + "xy_threshold": 0.08, + "gripper_dist": 0.18549017054180247, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396086728048, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588554599340196, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08714748941850763, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15270350457422655, + "release_required_pad_clearance": 0.053573744709253815, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1583931854530296, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008341312408447266, + "max_z_decrease": 0.008341312408447266, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501525192950166, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008341312408447266, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021235963977783993, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008341312408447266, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008341371921999515, + "max_button_displacement": 0.12, + "button_start": [ + 0.1805473715066909, + -0.40162727236747736, + 0.7768088579177856 + ], + "button_final": [ + 0.1805473715066909, + -0.40162727236747736, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18039719528057488, + -0.40287269472051024, + 0.8038246117917335 + ], + "closest_button": [ + 0.18052734434604636, + -0.40161305665969843, + 0.768832266330719 + ], + "closest_ee_minus_button": [ + -0.00013014906547148541, + -0.0012596380608118074, + 0.034992345461014485 + ], + "button_min_z_position": [ + 0.1805190294981002, + -0.4016135036945342, + 0.7684675455093384 + ], + "min_active_finger_to_button": 0.14587929453778, + "closest_active_finger": [ + 0.039664387702941895, + -0.3866097629070282, + 0.8075127601623535 + ], + "closest_active_finger_button": [ + 0.18055711686611164, + -0.401632934808731, + 0.7728095650672913 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14089272916316975, + 0.015023171901702825, + 0.034703195095062256 + ], + "min_contact_pad_to_button": 0.021235963977783993, + "closest_contact_pad": [ + 0.1805190294981002, + -0.40405780423169585, + 0.7895623685934453 + ], + "closest_contact_pad_button": [ + 0.1805190294981002, + -0.4016135036945342, + 0.7684675455093384 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002444300537161659, + 0.02109482308410693 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e83f291704672a055b1736d6041a57c468d2c227ccae152cceec83ca165e0687", + "visual_seed": 6514418385157603229, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c987fb2653fcf58c272ec444d0fdbbdff90f31f5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3494337453026122, + -0.09303919725791658, + 1.1661349994902994 + ], + "current_z": 1.1661349994902994, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.3050284318708888, + "gripper_z": 1.1562461641557191, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34512657685447645, + -0.09745666910767997, + 1.1562461641557191 + ], + "object_minus_gripper": [ + 0.004307168448135723, + 0.004417471849763391, + 0.009888835334580293 + ], + "object_to_gripper_xy": 0.0061697453419138695, + "object_to_gripper_z": 0.009888835334580293, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3494337453026122, + -0.11668449796734343, + 1.1661349994902994 + ], + "finger_b": [ + 0.3392014796210693, + -0.09303919725791658, + 1.1661349994902994 + ], + "finger_midpoint": [ + 0.3443176124618407, + -0.10486184761263001, + 1.1661349994902994 + ], + "object_minus_finger_midpoint": [ + 0.005116132840771448, + 0.01182265035471343, + 0.0 + ], + "finger_gap": 0.025764306833619688, + "fingertip_max_gap": 0.09204234930618174, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012882153416809851, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661349994902994, + "object_top_z": 1.2159263448283997, + "finger_top_clearance": 0.04979134533810026, + "fingertip_min_top_clearance": 0.014937403601430043, + "object_projection_between_fingers": 0.8422727646917256, + "object_to_finger_line_xy": 0.009390704766142486, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852117465309087, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.021118890518854, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33472701033744634, + -0.3434503802818476, + 0.8515395641161755 + ], + "target_position": [ + 0.32712495520165463, + -0.3451013547242639, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007779264675862937, + "xy_threshold": 0.08, + "gripper_dist": 0.1854704760355741, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395641161755, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585697105056752, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08852730232775817, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528999787177525, + "release_required_pad_clearance": 0.05426365116387909, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.546426175995489, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008392512798309326, + "max_z_decrease": 0.008392512798309326, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034994217959020246, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008392512798309326, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021099783931351163, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008392512798309326, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008392552917637122, + "max_button_displacement": 0.12, + "button_start": [ + 0.1828248798847198, + -0.40136280655860895, + 0.7768088579177856 + ], + "button_final": [ + 0.1828248798847198, + -0.40136280655860895, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18291979829857619, + -0.4016070076206229, + 0.8034094235897605 + ], + "closest_button": [ + 0.18283317983150477, + -0.40133821964263905, + 0.7684163451194763 + ], + "closest_ee_minus_button": [ + 8.661846707141985e-05, + -0.0002687879779838531, + 0.03499307847028421 + ], + "button_min_z_position": [ + 0.18283317983150477, + -0.40133821964263905, + 0.7684163451194763 + ], + "min_active_finger_to_button": 0.14572459522913297, + "closest_active_finger": [ + 0.04203266650438309, + -0.38679778575897217, + 0.807908296585083 + ], + "closest_active_finger_button": [ + 0.18283239006996152, + -0.40136930346488947, + 0.7732850909233093 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14079972356557843, + 0.014571517705917303, + 0.03462320566177368 + ], + "min_contact_pad_to_button": 0.021099783931351163, + "closest_contact_pad": [ + 0.18283317983150477, + -0.4026737457748784, + 0.7894738200844338 + ], + "closest_contact_pad_button": [ + 0.18283317983150477, + -0.40133821964263905, + 0.7684163451194763 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001335526132239362, + 0.021057474964957468 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b329035f688a5b607b3ddd86b7ccd5e9747d0d41cf76013360716083d21f3e0", + "visual_seed": 7007269382190031062, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7fa9930340bae363581daf3a45d66129281cdba6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34434009122056297, + -0.09965947090918521, + 1.1675892909308132 + ], + "current_z": 1.1675892909308132, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.306482782916047, + "gripper_z": 1.1577757906746653, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34016526727188623, + -0.10400855233996731, + 1.1577757906746653 + ], + "object_minus_gripper": [ + 0.0041748239486767424, + 0.004349081430782095, + 0.009813500256147911 + ], + "object_to_gripper_xy": 0.0060285706675810395, + "object_to_gripper_z": 0.009813500256147911, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34434009122056297, + -0.12319245291688603, + 1.1675892909308132 + ], + "finger_b": [ + 0.33418241717832436, + -0.09965947090918521, + 1.1675892909308132 + ], + "finger_midpoint": [ + 0.33926125419944364, + -0.11142596191303562, + 1.1675892909308132 + ], + "object_minus_finger_midpoint": [ + 0.005078837021119331, + 0.01176649100385041, + 0.0 + ], + "finger_gap": 0.02563161298325056, + "fingertip_max_gap": 0.09234609113647455, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01281580649162529, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1675892909308132, + "object_top_z": 1.2173984271544547, + "finger_top_clearance": 0.04980913622364147, + "fingertip_min_top_clearance": 0.01494274086709244, + "object_projection_between_fingers": 0.8429504592808942, + "object_to_finger_line_xy": 0.009325997573086648, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048673045568237275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.257455447528951, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3359970968339263, + -0.34492617356853994, + 0.8515395576384271 + ], + "target_position": [ + 0.3290584516835246, + -0.34606495203166965, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007031473025709567, + "xy_threshold": 0.08, + "gripper_dist": 0.18405867645180818, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395576384271, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544040048289725, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08932379495283131, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152323166945705, + "release_required_pad_clearance": 0.05466189747641566, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.366563385040618, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008317172527313232, + "max_z_decrease": 0.008317172527313232, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500965200808114, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008317172527313232, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02121918694142055, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008317172527313232, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008317282832326337, + "max_button_displacement": 0.12, + "button_start": [ + 0.18475838005542755, + -0.40232640504837036, + 0.7768088579177856 + ], + "button_final": [ + 0.18475838005542755, + -0.40232640504837036, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1853852478252901, + -0.40143018627548394, + 0.8037495037874832 + ], + "closest_button": [ + 0.1847358644008637, + -0.40232381224632263, + 0.7687572836875916 + ], + "closest_ee_minus_button": [ + 0.0006493834244263863, + 0.0008936259708386962, + 0.03499222009989167 + ], + "button_min_z_position": [ + 0.18471734225749972, + -0.40231412649154663, + 0.7684916853904724 + ], + "min_active_finger_to_button": 0.14512107902195617, + "closest_active_finger": [ + 0.057506777346134186, + -0.4625471830368042, + 0.8080631494522095 + ], + "closest_active_finger_button": [ + 0.1847718954086304, + -0.40233311057090754, + 0.7728781700134277 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1272651180624962, + -0.06021407246589666, + 0.03518497943878174 + ], + "min_contact_pad_to_button": 0.02121918694142055, + "closest_contact_pad": [ + 0.18471734225749972, + -0.40275435659504133, + 0.7897063051587108 + ], + "closest_contact_pad_button": [ + 0.18471734225749972, + -0.40231412649154663, + 0.7684916853904724 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004402301034946987, + 0.021214619768238352 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4fabc7aedb145e2d293f3f15c44841f492316f42a91237d96573b211d3de93b", + "visual_seed": 2912318470551055327, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..41613243e3ce9959705034342bf5e53568bc6791 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34578691943135653, + -0.08865456121962828, + 1.1654731889139014 + ], + "current_z": 1.1654731889139014, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3043665020852011, + "gripper_z": 1.1557371117314006, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3413809377778223, + -0.09307055579352946, + 1.1557371117314006 + ], + "object_minus_gripper": [ + 0.00440598165353423, + 0.004415994573901183, + 0.009736077182500802 + ], + "object_to_gripper_xy": 0.006238083231891421, + "object_to_gripper_z": 0.009736077182500802, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34578691943135653, + -0.11239883116455683, + 1.1654731889139014 + ], + "finger_b": [ + 0.335607024271941, + -0.08865456121962828, + 1.1654731889139014 + ], + "finger_midpoint": [ + 0.34069697185164877, + -0.10052669619209256, + 1.1654731889139014 + ], + "object_minus_finger_midpoint": [ + 0.005089947579707765, + 0.011872134972464282, + 0.0 + ], + "finger_gap": 0.025834485105655367, + "fingertip_max_gap": 0.09239231640308929, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01291724255282769, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654731889139014, + "object_top_z": 1.21530030591927, + "finger_top_clearance": 0.04982711700536857, + "fingertip_min_top_clearance": 0.014948135101610603, + "object_projection_between_fingers": 0.8447302012455222, + "object_to_finger_line_xy": 0.009356260737835286, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048696158201544645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3123703516625613, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33966984197355854, + -0.3365104411675106, + 0.8515394972086078 + ], + "target_position": [ + 0.33229821515219865, + -0.3380475180621638, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007530171802387331, + "xy_threshold": 0.08, + "gripper_dist": 0.18367929948123496, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394972086078, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548315963542858, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08757287523846484, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15198863259068018, + "release_required_pad_clearance": 0.05378643761923242, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5820858975411256, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008200407028198242, + "max_z_decrease": 0.008200407028198242, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508489080569949, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008200407028198242, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02108082945876466, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008200407028198242, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008200409217950014, + "max_button_displacement": 0.12, + "button_start": [ + 0.18799814581871033, + -0.39430898427963246, + 0.7768088579177856 + ], + "button_final": [ + 0.18799814581871033, + -0.39430898427963246, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1863186595902537, + -0.39234846174802496, + 0.8035986735418894 + ], + "closest_button": [ + 0.1879950910806656, + -0.3943038284778594, + 0.7686084508895874 + ], + "closest_ee_minus_button": [ + -0.0016764314904118838, + 0.001955366729834429, + 0.034990222652302005 + ], + "button_min_z_position": [ + 0.1879950910806656, + -0.3943038284778594, + 0.7686084508895874 + ], + "min_active_finger_to_button": 0.14645480206233083, + "closest_active_finger": [ + 0.060474760830402374, + -0.4574637711048126, + 0.8109053373336792 + ], + "closest_active_finger_button": [ + 0.188001811504364, + -0.3943109214305877, + 0.7762992978096008 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12752705067396164, + -0.06315284967422491, + 0.03460603952407837 + ], + "min_contact_pad_to_button": 0.02108082945876466, + "closest_contact_pad": [ + 0.1879950910806656, + -0.3943038284778594, + 0.7896892803483521 + ], + "closest_contact_pad_button": [ + 0.1879950910806656, + -0.3943038284778594, + 0.7686084508895874 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02108082945876466 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "95aa0902c286f2177f1514b0ca1bcd889d048e1da29ba9e6de7b922363c1d706", + "visual_seed": 3854343973668924070, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..95915b9b87f007a15001afac06126766ff107188 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34668250934585965, + -0.09008724536659886, + 1.1654624696043303 + ], + "current_z": 1.1654624696043303, + "required_z": 0.8611065080147663, + "initial_z": 0.7611065080147663, + "lift_margin": 0.304355961589564, + "gripper_z": 1.1556302962408902, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3424181728658213, + -0.09447232708872619, + 1.1556302962408902 + ], + "object_minus_gripper": [ + 0.004264336480038322, + 0.004385081722127329, + 0.009832173363440111 + ], + "object_to_gripper_xy": 0.006116658182759668, + "object_to_gripper_z": 0.009832173363440111, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34668250934585965, + -0.11364215536851446, + 1.1654624696043303 + ], + "finger_b": [ + 0.3364253868213771, + -0.09008724536659886, + 1.1654624696043303 + ], + "finger_midpoint": [ + 0.3415539480836184, + -0.10186470036755665, + 1.1654624696043303 + ], + "object_minus_finger_midpoint": [ + 0.00512856126224126, + 0.011777455000957796, + 0.0 + ], + "finger_gap": 0.0256912893347257, + "fingertip_max_gap": 0.09228089147194266, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012845644667362844, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654624696043303, + "object_top_z": 1.2152407559707052, + "finger_top_clearance": 0.049778286366374935, + "fingertip_min_top_clearance": 0.014933485909912447, + "object_projection_between_fingers": 0.8406033145419337, + "object_to_finger_line_xy": 0.009404183448910853, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864044573597133, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.215487883370312, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33619227779417815, + -0.34220345933698837, + 0.85153958161233 + ], + "target_position": [ + 0.32873660857104553, + -0.3437178547059841, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007607916725254206, + "xy_threshold": 0.08, + "gripper_dist": 0.18334007633788454, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.85153958161233, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534423759504864, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08714672303926034, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15208079814743347, + "release_required_pad_clearance": 0.05357336151963017, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1576677760387546, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008393347263336182, + "max_z_decrease": 0.008393347263336182, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501183045364199, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008393347263336182, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021257173664904764, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008393347263336182, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008393379762613023, + "max_button_displacement": 0.12, + "button_start": [ + 0.18443652987480164, + -0.39997932314872736, + 0.7768088579177856 + ], + "button_final": [ + 0.18443652987480164, + -0.39997932314872736, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18376347933652437, + -0.40114473672861145, + 0.8035232166458602 + ], + "closest_button": [ + 0.18442499637603757, + -0.399968534708023, + 0.7685374021530151 + ], + "closest_ee_minus_button": [ + -0.0006615170395131986, + -0.001176202020588435, + 0.0349858144928451 + ], + "button_min_z_position": [ + 0.18442875146865842, + -0.3999572992324829, + 0.7684155106544495 + ], + "min_active_finger_to_button": 0.14643085288388388, + "closest_active_finger": [ + 0.04298856109380722, + -0.3851712942123413, + 0.8075923323631287 + ], + "closest_active_finger_button": [ + 0.1844470202922821, + -0.3999858796596527, + 0.7727781534194946 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14145845919847488, + 0.014814585447311401, + 0.03481417894363403 + ], + "min_contact_pad_to_button": 0.021257173664904764, + "closest_contact_pad": [ + 0.18442875146865842, + -0.40230270894448134, + 0.7895428977504153 + ], + "closest_contact_pad_button": [ + 0.18442875146865842, + -0.3999572992324829, + 0.7684155106544495 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002345409711998425, + 0.021127387095965844 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8a0f896c879ef9c04ea13c13af8e1656cfb73161056121982f9c6c732a500bcf", + "visual_seed": 8534146924440571995, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..83a79c48891afa5f485a9098f743dbfbe47ca718 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35138306800093194, + -0.0956749831546987, + 1.165552145721081 + ], + "current_z": 1.165552145721081, + "required_z": 0.8611068656426345, + "initial_z": 0.7611068656426345, + "lift_margin": 0.3044452800784464, + "gripper_z": 1.155628552993174, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3471128199631601, + -0.10004209211365644, + 1.155628552993174 + ], + "object_minus_gripper": [ + 0.004270248037771818, + 0.004367108958957741, + 0.009923592727906883 + ], + "object_to_gripper_xy": 0.006107917727303064, + "object_to_gripper_z": 0.009923592727906883, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35138306800093194, + -0.11934026854004051, + 1.165552145721081 + ], + "finger_b": [ + 0.3412914798892144, + -0.0956749831546987, + 1.165552145721081 + ], + "finger_midpoint": [ + 0.3463372739450732, + -0.10750762584736961, + 1.165552145721081 + ], + "object_minus_finger_midpoint": [ + 0.005045794055858754, + 0.011832642692670911, + 0.0 + ], + "finger_gap": 0.025727142923111998, + "fingertip_max_gap": 0.09239516494379288, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012863571461555996, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165552145721081, + "object_top_z": 1.2153702628852687, + "finger_top_clearance": 0.049818117164187825, + "fingertip_min_top_clearance": 0.014945435149256347, + "object_projection_between_fingers": 0.8461363911297113, + "object_to_finger_line_xy": 0.00928281517185395, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869758247189644, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3780407676048494, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33920076040652053, + -0.3428737128873717, + 0.8515395674595908 + ], + "target_position": [ + 0.3320493727485588, + -0.34419643630774166, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007272684695574456, + "xy_threshold": 0.08, + "gripper_dist": 0.18460909701317518, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395674595908, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533766422215789, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08849992306926162, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15321103160798216, + "release_required_pad_clearance": 0.05424996153463081, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5185041579426146, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008444666862487793, + "max_z_decrease": 0.008444666862487793, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502198247094208, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008444666862487793, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02112136340717219, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008444666862487793, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008444689957807259, + "max_button_displacement": 0.12, + "button_start": [ + 0.18774929642677302, + -0.4004578888416289, + 0.7768088579177856 + ], + "button_final": [ + 0.18774929642677302, + -0.4004578888416289, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18798480780691162, + -0.39900798339815, + 0.8033561731888968 + ], + "closest_button": [ + 0.1877502053976058, + -0.4004381597042083, + 0.7683641910552979 + ], + "closest_ee_minus_button": [ + 0.0002346024093058119, + 0.001430176306058295, + 0.034991982133599 + ], + "button_min_z_position": [ + 0.1877502053976058, + -0.4004381597042083, + 0.7683641910552979 + ], + "min_active_finger_to_button": 0.14508147463263732, + "closest_active_finger": [ + 0.06178606301546097, + -0.4635031521320343, + 0.8079972267150879 + ], + "closest_active_finger_button": [ + 0.1877593398094176, + -0.40046268701553334, + 0.7732802629470825 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12597327679395665, + -0.06304046511650097, + 0.03471696376800537 + ], + "min_contact_pad_to_button": 0.02112136340717219, + "closest_contact_pad": [ + 0.1877502053976058, + -0.4004381597042083, + 0.78948555446247 + ], + "closest_contact_pad_button": [ + 0.1877502053976058, + -0.4004381597042083, + 0.7683641910552979 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02112136340717219 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c7b7aea6ba71f99d8ac0fb1f335b9cdd253b3daa98dbdd43e53fbe4ca92d5727", + "visual_seed": 6432358147913222157, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..06f2c9d19335563de5d99a21d5a519f94514e561 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35130535291836645, + -0.09093878134452507, + 1.1670820481064654 + ], + "current_z": 1.1670820481064654, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.3059754208824098, + "gripper_z": 1.1571263178974194, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3474037171579808, + -0.09530545811562087, + 1.1571263178974194 + ], + "object_minus_gripper": [ + 0.0039016357603856577, + 0.004366676771095798, + 0.009955730209046054 + ], + "object_to_gripper_xy": 0.005855819979298185, + "object_to_gripper_z": 0.009955730209046054, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35130535291836645, + -0.11412126708809255, + 1.1670820481064654 + ], + "finger_b": [ + 0.3408999112960787, + -0.09093878134452507, + 1.1670820481064654 + ], + "finger_midpoint": [ + 0.3461026321072226, + -0.1025300242163088, + 1.1670820481064654 + ], + "object_minus_finger_midpoint": [ + 0.005202720811143868, + 0.01159124287178373, + 0.0 + ], + "finger_gap": 0.0254106446318378, + "fingertip_max_gap": 0.09253941434441051, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012705322315918893, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1670820481064654, + "object_top_z": 1.216962430360421, + "finger_top_clearance": 0.049880382253955524, + "fingertip_min_top_clearance": 0.014964114676186656, + "object_projection_between_fingers": 0.8323167553884039, + "object_to_finger_line_xy": 0.00949302961649274, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876970717220526, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3870220701009726, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3324990907093272, + -0.34584382460985763, + 0.8515395084812412 + ], + "target_position": [ + 0.32473318646297994, + -0.3475206186063308, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007944866699324982, + "xy_threshold": 0.08, + "gripper_dist": 0.18506180551983245, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395084812412, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516989382712731, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530831835791612, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15411292268821686, + "release_required_pad_clearance": 0.05265415917895806, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3669079221645944, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00826495885848999, + "max_z_decrease": 0.00826495885848999, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035041823938329386, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00826495885848999, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020957714405143046, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00826495885848999, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008264968195419517, + "max_button_displacement": 0.12, + "button_start": [ + 0.1804331094026565, + -0.40378206968307495, + 0.7768088579177856 + ], + "button_final": [ + 0.1804331094026565, + -0.40378206968307495, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17953856365350637, + -0.402150838729844, + 0.8035367403798812 + ], + "closest_button": [ + 0.18043725192546842, + -0.4037703573703766, + 0.7685438990592957 + ], + "closest_ee_minus_button": [ + -0.0008986882719620448, + 0.0016195186405326134, + 0.034992841320585555 + ], + "button_min_z_position": [ + 0.18043725192546842, + -0.4037703573703766, + 0.7685438990592957 + ], + "min_active_finger_to_button": 0.14585382456007315, + "closest_active_finger": [ + 0.05376088619232178, + -0.4674038589000702, + 0.8105906248092651 + ], + "closest_active_finger_button": [ + 0.18043608963489527, + -0.4037848114967346, + 0.7762489914894104 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1266752034425735, + -0.06361904740333557, + 0.034341633319854736 + ], + "min_contact_pad_to_button": 0.020957714405143046, + "closest_contact_pad": [ + 0.18043725192546842, + -0.4037703573703766, + 0.7895016134644387 + ], + "closest_contact_pad_button": [ + 0.18043725192546842, + -0.4037703573703766, + 0.7685438990592957 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020957714405143046 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "06da66a095ba983e7bd6111cee8acd468b171ce56f452060e98f5c1c09c3f364", + "visual_seed": 1775311291523337209, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4f4583f01a39cb6a410619ef3a77fba56d61446 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35161973190600515, + -0.09750547008643964, + 1.167873232984113 + ], + "current_z": 1.167873232984113, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30676672496934687, + "gripper_z": 1.157906921717214, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3475195044968806, + -0.10189008694767986, + 1.157906921717214 + ], + "object_minus_gripper": [ + 0.004100227409124524, + 0.004384616861240212, + 0.009966311266899064 + ], + "object_to_gripper_xy": 0.006003060038547671, + "object_to_gripper_z": 0.009966311266899064, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35161973190600515, + -0.1208565646003185, + 1.167873232984113 + ], + "finger_b": [ + 0.34123465799601893, + -0.09750547008643964, + 1.167873232984113 + ], + "finger_midpoint": [ + 0.34642719495101204, + -0.10918101734337907, + 1.167873232984113 + ], + "object_minus_finger_midpoint": [ + 0.00519253695499311, + 0.011675547256939423, + 0.0 + ], + "finger_gap": 0.02555627858495794, + "fingertip_max_gap": 0.09194842251961813, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012778139292478964, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.167873232984113, + "object_top_z": 1.217664457470149, + "finger_top_clearance": 0.0497912244860359, + "fingertip_min_top_clearance": 0.014937367345810769, + "object_projection_between_fingers": 0.8348707698642921, + "object_to_finger_line_xy": 0.009488973193007807, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048474211259809066, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9332666630536754, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3359000539981012, + -0.3363798741231132, + 0.8515395703635212 + ], + "target_position": [ + 0.3280579015001746, + -0.3382442068436676, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008060712889916496, + "xy_threshold": 0.08, + "gripper_dist": 0.18307042218037303, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395703635212, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572909351930318, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08768974283304252, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15083557537697428, + "release_required_pad_clearance": 0.053844871416521264, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6991741583230766, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007996737957000732, + "max_z_decrease": 0.007996737957000732, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035099305738418164, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007996737957000732, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021106769618452148, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007996737957000732, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00799675726614751, + "max_button_displacement": 0.12, + "button_start": [ + 0.18375782668590546, + -0.3945056796073913, + 0.7768088579177856 + ], + "button_final": [ + 0.18375782668590546, + -0.3945056796073913, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18204009337164193, + -0.3933736558687149, + 0.8075848108512983 + ], + "closest_button": [ + 0.1837468445301056, + -0.3945084512233734, + 0.7725453972816467 + ], + "closest_ee_minus_button": [ + -0.0017067511584636652, + 0.001134795354658491, + 0.03503941356965157 + ], + "button_min_z_position": [ + 0.1837405562400818, + -0.39450892806053156, + 0.7688121199607849 + ], + "min_active_finger_to_button": 0.1472289872642369, + "closest_active_finger": [ + 0.05517922341823578, + -0.4573361873626709, + 0.8110747933387756 + ], + "closest_active_finger_button": [ + 0.1837613731622696, + -0.3945081233978271, + 0.7764967679977417 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1285821497440338, + -0.0628280639648438, + 0.034578025341033936 + ], + "min_contact_pad_to_button": 0.021106769618452148, + "closest_contact_pad": [ + 0.1837405562400818, + -0.39450892806053156, + 0.7899188895792371 + ], + "closest_contact_pad_button": [ + 0.1837405562400818, + -0.39450892806053156, + 0.7688121199607849 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021106769618452148 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d5f5f65d501e988b9aa76d3080ade44ebb41d484882ffb14088690add090ec7", + "visual_seed": 8147507014071194037, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ebe134fdd5d784365a5a054c2aa6c68065722f4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3432995673489913, + -0.09050458706281184, + 1.1664985233995555 + ], + "current_z": 1.1664985233995555, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3053920749894343, + "gripper_z": 1.156824754843884, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3390374188042497, + -0.0948718805376722, + 1.156824754843884 + ], + "object_minus_gripper": [ + 0.004262148544741606, + 0.0043672934748603676, + 0.009673768555671591 + ], + "object_to_gripper_xy": 0.006102389901751684, + "object_to_gripper_z": 0.009673768555671591, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3432995673489913, + -0.11415235023135176, + 1.1664985233995555 + ], + "finger_b": [ + 0.33319392317503527, + -0.09050458706281184, + 1.1664985233995555 + ], + "finger_midpoint": [ + 0.33824674526201326, + -0.1023284686470818, + 1.1664985233995555 + ], + "object_minus_finger_midpoint": [ + 0.005052822086978048, + 0.01182388158426996, + 0.0 + ], + "finger_gap": 0.02571654617257078, + "fingertip_max_gap": 0.09284830066066382, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012858273086285402, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1664985233995555, + "object_top_z": 1.2163445859387618, + "finger_top_clearance": 0.049846062539206315, + "fingertip_min_top_clearance": 0.01495381876176186, + "object_projection_between_fingers": 0.845580293325683, + "object_to_finger_line_xy": 0.009292689558216782, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048924150330331914, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7817695906473228, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3353192618322172, + -0.3420278927539425, + 0.8515395820818383 + ], + "target_position": [ + 0.3281372126094474, + -0.3433631289745834, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007305113743344449, + "xy_threshold": 0.08, + "gripper_dist": 0.1822690607868897, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395820818383, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562793201306892, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0892692533449511, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15023568502989076, + "release_required_pad_clearance": 0.05463462667247555, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.3098995399971685, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00832432508468628, + "max_z_decrease": 0.00832432508468628, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500756329983684, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00832432508468628, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021208001282856572, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00832432508468628, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008324350266481224, + "max_button_displacement": 0.12, + "button_start": [ + 0.18383714556694028, + -0.3996245861053467, + 0.7768088579177856 + ], + "button_final": [ + 0.18383714556694028, + -0.3996245861053467, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18422688488582484, + -0.3987257642078346, + 0.80347858140741 + ], + "closest_button": [ + 0.18382243812084195, + -0.39961034059524536, + 0.7684845328330994 + ], + "closest_ee_minus_button": [ + 0.00040444676498288534, + 0.0008845763874107404, + 0.034994048574310654 + ], + "button_min_z_position": [ + 0.18382243812084195, + -0.39961034059524536, + 0.7684845328330994 + ], + "min_active_finger_to_button": 0.14523089950465598, + "closest_active_finger": [ + 0.05701219290494919, + -0.46116742491722107, + 0.8077252507209778 + ], + "closest_active_finger_button": [ + 0.18385076522827148, + -0.39962875843048096, + 0.7728399634361267 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1268385723233223, + -0.06153866648674011, + 0.034885287284851074 + ], + "min_contact_pad_to_button": 0.021208001282856572, + "closest_contact_pad": [ + 0.18382243812084195, + -0.399967511366853, + 0.7896895262887351 + ], + "closest_contact_pad_button": [ + 0.18382243812084195, + -0.39961034059524536, + 0.7684845328330994 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003571707716076289, + 0.021204993455635757 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "845cc965ce7d309e9ac13d368d904e2d843c19284401e7ed92154667442fa170", + "visual_seed": 1584244135483081346, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f212b937e6b3c2c333dde95ff036f23ff289b4c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34172097000490864, + -0.09299160525317252, + 1.165714653976547 + ], + "current_z": 1.165714653976547, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.3046081459617812, + "gripper_z": 1.156112065658188, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3376170560833085, + -0.09733064116414722, + 1.156112065658188 + ], + "object_minus_gripper": [ + 0.004103913921600144, + 0.004339035910974703, + 0.009602588318359029 + ], + "object_to_gripper_xy": 0.005972381611437061, + "object_to_gripper_z": 0.009602588318359029, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34172097000490864, + -0.1165124835418541, + 1.165714653976547 + ], + "finger_b": [ + 0.3316342545770162, + -0.09299160525317252, + 1.165714653976547 + ], + "finger_midpoint": [ + 0.3366776122909624, + -0.10475204439751332, + 1.165714653976547 + ], + "object_minus_finger_midpoint": [ + 0.0050433577139462615, + 0.0117604391443408, + 0.0 + ], + "finger_gap": 0.02559245091026369, + "fingertip_max_gap": 0.0931916735750273, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012796225455131862, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165714653976547, + "object_top_z": 1.2156665283918238, + "finger_top_clearance": 0.04995187441527671, + "fingertip_min_top_clearance": 0.014985562324583045, + "object_projection_between_fingers": 0.8446626903966811, + "object_to_finger_line_xy": 0.009270249525686445, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049095836787513655, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8636398677629415, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3359690880056597, + -0.346316214899948, + 0.8515395181548789 + ], + "target_position": [ + 0.3281745542700407, + -0.3479636216498251, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007966724870060672, + "xy_threshold": 0.08, + "gripper_dist": 0.18691832826142438, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395181548789, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529942611178536, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599759898588331, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15559580892799005, + "release_required_pad_clearance": 0.05299879949294166, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0309652561747265, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008169770240783691, + "max_z_decrease": 0.008169770240783691, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003717907996564, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008169770240783691, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021075252125211285, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008169770240783691, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00816977885897486, + "max_button_displacement": 0.12, + "button_start": [ + 0.18387447297573084, + -0.40422508120536804, + 0.7768088579177856 + ], + "button_final": [ + 0.18387447297573084, + -0.40422508120536804, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18439902967338748, + -0.4042674471784985, + 0.8036387482926969 + ], + "closest_button": [ + 0.18386870622634882, + -0.4042147099971771, + 0.768639087677002 + ], + "closest_ee_minus_button": [ + 0.0005303234470386553, + -5.273718132137173e-05, + 0.03499966061569493 + ], + "button_min_z_position": [ + 0.18386870622634882, + -0.4042147099971771, + 0.768639087677002 + ], + "min_active_finger_to_button": 0.14533066813513065, + "closest_active_finger": [ + 0.04343897104263306, + -0.39010706543922424, + 0.8077367544174194 + ], + "closest_active_finger_button": [ + 0.18388335406780237, + -0.40423259139060974, + 0.7731412649154663 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14044438302516932, + 0.014125525951385498, + 0.034595489501953125 + ], + "min_contact_pad_to_button": 0.021075252125211285, + "closest_contact_pad": [ + 0.18386870622634882, + -0.40527537541563813, + 0.7896876325438402 + ], + "closest_contact_pad_button": [ + 0.18386870622634882, + -0.4042147099971771, + 0.768639087677002 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010606654184610043, + 0.02104854486683827 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ed07db01bbcc6f3b92601de7b24e01236abf2ad68894253b6bb7000627a378b9", + "visual_seed": 5305475055938149210, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1eab90172881ce5068682b4fbf4988fddcd1a4cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3499347724335098, + -0.09348556763330947, + 1.1658610478891203 + ], + "current_z": 1.1658610478891203, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.30475442066506464, + "gripper_z": 1.1560345413696906, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34561088956838426, + -0.0978464916143042, + 1.1560345413696906 + ], + "object_minus_gripper": [ + 0.004323882865125528, + 0.0043609239809947326, + 0.009826506519429623 + ], + "object_to_gripper_xy": 0.0061411416690499085, + "object_to_gripper_z": 0.009826506519429623, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3499347724335098, + -0.11723016731124174, + 1.1658610478891203 + ], + "finger_b": [ + 0.33991563780832695, + -0.09348556763330947, + 1.1658610478891203 + ], + "finger_midpoint": [ + 0.3449252051209184, + -0.1053578674722756, + 1.1658610478891203 + ], + "object_minus_finger_midpoint": [ + 0.00500956731259139, + 0.011872299838966135, + 0.0 + ], + "finger_gap": 0.025771865910383728, + "fingertip_max_gap": 0.09267529777520686, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012885932955191852, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1658610478891203, + "object_top_z": 1.215659573929961, + "finger_top_clearance": 0.049798526040840674, + "fingertip_min_top_clearance": 0.014939557812252167, + "object_projection_between_fingers": 0.8488637305349305, + "object_to_finger_line_xy": 0.009231009567624031, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883764888760343, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6831083901353137, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33961606708797576, + -0.3459832095278368, + 0.8515395647733677 + ], + "target_position": [ + 0.3328037372583402, + -0.34715391275280466, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006912190951405514, + "xy_threshold": 0.08, + "gripper_dist": 0.1837516495960117, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395647733677, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528395925859531, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08769032993238311, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152519953710164, + "release_required_pad_clearance": 0.05384516496619156, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6997540914658322, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008197307586669922, + "max_z_decrease": 0.008197307586669922, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501335737310192, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008197307586669922, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02134447506594482, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008197307586669922, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008197395784680688, + "max_button_displacement": 0.12, + "button_start": [ + 0.18850366771221166, + -0.40341538190841675, + 0.7768088579177856 + ], + "button_final": [ + 0.18850366771221166, + -0.40341538190841675, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18903740487031373, + -0.40446121281293507, + 0.8036752995280873 + ], + "closest_button": [ + 0.18847367167472842, + -0.40340885519981384, + 0.7686823010444641 + ], + "closest_ee_minus_button": [ + 0.0005637331955853087, + -0.0010523576131212242, + 0.03499299848362314 + ], + "button_min_z_position": [ + 0.18846710026264196, + -0.40340495109558105, + 0.7686115503311157 + ], + "min_active_finger_to_button": 0.14535788133417418, + "closest_active_finger": [ + 0.04844024032354355, + -0.387196809053421, + 0.8084365129470825 + ], + "closest_active_finger_button": [ + 0.1885165274143219, + -0.4034223854541778, + 0.7731621861457825 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14007628709077835, + 0.01622557640075678, + 0.03527432680130005 + ], + "min_contact_pad_to_button": 0.02134447506594482, + "closest_contact_pad": [ + 0.18846710026264196, + -0.4057450885039776, + 0.7898273551178912 + ], + "closest_contact_pad_button": [ + 0.18846710026264196, + -0.40340495109558105, + 0.7686115503311157 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023401374083965587, + 0.021215804786775427 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "49a85afe257e5f5cdde0e7beef014f1c3c4e97b00471726bac2a948ec4f93a97", + "visual_seed": 4535709665954891536, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ea81e142b012216f5e8a0e21171d7502ef26bb1a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3491739819907834, + -0.09248153140228454, + 1.165357354703088 + ], + "current_z": 1.165357354703088, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.30425078708367714, + "gripper_z": 1.1555892084532828, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3448397835080571, + -0.09690688249800225, + 1.1555892084532828 + ], + "object_minus_gripper": [ + 0.004334198482726315, + 0.004425351095717706, + 0.009768146249805154 + ], + "object_to_gripper_xy": 0.006194272258145987, + "object_to_gripper_z": 0.009768146249805154, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3491739819907834, + -0.11638975021879064, + 1.165357354703088 + ], + "finger_b": [ + 0.33926947942974356, + -0.09248153140228454, + 1.165357354703088 + ], + "finger_midpoint": [ + 0.3442217307102635, + -0.10443564081053759, + 1.165357354703088 + ], + "object_minus_finger_midpoint": [ + 0.004952251280519904, + 0.011954109408253047, + 0.0 + ], + "finger_gap": 0.025878603091349064, + "fingertip_max_gap": 0.09311715005112522, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01293930154567452, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165357354703088, + "object_top_z": 1.215269617856959, + "finger_top_clearance": 0.049912263153871095, + "fingertip_min_top_clearance": 0.014973678946161294, + "object_projection_between_fingers": 0.8535181967018927, + "object_to_finger_line_xy": 0.00915037854485837, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049058575025562615, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9152890390927597, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3383922257965585, + -0.3454028945199562, + 0.8515396549247891 + ], + "target_position": [ + 0.33235140752485826, + -0.3460501263273315, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006075392530872845, + "xy_threshold": 0.08, + "gripper_dist": 0.18156175098065097, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396549247891, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575247426461452, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09052251196122045, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14903679667617825, + "release_required_pad_clearance": 0.05526125598061023, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 5.629467719390039, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008172214031219482, + "max_z_decrease": 0.008172214031219482, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500167023819747, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008172214031219482, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021241139824811333, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008172214031219482, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0081722820524598, + "max_button_displacement": 0.12, + "button_start": [ + 0.18805132806301117, + -0.4023115932941436, + 0.7768088579177856 + ], + "button_final": [ + 0.18805132806301117, + -0.4023115932941436, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1885018261297702, + -0.4018258653217304, + 0.8037773745627274 + ], + "closest_button": [ + 0.18802958726882935, + -0.4023113846778869, + 0.7687822580337524 + ], + "closest_ee_minus_button": [ + 0.0004722388609408601, + 0.000485519356156483, + 0.03499511652897491 + ], + "button_min_z_position": [ + 0.18801821768283844, + -0.4023076593875885, + 0.7686366438865662 + ], + "min_active_finger_to_button": 0.14539441064929529, + "closest_active_finger": [ + 0.06146474927663803, + -0.464668333530426, + 0.8081775903701782 + ], + "closest_active_finger_button": [ + 0.18806225061416626, + -0.4023171663284301, + 0.7731784582138062 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12659750133752823, + -0.062351167201995905, + 0.03499913215637207 + ], + "min_contact_pad_to_button": 0.021241139824811333, + "closest_contact_pad": [ + 0.18801821768283844, + -0.40300937792168207, + 0.7898661896225468 + ], + "closest_contact_pad_button": [ + 0.18801821768283844, + -0.4023076593875885, + 0.7686366438865662 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000701718534093565, + 0.02122954573598068 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4fe1cf4e11d1607983bc663b3fcf6ed82d4f7b943a00584c2a70d62e1ba11f3", + "visual_seed": 767205159936131159, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fdbd6cbcdeabf3588c108aec073333bc78d9d77e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3427651952920718, + -0.09477010071981165, + 1.1635767069706882 + ], + "current_z": 1.1635767069706882, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.302470258560567, + "gripper_z": 1.1539630266647314, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33838325638583333, + -0.09920442793239088, + 1.1539630266647314 + ], + "object_minus_gripper": [ + 0.004381938906238447, + 0.004434327212579234, + 0.009613680305956773 + ], + "object_to_gripper_xy": 0.0062341516188032286, + "object_to_gripper_z": 0.009613680305956773, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3427651952920718, + -0.11858125479105634, + 1.1635767069706882 + ], + "finger_b": [ + 0.3326718827369524, + -0.09477010071981165, + 1.1635767069706882 + ], + "finger_midpoint": [ + 0.3377185390145121, + -0.10667567775543399, + 1.1635767069706882 + ], + "object_minus_finger_midpoint": [ + 0.00504665627755968, + 0.011905577035622339, + 0.0 + ], + "finger_gap": 0.0258620574691938, + "fingertip_max_gap": 0.09258301448790304, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012931028734596894, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635767069706882, + "object_top_z": 1.2134616539686593, + "finger_top_clearance": 0.04988494699797119, + "fingertip_min_top_clearance": 0.014965484099391323, + "object_projection_between_fingers": 0.8476854824338251, + "object_to_finger_line_xy": 0.009292896384034967, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048791507243951523, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3388254660554337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3352352624148688, + -0.3433947266679357, + 0.8515395713325951 + ], + "target_position": [ + 0.3280465388523415, + -0.34464408796536866, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007296482036567947, + "xy_threshold": 0.08, + "gripper_dist": 0.18415474764970297, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395713325951, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526750793191862, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08767956700350253, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15296494191355567, + "release_required_pad_clearance": 0.05383978350175127, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6887139698783944, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00820302963256836, + "max_z_decrease": 0.00820302963256836, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035009626765827764, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00820302963256836, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02123036552986683, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00820302963256836, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00820309005149862, + "max_button_displacement": 0.12, + "button_start": [ + 0.18374647200107574, + -0.4009055495262146, + 0.7768088579177856 + ], + "button_final": [ + 0.18374647200107574, + -0.4009055495262146, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18325637922207913, + -0.3999695831019097, + 0.8061395422093045 + ], + "closest_button": [ + 0.18373292684555054, + -0.40090435743331904, + 0.7711456418037415 + ], + "closest_ee_minus_button": [ + -0.0004765476234714072, + 0.000934774331409316, + 0.03499390040556305 + ], + "button_min_z_position": [ + 0.1837151050567627, + -0.4009028375148773, + 0.7686058282852173 + ], + "min_active_finger_to_button": 0.1462678606389855, + "closest_active_finger": [ + 0.05507267266511917, + -0.46093693375587463, + 0.8080497980117798 + ], + "closest_active_finger_button": [ + 0.1837582290172577, + -0.4009122848510742, + 0.7729591131210327 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12868555635213852, + -0.060024648904800415, + 0.03509068489074707 + ], + "min_contact_pad_to_button": 0.02123036552986683, + "closest_contact_pad": [ + 0.1837151050567627, + -0.40133726757117905, + 0.7898317485493175 + ], + "closest_contact_pad_button": [ + 0.1837151050567627, + -0.4009028375148773, + 0.7686058282852173 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004344300563017267, + 0.021225920264100195 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f06eaa8bdfa72da32ad525031ab8bd03bd3d7499a0c678049bcc3e4ec7a549be", + "visual_seed": 4228648896200258122, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..056d3ba9ed1203e152d5bbd8339af0d976c2e5e7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.345752655647685, + -0.09669361741315213, + 1.163289580399697 + ], + "current_z": 1.163289580399697, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.3021828935709968, + "gripper_z": 1.1535276349786152, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34159885867747986, + -0.10100537280308185, + 1.1535276349786152 + ], + "object_minus_gripper": [ + 0.004153796970205126, + 0.004311755389929714, + 0.009761945421081775 + ], + "object_to_gripper_xy": 0.005987091431761605, + "object_to_gripper_z": 0.009761945421081775, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.345752655647685, + -0.12045750190813874, + 1.163289580399697 + ], + "finger_b": [ + 0.33599627327704584, + -0.09669361741315213, + 1.163289580399697 + ], + "finger_midpoint": [ + 0.3408744644623654, + -0.10857555966064544, + 1.163289580399697 + ], + "object_minus_finger_midpoint": [ + 0.004878191185319569, + 0.01188194224749331, + 0.0 + ], + "finger_gap": 0.02568869796726146, + "fingertip_max_gap": 0.09344111410903091, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012844348983630736, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163289580399697, + "object_top_z": 1.2132583802668575, + "finger_top_clearance": 0.04996879986716052, + "fingertip_min_top_clearance": 0.014990639960148155, + "object_projection_between_fingers": 0.85575743376078, + "object_to_finger_line_xy": 0.009025352084417385, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04922055705451546, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1449369325993404, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33627825221445823, + -0.3388071907392136, + 0.8515395764695176 + ], + "target_position": [ + 0.32988298165319424, + -0.33950636755241737, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006433376544855086, + "xy_threshold": 0.08, + "gripper_dist": 0.18454525377526068, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395764695176, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544009845584093, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0892154445860228, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1527892423366109, + "release_required_pad_clearance": 0.054607722293011404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.254137618584376, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008177042007446289, + "max_z_decrease": 0.008177042007446289, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501878857373086, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008177042007446289, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021112705015115606, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008177042007446289, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008177050575707244, + "max_button_displacement": 0.12, + "button_start": [ + 0.18558290600776667, + -0.3957678377628326, + 0.7768088579177856 + ], + "button_final": [ + 0.18558290600776667, + -0.3957678377628326, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18408824861988632, + -0.3960573921183474, + 0.8036882527600727 + ], + "closest_button": [ + 0.1855850368738174, + -0.3957583010196686, + 0.7687027454376221 + ], + "closest_ee_minus_button": [ + -0.0014967882539310695, + -0.00029909109867881645, + 0.03498550732245065 + ], + "button_min_z_position": [ + 0.18558654189109797, + -0.3957565724849701, + 0.7686318159103394 + ], + "min_active_finger_to_button": 0.14727768331141913, + "closest_active_finger": [ + 0.043144986033439636, + -0.3816359043121338, + 0.807595431804657 + ], + "closest_active_finger_button": [ + 0.18559110164642328, + -0.3957745730876922, + 0.772955596446991 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14244611561298365, + 0.014138668775558416, + 0.034639835357666016 + ], + "min_contact_pad_to_button": 0.021112705015115606, + "closest_contact_pad": [ + 0.18558654189109797, + -0.39709115279337265, + 0.7897022978330603 + ], + "closest_contact_pad_button": [ + 0.18558654189109797, + -0.3957565724849701, + 0.7686318159103394 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013345803084025554, + 0.021070481922720985 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "34a6342b58c27d3241c070b17ac0d14c3d8e18b24ec7d6466eb87fc334d3347c", + "visual_seed": 1544641302150273274, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d153abf2e31e545c5874b8ea9c245df024d6630f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34239632127994035, + -0.09444836713065477, + 1.1666418438106163 + ], + "current_z": 1.1666418438106163, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3055353954004951, + "gripper_z": 1.1569221582029923, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.338360829267515, + -0.09881936756445613, + 1.1569221582029923 + ], + "object_minus_gripper": [ + 0.004035492012425368, + 0.004371000433801356, + 0.00971968560762404 + ], + "object_to_gripper_xy": 0.005949020135672814, + "object_to_gripper_z": 0.00971968560762404, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34239632127994035, + -0.11777987416032507, + 1.1666418438106163 + ], + "finger_b": [ + 0.33205926720211965, + -0.09444836713065477, + 1.1666418438106163 + ], + "finger_midpoint": [ + 0.33722779424103, + -0.10611412064548992, + 1.1666418438106163 + ], + "object_minus_finger_midpoint": [ + 0.005168527038910353, + 0.011665753514835148, + 0.0 + ], + "finger_gap": 0.025518893143773775, + "fingertip_max_gap": 0.09252126541938874, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012759446571886887, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1666418438106163, + "object_top_z": 1.2165317869353007, + "finger_top_clearance": 0.04988994312468442, + "fingertip_min_top_clearance": 0.014966982937405325, + "object_projection_between_fingers": 0.8359146114468696, + "object_to_finger_line_xy": 0.009450999638736298, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876063270969437, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3583180037706937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33358529840178, + -0.34095766917567927, + 0.8515395602599953 + ], + "target_position": [ + 0.32656546570307743, + -0.3422769149854551, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007142720813834495, + "xy_threshold": 0.08, + "gripper_dist": 0.18370271779995379, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395602599953, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530165480716258, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08662429661884989, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15238812421238931, + "release_required_pad_clearance": 0.05331214830942495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6423058258019827, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008189976215362549, + "max_z_decrease": 0.008189976215362549, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502470325413905, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008189976215362549, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021422247203373792, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008189976215362549, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00819006503580045, + "max_button_displacement": 0.12, + "button_start": [ + 0.18226538598537445, + -0.39853838086128235, + 0.7768088579177856 + ], + "button_final": [ + 0.18226538598537445, + -0.39853838086128235, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1825015788345394, + -0.40000811758852595, + 0.8037505729853345 + ], + "closest_button": [ + 0.18224087357521057, + -0.398536741733551, + 0.7687577605247498 + ], + "closest_ee_minus_button": [ + 0.00026070525932883615, + -0.0014713758549749212, + 0.03499281246058472 + ], + "button_min_z_position": [ + 0.18222801387310028, + -0.3985307514667511, + 0.7686188817024231 + ], + "min_active_finger_to_button": 0.14557072504039942, + "closest_active_finger": [ + 0.04198898375034332, + -0.38188159465789795, + 0.8080801367759705 + ], + "closest_active_finger_button": [ + 0.18227696418762207, + -0.39854541420936584, + 0.7729740738868713 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14028798043727875, + 0.016663819551467896, + 0.03510606288909912 + ], + "min_contact_pad_to_button": 0.021422247203373792, + "closest_contact_pad": [ + 0.18222801387310028, + -0.40136056452377344, + 0.789853401553476 + ], + "closest_contact_pad_button": [ + 0.18222801387310028, + -0.3985307514667511, + 0.7686188817024231 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028298130570223456, + 0.021234519851052958 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dde05ab7dcddc629d08e5c6f68c4025695ab00b60a745d7a1693855833f43e4b", + "visual_seed": 4776351903600647397, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6c3be0b795e305a5dd532a0b18700517547cd758 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34360510217147466, + -0.08842882115323686, + 1.165920969618043 + ], + "current_z": 1.165920969618043, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30481446160327696, + "gripper_z": 1.1562308317303085, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33956507832669613, + -0.09280883545588091, + 1.1562308317303085 + ], + "object_minus_gripper": [ + 0.004040023844778529, + 0.00438001430264405, + 0.00969013788773454 + ], + "object_to_gripper_xy": 0.005958717811555228, + "object_to_gripper_z": 0.00969013788773454, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34360510217147466, + -0.11172520845329571, + 1.165920969618043 + ], + "finger_b": [ + 0.333216162841394, + -0.08842882115323686, + 1.165920969618043 + ], + "finger_midpoint": [ + 0.33841063250643433, + -0.10007701480326628, + 1.165920969618043 + ], + "object_minus_finger_midpoint": [ + 0.0051944696650403355, + 0.01164819365002942, + 0.0 + ], + "finger_gap": 0.025507875678669138, + "fingertip_max_gap": 0.09277815325075336, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012753937839334564, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165920969618043, + "object_top_z": 1.2157422877217705, + "finger_top_clearance": 0.049821318103727474, + "fingertip_min_top_clearance": 0.014946395431118241, + "object_projection_between_fingers": 0.8341200725138901, + "object_to_finger_line_xy": 0.009488236390957687, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048889076625376685, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6539726870508735, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33681297924127124, + -0.34093546628933735, + 0.8515395804644152 + ], + "target_position": [ + 0.32954428733284585, + -0.3423945042183071, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00741368152389762, + "xy_threshold": 0.08, + "gripper_dist": 0.1828214241176503, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395804644152, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553298907114143, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864874219074616, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1509588571229078, + "release_required_pad_clearance": 0.0532437109537308, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5081468085306042, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008222818374633789, + "max_z_decrease": 0.008222818374633789, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502104392599221, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008222818374633789, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021246950268020207, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008222818374633789, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008222891724634251, + "max_button_displacement": 0.12, + "button_start": [ + 0.18524421751499182, + -0.39865595102310175, + 0.7768088579177856 + ], + "button_final": [ + 0.18524421751499182, + -0.39865595102310175, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18385773065621214, + -0.3983065052578243, + 0.8072863822478209 + ], + "closest_button": [ + 0.18523268401622778, + -0.39865791797637934, + 0.7722941040992737 + ], + "closest_ee_minus_button": [ + -0.0013749533600156405, + 0.0003514127185550442, + 0.03499227814854722 + ], + "button_min_z_position": [ + 0.18520967662334448, + -0.39865231513977045, + 0.7685860395431519 + ], + "min_active_finger_to_button": 0.14737689443660074, + "closest_active_finger": [ + 0.05598151683807373, + -0.4602029621601105, + 0.8078749179840088 + ], + "closest_active_finger_button": [ + 0.18525502085685733, + -0.39866298437118525, + 0.7729300856590271 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1292735040187836, + -0.061539977788925226, + 0.03494483232498169 + ], + "min_contact_pad_to_button": 0.021246950268020207, + "closest_contact_pad": [ + 0.18520967662334448, + -0.3995931435137302, + 0.7898121493530647 + ], + "closest_contact_pad_button": [ + 0.18520967662334448, + -0.39865231513977045, + 0.7685860395431519 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009408283739597567, + 0.021226109809912796 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "28095efe06bd8977803194575ff86618f0af22dbdeeb4c84bcd844d08eafdf93", + "visual_seed": 3166066388615581590, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ba130f47aecd8117c00615a6e85ea258d2810cec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.347977490188919, + -0.09209622663326, + 1.1635161646175256 + ], + "current_z": 1.1635161646175256, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.30240941818418055, + "gripper_z": 1.1536687306829534, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3439042480168538, + -0.0963796755823712, + 1.1536687306829534 + ], + "object_minus_gripper": [ + 0.004073242172065172, + 0.0042834489491112016, + 0.009847433934572214 + ], + "object_to_gripper_xy": 0.005910942115427291, + "object_to_gripper_z": 0.009847433934572214, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.347977490188919, + -0.1156622788807911, + 1.1635161646175256 + ], + "finger_b": [ + 0.33807506674590393, + -0.09209622663326, + 1.1635161646175256 + ], + "finger_midpoint": [ + 0.34302627846741146, + -0.10387925275702556, + 1.1635161646175256 + ], + "object_minus_finger_midpoint": [ + 0.004951211721507531, + 0.011783026123765555, + 0.0 + ], + "finger_gap": 0.02556201886741616, + "fingertip_max_gap": 0.0931193143873609, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012781009433708086, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635161646175256, + "object_top_z": 1.213359788706512, + "finger_top_clearance": 0.04984362408898635, + "fingertip_min_top_clearance": 0.014953087226695904, + "object_projection_between_fingers": 0.8499304138530622, + "object_to_finger_line_xy": 0.009129209607647026, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04905965719368045, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.924187750182869, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3391768184451459, + -0.34584872940842065, + 0.8515395757633559 + ], + "target_position": [ + 0.3324448846651083, + -0.3468299544560933, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00680306805882403, + "xy_threshold": 0.08, + "gripper_dist": 0.18536024785012828, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395757633559, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532900807614278, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08784306187129669, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15388157114025658, + "release_required_pad_clearance": 0.053921530935648346, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.85312347860905, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008128762245178223, + "max_z_decrease": 0.008128762245178223, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003361569739, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008128762245178223, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021137191850192458, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008128762245178223, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008128805356207004, + "max_button_displacement": 0.12, + "button_start": [ + 0.18814481794834137, + -0.4030914008617401, + 0.7768088579177856 + ], + "button_final": [ + 0.18814481794834137, + -0.4030914008617401, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18622458593197722, + -0.4043399811045797, + 0.8036067043790309 + ], + "closest_button": [ + 0.1881650984287262, + -0.40307438373565674, + 0.7686800956726074 + ], + "closest_ee_minus_button": [ + -0.0019405124967489806, + -0.001265597368922955, + 0.0349266087064235 + ], + "button_min_z_position": [ + 0.1881650984287262, + -0.40307438373565674, + 0.7686800956726074 + ], + "min_active_finger_to_button": 0.14761163925816165, + "closest_active_finger": [ + 0.04528648406267166, + -0.38993221521377563, + 0.8078507781028748 + ], + "closest_active_finger_button": [ + 0.18815450370311737, + -0.4031007587909698, + 0.7731446623802185 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1428680196404457, + 0.013168543577194158, + 0.03470611572265625 + ], + "min_contact_pad_to_button": 0.021137191850192458, + "closest_contact_pad": [ + 0.1881650984287262, + -0.4053702596521398, + 0.7896922310492881 + ], + "closest_contact_pad_button": [ + 0.1881650984287262, + -0.40307438373565674, + 0.7686800956726074 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002295875916483059, + 0.021012135376680674 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37fc6ac22ac1d6e02cdad6137c78c138cd3506467fd0e4d606a8de0f1c543a33", + "visual_seed": 8195603586131540610, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..24647f3f2746efcd72b734682c80ab3031fd97a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35085953045653073, + -0.08780555192238337, + 1.1673425576484435 + ], + "current_z": 1.1673425576484435, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.3062357516104537, + "gripper_z": 1.157522311840631, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3464139918680935, + -0.09226260127928768, + 1.157522311840631 + ], + "object_minus_gripper": [ + 0.0044455385884372145, + 0.004457049356904302, + 0.009820245807812489 + ], + "object_to_gripper_xy": 0.006295085568216321, + "object_to_gripper_z": 0.009820245807812489, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35085953045653073, + -0.11170047389773963, + 1.1673425576484435 + ], + "finger_b": [ + 0.34078587108990516, + -0.08780555192238337, + 1.1673425576484435 + ], + "finger_midpoint": [ + 0.345822700773218, + -0.0997530129100615, + 1.1673425576484435 + ], + "object_minus_finger_midpoint": [ + 0.00503682968331276, + 0.011947460987678127, + 0.0 + ], + "finger_gap": 0.025931562028600714, + "fingertip_max_gap": 0.09283413607633553, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012965781014300347, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1673425576484435, + "object_top_z": 1.2171461028298818, + "finger_top_clearance": 0.04980354518143826, + "fingertip_min_top_clearance": 0.014941063554431477, + "object_projection_between_fingers": 0.849090296126544, + "object_to_finger_line_xy": 0.00928248380511551, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04891706803816777, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.845910218239123, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3389221700194849, + -0.3444654379822206, + 0.8515396739462795 + ], + "target_position": [ + 0.3323089421636871, + -0.345597875767744, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006709485674087139, + "xy_threshold": 0.08, + "gripper_dist": 0.18390836219931228, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396739462795, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565412453313332, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08948272739602141, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1515825900156872, + "release_required_pad_clearance": 0.054741363698010706, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.5319629198400095, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00836116075515747, + "max_z_decrease": 0.00836116075515747, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502868517366359, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00836116075515747, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02120494786706734, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00836116075515747, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008361252246814124, + "max_button_displacement": 0.12, + "button_start": [ + 0.18800887465476984, + -0.4018593430519104, + 0.7768088579177856 + ], + "button_final": [ + 0.18800887465476984, + -0.4018593430519104, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18691315059149796, + -0.4006409473224832, + 0.8048669545759793 + ], + "closest_button": [ + 0.18799357116222376, + -0.40185707807540894, + 0.7698760628700256 + ], + "closest_ee_minus_button": [ + -0.0010804205707257986, + 0.0012161307529257592, + 0.03499089170595371 + ], + "button_min_z_position": [ + 0.18797151744365687, + -0.4018477499485016, + 0.7684476971626282 + ], + "min_active_finger_to_button": 0.146596549424876, + "closest_active_finger": [ + 0.05917169153690338, + -0.46230021119117737, + 0.8079858422279358 + ], + "closest_active_finger_button": [ + 0.18802185356616968, + -0.4018661081790924, + 0.7728304266929626 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1288501620292663, + -0.06043410301208496, + 0.035155415534973145 + ], + "min_contact_pad_to_button": 0.02120494786706734, + "closest_contact_pad": [ + 0.18797151744365687, + -0.4018800556832542, + 0.7896526204207903 + ], + "closest_contact_pad_button": [ + 0.18797151744365687, + -0.4018477499485016, + 0.7684476971626282 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -3.2305734752602344e-05, + 0.021204923258162145 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3a7122b17028ae810d593f911f1167ce1acb8c9240c6287f76f9e920d1ce2a3c", + "visual_seed": 4102189816906270421, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1d9fc7721b4f1f266172e7d53f12fc35cc70871d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3442968442077022, + -0.08881864711172192, + 1.1663867986041594 + ], + "current_z": 1.1663867986041594, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3052803501940383, + "gripper_z": 1.15672742274847, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34013880183098155, + -0.09311031883214237, + 1.15672742274847 + ], + "object_minus_gripper": [ + 0.004158042376720628, + 0.004291671720420442, + 0.009659375855689323 + ], + "object_to_gripper_xy": 0.005975597255711021, + "object_to_gripper_z": 0.009659375855689323, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3442968442077022, + -0.11241058137824796, + 1.1663867986041594 + ], + "finger_b": [ + 0.3343311886646579, + -0.08881864711172192, + 1.1663867986041594 + ], + "finger_midpoint": [ + 0.33931401643618003, + -0.10061461424498494, + 1.1663867986041594 + ], + "object_minus_finger_midpoint": [ + 0.004982827771522147, + 0.011795967133263016, + 0.0 + ], + "finger_gap": 0.02561042078605298, + "fingertip_max_gap": 0.09317318363165203, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01280521039302649, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1663867986041594, + "object_top_z": 1.216181188746992, + "finger_top_clearance": 0.0497943901428326, + "fingertip_min_top_clearance": 0.014938317042849814, + "object_projection_between_fingers": 0.8485817175196327, + "object_to_finger_line_xy": 0.009180211932416893, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908659181582602, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.157763419611056, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33384315608526605, + -0.3465533498053221, + 0.8515395702081967 + ], + "target_position": [ + 0.32667979384932383, + -0.34772008070952964, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007257755818857234, + "xy_threshold": 0.08, + "gripper_dist": 0.18317926931849504, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395702081967, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530744792761841, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0887978882118202, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15182383845042866, + "release_required_pad_clearance": 0.054398944105910105, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8234442174732175, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008414804935455322, + "max_z_decrease": 0.008414804935455322, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035010976085906836, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008414804935455322, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021093106400001876, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008414804935455322, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008414832686074042, + "max_button_displacement": 0.12, + "button_start": [ + 0.1823797225952148, + -0.40398153662681574, + 0.7768088579177856 + ], + "button_final": [ + 0.1823797225952148, + -0.40398153662681574, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1820913741099873, + -0.4028362517275333, + 0.8033856886935311 + ], + "closest_button": [ + 0.18238769471645355, + -0.4039614498615264, + 0.7683940529823303 + ], + "closest_ee_minus_button": [ + -0.0002963206064662549, + 0.0011251981339930883, + 0.034991635711200786 + ], + "button_min_z_position": [ + 0.18238769471645355, + -0.4039614498615264, + 0.7683940529823303 + ], + "min_active_finger_to_button": 0.1456570049672038, + "closest_active_finger": [ + 0.05525369942188263, + -0.4660535454750061, + 0.8107775449752808 + ], + "closest_active_finger_button": [ + 0.18238399922847745, + -0.403984248638153, + 0.7761184573173523 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12713029980659482, + -0.06206929683685308, + 0.03465908765792847 + ], + "min_contact_pad_to_button": 0.021093106400001876, + "closest_contact_pad": [ + 0.18238769471645355, + -0.40399453125912577, + 0.7894871334406923 + ], + "closest_contact_pad_button": [ + 0.18238769471645355, + -0.4039614498615264, + 0.7683940529823303 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -3.308139759938822e-05, + 0.021093080458362 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c3ce852631a3a5254c8d78f92ee99b3d3cfcd51e65901a53a7fb7da039d32a3", + "visual_seed": 1686815990160229478, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..46d4137217bd98a90afe602b33a9cd9925de12da --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34662170586023233, + -0.08946410496715959, + 1.163868952402386 + ], + "current_z": 1.163868952402386, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30276256359690945, + "gripper_z": 1.1540733426889522, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3423329294790597, + -0.09389288540182932, + 1.1540733426889522 + ], + "object_minus_gripper": [ + 0.004288776381172643, + 0.004428780434669724, + 0.00979560971343374 + ], + "object_to_gripper_xy": 0.006165038441584746, + "object_to_gripper_z": 0.00979560971343374, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34662170586023233, + -0.11300209947355999, + 1.163868952402386 + ], + "finger_b": [ + 0.33625246753610116, + -0.08946410496715959, + 1.163868952402386 + ], + "finger_midpoint": [ + 0.34143708669816675, + -0.10123310222035979, + 1.163868952402386 + ], + "object_minus_finger_midpoint": [ + 0.005184619162065585, + 0.0117689972532002, + 0.0 + ], + "finger_gap": 0.025720775431661583, + "fingertip_max_gap": 0.09217144146053471, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012860387715830791, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163868952402386, + "object_top_z": 1.2136627894616665, + "finger_top_clearance": 0.04979383705928053, + "fingertip_min_top_clearance": 0.01493815111778416, + "object_projection_between_fingers": 0.8374729706482956, + "object_to_finger_line_xy": 0.009489258026354462, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858572073026736, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1120783869139585, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3355665586069082, + -0.33967314964671447, + 0.8515395076272427 + ], + "target_position": [ + 0.32757896881814813, + -0.34136004644182066, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008163774337329748, + "xy_threshold": 0.08, + "gripper_dist": 0.18509355614352763, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395076272427, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522511986332757, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08596979710214402, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15396150931446712, + "release_required_pad_clearance": 0.05298489855107201, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0040422790630623, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00819694995880127, + "max_z_decrease": 0.00819694995880127, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501127725568526, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00819694995880127, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02107288531366364, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00819694995880127, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008196980105853017, + "max_button_displacement": 0.12, + "button_start": [ + 0.183278888463974, + -0.3976215124130249, + 0.7768088579177856 + ], + "button_final": [ + 0.183278888463974, + -0.3976215124130249, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1820894193585852, + -0.3983969787928315, + 0.8036644889083102 + ], + "closest_button": [ + 0.18329106271266937, + -0.39760610461235046, + 0.7686827778816223 + ], + "closest_ee_minus_button": [ + -0.0012016433540841809, + -0.000790874180481016, + 0.0349817110266879 + ], + "button_min_z_position": [ + 0.18329301476478577, + -0.3976043462753296, + 0.7686119079589844 + ], + "min_active_finger_to_button": 0.1468995204872828, + "closest_active_finger": [ + 0.041082628071308136, + -0.384672611951828, + 0.8090460896492004 + ], + "closest_active_finger_button": [ + 0.18328425288200378, + -0.39762675762176514, + 0.7745445370674133 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14220162481069565, + 0.012954145669937134, + 0.03450155258178711 + ], + "min_contact_pad_to_button": 0.02107288531366364, + "closest_contact_pad": [ + 0.18329301476478577, + -0.39936806356648136, + 0.7896108554745079 + ], + "closest_contact_pad_button": [ + 0.18329301476478577, + -0.3976043462753296, + 0.7686119079589844 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017637172911517673, + 0.02099894751552356 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bb7f2ad0c4c61dacadda4e4c3cf109bea0e6f8ddeda8f77e6601b83d15a9106e", + "visual_seed": 6104464811110967149, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..142bbae5702ff5c991fe0ecb0e8217045ba9fba6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3442713671297226, + -0.09156747527945461, + 1.1677605927065349 + ], + "current_z": 1.1677605927065349, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.306654025087124, + "gripper_z": 1.1580079451122507, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34025308480935873, + -0.09596339511019959, + 1.1580079451122507 + ], + "object_minus_gripper": [ + 0.004018282320363886, + 0.004395919830744985, + 0.00975264759428418 + ], + "object_to_gripper_xy": 0.005955728667802622, + "object_to_gripper_z": 0.00975264759428418, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3442713671297226, + -0.11480017060445458, + 1.1677605927065349 + ], + "finger_b": [ + 0.33378668814411583, + -0.09156747527945461, + 1.1677605927065349 + ], + "finger_midpoint": [ + 0.3390290276369192, + -0.10318382294195459, + 1.1677605927065349 + ], + "object_minus_finger_midpoint": [ + 0.005242339492803394, + 0.011616347662499985, + 0.0 + ], + "finger_gap": 0.025488951047375412, + "fingertip_max_gap": 0.09252160222074887, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012744475523687706, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1677605927065349, + "object_top_z": 1.2176118885058838, + "finger_top_clearance": 0.04985129579934888, + "fingertip_min_top_clearance": 0.014955388739804697, + "object_projection_between_fingers": 0.8307976659556677, + "object_to_finger_line_xy": 0.00955658598897556, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876080111037444, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3979447830792284, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33156783940423795, + -0.3370803046767282, + 0.8515395038717379 + ], + "target_position": [ + 0.32458830526928467, + -0.33841046300769717, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007105154321084386, + "xy_threshold": 0.08, + "gripper_dist": 0.18406976602936606, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395038717379, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567802852760977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08686132478089963, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15193451950055104, + "release_required_pad_clearance": 0.053430662390449815, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.875487013936033, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008019030094146729, + "max_z_decrease": 0.008019030094146729, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035095583972713604, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008019030094146729, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021212846959142898, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008019030094146729, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008019064106298716, + "max_button_displacement": 0.12, + "button_start": [ + 0.18028822541236877, + -0.3946719169616699, + 0.7768088579177856 + ], + "button_final": [ + 0.18028822541236877, + -0.3946719169616699, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18152690320263265, + -0.39515806338526005, + 0.8054113894510767 + ], + "closest_button": [ + 0.18027211725711823, + -0.394674688577652, + 0.7703415751457214 + ], + "closest_ee_minus_button": [ + 0.001254785945514425, + -0.0004833748076080724, + 0.035069814305355274 + ], + "button_min_z_position": [ + 0.18026550114154816, + -0.39467731118202215, + 0.7687898278236389 + ], + "min_active_finger_to_button": 0.1447608152716362, + "closest_active_finger": [ + 0.04049083590507507, + -0.3801591992378235, + 0.8077622056007385 + ], + "closest_active_finger_button": [ + 0.18029744923114774, + -0.39467981457710266, + 0.7731362581253052 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13980661332607267, + 0.014520615339279175, + 0.03462594747543335 + ], + "min_contact_pad_to_button": 0.021212846959142898, + "closest_contact_pad": [ + 0.1802684366703033, + -0.39625661311782007, + 0.7900294603848975 + ], + "closest_contact_pad_button": [ + 0.1802684366703033, + -0.39467498660087585, + 0.7688756585121155 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015816265169442123, + 0.02115380187278204 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a354a3c59ee638f82de76a6c33f0faa096880f841415e7de95a56179ef9e0de1", + "visual_seed": 954654834881812512, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..48b33c761fa6008d035a40466a4ac85ede8f5e91 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3499175543611465, + -0.09347174356623238, + 1.16551163805003 + ], + "current_z": 1.16551163805003, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.30440483201204027, + "gripper_z": 1.1556019536581517, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3458777952485317, + -0.09786648270915649, + 1.1556019536581517 + ], + "object_minus_gripper": [ + 0.004039759112614838, + 0.004394739142924112, + 0.009909684391878448 + ], + "object_to_gripper_xy": 0.0059693706387109165, + "object_to_gripper_z": 0.009909684391878448, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3499175543611465, + -0.11678129190183308, + 1.16551163805003 + ], + "finger_b": [ + 0.33951667345714903, + -0.09347174356623238, + 1.16551163805003 + ], + "finger_midpoint": [ + 0.3447171139091478, + -0.10512651773403273, + 1.16551163805003 + ], + "object_minus_finger_midpoint": [ + 0.005200440451998745, + 0.01165477416780035, + 0.0 + ], + "finger_gap": 0.025524759885037995, + "fingertip_max_gap": 0.0922244635118086, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012762379942518998, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16551163805003, + "object_top_z": 1.2153124462802378, + "finger_top_clearance": 0.049800808230207716, + "fingertip_min_top_clearance": 0.014940242469062314, + "object_projection_between_fingers": 0.8339583974371726, + "object_to_finger_line_xy": 0.00949822201096072, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0486122317559043, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1804385508985122, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33821625492187984, + -0.3444661911510931, + 0.8515395603651145 + ], + "target_position": [ + 0.3315321759530343, + -0.34571121747872396, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006799044213583056, + "xy_threshold": 0.08, + "gripper_dist": 0.18382490622760275, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395603651145, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545141653438761, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08665555948835284, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15226133297964606, + "release_required_pad_clearance": 0.05332777974417642, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.672997500829492, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008110284805297852, + "max_z_decrease": 0.008110284805297852, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034996512087586806, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008110284805297852, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021250898598978083, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008110284805297852, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008110303943000052, + "max_button_displacement": 0.12, + "button_start": [ + 0.18723210692405695, + -0.40197268128395075, + 0.7768088579177856 + ], + "button_final": [ + 0.18723210692405695, + -0.40197268128395075, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18691535477321636, + -0.40171763466408283, + 0.8036928969394764 + ], + "closest_button": [ + 0.18721474707126612, + -0.40196967124938954, + 0.7686985731124878 + ], + "closest_ee_minus_button": [ + -0.000299392298049761, + 0.00025203658530670303, + 0.03499432382698864 + ], + "button_min_z_position": [ + 0.18721474707126612, + -0.40196967124938954, + 0.7686985731124878 + ], + "min_active_finger_to_button": 0.1461282085594232, + "closest_active_finger": [ + 0.059833407402038574, + -0.46442273259162903, + 0.8081623315811157 + ], + "closest_active_finger_button": [ + 0.18724274635314936, + -0.4019772112369536, + 0.7732213735580444 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12740933895111078, + -0.062445521354675404, + 0.03494095802307129 + ], + "min_contact_pad_to_button": 0.021250898598978083, + "closest_contact_pad": [ + 0.18721474707126612, + -0.40293392192288197, + 0.7899275842035094 + ], + "closest_contact_pad_button": [ + 0.18721474707126612, + -0.40196967124938954, + 0.7686985731124878 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009642506734924283, + 0.0212290110910216 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2de80e84df61bdb113efd41cbe5730ad967757c015e2315548d4597a239a229d", + "visual_seed": 6078728951724490098, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c69bc0704e70ea03b750525628a7f798ad0c132 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34870647203499283, + -0.09557888734746717, + 1.1633314609926368 + ], + "current_z": 1.1633314609926368, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30222501258251555, + "gripper_z": 1.1534836947694136, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34453654441019077, + -0.09990028128153218, + 1.1534836947694136 + ], + "object_minus_gripper": [ + 0.004169927624802061, + 0.004321393934065013, + 0.009847766223223253 + ], + "object_to_gripper_xy": 0.006005226218008881, + "object_to_gripper_z": 0.009847766223223253, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34870647203499283, + -0.11934933868233204, + 1.1633314609926368 + ], + "finger_b": [ + 0.33893062723907025, + -0.09557888734746717, + 1.1633314609926368 + ], + "finger_midpoint": [ + 0.3438185496370315, + -0.10746411301489961, + 1.1633314609926368 + ], + "object_minus_finger_midpoint": [ + 0.0048879223979613196, + 0.011885225667432442, + 0.0 + ], + "finger_gap": 0.025702169132918444, + "fingertip_max_gap": 0.0933923465576452, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01285108456645924, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633314609926368, + "object_top_z": 1.2132851897073782, + "finger_top_clearance": 0.04995372871474135, + "fingertip_min_top_clearance": 0.014986118614422372, + "object_projection_between_fingers": 0.8553331445001867, + "object_to_finger_line_xy": 0.009041114070059184, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0491961732788226, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.143662360016325, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33016086888210205, + -0.34117545763990753, + 0.8515395913062126 + ], + "target_position": [ + 0.32380992563946326, + -0.34177905501580297, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006379561886478353, + "xy_threshold": 0.08, + "gripper_dist": 0.1841833041288521, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395913062126, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753807936731346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08911398642055439, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15259426710758342, + "release_required_pad_clearance": 0.054556993210277197, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.149050936066644, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00810462236404419, + "max_z_decrease": 0.00810462236404419, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035074729531671296, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00810462236404419, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021040442413346832, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00810462236404419, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008104635920480769, + "max_button_displacement": 0.12, + "button_start": [ + 0.17950984835624695, + -0.3980405032634735, + 0.7768088579177856 + ], + "button_final": [ + 0.17950984835624695, + -0.3980405032634735, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18086444057106552, + -0.3973502918668008, + 0.8037465327762698 + ], + "closest_button": [ + 0.17951709032058716, + -0.39802756905555725, + 0.7687042355537415 + ], + "closest_ee_minus_button": [ + 0.0013473502504783574, + 0.0006772771887564311, + 0.035042297222528385 + ], + "button_min_z_position": [ + 0.17951709032058716, + -0.39802756905555725, + 0.7687042355537415 + ], + "min_active_finger_to_button": 0.14432779589898456, + "closest_active_finger": [ + 0.05504532903432846, + -0.46250078082084656, + 0.8108464479446411 + ], + "closest_active_finger_button": [ + 0.17951315641403198, + -0.39804279804229736, + 0.7764452695846558 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12446782737970352, + -0.0644579827785492, + 0.03440117835998535 + ], + "min_contact_pad_to_button": 0.021040442413346832, + "closest_contact_pad": [ + 0.17951709032058716, + -0.398311739715185, + 0.7897427588856099 + ], + "closest_contact_pad_button": [ + 0.17951709032058716, + -0.39802756905555725, + 0.7687042355537415 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00028417065962776933, + 0.021038523331868397 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d363f5df579923c2732242c892a27eaaf740d74eef3808c3cbb82ed5e96bdb9f", + "visual_seed": 3028622057620890215, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..db800668d1861c2d9878a52672a1ab382518577e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34689224336188185, + -0.09451431145609784, + 1.1675437688067014 + ], + "current_z": 1.1675437688067014, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30643726079193545, + "gripper_z": 1.1576713002827148, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34265253820830865, + -0.09888510081588728, + 1.1576713002827148 + ], + "object_minus_gripper": [ + 0.004239705153573192, + 0.004370789359789434, + 0.0098724685239866 + ], + "object_to_gripper_xy": 0.006089244568654113, + "object_to_gripper_z": 0.0098724685239866, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34689224336188185, + -0.11806178220549869, + 1.1675437688067014 + ], + "finger_b": [ + 0.33666735706877843, + -0.09451431145609784, + 1.1675437688067014 + ], + "finger_midpoint": [ + 0.34177980021533017, + -0.10628804683079826, + 1.1675437688067014 + ], + "object_minus_finger_midpoint": [ + 0.005112443146551682, + 0.011773735374700417, + 0.0 + ], + "finger_gap": 0.025671612306218377, + "fingertip_max_gap": 0.09212965495813383, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01283580615310917, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1675437688067014, + "object_top_z": 1.2173217519747732, + "finger_top_clearance": 0.049777983168071804, + "fingertip_min_top_clearance": 0.014933394950421541, + "object_projection_between_fingers": 0.8413607370732272, + "object_to_finger_line_xy": 0.00937885038270392, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048564827479066916, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.052814755159121, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33107268271109785, + -0.34611856371560823, + 0.851539569816964 + ], + "target_position": [ + 0.32335372769580134, + -0.3476755859217647, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007874425990422125, + "xy_threshold": 0.08, + "gripper_dist": 0.18354414636447666, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539569816964, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549438137333027, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08831835974207063, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15189145576142968, + "release_required_pad_clearance": 0.054159179871035315, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3336621252306635, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00830543041229248, + "max_z_decrease": 0.00830543041229248, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349992797081251, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00830543041229248, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021165038817254095, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00830543041229248, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00830545070051863, + "max_button_displacement": 0.12, + "button_start": [ + 0.17905364930629725, + -0.40393704175949086, + 0.7768088579177856 + ], + "button_final": [ + 0.17905364930629725, + -0.40393704175949086, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17868043384614946, + -0.4047456983500534, + 0.8034909035276034 + ], + "closest_button": [ + 0.17906290292739863, + -0.4039211869239806, + 0.7685034275054932 + ], + "closest_ee_minus_button": [ + -0.00038246908124917045, + -0.0008245114260728159, + 0.034987476022110275 + ], + "button_min_z_position": [ + 0.17906290292739863, + -0.4039211869239806, + 0.7685034275054932 + ], + "min_active_finger_to_button": 0.14612619241609856, + "closest_active_finger": [ + 0.03797087073326111, + -0.3882805109024048, + 0.8074970245361328 + ], + "closest_active_finger_button": [ + 0.17906288802623743, + -0.4039437174797057, + 0.7728477716445923 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14109201729297632, + 0.015663206577300914, + 0.03464925289154053 + ], + "min_contact_pad_to_button": 0.021165038817254095, + "closest_contact_pad": [ + 0.17906290292739863, + -0.40595855500212197, + 0.7895701785471237 + ], + "closest_contact_pad_button": [ + 0.17906290292739863, + -0.4039211869239806, + 0.7685034275054932 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002037368078141366, + 0.021066751041630583 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e05ca42b3104f766e84a526ce06440c5457f037e4d600274bf3d37758ef89b27", + "visual_seed": 747023672863976916, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..83c41e875bac3355b330372fcd285d784d375fd1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3430242616606808, + -0.0924029113749063, + 1.16462606432972 + ], + "current_z": 1.16462606432972, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30351955631495386, + "gripper_z": 1.154856825753598, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33906139706599514, + -0.09676139437170106, + 1.154856825753598 + ], + "object_minus_gripper": [ + 0.0039628645946856444, + 0.004358482996794755, + 0.009769238576121886 + ], + "object_to_gripper_xy": 0.005890727444820546, + "object_to_gripper_z": 0.009769238576121886, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3430242616606808, + -0.11562086005379846, + 1.16462606432972 + ], + "finger_b": [ + 0.33262387456897413, + -0.0924029113749063, + 1.16462606432972 + ], + "finger_midpoint": [ + 0.33782406811482746, + -0.10401188571435238, + 1.16462606432972 + ], + "object_minus_finger_midpoint": [ + 0.005200193545853327, + 0.011608974339446076, + 0.0 + ], + "finger_gap": 0.025440935370245495, + "fingertip_max_gap": 0.09252051651071905, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012720467685122748, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16462606432972, + "object_top_z": 1.2144856616216988, + "finger_top_clearance": 0.04985959729197886, + "fingertip_min_top_clearance": 0.014957879187593658, + "object_projection_between_fingers": 0.8328782949716779, + "object_to_finger_line_xy": 0.009491618536096594, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048760258255359526, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3959385909838646, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3324093371461545, + -0.34256404545893193, + 0.8515395832171342 + ], + "target_position": [ + 0.32563085369279976, + -0.3437310088559794, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006878200454875726, + "xy_threshold": 0.08, + "gripper_dist": 0.18601481937598122, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395832171342, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520777633400177, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0859195423162518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15486660019635598, + "release_required_pad_clearance": 0.052959771158125904, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.955307555394658, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008311986923217773, + "max_z_decrease": 0.008311986923217773, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350329794917913, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008311986923217773, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021225769780820077, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008311986923217773, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008312016602443495, + "max_button_displacement": 0.12, + "button_start": [ + 0.18133078515529635, + -0.39999246597290034, + 0.7768088579177856 + ], + "button_final": [ + 0.18133078515529635, + -0.39999246597290034, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18278627370735132, + -0.4004560842462051, + 0.8034957112353762 + ], + "closest_button": [ + 0.18131668865680695, + -0.399975299835205, + 0.7684968709945679 + ], + "closest_ee_minus_button": [ + 0.0014695850505443697, + -0.0004807844110000792, + 0.03499884024080835 + ], + "button_min_z_position": [ + 0.18131668865680695, + -0.399975299835205, + 0.7684968709945679 + ], + "min_active_finger_to_button": 0.14443992609781955, + "closest_active_finger": [ + 0.042073190212249756, + -0.38408008217811584, + 0.8076968193054199 + ], + "closest_active_finger_button": [ + 0.1813417822122574, + -0.3999968469142913, + 0.7728570699691772 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13926859200000766, + 0.01591676473617548, + 0.034839749336242676 + ], + "min_contact_pad_to_button": 0.021225769780820077, + "closest_contact_pad": [ + 0.18131668865680695, + -0.401666549402387, + 0.7896551548968573 + ], + "closest_contact_pad_button": [ + 0.18131668865680695, + -0.399975299835205, + 0.7684968709945679 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016912495671819738, + 0.021158283902289465 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3780623060e200155aff1399154a12100dd32c660b65d1998800155dfd9173ff", + "visual_seed": 5947487895806062166, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fa2af42af02cb7f1673379ff1b310aaa6bc949d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3462969201721062, + -0.09487733141676659, + 1.1663805518525008 + ], + "current_z": 1.1663805518525008, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.3052739246284454, + "gripper_z": 1.1565836620964034, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34217071892937123, + -0.09924788763247687, + 1.1565836620964034 + ], + "object_minus_gripper": [ + 0.004126201242734995, + 0.004370556215710281, + 0.009796889756097382 + ], + "object_to_gripper_xy": 0.00601059883291437, + "object_to_gripper_z": 0.009796889756097382, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3462969201721062, + -0.11837862253106933, + 1.1663805518525008 + ], + "finger_b": [ + 0.33610945924322855, + -0.09487733141676659, + 1.1663805518525008 + ], + "finger_midpoint": [ + 0.3412031897076674, + -0.10662797697391796, + 1.1663805518525008 + ], + "object_minus_finger_midpoint": [ + 0.005093730464438839, + 0.01175064555715137, + 0.0 + ], + "finger_gap": 0.025614352309137434, + "fingertip_max_gap": 0.09255906801898608, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012807176154568717, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1663805518525008, + "object_top_z": 1.2162113150923677, + "finger_top_clearance": 0.049830763239866904, + "fingertip_min_top_clearance": 0.014949228971960037, + "object_projection_between_fingers": 0.8418150524192283, + "object_to_finger_line_xy": 0.00934704427094695, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048779534009493045, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.428005023555645, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33294276470776873, + -0.3423887734423948, + 0.8515395800027478 + ], + "target_position": [ + 0.32607027268666067, + -0.34360047752848943, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006978493632042121, + "xy_threshold": 0.08, + "gripper_dist": 0.18328381538805977, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395800027478, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589090780749981, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08823429430173262, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15055388826256075, + "release_required_pad_clearance": 0.05411714715086631, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2482703395905705, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00814807415008545, + "max_z_decrease": 0.00814807415008545, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504174622233621, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00814807415008545, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02131432976357305, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00814807415008545, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008148095628780248, + "max_button_displacement": 0.12, + "button_start": [ + 0.18177020549774173, + -0.3998619318008423, + 0.7768088579177856 + ], + "button_final": [ + 0.18177020549774173, + -0.3998619318008423, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18023072272748986, + -0.4009266320574062, + 0.8074492768074398 + ], + "closest_button": [ + 0.18175962567329407, + -0.399864912033081, + 0.7724570035934448 + ], + "closest_ee_minus_button": [ + -0.0015289029458042114, + -0.0010617200243251967, + 0.03499227321399501 + ], + "button_min_z_position": [ + 0.1817522644996643, + -0.3998566269874573, + 0.7686607837677002 + ], + "min_active_finger_to_button": 0.14766183518073997, + "closest_active_finger": [ + 0.03926385939121246, + -0.38323426246643066, + 0.807884931564331 + ], + "closest_active_finger_button": [ + 0.1817807108163834, + -0.3998658359050751, + 0.7730086445808411 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14251685142517093, + 0.01663157343864441, + 0.03487628698348999 + ], + "min_contact_pad_to_button": 0.02131432976357305, + "closest_contact_pad": [ + 0.1817522644996643, + -0.4022911254509783, + 0.7898356242748079 + ], + "closest_contact_pad_button": [ + 0.1817522644996643, + -0.3998566269874573, + 0.7686607837677002 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024344984635210065, + 0.021174840507107717 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fd95e7ef67fb52bbc8c348ebb9eec2da5319a80ceda62a6d5d54d843ccb806b3", + "visual_seed": 1900788182585375731, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..90b5cc241276b8740b92c2cb4cfe17c29fdf53b9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.343380972787692, + -0.09165087704335284, + 1.1644458439248235 + ], + "current_z": 1.1644458439248235, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3033393359100576, + "gripper_z": 1.1547706100238333, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.338909703273379, + -0.09617464104826613, + 1.1547706100238333 + ], + "object_minus_gripper": [ + 0.004471269514312981, + 0.0045237640049132916, + 0.009675233900990232 + ], + "object_to_gripper_xy": 0.006360557510295287, + "object_to_gripper_z": 0.009675233900990232, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.343380972787692, + -0.11535960503301344, + 1.1644458439248235 + ], + "finger_b": [ + 0.33294603845188264, + -0.09165087704335284, + 1.1644458439248235 + ], + "finger_midpoint": [ + 0.3381635056197873, + -0.10350524103818315, + 1.1644458439248235 + ], + "object_minus_finger_midpoint": [ + 0.005217467167904666, + 0.011854363994830308, + 0.0 + ], + "finger_gap": 0.025903506277729443, + "fingertip_max_gap": 0.09192329129741286, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012951753138864727, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644458439248235, + "object_top_z": 1.214256065753366, + "finger_top_clearance": 0.049810221828542556, + "fingertip_min_top_clearance": 0.014943066548562799, + "object_projection_between_fingers": 0.8377209960446961, + "object_to_finger_line_xy": 0.009550792742308196, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846164564870643, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8393269994120363, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3337038982997731, + -0.3416326293424334, + 0.8515395578970446 + ], + "target_position": [ + 0.3264365564535273, + -0.3428266704986961, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007364780498632948, + "xy_threshold": 0.08, + "gripper_dist": 0.1851831251787338, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395578970446, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752084396874787, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08642515538657113, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1539635475840552, + "release_required_pad_clearance": 0.053212577693285565, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4472335467438422, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008186817169189453, + "max_z_decrease": 0.008186817169189453, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035008066593191285, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008186817169189453, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02129573831888546, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008186817169189453, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008186892582930335, + "max_button_displacement": 0.12, + "button_start": [ + 0.18213647603988642, + -0.3990881145000458, + 0.7768088579177856 + ], + "button_final": [ + 0.18213647603988642, + -0.3990881145000458, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18140237436981493, + -0.39978265080670755, + 0.8068579326211706 + ], + "closest_button": [ + 0.1821237653493881, + -0.39908888936042786, + 0.7718641757965088 + ], + "closest_ee_minus_button": [ + -0.000721390979573161, + -0.0006937614462796948, + 0.03499375682466177 + ], + "button_min_z_position": [ + 0.18210144340991968, + -0.3990853726863861, + 0.7686220407485962 + ], + "min_active_finger_to_button": 0.14688763636020283, + "closest_active_finger": [ + 0.040481843054294586, + -0.38219887018203735, + 0.8079007863998413 + ], + "closest_active_finger_button": [ + 0.18214941024780268, + -0.39909386634826666, + 0.7729603052139282 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1416675671935081, + 0.016894996166229304, + 0.034940481185913086 + ], + "min_contact_pad_to_button": 0.02129573831888546, + "closest_contact_pad": [ + 0.18210144340991968, + -0.40112080461543764, + 0.7898202833033139 + ], + "closest_contact_pad_button": [ + 0.18210144340991968, + -0.3990853726863861, + 0.7686220407485962 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020354319290515344, + 0.021198242554717694 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "32195508be7678411c2eeee5a88c584b620a902abff1dc90eeaa501e5e75a392", + "visual_seed": 1356854603537873282, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..40e741d5896b5d15296fb93c261609f98132dbbe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3469631181899545, + -0.09725340852300488, + 1.1652790930909356 + ], + "current_z": 1.1652790930909356, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.30417234665759063, + "gripper_z": 1.1556593812606095, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34276476187068966, + -0.101753021688271, + 1.1556593812606095 + ], + "object_minus_gripper": [ + 0.004198356319264851, + 0.00449961316526612, + 0.009619711830326061 + ], + "object_to_gripper_xy": 0.00615408111910684, + "object_to_gripper_z": 0.009619711830326061, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3469631181899545, + -0.12071886594061688, + 1.1652790930909356 + ], + "finger_b": [ + 0.3364802660796545, + -0.09725340852300488, + 1.1652790930909356 + ], + "finger_midpoint": [ + 0.3417216921348045, + -0.10898613723181089, + 1.1652790930909356 + ], + "object_minus_finger_midpoint": [ + 0.005241426055149989, + 0.011732728708806012, + 0.0 + ], + "finger_gap": 0.025700542410310806, + "fingertip_max_gap": 0.09281174175834941, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012850271205155398, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1652790930909356, + "object_top_z": 1.215216810770361, + "finger_top_clearance": 0.04993771767942534, + "fingertip_min_top_clearance": 0.014981315303827602, + "object_projection_between_fingers": 0.8336302594325242, + "object_to_finger_line_xy": 0.009571195653469287, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890587087917471, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.513347006340308, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 351, + "max_stable_success_frames": 351, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3397255552432767, + -0.34116744392681125, + 0.8515395998647612 + ], + "target_position": [ + 0.33217047610575656, + -0.34280389449134674, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007730277564509593, + "xy_threshold": 0.08, + "gripper_dist": 0.1848273437352741, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395998647612, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553547568743874, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08773772141958035, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1529950098113349, + "release_required_pad_clearance": 0.053868860709790176, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7471770119714076, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008127987384796143, + "max_z_decrease": 0.008127987384796143, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503359129332271, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008127987384796143, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021109069672298197, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008127987384796143, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008127995353564224, + "max_button_displacement": 0.12, + "button_start": [ + 0.18787039816379553, + -0.3990653455257415, + 0.7768088579177856 + ], + "button_final": [ + 0.18787039816379553, + -0.3990653455257415, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18880261598749212, + -0.3979062291144464, + 0.803683336799924 + ], + "closest_button": [ + 0.18787515163421634, + -0.399055004119873, + 0.7686808705329895 + ], + "closest_ee_minus_button": [ + 0.0009274643532757865, + 0.0011487750054265944, + 0.035002466266934484 + ], + "button_min_z_position": [ + 0.18787515163421634, + -0.399055004119873, + 0.7686808705329895 + ], + "min_active_finger_to_button": 0.14457243113674514, + "closest_active_finger": [ + 0.0629967600107193, + -0.4631410837173462, + 0.8083429336547852 + ], + "closest_active_finger_button": [ + 0.18788070976734167, + -0.39907109737396235, + 0.7736986875534058 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12488394975662237, + -0.06406998634338384, + 0.034644246101379395 + ], + "min_contact_pad_to_button": 0.021109069672298197, + "closest_contact_pad": [ + 0.18787515163421634, + -0.399055004119873, + 0.7897899402052877 + ], + "closest_contact_pad_button": [ + 0.18787515163421634, + -0.399055004119873, + 0.7686808705329895 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021109069672298197 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "49d718dcb72fc750ba2811d08f80cb025fdd13efe77ca59630fb1db844990651", + "visual_seed": 6022316805069622866, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..095abf9bacacd635ebb5a2c63162e1e618a950b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34684608613906776, + -0.09431692677646557, + 1.165098353636932 + ], + "current_z": 1.165098353636932, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30399184562216586, + "gripper_z": 1.1552387562618176, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3425680090068691, + -0.09879846199092689, + 1.1552387562618176 + ], + "object_minus_gripper": [ + 0.004278077132198632, + 0.0044815352144613185, + 0.009859597375114326 + ], + "object_to_gripper_xy": 0.0061956518484738736, + "object_to_gripper_z": 0.009859597375114326, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34684608613906776, + -0.11788615062480066, + 1.165098353636932 + ], + "finger_b": [ + 0.3364391313195815, + -0.09431692677646557, + 1.165098353636932 + ], + "finger_midpoint": [ + 0.3416426087293246, + -0.10610153870063312, + 1.165098353636932 + ], + "object_minus_finger_midpoint": [ + 0.00520347740974314, + 0.011784611924167548, + 0.0 + ], + "finger_gap": 0.02576456911007356, + "fingertip_max_gap": 0.09192770105783574, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01288228455503678, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165098353636932, + "object_top_z": 1.214949817820559, + "finger_top_clearance": 0.04985146418362718, + "fingertip_min_top_clearance": 0.014955439255088153, + "object_projection_between_fingers": 0.8368445554414067, + "object_to_finger_line_xy": 0.009520199878835902, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846385052891787, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8087824841325515, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3388556096012323, + -0.3448440418685498, + 0.8515395572637452 + ], + "target_position": [ + 0.33132871811985354, + -0.34650794935212187, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007708610995914842, + "xy_threshold": 0.08, + "gripper_dist": 0.18414186635740928, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395572637452, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528593222048653, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08588594890742444, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15296113778696077, + "release_required_pad_clearance": 0.052942974453712224, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9228015195808004, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008409082889556885, + "max_z_decrease": 0.008409082889556885, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035009276575726896, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008409082889556885, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02125017247131194, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008409082889556885, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008409212680467156, + "max_button_displacement": 0.12, + "button_start": [ + 0.1870286464691161, + -0.4027694165706634, + 0.7768088579177856 + ], + "button_final": [ + 0.1870286464691161, + -0.4027694165706634, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18591392488473255, + -0.40277103825370597, + 0.8068985285432384 + ], + "closest_button": [ + 0.18701636791229237, + -0.4027691483497619, + 0.7719066143035889 + ], + "closest_ee_minus_button": [ + -0.001102443027559824, + -1.8899039440634091e-06, + 0.034991914239649535 + ], + "button_min_z_position": [ + 0.1869862675666808, + -0.4027497470378875, + 0.7683997750282288 + ], + "min_active_finger_to_button": 0.14727073797107618, + "closest_active_finger": [ + 0.05818544328212738, + -0.4649244546890259, + 0.8077688217163086 + ], + "closest_active_finger_button": [ + 0.18704089522361744, + -0.40277683734893793, + 0.7728028893470764 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12885545194149006, + -0.062147617340087946, + 0.03496593236923218 + ], + "min_contact_pad_to_button": 0.02125017247131194, + "closest_contact_pad": [ + 0.1869862675666808, + -0.40392650465920854, + 0.7896173401939391 + ], + "closest_contact_pad_button": [ + 0.1869862675666808, + -0.4027497470378875, + 0.7683997750282288 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001176757621321023, + 0.021217565165710384 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7922a41659321d1617976271419a4183a35f01dddacb4499c976349bcbfc4d4d", + "visual_seed": 2735766906970869970, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fcad7cf5c16c905f1f0f927e9f4f1d9f09f50e5d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3448156919595725, + -0.09622494960935465, + 1.1650153615865912 + ], + "current_z": 1.1650153615865912, + "required_z": 0.8611068060379896, + "initial_z": 0.7611068060379896, + "lift_margin": 0.30390855554860163, + "gripper_z": 1.1552443257246912, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.340899114729451, + -0.10053108423524994, + 1.1552443257246912 + ], + "object_minus_gripper": [ + 0.00391657723012151, + 0.004306134625895283, + 0.00977103586190009 + ], + "object_to_gripper_xy": 0.005820856690886711, + "object_to_gripper_z": 0.00977103586190009, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3448156919595725, + -0.11957087995271669, + 1.1650153615865912 + ], + "finger_b": [ + 0.3347064589566816, + -0.09622494960935465, + 1.1650153615865912 + ], + "finger_midpoint": [ + 0.33976107545812706, + -0.10789791478103566, + 1.1650153615865912 + ], + "object_minus_finger_midpoint": [ + 0.0050546165014454525, + 0.01167296517168101, + 0.0 + ], + "finger_gap": 0.02544069683605091, + "fingertip_max_gap": 0.09299387012942237, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012720348418025449, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650153615865912, + "object_top_z": 1.2149670861979147, + "finger_top_clearance": 0.04995172461132347, + "fingertip_min_top_clearance": 0.01498551738339704, + "object_projection_between_fingers": 0.8421013533961617, + "object_to_finger_line_xy": 0.00927684689736441, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048996935064711186, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.732727245303729, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3386811922529524, + -0.33699813074795837, + 0.8515395653200357 + ], + "target_position": [ + 0.3310191154635039, + -0.33866873738965136, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007842088196308083, + "xy_threshold": 0.08, + "gripper_dist": 0.1850089602100565, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395653200357, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552676249185411, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08640529415355573, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15314411975080125, + "release_required_pad_clearance": 0.05320264707677787, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4276310210474767, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008023977279663086, + "max_z_decrease": 0.008023977279663086, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503772128549989, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008023977279663086, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021229634439443302, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008023977279663086, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008024000778415079, + "max_button_displacement": 0.12, + "button_start": [ + 0.18671904504299158, + -0.3949301838874817, + 0.7768088579177856 + ], + "button_final": [ + 0.18671904504299158, + -0.3949301838874817, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18501694189189963, + -0.3940151810467602, + 0.8048340766570994 + ], + "closest_button": [ + 0.18670322000980372, + -0.394928753376007, + 0.7698488831520081 + ], + "closest_ee_minus_button": [ + -0.0016862781179040887, + 0.0009135723292468256, + 0.03498519350509133 + ], + "button_min_z_position": [ + 0.18669974803924555, + -0.3949280083179474, + 0.7687848806381226 + ], + "min_active_finger_to_button": 0.14717986641997705, + "closest_active_finger": [ + 0.057408399879932404, + -0.45582523941993713, + 0.8081569671630859 + ], + "closest_active_finger_button": [ + 0.18673026561737055, + -0.3949368596076965, + 0.7730802893638611 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12932186573743815, + -0.060888379812240656, + 0.035076677799224854 + ], + "min_contact_pad_to_button": 0.021229634439443302, + "closest_contact_pad": [ + 0.18669974803924555, + -0.3953233543726465, + 0.7900108336185998 + ], + "closest_contact_pad_button": [ + 0.18669974803924555, + -0.3949280083179474, + 0.7687848806381226 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003953460546990972, + 0.021225952980477247 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cb5562f20d1379741bfffc52b40d6642b3451cc160ca4b9190bbe7d8defe5cd1", + "visual_seed": 8744096558261339605, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c695afedf02a92b314e970bb8881a8949d86bd0e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3420300602137212, + -0.0957109084451191, + 1.1658937051159517 + ], + "current_z": 1.1658937051159517, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3047872567058305, + "gripper_z": 1.1561690870169008, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33794416997194454, + -0.1000581947836295, + 1.1561690870169008 + ], + "object_minus_gripper": [ + 0.004085890241776635, + 0.004347286338510392, + 0.009724618099050897 + ], + "object_to_gripper_xy": 0.005966020246097445, + "object_to_gripper_z": 0.009724618099050897, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3420300602137212, + -0.11914849401859715, + 1.1658937051159517 + ], + "finger_b": [ + 0.3318240677471946, + -0.0957109084451191, + 1.1658937051159517 + ], + "finger_midpoint": [ + 0.3369270639804579, + -0.10742970123185813, + 1.1658937051159517 + ], + "object_minus_finger_midpoint": [ + 0.005102996233263268, + 0.011718792786739027, + 0.0 + ], + "finger_gap": 0.025563307683883624, + "fingertip_max_gap": 0.09258252730120611, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012781653841941807, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1658937051159517, + "object_top_z": 1.2157778688245382, + "finger_top_clearance": 0.049884163708586504, + "fingertip_min_top_clearance": 0.01496524911257595, + "object_projection_between_fingers": 0.8406043767216845, + "object_to_finger_line_xy": 0.009357311062969186, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879126365060306, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3948364858809277, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33177120591444653, + -0.3438151325665308, + 0.851539572898123 + ], + "target_position": [ + 0.32434256777700393, + -0.34544717231549144, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007605801622396826, + "xy_threshold": 0.08, + "gripper_dist": 0.1862714949865329, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539572898123, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576539442558905, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08851776791244052, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15383857469361373, + "release_required_pad_clearance": 0.054258883956220264, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5367006711875018, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008230745792388916, + "max_z_decrease": 0.008230745792388916, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503638946319384, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008230745792388916, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021354942888338495, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008230745792388916, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008230832514925327, + "max_button_displacement": 0.12, + "button_start": [ + 0.18004249036312098, + -0.4017086327075958, + 0.7768088579177856 + ], + "button_final": [ + 0.18004249036312098, + -0.4017086327075958, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17921308576207196, + -0.4033198441133656, + 0.8036344657054022 + ], + "closest_button": [ + 0.1800110340118408, + -0.40170404314994806, + 0.7686444520950317 + ], + "closest_ee_minus_button": [ + -0.0007979482497688373, + -0.001615800963417513, + 0.03499001361037046 + ], + "button_min_z_position": [ + 0.18000558018684384, + -0.4017005562782287, + 0.7685781121253967 + ], + "min_active_finger_to_button": 0.14652353565560564, + "closest_active_finger": [ + 0.038633398711681366, + -0.3856883645057678, + 0.8077690601348877 + ], + "closest_active_finger_button": [ + 0.18005225062370295, + -0.40171316266059875, + 0.7729400396347046 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14141885191202158, + 0.016024798154830933, + 0.034829020500183105 + ], + "min_contact_pad_to_button": 0.021354942888338495, + "closest_contact_pad": [ + 0.18000558018684384, + -0.40462784024689297, + 0.7897314710627145 + ], + "closest_contact_pad_button": [ + 0.18000558018684384, + -0.4017005562782287, + 0.7685781121253967 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029272839686642627, + 0.021153358937317734 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "59671b91589f788497ef993832d4ce712b084998cd36c769f4894da57651dba0", + "visual_seed": 4212299986968012996, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..df7944bf237154191da6b37b85d85eaf73142ab0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34223437167015525, + -0.09579894557536613, + 1.164272240563451 + ], + "current_z": 1.164272240563451, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30316573254868495, + "gripper_z": 1.1545249311389933, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3381273488279466, + -0.10010547053520813, + 1.1545249311389933 + ], + "object_minus_gripper": [ + 0.004107022842208652, + 0.0043065249598420036, + 0.009747309424457562 + ], + "object_to_gripper_xy": 0.005950948987864524, + "object_to_gripper_z": 0.009747309424457562, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34223437167015525, + -0.11927481912632515, + 1.164272240563451 + ], + "finger_b": [ + 0.332130856251266, + -0.09579894557536613, + 1.164272240563451 + ], + "finger_midpoint": [ + 0.3371826139607106, + -0.10753688235084563, + 1.164272240563451 + ], + "object_minus_finger_midpoint": [ + 0.00505175770944466, + 0.011737936775479504, + 0.0 + ], + "finger_gap": 0.025557731957283506, + "fingertip_max_gap": 0.0927587520074378, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012778865978641757, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164272240563451, + "object_top_z": 1.2141086514041226, + "finger_top_clearance": 0.0498364108406717, + "fingertip_min_top_clearance": 0.014950923252201542, + "object_projection_between_fingers": 0.8437210822492882, + "object_to_finger_line_xy": 0.009280512480154327, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488793760037189, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6575960324083256, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.335487667627091, + -0.34414821868056117, + 0.8515395929848777 + ], + "target_position": [ + 0.32858677526987584, + -0.34531276206944034, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006998462447598936, + "xy_threshold": 0.08, + "gripper_dist": 0.18302039905142317, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395929848777, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534446388028546, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08816541108353547, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15168864660237066, + "release_required_pad_clearance": 0.05408270554176774, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.178355206465511, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008368492126464844, + "max_z_decrease": 0.008368492126464844, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500967210227382, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008368492126464844, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0212504354119376, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008368492126464844, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008368640382631045, + "max_button_displacement": 0.12, + "button_start": [ + 0.1842866986989975, + -0.4015742242336273, + 0.7768088579177856 + ], + "button_final": [ + 0.1842866986989975, + -0.4015742242336273, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18517873498806883, + -0.4014466140094609, + 0.8038022849189995 + ], + "closest_button": [ + 0.18425066769123075, + -0.4015558958053589, + 0.7688050866127014 + ], + "closest_ee_minus_button": [ + 0.0009280672968380865, + 0.00010928179589797526, + 0.034997198306298105 + ], + "button_min_z_position": [ + 0.18424074351787567, + -0.40155500173568726, + 0.7684403657913208 + ], + "min_active_finger_to_button": 0.14508541700248853, + "closest_active_finger": [ + 0.044517531991004944, + -0.3846881687641144, + 0.807776153087616 + ], + "closest_active_finger_button": [ + 0.18429958820343015, + -0.4015803039073944, + 0.7727702856063843 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1397820562124252, + 0.01689213514328003, + 0.03500586748123169 + ], + "min_contact_pad_to_button": 0.0212504354119376, + "closest_contact_pad": [ + 0.18424074351787567, + -0.4026824743425312, + 0.7896608702791446 + ], + "closest_contact_pad_button": [ + 0.18424074351787567, + -0.40155500173568726, + 0.7684403657913208 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011274726068439267, + 0.021220504487823755 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "88566a239a186ff57c47f5b2c06dff4f2b579629e20d3377804bd3ae949bcf44", + "visual_seed": 1328529369047553398, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..830c9e7f2dea21bc85899925b2807b3c2eee868d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35107784624522786, + -0.0878054949475146, + 1.1678615634094975 + ], + "current_z": 1.1678615634094975, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.30675487658079714, + "gripper_z": 1.1579879060144815, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34694637526241623, + -0.09218353142041483, + 1.1579879060144815 + ], + "object_minus_gripper": [ + 0.004131470982811636, + 0.004378036472900221, + 0.009873657395016 + ], + "object_to_gripper_xy": 0.006019655790812224, + "object_to_gripper_z": 0.009873657395016, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35107784624522786, + -0.11124862100194316, + 1.1678615634094975 + ], + "finger_b": [ + 0.34079730687283966, + -0.0878054949475146, + 1.1678615634094975 + ], + "finger_midpoint": [ + 0.3459375765590338, + -0.09952705797472888, + 1.1678615634094975 + ], + "object_minus_finger_midpoint": [ + 0.005140269686194077, + 0.011721563027214277, + 0.0 + ], + "finger_gap": 0.02559823527103091, + "fingertip_max_gap": 0.09277400291581386, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012799117635515445, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1678615634094975, + "object_top_z": 1.217729162525432, + "finger_top_clearance": 0.049867599115934524, + "fingertip_min_top_clearance": 0.014960279734780356, + "object_projection_between_fingers": 0.8387084005035803, + "object_to_finger_line_xy": 0.009415023256980402, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048887001457906934, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6346218926301117, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3360215147071519, + -0.34348164239773127, + 0.8515395829270742 + ], + "target_position": [ + 0.32842465718856606, + -0.3450975470294782, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007766813499537349, + "xy_threshold": 0.08, + "gripper_dist": 0.18338870677067465, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395829270742, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530965376983663, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08732627890505316, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15204522198307355, + "release_required_pad_clearance": 0.053663139452526584, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3360325474783816, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008301258087158203, + "max_z_decrease": 0.008301258087158203, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501878999456875, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008301258087158203, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021185456397664795, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008301258087158203, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008301271734039913, + "max_button_displacement": 0.12, + "button_start": [ + 0.18412458896636955, + -0.4013589918613434, + 0.7768088579177856 + ], + "button_final": [ + 0.18412458896636955, + -0.4013589918613434, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18262584404236232, + -0.4016572698213461, + 0.8034933281390154 + ], + "closest_button": [ + 0.18411524593830098, + -0.40134719014167786, + 0.7685075998306274 + ], + "closest_ee_minus_button": [ + -0.001489401895938658, + -0.00031007967966822925, + 0.034985728308387976 + ], + "button_min_z_position": [ + 0.18411524593830098, + -0.40134719014167786, + 0.7685075998306274 + ], + "min_active_finger_to_button": 0.14730672206426917, + "closest_active_finger": [ + 0.04189593344926834, + -0.3853682577610016, + 0.8076906204223633 + ], + "closest_active_finger_button": [ + 0.18413612246513356, + -0.40136387944221497, + 0.7728891968727112 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14224018901586521, + 0.01599562168121338, + 0.0348014235496521 + ], + "min_contact_pad_to_button": 0.021185456397664795, + "closest_contact_pad": [ + 0.18411524593830098, + -0.402857969808061, + 0.7896391191223632 + ], + "closest_contact_pad_button": [ + 0.18411524593830098, + -0.40134719014167786, + 0.7685075998306274 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001510779666383133, + 0.021131519291735734 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "58fedf4fd4e3cf601f660458c4d1171e00037c7359a4dd134f8f3f5a1844424d", + "visual_seed": 5394372924595088522, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3f14e60f14cf81c881a6d32e745594aa5d22a6c0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34462188411829053, + -0.0930387444102519, + 1.165694239222073 + ], + "current_z": 1.165694239222073, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.3045877908119521, + "gripper_z": 1.1559928130913075, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3403213334434304, + -0.09744600668637633, + 1.1559928130913075 + ], + "object_minus_gripper": [ + 0.004300550674860126, + 0.004407262276124438, + 0.009701426130765523 + ], + "object_to_gripper_xy": 0.006157815917806365, + "object_to_gripper_z": 0.009701426130765523, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34462188411829053, + -0.11677437517214091, + 1.165694239222073 + ], + "finger_b": [ + 0.3345367324187746, + -0.0930387444102519, + 1.165694239222073 + ], + "finger_midpoint": [ + 0.33957930826853255, + -0.1049065597911964, + 1.165694239222073 + ], + "object_minus_finger_midpoint": [ + 0.00504257584975798, + 0.011867815380944502, + 0.0 + ], + "finger_gap": 0.02578934765493268, + "fingertip_max_gap": 0.09252261175788604, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012894673827466336, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165694239222073, + "object_top_z": 1.2156471412119023, + "finger_top_clearance": 0.04995290198982927, + "fingertip_min_top_clearance": 0.01498587059694878, + "object_projection_between_fingers": 0.8470730042432851, + "object_to_finger_line_xy": 0.009282027607687997, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876130587894302, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2431645046352013, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33128197831677, + -0.3381456974248165, + 0.8515395106925291 + ], + "target_position": [ + 0.32391796555291213, + -0.33941136520764453, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007471987615270121, + "xy_threshold": 0.08, + "gripper_dist": 0.1843175338742615, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395106925291, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576224250858551, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08921559424490626, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1519551041836393, + "release_required_pad_clearance": 0.05460779712245313, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.254321638296111, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008169174194335938, + "max_z_decrease": 0.008169174194335938, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500564298480974, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008169174194335938, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021201174682194908, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008169174194335938, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008169221122826477, + "max_button_displacement": 0.12, + "button_start": [ + 0.1796178966760635, + -0.39567282795906067, + 0.7768088579177856 + ], + "button_final": [ + 0.1796178966760635, + -0.39567282795906067, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17910835755721038, + -0.395166718333138, + 0.8068562078522391 + ], + "closest_button": [ + 0.17960602045059199, + -0.39567533135414124, + 0.7718577980995178 + ], + "closest_ee_minus_button": [ + -0.0004976628933816007, + 0.0005086130210032458, + 0.03499840975272128 + ], + "button_min_z_position": [ + 0.1795902252197265, + -0.39567181468009943, + 0.7686396837234497 + ], + "min_active_finger_to_button": 0.14648209648823105, + "closest_active_finger": [ + 0.051113761961460114, + -0.45675116777420044, + 0.8075553774833679 + ], + "closest_active_finger_button": [ + 0.17963008582592005, + -0.395679235458374, + 0.7727591395378113 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12851632386445994, + -0.061071932315826416, + 0.03479623794555664 + ], + "min_contact_pad_to_button": 0.021201174682194908, + "closest_contact_pad": [ + 0.1795902252197265, + -0.3965261163909971, + 0.7898236393618969 + ], + "closest_contact_pad_button": [ + 0.1795902252197265, + -0.39567181468009943, + 0.7686396837234497 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008543017108976758, + 0.021183955638447216 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d4471af91768e17bcf0caa6ef6a4a0efc79533386ab47f92598e77cd01f9a60", + "visual_seed": 6847862756042862596, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fb5fd68364ec785557d1544c1ff7b73839933173 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3456667273807451, + -0.09870528376767225, + 1.166878636798061 + ], + "current_z": 1.166878636798061, + "required_z": 0.8611068060379901, + "initial_z": 0.7611068060379901, + "lift_margin": 0.305771830760071, + "gripper_z": 1.1571549650417121, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34137780120830985, + -0.10309864173572328, + 1.1571549650417121 + ], + "object_minus_gripper": [ + 0.004288926172435259, + 0.004393357968051029, + 0.009723671756348917 + ], + "object_to_gripper_xy": 0.006139746081723382, + "object_to_gripper_z": 0.009723671756348917, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3456667273807451, + -0.12247601040566375, + 1.166878636798061 + ], + "finger_b": [ + 0.33566926154932875, + -0.09870528376767225, + 1.166878636798061 + ], + "finger_midpoint": [ + 0.3406679944650369, + -0.11059064708666799, + 1.166878636798061 + ], + "object_minus_finger_midpoint": [ + 0.004998732915708182, + 0.011885363318995742, + 0.0 + ], + "finger_gap": 0.025787531249587586, + "fingertip_max_gap": 0.092834562794026, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012893765624793788, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166878636798061, + "object_top_z": 1.2168174706614954, + "finger_top_clearance": 0.04993883386343434, + "fingertip_min_top_clearance": 0.014981650159030267, + "object_projection_between_fingers": 0.8496995355952095, + "object_to_finger_line_xy": 0.009215578841230084, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048917281397013, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.538560164635358, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33277956486624627, + -0.3385974287867271, + 0.8515395742225645 + ], + "target_position": [ + 0.325411595691212, + -0.3397330957724851, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007454978824034058, + "xy_threshold": 0.08, + "gripper_dist": 0.18441723912841773, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395742225645, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522999568633981, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08821088341432114, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15313948883033224, + "release_required_pad_clearance": 0.05410544170716057, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2245672773757716, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008004844188690186, + "max_z_decrease": 0.008004844188690186, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035087358990616956, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008004844188690186, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021199900961743717, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008004844188690186, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008004867927848899, + "max_button_displacement": 0.12, + "button_start": [ + 0.18111151456832886, + -0.39599454402923584, + 0.7768088579177856 + ], + "button_final": [ + 0.18111151456832886, + -0.39599454402923584, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17952687351655564, + -0.3970415856909058, + 0.8055279288337707 + ], + "closest_button": [ + 0.18109479546546936, + -0.395995169878006, + 0.7704912424087524 + ], + "closest_ee_minus_button": [ + -0.0015679219489137253, + -0.0010464158128998258, + 0.035036686425018226 + ], + "button_min_z_position": [ + 0.18109227716922763, + -0.3959977030754089, + 0.7688040137290955 + ], + "min_active_finger_to_button": 0.14744628693668468, + "closest_active_finger": [ + 0.03850992023944855, + -0.3816843330860138, + 0.8076854944229126 + ], + "closest_active_finger_button": [ + 0.18111972510814667, + -0.3960050642490387, + 0.7730767130851746 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14260980486869812, + 0.014320731163024902, + 0.03460878133773804 + ], + "min_contact_pad_to_button": 0.021199900961743717, + "closest_contact_pad": [ + 0.18109227716922763, + -0.39817101953825745, + 0.789892221247518 + ], + "closest_contact_pad_button": [ + 0.18109227716922763, + -0.3959977030754089, + 0.7688040137290955 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021733164628485735, + 0.021088207518422553 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b45bbf9a133e8e6eb5d4b72eaba95b8f2693147be3a6205ad5bef3ccf10108b9", + "visual_seed": 9011087607304075590, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e068c2e2fc7bb3f09eafc5ec0e9fa472ab76cad1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34307986654257483, + -0.09670538317409938, + 1.1673464001129745 + ], + "current_z": 1.1673464001129745, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.3062398920982088, + "gripper_z": 1.1576317910097078, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3389855284477191, + -0.10121745888768452, + 1.1576317910097078 + ], + "object_minus_gripper": [ + 0.0040943380948557095, + 0.00451207571358514, + 0.009714609103266714 + ], + "object_to_gripper_xy": 0.006092818040948829, + "object_to_gripper_z": 0.009714609103266714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34307986654257483, + -0.12011102410353784, + 1.1673464001129745 + ], + "finger_b": [ + 0.3325794746298543, + -0.09670538317409938, + 1.1673464001129745 + ], + "finger_midpoint": [ + 0.3378296705862146, + -0.10840820363881862, + 1.1673464001129745 + ], + "object_minus_finger_midpoint": [ + 0.005250195956360226, + 0.011702820464719238, + 0.0 + ], + "finger_gap": 0.025653113994962312, + "fingertip_max_gap": 0.09216133958577374, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012826556997481151, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1673464001129745, + "object_top_z": 1.217289647854196, + "finger_top_clearance": 0.049943247741221386, + "fingertip_min_top_clearance": 0.014982974322366414, + "object_projection_between_fingers": 0.8324552454637237, + "object_to_finger_line_xy": 0.009580451042933013, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048580669792886874, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9148143892278955, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3342479729225004, + -0.3443949759101048, + 0.8515395874271675 + ], + "target_position": [ + 0.32662210204052106, + -0.3460590073223632, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007805312757961934, + "xy_threshold": 0.08, + "gripper_dist": 0.1862960808842641, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395874271675, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586415023852652, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873984616386949, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1536000069899962, + "release_required_pad_clearance": 0.05369923081934745, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4076453804335443, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008287191390991211, + "max_z_decrease": 0.008287191390991211, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507274507353609, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008287191390991211, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021297315536835858, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008287191390991211, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008287211153485852, + "max_button_displacement": 0.12, + "button_start": [ + 0.18232202529907227, + -0.40232047438621515, + 0.7768088579177856 + ], + "button_final": [ + 0.18232202529907227, + -0.40232047438621515, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18025158476626515, + -0.4035834055479564, + 0.8072564972604459 + ], + "closest_button": [ + 0.18231262266635895, + -0.4023233652114867, + 0.7722670435905457 + ], + "closest_ee_minus_button": [ + -0.002061037900093793, + -0.0012600403364697033, + 0.03498945366990025 + ], + "button_min_z_position": [ + 0.1823081523180008, + -0.40230885148048395, + 0.7685216665267944 + ], + "min_active_finger_to_button": 0.14813005389048917, + "closest_active_finger": [ + 0.03925655782222748, + -0.3861890435218811, + 0.8077070116996765 + ], + "closest_active_finger_button": [ + 0.18233194947242737, + -0.4023245275020599, + 0.7728990912437439 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1430753916501999, + 0.016135483980178777, + 0.03480792045593262 + ], + "min_contact_pad_to_button": 0.021297315536835858, + "closest_contact_pad": [ + 0.1823081523180008, + -0.4049065232647543, + 0.7896599670823442 + ], + "closest_contact_pad_button": [ + 0.1823081523180008, + -0.40230885148048395, + 0.7685216665267944 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002597671784270339, + 0.02113830055554977 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ff992f9359239bd5d310005cb69e6312d7590a036996e83650421fdb890b90c9", + "visual_seed": 7924375411972178341, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..987eb99a7ab31154619e03a888eb141e6d916b39 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34954918492100334, + -0.09091160270787095, + 1.1639167208832744 + ], + "current_z": 1.1639167208832744, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.3028099744499293, + "gripper_z": 1.15408381553129, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3452053878436436, + -0.09524738961229574, + 1.15408381553129 + ], + "object_minus_gripper": [ + 0.004343797077359768, + 0.004335786904424793, + 0.009832905351984333 + ], + "object_to_gripper_xy": 0.006137395305002016, + "object_to_gripper_z": 0.009832905351984333, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34954918492100334, + -0.11470136316895405, + 1.1639167208832744 + ], + "finger_b": [ + 0.3396111275576024, + -0.09091160270787095, + 1.1639167208832744 + ], + "finger_midpoint": [ + 0.3445801562393029, + -0.10280648293841249, + 1.1639167208832744 + ], + "object_minus_finger_midpoint": [ + 0.00496902868170046, + 0.01189488023054154, + 0.0 + ], + "finger_gap": 0.02578211952020159, + "fingertip_max_gap": 0.09325322036193615, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01289105976010079, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1639167208832744, + "object_top_z": 1.2137510191323693, + "finger_top_clearance": 0.04983429824909491, + "fingertip_min_top_clearance": 0.014950289474728505, + "object_projection_between_fingers": 0.8514181492434276, + "object_to_finger_line_xy": 0.009170076336763554, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049126610180968075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2008490879381624, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3384708517690331, + -0.3445589546211071, + 0.8515395970940491 + ], + "target_position": [ + 0.3320211311607527, + -0.3454552911171206, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006511706000654681, + "xy_threshold": 0.08, + "gripper_dist": 0.180963923256804, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395970940491, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758122686283332, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09023690728890409, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14842024182133862, + "release_required_pad_clearance": 0.055118453644452045, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 5.325273920972069, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008091270923614502, + "max_z_decrease": 0.008091270923614502, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499472604940932, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008091270923614502, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021255628465243384, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008091270923614502, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008091313442289902, + "max_button_displacement": 0.12, + "button_start": [ + 0.18772105872631067, + -0.4017167389392853, + 0.7768088579177856 + ], + "button_final": [ + 0.18772105872631067, + -0.4017167389392853, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18747592590321496, + -0.40152070889955455, + 0.8037110821281971 + ], + "closest_button": [ + 0.1876948326826095, + -0.4017162322998047, + 0.7687175869941711 + ], + "closest_ee_minus_button": [ + -0.00021890677939453984, + 0.0001955234002501416, + 0.03499349513402594 + ], + "button_min_z_position": [ + 0.1876948326826095, + -0.4017162322998047, + 0.7687175869941711 + ], + "min_active_finger_to_button": 0.14610553939286472, + "closest_active_finger": [ + 0.06030004471540451, + -0.46402841806411743, + 0.8082534670829773 + ], + "closest_active_finger_button": [ + 0.18773195147514338, + -0.40172287821769714, + 0.77323979139328 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12743190675973887, + -0.06230553984642029, + 0.035013675689697266 + ], + "min_contact_pad_to_button": 0.021255628465243384, + "closest_contact_pad": [ + 0.1876948326826095, + -0.40275662708328663, + 0.7899477381982245 + ], + "closest_contact_pad_button": [ + 0.1876948326826095, + -0.4017162322998047, + 0.7687175869941711 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001040394783481946, + 0.02123015120405336 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "76fc26d1f7919103866d4bb7d84506fa1641948da8997a68ca90b3d15eac0975", + "visual_seed": 9112778574769726821, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3dcb3bf79ac609bd7bf78f3d9b44b2dfde7a0ba4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3472667657078409, + -0.0917205773856037, + 1.1656508809911856 + ], + "current_z": 1.1656508809911856, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.30454425376713, + "gripper_z": 1.1559026765309979, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34290807813039115, + -0.09617931892976189, + 1.1559026765309979 + ], + "object_minus_gripper": [ + 0.004358687577449727, + 0.004458741544158193, + 0.00974820446018776 + ], + "object_to_gripper_xy": 0.006235265315559295, + "object_to_gripper_z": 0.00974820446018776, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3472667657078409, + -0.11558196383926164, + 1.1656508809911856 + ], + "finger_b": [ + 0.3372241003406207, + -0.0917205773856037, + 1.1656508809911856 + ], + "finger_midpoint": [ + 0.3422454330242308, + -0.10365127061243268, + 1.1656508809911856 + ], + "object_minus_finger_midpoint": [ + 0.005021332683610047, + 0.011930693226828978, + 0.0 + ], + "finger_gap": 0.025888624744639755, + "fingertip_max_gap": 0.09314967539624006, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012944312372319872, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656508809911856, + "object_top_z": 1.2155393581809153, + "finger_top_clearance": 0.04988847718972966, + "fingertip_min_top_clearance": 0.014966543156918899, + "object_projection_between_fingers": 0.8495195703283952, + "object_to_finger_line_xy": 0.0092562630002825, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04907483769812003, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9380807606278916, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33372678857435145, + -0.3461857469770968, + 0.8515395750585162 + ], + "target_position": [ + 0.327309744956811, + -0.34701666102989587, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006470615654831919, + "xy_threshold": 0.08, + "gripper_dist": 0.18588649374075814, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395750585162, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529744653110122, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08819262816273225, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15443815295127578, + "release_required_pad_clearance": 0.05409631408136613, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2060646977520566, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008409619331359863, + "max_z_decrease": 0.008409619331359863, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350008535422035, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008409619331359863, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021017597826688234, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008409619331359863, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008409679442488957, + "max_button_displacement": 0.12, + "button_start": [ + 0.1830096691846847, + -0.403278112411499, + 0.7768088579177856 + ], + "button_final": [ + 0.1830096691846847, + -0.403278112411499, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18261946195338524, + -0.4025080275425623, + 0.8033897225015872 + ], + "closest_button": [ + 0.18303060531616205, + -0.4032541811466217, + 0.7683992385864258 + ], + "closest_ee_minus_button": [ + -0.0004111433627768113, + 0.0007461536040593852, + 0.03499048391516146 + ], + "button_min_z_position": [ + 0.18303060531616205, + -0.4032541811466217, + 0.7683992385864258 + ], + "min_active_finger_to_button": 0.14584283125686917, + "closest_active_finger": [ + 0.05654472857713699, + -0.46720704436302185, + 0.8106105923652649 + ], + "closest_active_finger_button": [ + 0.18301442265510554, + -0.4032814800739288, + 0.7761276960372925 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12646969407796854, + -0.06392556428909307, + 0.03448289632797241 + ], + "min_contact_pad_to_button": 0.021017597826688234, + "closest_contact_pad": [ + 0.18303060531616205, + -0.4035167574819656, + 0.7894151961442561 + ], + "closest_contact_pad_button": [ + 0.18303060531616205, + -0.4032541811466217, + 0.7683992385864258 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00026257633534387814, + 0.021015957557830367 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eb04ff2f0a5757ba777ab9f473833613ee59f5f35cb5796a7bcdf1cecc7243ba", + "visual_seed": 6056736137131340170, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..62b7c511d34ccf246222704d57d91c68f888e12f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3430205569596031, + -0.09292374530223288, + 1.1669708073609553 + ], + "current_z": 1.1669708073609553, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.3058640609276103, + "gripper_z": 1.1573535918060365, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3387152042695763, + -0.09733235361022555, + 1.1573535918060365 + ], + "object_minus_gripper": [ + 0.004305352690026798, + 0.0044086083079926675, + 0.00961721555491879 + ], + "object_to_gripper_xy": 0.0061621334778486385, + "object_to_gripper_z": 0.00961721555491879, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3430205569596031, + -0.11654349866769173, + 1.1669708073609553 + ], + "finger_b": [ + 0.3327769943410524, + -0.09292374530223288, + 1.1669708073609553 + ], + "finger_midpoint": [ + 0.3378987756503278, + -0.1047336219849623, + 1.1669708073609553 + ], + "object_minus_finger_midpoint": [ + 0.0051217813092753195, + 0.011809876682729425, + 0.0 + ], + "finger_gap": 0.02574535539015288, + "fingertip_max_gap": 0.09265866364167588, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012872677695076428, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1669708073609553, + "object_top_z": 1.2167764626975872, + "finger_top_clearance": 0.04980565533663195, + "fingertip_min_top_clearance": 0.014941696600989584, + "object_projection_between_fingers": 0.8416914865627074, + "object_to_finger_line_xy": 0.009397828034113764, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04882933182083794, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5934300045475966, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3340509310566262, + -0.3397246135444334, + 0.8515394973522477 + ], + "target_position": [ + 0.327012868543568, + -0.34101560823273047, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007155486791471747, + "xy_threshold": 0.08, + "gripper_dist": 0.18333221699051555, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394973522477, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574246710257723, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08856195814362926, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1509098659188153, + "release_required_pad_clearance": 0.05428097907181463, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5817876643241813, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008004486560821533, + "max_z_decrease": 0.008004486560821533, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504905923975096, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008004486560821533, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02124165836525027, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008004486560821533, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008004506449904606, + "max_button_displacement": 0.12, + "button_start": [ + 0.18271279335021978, + -0.3972770571708679, + 0.7768088579177856 + ], + "button_final": [ + 0.18271279335021978, + -0.3972770571708679, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1823305228039187, + -0.39536970796554355, + 0.8049352923334931 + ], + "closest_button": [ + 0.18269489705562597, + -0.3972772657871246, + 0.7699400782585144 + ], + "closest_ee_minus_button": [ + -0.0003643742517072668, + 0.0019075578215810296, + 0.03499521407497874 + ], + "button_min_z_position": [ + 0.18269495666027075, + -0.3972765505313873, + 0.7688043713569641 + ], + "min_active_finger_to_button": 0.1456202734578794, + "closest_active_finger": [ + 0.05439932644367218, + -0.45652392506599426, + 0.8081331849098206 + ], + "closest_active_finger_button": [ + 0.1827244013547898, + -0.39728260040283203, + 0.7730845808982849 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1283250749111176, + -0.05924132466316223, + 0.035048604011535645 + ], + "min_contact_pad_to_button": 0.02124165836525027, + "closest_contact_pad": [ + 0.18269495666027075, + -0.3972765505313873, + 0.7900460297222144 + ], + "closest_contact_pad_button": [ + 0.18269495666027075, + -0.3972765505313873, + 0.7688043713569641 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02124165836525027 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc48223071b9c311e4df729a2ce1db86f2c6df76e524b611f6dc26e484a4b42a", + "visual_seed": 7571528347062903447, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8020be29e63d8546a4def89b481eb91eb962fefb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_64_success.json @@ -0,0 +1,700 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.345282495861225, + -0.09084271560292383, + 1.1647724546316702 + ], + "current_z": 1.1647724546316702, + "required_z": 0.8611065676194105, + "initial_z": 0.7611065676194105, + "lift_margin": 0.3036658870122597, + "gripper_z": 1.1549926302790134, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34107550182147695, + -0.09524276536643093, + 1.1549926302790134 + ], + "object_minus_gripper": [ + 0.004206994039748058, + 0.004400049763507108, + 0.009779824352656785 + ], + "object_to_gripper_xy": 0.006087629815602673, + "object_to_gripper_z": 0.009779824352656785, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.345282495861225, + -0.11431866834777187, + 1.1647724546316702 + ], + "finger_b": [ + 0.33494577988523283, + -0.09084271560292383, + 1.1647724546316702 + ], + "finger_midpoint": [ + 0.3401141378732289, + -0.10258069197534785, + 1.1647724546316702 + ], + "object_minus_finger_midpoint": [ + 0.005168357987996086, + 0.01173797637242402, + 0.0 + ], + "finger_gap": 0.02565088798553902, + "fingertip_max_gap": 0.09235309117652465, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01282544399276951, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647724546316702, + "object_top_z": 1.2145959344067183, + "finger_top_clearance": 0.049823479775048085, + "fingertip_min_top_clearance": 0.014947043932514458, + "object_projection_between_fingers": 0.8376095975386112, + "object_to_finger_line_xy": 0.00946026725960178, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867654558826233, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3056407737628417, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.330864949176233, + -0.34307829895134784, + 0.8515395744545248 + ], + "target_position": [ + 0.323274635481334, + -0.34464815127004605, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007750954669554794, + "xy_threshold": 0.08, + "gripper_dist": 0.1845986781886958, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395744545248, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550804954049792, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08657145888335248, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15287448190956468, + "release_required_pad_clearance": 0.05328572944167624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.590493293433967, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008046388626098633, + "max_z_decrease": 0.008046388626098633, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509287389203318, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008046388626098633, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021061766405393485, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008046388626098633, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008046393101931743, + "max_button_displacement": 0.12, + "button_start": [ + 0.1789745688438415, + -0.4009096026420593, + 0.7768088579177856 + ], + "button_final": [ + 0.1789745688438415, + -0.4009096026420593, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1770430330138641, + -0.4003825502729115, + 0.8037986572595207 + ], + "closest_button": [ + 0.17896610498428342, + -0.40090897679328913, + 0.768762469291687 + ], + "closest_ee_minus_button": [ + -0.0019230719704193266, + 0.0005264265203776541, + 0.0350361879678337 + ], + "button_min_z_position": [ + 0.17896610498428342, + -0.40090897679328913, + 0.768762469291687 + ], + "min_active_finger_to_button": 0.14727012552709634, + "closest_active_finger": [ + 0.05037917196750641, + -0.4638805687427521, + 0.8109306693077087 + ], + "closest_active_finger_button": [ + 0.1789772510528564, + -0.4009120464324951, + 0.7764924764633179 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12859807908534998, + -0.06296852231025696, + 0.03443819284439087 + ], + "min_contact_pad_to_button": 0.021061766405393485, + "closest_contact_pad": [ + 0.17896610498428342, + -0.40150695990352103, + 0.789815745053792 + ], + "closest_contact_pad_button": [ + 0.17896610498428342, + -0.40090897679328913, + 0.768762469291687 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005979831102319033, + 0.021053275762105028 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6212c23c1e639720637c71725f95742f8f2a0c24d40e9a28afe29fe9d2116779", + "visual_seed": 7403242777736891450, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3eaf3f17d24fc28b24f3528d4849adf8ffc7ff12 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_65_success.json @@ -0,0 +1,700 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3443325015738536, + -0.09470491770429476, + 1.1672165297484696 + ], + "current_z": 1.1672165297484696, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3061100813383484, + "gripper_z": 1.1574963046229143, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3400657347155098, + -0.09903543184323715, + 1.1574963046229143 + ], + "object_minus_gripper": [ + 0.004266766858343762, + 0.004330514138942393, + 0.00972022512555526 + ], + "object_to_gripper_xy": 0.0060793628063342845, + "object_to_gripper_z": 0.00972022512555526, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3443325015738536, + -0.1183933951546375, + 1.1672165297484696 + ], + "finger_b": [ + 0.33433619746706283, + -0.09470491770429476, + 1.1672165297484696 + ], + "finger_midpoint": [ + 0.3393343495204582, + -0.10654915642946614, + 1.1672165297484696 + ], + "object_minus_finger_midpoint": [ + 0.004998152053395377, + 0.011844238725171374, + 0.0 + ], + "finger_gap": 0.02571128273172768, + "fingertip_max_gap": 0.09278747996159661, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012855641365863845, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1672165297484696, + "object_top_z": 1.217067881391203, + "finger_top_clearance": 0.049851351642733466, + "fingertip_min_top_clearance": 0.01495540549282004, + "object_projection_between_fingers": 0.8488418975756504, + "object_to_finger_line_xy": 0.009209856501180055, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889373998079831, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.678856290039203, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3318216067342359, + -0.3425614093756886, + 0.8515395941753534 + ], + "target_position": [ + 0.3246716308472455, + -0.3437227442720862, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00724367682369493, + "xy_threshold": 0.08, + "gripper_dist": 0.18374960443262697, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395941753534, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542417733917704, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08790012336949436, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15216393847698434, + "release_required_pad_clearance": 0.05395006168474718, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9104364296331564, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008028268814086914, + "max_z_decrease": 0.008028268814086914, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035065976729050215, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008028268814086914, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021191852017248602, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008028268814086914, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008028293823003267, + "max_button_displacement": 0.12, + "button_start": [ + 0.18037155270576471, + -0.399984210729599, + 0.7768088579177856 + ], + "button_final": [ + 0.18037155270576471, + -0.399984210729599, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17976940096968153, + -0.39814273870388567, + 0.8074841955583578 + ], + "closest_button": [ + 0.18036007881164545, + -0.3999868631362915, + 0.7724717259407043 + ], + "closest_ee_minus_button": [ + -0.0005906778419639269, + 0.001844124432405836, + 0.035012469617653474 + ], + "button_min_z_position": [ + 0.18035177886486048, + -0.39998745918273926, + 0.7687805891036987 + ], + "min_active_finger_to_button": 0.14603375879696998, + "closest_active_finger": [ + 0.0518658384680748, + -0.4599917531013489, + 0.807851254940033 + ], + "closest_active_finger_button": [ + 0.18038421869277949, + -0.3999896347522735, + 0.77308589220047 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1285183802247047, + -0.06000211834907537, + 0.03476536273956299 + ], + "min_contact_pad_to_button": 0.021191852017248602, + "closest_contact_pad": [ + 0.18035177886486048, + -0.39998745918273926, + 0.7899724411209473 + ], + "closest_contact_pad_button": [ + 0.18035177886486048, + -0.39998745918273926, + 0.7687805891036987 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021191852017248602 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "16f360b642bcc8dcca61afd76b8d7bf8b0d794e23fb37957b2b440f3363cc378", + "visual_seed": 3686307472605338242, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2ba0aab647cc61093ef12434fe54a1e81dd8814a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_66_success.json @@ -0,0 +1,700 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34781179586990146, + -0.08823945616011217, + 1.16765343192567 + ], + "current_z": 1.16765343192567, + "required_z": 0.8611066868287, + "initial_z": 0.7611066868287, + "lift_margin": 0.30654674509697, + "gripper_z": 1.1578860972554814, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34338670374949426, + -0.09269299218678086, + 1.1578860972554814 + ], + "object_minus_gripper": [ + 0.004425092120407204, + 0.004453536026668689, + 0.009767334670188532 + ], + "object_to_gripper_xy": 0.0062781703875353576, + "object_to_gripper_z": 0.009767334670188532, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34781179586990146, + -0.11212345495392734, + 1.16765343192567 + ], + "finger_b": [ + 0.33773955948944373, + -0.08823945616011217, + 1.16765343192567 + ], + "finger_midpoint": [ + 0.3427756776796726, + -0.10018145555701975, + 1.16765343192567 + ], + "object_minus_finger_midpoint": [ + 0.0050361181902288665, + 0.011941999396907585, + 0.0 + ], + "finger_gap": 0.025920944120281977, + "fingertip_max_gap": 0.09292291240644909, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012960472060140988, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16765343192567, + "object_top_z": 1.217487714745458, + "finger_top_clearance": 0.04983428281978797, + "fingertip_min_top_clearance": 0.01495028484593639, + "object_projection_between_fingers": 0.8490093039092212, + "object_to_finger_line_xy": 0.009280729916532735, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04896145620322455, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.888604828490499, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33887719142649764, + -0.33830111588404105, + 0.8515394941320532 + ], + "target_position": [ + 0.3321637431367987, + -0.33940145833420404, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006803024433742125, + "xy_threshold": 0.08, + "gripper_dist": 0.18272247285648446, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394941320532, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547223563675277, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08835198360100642, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15092267089038078, + "release_required_pad_clearance": 0.05417599180050321, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3677706107258, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008249938488006592, + "max_z_decrease": 0.008249938488006592, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505451106591091, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008249938488006592, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02142086899585772, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008249938488006592, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008249980236702424, + "max_button_displacement": 0.12, + "button_start": [ + 0.18786366283893585, + -0.39566290378570557, + 0.7768088579177856 + ], + "button_final": [ + 0.18786366283893585, + -0.39566290378570557, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18648412828863933, + -0.3973044020545101, + 0.8037515648409159 + ], + "closest_button": [ + 0.18784402310848236, + -0.39566019177436823, + 0.7687620520591736 + ], + "closest_ee_minus_button": [ + -0.0013598948198430272, + -0.001644210280141889, + 0.03498951278174234 + ], + "button_min_z_position": [ + 0.1878415048122406, + -0.3956488370895385, + 0.768558919429779 + ], + "min_active_finger_to_button": 0.1471618398848929, + "closest_active_finger": [ + 0.04594740271568298, + -0.3793845772743225, + 0.8082119822502136 + ], + "closest_active_finger_button": [ + 0.18787655234336853, + -0.3956699669361114, + 0.7728918790817261 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14192914962768555, + 0.016285389661788885, + 0.03532010316848755 + ], + "min_contact_pad_to_button": 0.02142086899585772, + "closest_contact_pad": [ + 0.1878415048122406, + -0.3986447795380094, + 0.7897692460982476 + ], + "closest_contact_pad_button": [ + 0.1878415048122406, + -0.3956488370895385, + 0.768558919429779 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029959424484709007, + 0.02121032666846856 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d6c9238c2a5405f3067f6b4e667edc23ef57e761ca97083bc793a008c738a210", + "visual_seed": 7886149812904563978, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e3f04ff305fad31bdb510e67f8985442ffd4def --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_67_success.json @@ -0,0 +1,700 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3444149413813748, + -0.09119134750809194, + 1.1643629644369349 + ], + "current_z": 1.1643629644369349, + "required_z": 0.8611066272240558, + "initial_z": 0.7611066272240559, + "lift_margin": 0.30325633721287903, + "gripper_z": 1.1546667055894362, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3403084263597889, + -0.09559473821012691, + 1.1546667055894362 + ], + "object_minus_gripper": [ + 0.004106515021585877, + 0.004403390702034979, + 0.009696258847498695 + ], + "object_to_gripper_xy": 0.006021072603554832, + "object_to_gripper_z": 0.009696258847498695, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3444149413813748, + -0.11466116591111626, + 1.1643629644369349 + ], + "finger_b": [ + 0.3341544767711875, + -0.09119134750809194, + 1.1643629644369349 + ], + "finger_midpoint": [ + 0.33928470907628117, + -0.10292625670960409, + 1.1643629644369349 + ], + "object_minus_finger_midpoint": [ + 0.005130232305093629, + 0.011734909201512156, + 0.0 + ], + "finger_gap": 0.025614634681912715, + "fingertip_max_gap": 0.09296398867522046, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01280731734095634, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1643629644369349, + "object_top_z": 1.2143180714823818, + "finger_top_clearance": 0.04995510704544692, + "fingertip_min_top_clearance": 0.01498653211363411, + "object_projection_between_fingers": 0.8395433499586035, + "object_to_finger_line_xy": 0.00940131468288316, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04898199433761023, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6936893814448286, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33075861643640736, + -0.33779105254373565, + 0.8515395150568387 + ], + "target_position": [ + 0.3232177122047723, + -0.3393024868395871, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007690882281075915, + "xy_threshold": 0.08, + "gripper_dist": 0.18573009149457162, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395150568387, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570482347858194, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08691882947144856, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15345490647965285, + "release_required_pad_clearance": 0.053459414735724284, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.932221964262895, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007963716983795166, + "max_z_decrease": 0.007963716983795166, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350874617127229, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007963716983795166, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021340184068312198, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007963716983795166, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007963736983732221, + "max_button_displacement": 0.12, + "button_start": [ + 0.1789176315069198, + -0.3955639600753784, + 0.7768088579177856 + ], + "button_final": [ + 0.1789176315069198, + -0.3955639600753784, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1794317601471241, + -0.39715471723707174, + 0.8052744401524763 + ], + "closest_button": [ + 0.17890046536922452, + -0.39556679129600525, + 0.7702269554138184 + ], + "closest_ee_minus_button": [ + 0.0005312947778995658, + -0.0015879259410664925, + 0.03504748473865793 + ], + "button_min_z_position": [ + 0.17890009284019467, + -0.39556726813316345, + 0.7688451409339905 + ], + "min_active_finger_to_button": 0.1453380820734867, + "closest_active_finger": [ + 0.03855182230472565, + -0.380919873714447, + 0.8078436851501465 + ], + "closest_active_finger_button": [ + 0.1789268255233764, + -0.39557045698165894, + 0.7731539607048035 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14037500321865076, + 0.014650583267211914, + 0.03468972444534302 + ], + "min_contact_pad_to_button": 0.021340184068312198, + "closest_contact_pad": [ + 0.17890009284019467, + -0.3983603610337822, + 0.7900017495496916 + ], + "closest_contact_pad_button": [ + 0.17890009284019467, + -0.39556726813316345, + 0.7688451409339905 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027930929006187433, + 0.021156608615701122 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2c9524d349f02a11d31ce732e7de4bfc01bc721de11109db481627da05779a85", + "visual_seed": 7779455817274708604, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9461aeae02e1d75bbc9ab946b5f63ec660c10ccf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_68_success.json @@ -0,0 +1,700 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3501524042328221, + -0.0905790573403528, + 1.1668277852804443 + ], + "current_z": 1.1668277852804443, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.30572115805638866, + "gripper_z": 1.1569485638225352, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34589051235072904, + -0.09497301359345298, + 1.1569485638225352 + ], + "object_minus_gripper": [ + 0.004261891882093083, + 0.00439395625310017, + 0.009879221457909093 + ], + "object_to_gripper_xy": 0.006121321260055626, + "object_to_gripper_z": 0.009879221457909093, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3501524042328221, + -0.1141616788043068, + 1.1668277852804443 + ], + "finger_b": [ + 0.3399191293288094, + -0.0905790573403528, + 1.1668277852804443 + ], + "finger_midpoint": [ + 0.34503576678081577, + -0.1023703680723298, + 1.1668277852804443 + ], + "object_minus_finger_midpoint": [ + 0.005116637452006356, + 0.011791310731976992, + 0.0 + ], + "finger_gap": 0.025707196470506857, + "fingertip_max_gap": 0.09237747913822827, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012853598235253423, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1668277852804443, + "object_top_z": 1.2166746960667647, + "finger_top_clearance": 0.04984691078632042, + "fingertip_min_top_clearance": 0.014954073235896126, + "object_projection_between_fingers": 0.8415399280861962, + "object_to_finger_line_xy": 0.009387544405115496, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868873956911414, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2244791984050067, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3354776470382409, + -0.34471458505800495, + 0.8515395263715254 + ], + "target_position": [ + 0.3282099403834857, + -0.3461651774162451, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007411057833356678, + "xy_threshold": 0.08, + "gripper_dist": 0.18438482895306835, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395263715254, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578839616425875, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08880652283184502, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1517359042596236, + "release_required_pad_clearance": 0.05440326141592251, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.832238100082357, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008089780807495117, + "max_z_decrease": 0.008089780807495117, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503785923066964, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008089780807495117, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021286169161059913, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008089780807495117, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008089789242724467, + "max_button_displacement": 0.12, + "button_start": [ + 0.18390986323356623, + -0.4024266302585601, + 0.7768088579177856 + ], + "button_final": [ + 0.18390986323356623, + -0.4024266302585601, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18444093968577627, + -0.4039749893208694, + 0.8037181626564771 + ], + "closest_button": [ + 0.18390256166458127, + -0.4024175107479095, + 0.7687190771102905 + ], + "closest_ee_minus_button": [ + 0.0005383780211949962, + -0.0015574785729599028, + 0.03499908554618658 + ], + "button_min_z_position": [ + 0.18390256166458127, + -0.4024175107479095, + 0.7687190771102905 + ], + "min_active_finger_to_button": 0.14521238529874808, + "closest_active_finger": [ + 0.0436101034283638, + -0.3885761499404907, + 0.8079830408096313 + ], + "closest_active_finger_button": [ + 0.18392051756381986, + -0.4024325907230377, + 0.7732321619987488 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14031041413545606, + 0.013856440782546997, + 0.03475087881088257 + ], + "min_contact_pad_to_button": 0.021286169161059913, + "closest_contact_pad": [ + 0.18390256166458127, + -0.40509470463069064, + 0.789836217789541 + ], + "closest_contact_pad_button": [ + 0.18390256166458127, + -0.4024175107479095, + 0.7687190771102905 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002677193882781148, + 0.021117140679250523 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f5f2a55837926103da26b1132ef4e559b0e0a0d0455f61bcf5f64a48cd1211a9", + "visual_seed": 3111731044350965575, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7782950710d67f52f6715f7e0a5c05138f7404e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_69_success.json @@ -0,0 +1,700 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3489238694828136, + -0.09071927942210573, + 1.167389052573279 + ], + "current_z": 1.167389052573279, + "required_z": 0.8611065676194111, + "initial_z": 0.7611065676194111, + "lift_margin": 0.306282484953868, + "gripper_z": 1.15754804349952, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3448346939103093, + -0.09518100827089457, + 1.15754804349952 + ], + "object_minus_gripper": [ + 0.004089175572504322, + 0.004461728848788843, + 0.009841009073759066 + ], + "object_to_gripper_xy": 0.006052138562762808, + "object_to_gripper_z": 0.009841009073759066, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3489238694828136, + -0.11411100678322489, + 1.167389052573279 + ], + "finger_b": [ + 0.3384810711509201, + -0.09071927942210573, + 1.167389052573279 + ], + "finger_midpoint": [ + 0.34370247031686685, + -0.10241514310266531, + 1.167389052573279 + ], + "object_minus_finger_midpoint": [ + 0.005221399165946772, + 0.011695863680559582, + 0.0 + ], + "finger_gap": 0.02561688790500379, + "fingertip_max_gap": 0.09240842586957707, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012808443952501894, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.167389052573279, + "object_top_z": 1.2173246237018192, + "finger_top_clearance": 0.04993557112854008, + "fingertip_min_top_clearance": 0.014980671338562056, + "object_projection_between_fingers": 0.8338191230374531, + "object_to_finger_line_xy": 0.009535705210276099, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048704212934788535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1831194265306983, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3371882239892433, + -0.33782237733281584, + 0.8515395887793279 + ], + "target_position": [ + 0.3293439998936138, + -0.33965874279192043, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00805630745204322, + "xy_threshold": 0.08, + "gripper_dist": 0.18402025019076484, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395887793279, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545214609326799, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592040890671503, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1524964545421395, + "release_required_pad_clearance": 0.052960204453357515, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9561265117566372, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008034825325012207, + "max_z_decrease": 0.008034825325012207, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035010662913460694, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008034825325012207, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021241816494638754, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008034825325012207, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008034859955930057, + "max_button_displacement": 0.12, + "button_start": [ + 0.18504393100738523, + -0.39592018723487854, + 0.7768088579177856 + ], + "button_final": [ + 0.18504393100738523, + -0.39592018723487854, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18426676884354198, + -0.3951313086363439, + 0.8069027804528037 + ], + "closest_button": [ + 0.18503153324127194, + -0.395919919013977, + 0.7719093561172485 + ], + "closest_ee_minus_button": [ + -0.0007647643977299612, + 0.0007886103776331144, + 0.03499342433555519 + ], + "button_min_z_position": [ + 0.18502034246921537, + -0.39591988921165466, + 0.7687740325927734 + ], + "min_active_finger_to_button": 0.14661601260747623, + "closest_active_finger": [ + 0.05645568668842316, + -0.4570286273956299, + 0.8080787658691406 + ], + "closest_active_finger_button": [ + 0.1850553303956985, + -0.39592692255973816, + 0.7730792164802551 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12859964370727534, + -0.061101704835891724, + 0.0349995493888855 + ], + "min_contact_pad_to_button": 0.021241816494638754, + "closest_contact_pad": [ + 0.18502034246921537, + -0.39644233398934525, + 0.7900094233225474 + ], + "closest_contact_pad_button": [ + 0.18502034246921537, + -0.39591988921165466, + 0.7687740325927734 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005224447776905894, + 0.021235390729773984 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ea9e00a066a4e8977a83aea153f5aa3b1feb604db700f621c3674c153188f9b8", + "visual_seed": 8798761833853206543, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d894a43ec82a4de94ebcfed1bb911831109cf7d5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_6_success.json @@ -0,0 +1,700 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3449753138090339, + -0.09364909479027075, + 1.1667628397961076 + ], + "current_z": 1.1667628397961076, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30565639138598644, + "gripper_z": 1.1570349709167362, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3408136187888525, + -0.09793057766739337, + 1.1570349709167362 + ], + "object_minus_gripper": [ + 0.004161695020181377, + 0.004281482877122614, + 0.009727868879371382 + ], + "object_to_gripper_xy": 0.005970829177601433, + "object_to_gripper_z": 0.009727868879371382, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3449753138090339, + -0.1172949535434854, + 1.1667628397961076 + ], + "finger_b": [ + 0.33509000125625465, + -0.09364909479027075, + 1.1667628397961076 + ], + "finger_midpoint": [ + 0.3400326575326443, + -0.10547202416687808, + 1.1667628397961076 + ], + "object_minus_finger_midpoint": [ + 0.004942656276389623, + 0.011822929376607325, + 0.0 + ], + "finger_gap": 0.025629007792794336, + "fingertip_max_gap": 0.09305989489314695, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012814503896397168, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1667628397961076, + "object_top_z": 1.2165936473727217, + "finger_top_clearance": 0.04983080757661407, + "fingertip_min_top_clearance": 0.014949242272984185, + "object_projection_between_fingers": 0.8512293623628867, + "object_to_finger_line_xy": 0.009120396163760845, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902994744657348, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0223441309021952, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33389935459020126, + -0.34532951537957446, + 0.8515395840282372 + ], + "target_position": [ + 0.3266699652675294, + -0.3465561807430259, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0073327196791268, + "xy_threshold": 0.08, + "gripper_dist": 0.181859081700135, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395840282372, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550817041141515, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08937656320942498, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15002515915161538, + "release_required_pad_clearance": 0.054688281604712494, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.421262300517513, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008332371711730957, + "max_z_decrease": 0.008332371711730957, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500298114614617, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008332371711730957, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02108289160316006, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008332371711730957, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008332392043657015, + "max_button_displacement": 0.12, + "button_start": [ + 0.1823698878288269, + -0.40281763672828674, + 0.7768088579177856 + ], + "button_final": [ + 0.1823698878288269, + -0.40281763672828674, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1822536197343108, + -0.4019974166101499, + 0.803470026112665 + ], + "closest_button": [ + 0.1823774576187134, + -0.40280085802078247, + 0.7684764862060547 + ], + "closest_ee_minus_button": [ + -0.00012383788440259447, + 0.0008034414106325438, + 0.03499353990661036 + ], + "button_min_z_position": [ + 0.1823774576187134, + -0.40280085802078247, + 0.7684764862060547 + ], + "min_active_finger_to_button": 0.14562359128654487, + "closest_active_finger": [ + 0.05561263859272003, + -0.46558356285095215, + 0.8108529448509216 + ], + "closest_active_finger_button": [ + 0.18237458169460297, + -0.4028196632862091, + 0.7762359976768494 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12676194310188293, + -0.06276389956474304, + 0.034616947174072266 + ], + "min_contact_pad_to_button": 0.02108289160316006, + "closest_contact_pad": [ + 0.1823774576187134, + -0.4031182853125309, + 0.7895569880564626 + ], + "closest_contact_pad_button": [ + 0.1823774576187134, + -0.40280085802078247, + 0.7684764862060547 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00031742729174844, + 0.021080501850407884 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "83710a9a627ef6c36d06b62bf97e6099580ae6c6736f1ed8a83941d3e14a9eb9", + "visual_seed": 8698145687530083629, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3545cb949632ffc31119cb7a66c30174796058af --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_70_success.json @@ -0,0 +1,700 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35105064766545113, + -0.09564256036876978, + 1.16722104932765 + ], + "current_z": 1.16722104932765, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.3061142432896602, + "gripper_z": 1.1573217659081836, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34710049542779997, + -0.09995514670751879, + 1.1573217659081836 + ], + "object_minus_gripper": [ + 0.003950152237651161, + 0.004312586338749008, + 0.009899283419466443 + ], + "object_to_gripper_xy": 0.005848256460671424, + "object_to_gripper_z": 0.009899283419466443, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35105064766545113, + -0.11903012586877253, + 1.16722104932765 + ], + "finger_b": [ + 0.34095520385343886, + -0.09564256036876978, + 1.16722104932765 + ], + "finger_midpoint": [ + 0.346002925759445, + -0.10733634311877116, + 1.16722104932765 + ], + "object_minus_finger_midpoint": [ + 0.0050477219060061085, + 0.01169378275000138, + 0.0 + ], + "finger_gap": 0.025473441184465352, + "fingertip_max_gap": 0.09261968318011607, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012736720592232673, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16722104932765, + "object_top_z": 1.2170965114575976, + "finger_top_clearance": 0.049875462129947534, + "fingertip_min_top_clearance": 0.01496263863898426, + "object_projection_between_fingers": 0.8429363820378081, + "object_to_finger_line_xy": 0.009268785151376486, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04880984159005804, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4715831270272326, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3350727188494186, + -0.3390185411442129, + 0.8515395561677424 + ], + "target_position": [ + 0.32802241907459545, + -0.34034420108124086, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0071738484221171, + "xy_threshold": 0.08, + "gripper_dist": 0.18491046785190404, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395561677424, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591004138848234, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08851302720697322, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15221704414528037, + "release_required_pad_clearance": 0.054256513603486614, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5318278789961224, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008205115795135498, + "max_z_decrease": 0.008205115795135498, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350482924631697, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008205115795135498, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02106559615440229, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008205115795135498, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008205122309485996, + "max_button_displacement": 0.12, + "button_start": [ + 0.1837223470211029, + -0.3966056704521179, + 0.7768088579177856 + ], + "button_final": [ + 0.1837223470211029, + -0.3966056704521179, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18465632472661, + -0.39513376759187296, + 0.8036090497211708 + ], + "closest_button": [ + 0.18372100591659546, + -0.39659541845321655, + 0.7686037421226501 + ], + "closest_ee_minus_button": [ + 0.000935318810014546, + 0.0014616508613435886, + 0.03500530759852061 + ], + "button_min_z_position": [ + 0.18372100591659546, + -0.39659541845321655, + 0.7686037421226501 + ], + "min_active_finger_to_button": 0.1443878741800665, + "closest_active_finger": [ + 0.05875726044178009, + -0.46014755964279175, + 0.810868501663208 + ], + "closest_active_finger_button": [ + 0.1837267428636551, + -0.3966081142425537, + 0.7763254046440125 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.124969482421875, + -0.06353944540023804, + 0.03454309701919556 + ], + "min_contact_pad_to_button": 0.02106559615440229, + "closest_contact_pad": [ + 0.18372100591659546, + -0.39659541845321655, + 0.7896693382770524 + ], + "closest_contact_pad_button": [ + 0.18372100591659546, + -0.39659541845321655, + 0.7686037421226501 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02106559615440229 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4a80cd422c4130927882d2a6a3ea663c9e33d834f84ad7973d4a3732f8e23f3e", + "visual_seed": 6198259757351381962, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6c8e9c5badc4f8b377127ea134d5c0dc1421086f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34636262105436183, + -0.09263668181174012, + 1.1676808973327413 + ], + "current_z": 1.1676808973327413, + "required_z": 0.8611068656426344, + "initial_z": 0.7611068656426344, + "lift_margin": 0.3065740316901069, + "gripper_z": 1.1579472842394738, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3419746065140714, + -0.09714771060813474, + 1.1579472842394738 + ], + "object_minus_gripper": [ + 0.004388014540290419, + 0.004511028796394617, + 0.00973361309326748 + ], + "object_to_gripper_xy": 0.006293175065712188, + "object_to_gripper_z": 0.00973361309326748, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34636262105436183, + -0.11636629594839674, + 1.1676808973327413 + ], + "finger_b": [ + 0.33602603232868, + -0.09263668181174012, + 1.1676808973327413 + ], + "finger_midpoint": [ + 0.34119432669152094, + -0.10450148888006844, + 1.1676808973327413 + ], + "object_minus_finger_midpoint": [ + 0.005168294362840886, + 0.01186480706832832, + 0.0 + ], + "finger_gap": 0.025883192491624882, + "fingertip_max_gap": 0.09228820970976168, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012941596245812436, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1676808973327413, + "object_top_z": 1.217643396722608, + "finger_top_clearance": 0.04996249938986663, + "fingertip_min_top_clearance": 0.014988749816959955, + "object_projection_between_fingers": 0.8405153868466129, + "object_to_finger_line_xy": 0.009476545910212263, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864410485488084, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.02958740477294, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33203308621602684, + -0.34187058077653687, + 0.8515395955093381 + ], + "target_position": [ + 0.32418770082191056, + -0.3435027083866887, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008013358379483164, + "xy_threshold": 0.08, + "gripper_dist": 0.18655209524514782, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395955093381, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519839822588639, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085199229017257, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15550677348855066, + "release_required_pad_clearance": 0.0525996145086285, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2624424508053161, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007957100868225098, + "max_z_decrease": 0.007957100868225098, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503405345292309, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007957100868225098, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021206047790832763, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007957100868225098, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007957125208022702, + "max_button_displacement": 0.12, + "button_start": [ + 0.17988762259483332, + -0.3997641801834106, + 0.7768088579177856 + ], + "button_final": [ + 0.17988762259483332, + -0.3997641801834106, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17913450847432685, + -0.39836954092127735, + 0.8073609784229964 + ], + "closest_button": [ + 0.17987637221813196, + -0.3997665047645569, + 0.7723626494407654 + ], + "closest_ee_minus_button": [ + -0.0007418637438051101, + 0.0013969638432795306, + 0.034998328982230986 + ], + "button_min_z_position": [ + 0.17986820638179774, + -0.3997673988342285, + 0.7688517570495605 + ], + "min_active_finger_to_button": 0.14636490931755672, + "closest_active_finger": [ + 0.05089743435382843, + -0.4594874382019043, + 0.8079888224601746 + ], + "closest_active_finger_button": [ + 0.17989893257617945, + -0.399768203496933, + 0.7731332182884216 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12900149822235102, + -0.059719234704971313, + 0.03485560417175293 + ], + "min_contact_pad_to_button": 0.021206047790832763, + "closest_contact_pad": [ + 0.17986820638179774, + -0.3997778332224858, + 0.7900578022732845 + ], + "closest_contact_pad_button": [ + 0.17986820638179774, + -0.3997673988342285, + 0.7688517570495605 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -1.0434388257263283e-05, + 0.021206045223723935 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a96cf932e30b9cd5e65f76f1d0a7bf63b1f3c24db76d17626b89269eb74ffa73", + "visual_seed": 5684133795187308679, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5cd6a0a979522efbb14467066dec854f5af5befb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34979349370207435, + -0.09156393759263048, + 1.1653241214159804 + ], + "current_z": 1.1653241214159804, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.30421767300585945, + "gripper_z": 1.1554348527598788, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3454189264424586, + -0.09592858857259774, + 1.1554348527598788 + ], + "object_minus_gripper": [ + 0.004374567259615769, + 0.004364650979967258, + 0.009889268656101624 + ], + "object_to_gripper_xy": 0.006179564457616035, + "object_to_gripper_z": 0.009889268656101624, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34979349370207435, + -0.11539346636102296, + 1.1653241214159804 + ], + "finger_b": [ + 0.3398428801950751, + -0.09156393759263048, + 1.1653241214159804 + ], + "finger_midpoint": [ + 0.3448181869485747, + -0.10347870197682672, + 1.1653241214159804 + ], + "object_minus_finger_midpoint": [ + 0.004975306753499664, + 0.011914764384196239, + 0.0 + ], + "finger_gap": 0.025823654863115737, + "fingertip_max_gap": 0.09319241121706764, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01291182743155788, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1653241214159804, + "object_top_z": 1.2151746335717437, + "finger_top_clearance": 0.049850512155763305, + "fingertip_min_top_clearance": 0.014955153646728957, + "object_projection_between_fingers": 0.8515212513234239, + "object_to_finger_line_xy": 0.00918221808977448, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049096205608533824, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1660372579484, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 350, + "max_stable_success_frames": 350, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33651679424929104, + -0.3382765861693432, + 0.8515395717455866 + ], + "target_position": [ + 0.32999249052489216, + -0.33920442061988, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006589948092042004, + "xy_threshold": 0.08, + "gripper_dist": 0.18202426168927116, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395717455866, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571538169315864, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.089983666880093, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14972287704938778, + "release_required_pad_clearance": 0.0549918334400465, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 5.057420683141772, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008109092712402344, + "max_z_decrease": 0.008109092712402344, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509706186705406, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008109092712402344, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021100111863652682, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008109092712402344, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008109097242563063, + "max_button_displacement": 0.12, + "button_start": [ + 0.18569241464138025, + -0.39546588063240046, + 0.7768088579177856 + ], + "button_final": [ + 0.18569241464138025, + -0.39546588063240046, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18351712644354362, + -0.39378255738781803, + 0.8036895531991802 + ], + "closest_button": [ + 0.18568529188632957, + -0.3954611122608184, + 0.7686997652053833 + ], + "closest_ee_minus_button": [ + -0.0021681654427859465, + 0.001678554873000393, + 0.03498978799379693 + ], + "button_min_z_position": [ + 0.18568529188632957, + -0.3954611122608184, + 0.7686997652053833 + ], + "min_active_finger_to_button": 0.14702144124578315, + "closest_active_finger": [ + 0.05711882561445236, + -0.4577883780002594, + 0.8110197186470032 + ], + "closest_active_finger_button": [ + 0.18569588661193842, + -0.39546793699264526, + 0.7763872742652893 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12857706099748606, + -0.062320441007614136, + 0.03463244438171387 + ], + "min_contact_pad_to_button": 0.021100111863652682, + "closest_contact_pad": [ + 0.18568529188632957, + -0.3954611122608184, + 0.789799877069036 + ], + "closest_contact_pad_button": [ + 0.18568529188632957, + -0.3954611122608184, + 0.7686997652053833 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021100111863652682 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "63586740194d159858dad500d92a91830b67d418cc457a694ec17b8c564a229e", + "visual_seed": 6491938250606161080, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..45c8c42e93ff19f2a7b168f7327b89fa9d861552 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3447778016251587, + -0.09614248698360588, + 1.1681141235269044 + ], + "current_z": 1.1681141235269044, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.3070073174889145, + "gripper_z": 1.158313000231376, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3407923883133498, + -0.10047515167643788, + 1.158313000231376 + ], + "object_minus_gripper": [ + 0.003985413311808905, + 0.004332664692832, + 0.009801123295528402 + ], + "object_to_gripper_xy": 0.005886892440537421, + "object_to_gripper_z": 0.009801123295528402, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3447778016251587, + -0.1194505608935363, + 1.1681141235269044 + ], + "finger_b": [ + 0.3345134445488159, + -0.09614248698360588, + 1.1681141235269044 + ], + "finger_midpoint": [ + 0.3396456230869873, + -0.10779652393857109, + 1.1681141235269044 + ], + "object_minus_finger_midpoint": [ + 0.005132178538171384, + 0.01165403695496521, + 0.0 + ], + "finger_gap": 0.02546808464689577, + "fingertip_max_gap": 0.09276148175119028, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012734042323447875, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1681141235269044, + "object_top_z": 1.218009728696406, + "finger_top_clearance": 0.049895605169501644, + "fingertip_min_top_clearance": 0.014968681550850493, + "object_projection_between_fingers": 0.8375682458352762, + "object_to_finger_line_xy": 0.009393811772275402, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048880740875595144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5690790984350826, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33668014958643944, + -0.34254977872484105, + 0.8515396099021038 + ], + "target_position": [ + 0.32908122158084513, + -0.3442676448760919, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007790684883103597, + "xy_threshold": 0.08, + "gripper_dist": 0.18448086513234932, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396099021038, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553313804742813, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0871342793727699, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15277285293429907, + "release_required_pad_clearance": 0.05356713968638495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1452982835463015, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00832068920135498, + "max_z_decrease": 0.00832068920135498, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501085056157333, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00832068920135498, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021200440163287235, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00832068920135498, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008320710894675376, + "max_button_displacement": 0.12, + "button_start": [ + 0.1847811490297317, + -0.40052911639213556, + 0.7768088579177856 + ], + "button_final": [ + 0.1847811490297317, + -0.40052911639213556, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18420844354400392, + -0.3994444123136903, + 0.8034781437484712 + ], + "closest_button": [ + 0.18476693332195276, + -0.40051651000976557, + 0.7684881687164307 + ], + "closest_ee_minus_button": [ + -0.0005584897779488396, + 0.001072097696075247, + 0.03498997503204049 + ], + "button_min_z_position": [ + 0.18476693332195276, + -0.40051651000976557, + 0.7684881687164307 + ], + "min_active_finger_to_button": 0.14599371198014333, + "closest_active_finger": [ + 0.05698090046644211, + -0.4618612825870514, + 0.8077380657196045 + ], + "closest_active_finger_button": [ + 0.18479466438293451, + -0.40053322911262507, + 0.7728571891784668 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1278137639164924, + -0.061328053474426325, + 0.034880876541137695 + ], + "min_contact_pad_to_button": 0.021200440163287235, + "closest_contact_pad": [ + 0.18476693332195276, + -0.4006882947168423, + 0.7896879128925177 + ], + "closest_contact_pad_button": [ + 0.18476693332195276, + -0.40051651000976557, + 0.7684881687164307 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00017178470707673865, + 0.021199744176087054 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "256b965f6db297945b69a8b513717f6a4b4f5b6843c725198345419d3dbb4315", + "visual_seed": 3913279690519823271, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4790ecb4999fc1c7960179947ae0f7749af6a654 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34428069255137494, + -0.09390118054753824, + 1.1683110304821216 + ], + "current_z": 1.1683110304821216, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3072043436534213, + "gripper_z": 1.1584980258609525, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3403228672961657, + -0.09826879065858744, + 1.1584980258609525 + ], + "object_minus_gripper": [ + 0.0039578252552092685, + 0.0043676101110492055, + 0.009813004621169075 + ], + "object_to_gripper_xy": 0.005894098644653953, + "object_to_gripper_z": 0.009813004621169075, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34428069255137494, + -0.1171152546781503, + 1.1683110304821216 + ], + "finger_b": [ + 0.33386410958223534, + -0.09390118054753824, + 1.1683110304821216 + ], + "finger_midpoint": [ + 0.33907240106680514, + -0.10550821761284426, + 1.1683110304821216 + ], + "object_minus_finger_midpoint": [ + 0.005208291484569805, + 0.011607037065306025, + 0.0 + ], + "finger_gap": 0.025444025595304717, + "fingertip_max_gap": 0.09246985313786552, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012722012797652352, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1683110304821216, + "object_top_z": 1.2181884070648372, + "finger_top_clearance": 0.04987737658271563, + "fingertip_min_top_clearance": 0.014963212974814687, + "object_projection_between_fingers": 0.8323981117327216, + "object_to_finger_line_xy": 0.009503658465030785, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873492656893276, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.376429299340457, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3312114712482635, + -0.34098470497722977, + 0.8515395793489817 + ], + "target_position": [ + 0.3244264538036311, + -0.3421605875890183, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006886157247745106, + "xy_threshold": 0.08, + "gripper_dist": 0.1852860213509643, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395793489817, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556120356909035, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08675139473944003, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15323318709041922, + "release_required_pad_clearance": 0.05337569736972002, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7671907576191452, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008032262325286865, + "max_z_decrease": 0.008032262325286865, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035111470525610616, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008032262325286865, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021066030741875675, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008032262325286865, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008032275840804182, + "max_button_displacement": 0.12, + "button_start": [ + 0.18012638390064234, + -0.3984220325946808, + 0.7768088579177856 + ], + "button_final": [ + 0.18012638390064234, + -0.3984220325946808, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17867137886215056, + -0.39796209302094, + 0.8056235623080094 + ], + "closest_button": [ + 0.18011079728603363, + -0.3984238505363464, + 0.7705446481704712 + ], + "closest_ee_minus_button": [ + -0.0014394184238830654, + 0.0004617575154063913, + 0.035078914137538164 + ], + "button_min_z_position": [ + 0.1801117807626724, + -0.3984239995479584, + 0.7687765955924988 + ], + "min_active_finger_to_button": 0.14703231663821856, + "closest_active_finger": [ + 0.052371010184288025, + -0.46257150173187256, + 0.8109015822410583 + ], + "closest_active_finger_button": [ + 0.18012832105159757, + -0.3984248340129852, + 0.7765246033668518 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12775731086730954, + -0.06414666771888738, + 0.03437697887420654 + ], + "min_contact_pad_to_button": 0.021066030741875675, + "closest_contact_pad": [ + 0.1801117807626724, + -0.39897681799109236, + 0.7898353715062736 + ], + "closest_contact_pad_button": [ + 0.1801117807626724, + -0.3984239995479584, + 0.7687765955924988 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005528184431339844, + 0.021058775913774808 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "17a9b2a5c9cf60fea4a71f49cb5948c620457a1d819b8c0aa28198a0ab4a829a", + "visual_seed": 1400274080641616252, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cc6b09d7bc25af801220116a46c581fe8c00ee56 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34477624329116846, + -0.09271957941790084, + 1.1646377664997263 + ], + "current_z": 1.1646377664997263, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.30353113927567066, + "gripper_z": 1.1549052262016355, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34056053059963287, + -0.09711160572304146, + 1.1549052262016355 + ], + "object_minus_gripper": [ + 0.004215712691535589, + 0.004392026305140628, + 0.009732540298090786 + ], + "object_to_gripper_xy": 0.006087867324656598, + "object_to_gripper_z": 0.009732540298090786, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34477624329116846, + -0.11649850537408066, + 1.1646377664997263 + ], + "finger_b": [ + 0.3348561145653377, + -0.09271957941790084, + 1.1646377664997263 + ], + "finger_midpoint": [ + 0.3398161789282531, + -0.10460904239599075, + 1.1646377664997263 + ], + "object_minus_finger_midpoint": [ + 0.004960064362915351, + 0.011889462978089918, + 0.0 + ], + "finger_gap": 0.02576521440948115, + "fingertip_max_gap": 0.0934267957208024, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01288260720474057, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646377664997263, + "object_top_z": 1.2145521741308036, + "finger_top_clearance": 0.04991440763107735, + "fingertip_min_top_clearance": 0.014974322289323204, + "object_projection_between_fingers": 0.8517594240480596, + "object_to_finger_line_xy": 0.009155367492711373, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0492133978604012, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.208772324420418, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3327746058929942, + -0.3387189036560462, + 0.8515395768640921 + ], + "target_position": [ + 0.3266736813414185, + -0.33918927664396514, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006119030244391896, + "xy_threshold": 0.08, + "gripper_dist": 0.18357813027939335, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395768640921, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564427657826014, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09008863587586079, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15117407463364538, + "release_required_pad_clearance": 0.055044317937930395, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 5.168288275817079, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00780254602432251, + "max_z_decrease": 0.00780254602432251, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507556233243519, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00780254602432251, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021219244444280028, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.00780254602432251, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007802571927817599, + "max_button_displacement": 0.12, + "button_start": [ + 0.18237361311912537, + -0.3954507410526275, + 0.7768088579177856 + ], + "button_final": [ + 0.18237361311912537, + -0.3954507410526275, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18041049566369383, + -0.3939979001369641, + 0.8075159216128759 + ], + "closest_button": [ + 0.1823621541261673, + -0.39545187354087824, + 0.772524893283844 + ], + "closest_ee_minus_button": [ + -0.0019516584624734712, + 0.0014539734039141217, + 0.03499102832903189 + ], + "button_min_z_position": [ + 0.18235351145267487, + -0.39545112848281855, + 0.7690063118934631 + ], + "min_active_finger_to_button": 0.14741980465056548, + "closest_active_finger": [ + 0.052271753549575806, + -0.4553280472755432, + 0.8081210851669312 + ], + "closest_active_finger_button": [ + 0.1823851615190506, + -0.3954572975635528, + 0.773212730884552 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1301134079694748, + -0.05987074971199041, + 0.03490835428237915 + ], + "min_contact_pad_to_button": 0.021219244444280028, + "closest_contact_pad": [ + 0.18235351145267487, + -0.39545112848281855, + 0.7902255563377432 + ], + "closest_contact_pad_button": [ + 0.18235351145267487, + -0.39545112848281855, + 0.7690063118934631 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021219244444280028 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "117dc0b992d7564af48400d57d5efcf317d6092c749b9e135ca6dea1e1d545ae", + "visual_seed": 2712802552421713439, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c354605cae777bccd883965f421a2b6d28ff88 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3481097399980736, + -0.09558947430764944, + 1.1635069499216297 + ], + "current_z": 1.1635069499216297, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.3024003823022188, + "gripper_z": 1.1537391376682533, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3440012023019048, + -0.09989721275387083, + 1.1537391376682533 + ], + "object_minus_gripper": [ + 0.0041085376961688125, + 0.004307738446221385, + 0.009767812253376418 + ], + "object_to_gripper_xy": 0.005952872627723019, + "object_to_gripper_z": 0.009767812253376418, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3481097399980736, + -0.11913685683983177, + 1.1635069499216297 + ], + "finger_b": [ + 0.3381040689132499, + -0.09558947430764944, + 1.1635069499216297 + ], + "finger_midpoint": [ + 0.3431069044556617, + -0.10736316557374061, + 1.1635069499216297 + ], + "object_minus_finger_midpoint": [ + 0.0050028355424118764, + 0.011773691266091166, + 0.0 + ], + "finger_gap": 0.0255850088523456, + "fingertip_max_gap": 0.09290479722951459, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01279250442617281, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635069499216297, + "object_top_z": 1.2133884044012548, + "finger_top_clearance": 0.04988145447962511, + "fingertip_min_top_clearance": 0.014964436343887532, + "object_projection_between_fingers": 0.8470599240928857, + "object_to_finger_line_xy": 0.009208805276764211, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048952398614757295, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.675693639278796, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33568147132406273, + -0.3450334754469879, + 0.8515395983219648 + ], + "target_position": [ + 0.32890689591585826, + -0.34600645246200734, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006844089145620834, + "xy_threshold": 0.08, + "gripper_dist": 0.1832175791641554, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395983219648, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520375158523479, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08757173303686626, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15225425717916635, + "release_required_pad_clearance": 0.05378586651843313, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5808730289195863, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00813448429107666, + "max_z_decrease": 0.00813448429107666, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502316584561714, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00813448429107666, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021135951902657824, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00813448429107666, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008134493886080616, + "max_button_displacement": 0.12, + "button_start": [ + 0.18460682034492487, + -0.40226790308952326, + 0.7768088579177856 + ], + "button_final": [ + 0.18460682034492487, + -0.40226790308952326, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1857516018844102, + -0.4019562128197996, + 0.8036771482868948 + ], + "closest_button": [ + 0.18459624052047724, + -0.40226125717163086, + 0.768674373626709 + ], + "closest_ee_minus_button": [ + 0.0011553613639329607, + 0.0003050443518312629, + 0.035002774660185865 + ], + "button_min_z_position": [ + 0.18459624052047724, + -0.40226125717163086, + 0.768674373626709 + ], + "min_active_finger_to_button": 0.14476886831116786, + "closest_active_finger": [ + 0.05933127552270889, + -0.4659876823425293, + 0.8083832859992981 + ], + "closest_active_finger_button": [ + 0.18461580574512476, + -0.40227359533309937, + 0.773708701133728 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12528453022241587, + -0.06371408700942993, + 0.03467458486557007 + ], + "min_contact_pad_to_button": 0.021135951902657824, + "closest_contact_pad": [ + 0.18459624052047724, + -0.4030353892224437, + 0.789796143969163 + ], + "closest_contact_pad_button": [ + 0.18459624052047724, + -0.40226125717163086, + 0.768674373626709 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007741320508128369, + 0.021121770342453994 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bd893f8756f65d40804a33c8c11c72c70aa8917f75bf0f849fdc0a7610f0351e", + "visual_seed": 6323839508776144092, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dfb20ca5dbbd3b0231bc3be2108a73ec6c1b9d31 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34968053224010176, + -0.09127500482216179, + 1.1646095686754276 + ], + "current_z": 1.1646095686754276, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.3035030010560169, + "gripper_z": 1.154792200861655, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34556380982101176, + -0.09563810864265943, + 1.154792200861655 + ], + "object_minus_gripper": [ + 0.004116722419090002, + 0.004363103820497635, + 0.009817367813772737 + ], + "object_to_gripper_xy": 0.00599867305529142, + "object_to_gripper_z": 0.009817367813772737, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34968053224010176, + -0.11478756037966474, + 1.1646095686754276 + ], + "finger_b": [ + 0.3395308819390453, + -0.09127500482216179, + 1.1646095686754276 + ], + "finger_midpoint": [ + 0.3446057070895735, + -0.10303128260091327, + 1.1646095686754276 + ], + "object_minus_finger_midpoint": [ + 0.0050748251505282616, + 0.011756277778751476, + 0.0 + ], + "finger_gap": 0.025609679226386232, + "fingertip_max_gap": 0.09269228820599493, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012804839613193127, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646095686754276, + "object_top_z": 1.2144910262031205, + "finger_top_clearance": 0.04988145752769291, + "fingertip_min_top_clearance": 0.014964437258307872, + "object_projection_between_fingers": 0.8429297695613097, + "object_to_finger_line_xy": 0.009318516428231428, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048846144102997466, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.514426701749209, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33881806230121597, + -0.3367283066749845, + 0.8515395716380568 + ], + "target_position": [ + 0.3316689623453148, + -0.3381175546213971, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00728283186927159, + "xy_threshold": 0.08, + "gripper_dist": 0.18334006983193665, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395716380568, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547965796844164, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0879962880542373, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15160576544630397, + "release_required_pad_clearance": 0.05399814402711865, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0075226834099067, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008351445198059082, + "max_z_decrease": 0.008351445198059082, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502655842200512, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008351445198059082, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021306168805383382, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008351445198059082, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00835160071001312, + "max_button_displacement": 0.12, + "button_start": [ + 0.18736888468265533, + -0.39437901973724365, + 0.7768088579177856 + ], + "button_final": [ + 0.18736888468265533, + -0.39437901973724365, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18823335097752522, + -0.395488162206376, + 0.8038199798441451 + ], + "closest_button": [ + 0.18733333051204681, + -0.39436987042427063, + 0.7688228487968445 + ], + "closest_ee_minus_button": [ + 0.0009000204654784072, + -0.001118291782105374, + 0.03499713104730062 + ], + "button_min_z_position": [ + 0.1873210370540619, + -0.39436146616935724, + 0.7684574127197266 + ], + "min_active_finger_to_button": 0.14496720730924395, + "closest_active_finger": [ + 0.047384634613990784, + -0.38038140535354614, + 0.8077630996704102 + ], + "closest_active_finger_button": [ + 0.18738244473934174, + -0.39438378810882563, + 0.772834062576294 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13999781012535095, + 0.014002382755279486, + 0.03492903709411621 + ], + "min_contact_pad_to_button": 0.021306168805383382, + "closest_contact_pad": [ + 0.1873210370540619, + -0.3965764092490365, + 0.7896481384344649 + ], + "closest_contact_pad_button": [ + 0.1873210370540619, + -0.39436146616935724, + 0.7684574127197266 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022149430796792324, + 0.021190725714738345 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b906b92ec90d29851311c544c60643f5578ecc5dd954442078f345dfe353745d", + "visual_seed": 1301851635683384107, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..629dc1d432a6520b2d7e3a5b57e21d6d4681b6ec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34808028504050315, + -0.09308233950214252, + 1.1653855052961455 + ], + "current_z": 1.1653855052961455, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.30427893767673486, + "gripper_z": 1.1555151815396156, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34389931860912626, + -0.09741201481099104, + 1.1555151815396156 + ], + "object_minus_gripper": [ + 0.004180966431376887, + 0.004329675308848521, + 0.009870323756529853 + ], + "object_to_gripper_xy": 0.006018851101360867, + "object_to_gripper_z": 0.009870323756529853, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34808028504050315, + -0.11668586596415312, + 1.1653855052961455 + ], + "finger_b": [ + 0.3380425754271633, + -0.09308233950214252, + 1.1653855052961455 + ], + "finger_midpoint": [ + 0.34306143023383323, + -0.10488410273314783, + 1.1653855052961455 + ], + "object_minus_finger_midpoint": [ + 0.005018854806669915, + 0.011801763231005305, + 0.0 + ], + "finger_gap": 0.025649211990323783, + "fingertip_max_gap": 0.0925853119096354, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012824605995161897, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1653855052961455, + "object_top_z": 1.2152249511657112, + "finger_top_clearance": 0.04983944586956568, + "fingertip_min_top_clearance": 0.014951833760869703, + "object_projection_between_fingers": 0.8468485189070307, + "object_to_finger_line_xy": 0.009237139315072357, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487926559548177, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5485307372277086, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33441474777144203, + -0.3442999281551724, + 0.8515395625431946 + ], + "target_position": [ + 0.32741534526828087, + -0.3454959516759996, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007100852601176194, + "xy_threshold": 0.08, + "gripper_dist": 0.18355192017690058, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395625431946, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524739218161194, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08789920380456538, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15249771442783852, + "release_required_pad_clearance": 0.05394960190228269, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.909629464852624, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00840681791305542, + "max_z_decrease": 0.00840681791305542, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035011377236980654, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00840681791305542, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021150210836757197, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00840681791305542, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008406877394936027, + "max_button_displacement": 0.12, + "button_start": [ + 0.18311527371406555, + -0.40175741910934437, + 0.7768088579177856 + ], + "button_final": [ + 0.18311527371406555, + -0.40175741910934437, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18334838639390116, + -0.4028918967246511, + 0.8033935062757028 + ], + "closest_button": [ + 0.1831328570842743, + -0.4017311334609984, + 0.7684020400047302 + ], + "closest_ee_minus_button": [ + 0.00021552930962687178, + -0.0011607632636526644, + 0.034991466270972604 + ], + "button_min_z_position": [ + 0.1831328570842743, + -0.4017311334609984, + 0.7684020400047302 + ], + "min_active_finger_to_button": 0.1455019648926552, + "closest_active_finger": [ + 0.042409129440784454, + -0.388558566570282, + 0.8083391785621643 + ], + "closest_active_finger_button": [ + 0.18312181532382965, + -0.4017643332481383, + 0.7737506031990051 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1407126858830452, + 0.013205766677856334, + 0.03458857536315918 + ], + "min_contact_pad_to_button": 0.021150210836757197, + "closest_contact_pad": [ + 0.1831328570842743, + -0.4039151886384805, + 0.7894391814792984 + ], + "closest_contact_pad_button": [ + 0.1831328570842743, + -0.4017311334609984, + 0.7684020400047302 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021840551774821026, + 0.021037141474568144 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "797c939c485622878fe902edf79868a49747e38662a8b00caea2d88066a64510", + "visual_seed": 3264766934217450464, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dc845990ede1711576fbfe5e630cbf5ad7b2d2d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3432678053405719, + -0.09127903379841727, + 1.1662719169081601 + ], + "current_z": 1.1662719169081601, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30516540889339405, + "gripper_z": 1.156565190705034, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33899914124664504, + -0.09574083410145716, + 1.156565190705034 + ], + "object_minus_gripper": [ + 0.004268664093926844, + 0.004461800303039887, + 0.00970672620312607 + ], + "object_to_gripper_xy": 0.00617488097788023, + "object_to_gripper_z": 0.00970672620312607, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3432678053405719, + -0.11476800331741593, + 1.1662719169081601 + ], + "finger_b": [ + 0.3327986921373279, + -0.09127903379841727, + 1.1662719169081601 + ], + "finger_midpoint": [ + 0.3380332487389499, + -0.10302351855791661, + 1.1662719169081601 + ], + "object_minus_finger_midpoint": [ + 0.005234556601621976, + 0.011744484759499338, + 0.0 + ], + "finger_gap": 0.0257164153864178, + "fingertip_max_gap": 0.09220757027327472, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012858207693208895, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1662719169081601, + "object_top_z": 1.2161271377509082, + "finger_top_clearance": 0.04985522084274807, + "fingertip_min_top_clearance": 0.014956566252824387, + "object_projection_between_fingers": 0.8342708406136736, + "object_to_finger_line_xy": 0.009562323411987756, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048603785136637365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0613165249218794, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3367670456675783, + -0.33847386174543126, + 0.851539585606489 + ], + "target_position": [ + 0.3291590877696118, + -0.34012111416788576, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00778424459536785, + "xy_threshold": 0.08, + "gripper_dist": 0.1847515799131156, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539585606489, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574592742737002, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08770222073169835, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15234815367740379, + "release_required_pad_clearance": 0.05385111036584918, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.711615393503501, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008240461349487305, + "max_z_decrease": 0.008240461349487305, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035017633409924594, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008240461349487305, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02107132696869415, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008240461349487305, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008240474519770537, + "max_button_displacement": 0.12, + "button_start": [ + 0.1848590075969696, + -0.3963825702667236, + 0.7768088579177856 + ], + "button_final": [ + 0.1848590075969696, + -0.3963825702667236, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18526309242661765, + -0.39540956509438296, + 0.8035703602678251 + ], + "closest_button": [ + 0.18484903872013092, + -0.39637172222137446, + 0.7685683965682983 + ], + "closest_ee_minus_button": [ + 0.0004140537064867278, + 0.0009621571269914919, + 0.035001963699526795 + ], + "button_min_z_position": [ + 0.18484903872013092, + -0.39637172222137446, + 0.7685683965682983 + ], + "min_active_finger_to_button": 0.14507990071489194, + "closest_active_finger": [ + 0.05935732275247574, + -0.4604262709617615, + 0.8108644485473633 + ], + "closest_active_finger_button": [ + 0.18486370146274567, + -0.39638477563858027, + 0.7762954831123352 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12550637871026993, + -0.06404149532318121, + 0.034568965435028076 + ], + "min_contact_pad_to_button": 0.02107132696869415, + "closest_contact_pad": [ + 0.18484903872013092, + -0.39638531411884964, + 0.7896397191533175 + ], + "closest_contact_pad_button": [ + 0.18484903872013092, + -0.39637172222137446, + 0.7685683965682983 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -1.3591897475184744e-05, + 0.021071322585019203 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe21870e7d927d4be7028038d292f5abab17516c775ad2b5e316e22acb4db7c4", + "visual_seed": 6655930431458032862, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1a25387ca40e4542d44eadb22ae0b6b014f5c735 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3424659693337682, + -0.09174544611614749, + 1.1659668577409033 + ], + "current_z": 1.1659668577409033, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30486046893542684, + "gripper_z": 1.1562984881518419, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3382244642938582, + -0.09615608616042214, + 1.1562984881518419 + ], + "object_minus_gripper": [ + 0.0042415050399099985, + 0.004410640044274647, + 0.009668369589061365 + ], + "object_to_gripper_xy": 0.0061191593053082855, + "object_to_gripper_z": 0.009668369589061365, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3424659693337682, + -0.11526847761851355, + 1.1659668577409033 + ], + "finger_b": [ + 0.332143275556825, + -0.09174544611614749, + 1.1659668577409033 + ], + "finger_midpoint": [ + 0.3373046224452966, + -0.10350696186733052, + 1.1659668577409033 + ], + "object_minus_finger_midpoint": [ + 0.005161346888471641, + 0.011761515751183033, + 0.0 + ], + "finger_gap": 0.025688344008009716, + "fingertip_max_gap": 0.09230078269061384, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01284417200400487, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1659668577409033, + "object_top_z": 1.2157622152808338, + "finger_top_clearance": 0.049795357539930585, + "fingertip_min_top_clearance": 0.014938607261979141, + "object_projection_between_fingers": 0.8385218105318824, + "object_to_finger_line_xy": 0.009452577045394664, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865039134530692, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2632973780562984, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3322829313608546, + -0.3442997926196554, + 0.8515395571041867 + ], + "target_position": [ + 0.32459440163427494, + -0.34583517291841326, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0078403368561761, + "xy_threshold": 0.08, + "gripper_dist": 0.18526941046228063, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395571041867, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522278046867514, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085041354746875, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1541947527464852, + "release_required_pad_clearance": 0.052520677373437505, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1119058189294059, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008198976516723633, + "max_z_decrease": 0.008198976516723633, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035069424119200686, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008198976516723633, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021138221350319952, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008198976516723633, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008198978895673047, + "max_button_displacement": 0.12, + "button_start": [ + 0.18029433488845822, + -0.4020966291427612, + 0.7768088579177856 + ], + "button_final": [ + 0.18029433488845822, + -0.4020966291427612, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18067667544847937, + -0.3998870513187543, + 0.8036079273875842 + ], + "closest_button": [ + 0.18029387295246121, + -0.40209040045738215, + 0.768609881401062 + ], + "closest_ee_minus_button": [ + 0.00038280249601815863, + 0.0022033491386278525, + 0.03499804598652223 + ], + "button_min_z_position": [ + 0.18029387295246121, + -0.40209040045738215, + 0.768609881401062 + ], + "min_active_finger_to_button": 0.14463250050958854, + "closest_active_finger": [ + 0.05350445210933685, + -0.4623950719833374, + 0.8081659078598022 + ], + "closest_active_finger_button": [ + 0.18030503392219543, + -0.4021013975143432, + 0.773455023765564 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12680058181285858, + -0.060293674468994196, + 0.03471088409423828 + ], + "min_contact_pad_to_button": 0.021138221350319952, + "closest_contact_pad": [ + 0.18029387295246121, + -0.40209040045738215, + 0.789748102751382 + ], + "closest_contact_pad_button": [ + 0.18029387295246121, + -0.40209040045738215, + 0.768609881401062 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021138221350319952 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1d1c12077a29e9312082c877e1933d9c8a742cb55188d0f902218db4227be143", + "visual_seed": 8429385488969828377, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a530d1bc200d936b83319b894a8a46f6f307f757 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3433538248616837, + -0.09683855840601595, + 1.1646709484735553 + ], + "current_z": 1.1646709484735553, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30356450006343405, + "gripper_z": 1.154936621834967, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33909605838437373, + -0.10122088912538998, + 1.154936621834967 + ], + "object_minus_gripper": [ + 0.0042577664773099655, + 0.004382330719374036, + 0.009734326638588309 + ], + "object_to_gripper_xy": 0.006110106210965065, + "object_to_gripper_z": 0.009734326638588309, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3433538248616837, + -0.12045828686914771, + 1.1646709484735553 + ], + "finger_b": [ + 0.33318349861900054, + -0.09683855840601595, + 1.1646709484735553 + ], + "finger_midpoint": [ + 0.3382686617403421, + -0.10864842263758183, + 1.1646709484735553 + ], + "object_minus_finger_midpoint": [ + 0.005085163121341607, + 0.01180986423156588, + 0.0 + ], + "finger_gap": 0.02571628100162787, + "fingertip_max_gap": 0.09217736537482282, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012858140500813945, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646709484735553, + "object_top_z": 1.214553516839227, + "finger_top_clearance": 0.04988256836567162, + "fingertip_min_top_clearance": 0.014964770509701452, + "object_projection_between_fingers": 0.8435939876883839, + "object_to_finger_line_xy": 0.00934117745168648, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048588682687411414, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9877560466530866, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33286596211672687, + -0.3392991421023876, + 0.8515395391661582 + ], + "target_position": [ + 0.3248639825201845, + -0.3410272151734651, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00818644697060108, + "xy_threshold": 0.08, + "gripper_dist": 0.18460060308527806, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395391661582, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522560253217395, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578406826612943, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1536120189880199, + "release_required_pad_clearance": 0.052892034133064716, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8242396012984039, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008079349994659424, + "max_z_decrease": 0.008079349994659424, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501926775091303, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008079349994659424, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021140089631260264, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008079349994659424, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008079354546842566, + "max_button_displacement": 0.12, + "button_start": [ + 0.18056391179561612, + -0.3972886800765991, + 0.7768088579177856 + ], + "button_final": [ + 0.18056391179561612, + -0.3972886800765991, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18053713314425984, + -0.3976291795439388, + 0.8037470256131317 + ], + "closest_button": [ + 0.18056529760360718, + -0.397280216217041, + 0.7687295079231262 + ], + "closest_ee_minus_button": [ + -2.8164459347335136e-05, + -0.00034896332689776655, + 0.035017517690005495 + ], + "button_min_z_position": [ + 0.18056529760360718, + -0.397280216217041, + 0.7687295079231262 + ], + "min_active_finger_to_button": 0.14583240592411875, + "closest_active_finger": [ + 0.03970249742269516, + -0.3823240399360657, + 0.8076549768447876 + ], + "closest_active_finger_button": [ + 0.18057233095169067, + -0.3972958326339722, + 0.7730337977409363 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14086983352899551, + 0.01497179269790655, + 0.03462117910385132 + ], + "min_contact_pad_to_button": 0.021140089631260264, + "closest_contact_pad": [ + 0.18056529760360718, + -0.3987410228864393, + 0.7898190653744422 + ], + "closest_contact_pad_button": [ + 0.18056529760360718, + -0.397280216217041, + 0.7687295079231262 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014608066693982957, + 0.02108955745131602 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "04f52afc68fd4c0d9e3cf3cff7b948f34b8e2771c4895ec4de75011555511854", + "visual_seed": 527400030884398507, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0dbf4b3bc4ab233fd5fa7bbb31fe941cb5677edb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34599303153792826, + -0.08959594483325262, + 1.166658999755732 + ], + "current_z": 1.166658999755732, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.305552491740966, + "gripper_z": 1.1569375875313688, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.341726500032654, + -0.09398111548433331, + 1.1569375875313688 + ], + "object_minus_gripper": [ + 0.004266531505274285, + 0.004385170651080697, + 0.00972141222436318 + ], + "object_to_gripper_xy": 0.00611825242406666, + "object_to_gripper_z": 0.00972141222436318, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34599303153792826, + -0.11318723429399252, + 1.166658999755732 + ], + "finger_b": [ + 0.33578826256815075, + -0.08959594483325262, + 1.166658999755732 + ], + "finger_midpoint": [ + 0.3408906470530395, + -0.10139158956362257, + 1.166658999755732 + ], + "object_minus_finger_midpoint": [ + 0.005102384484888756, + 0.011795644730369953, + 0.0 + ], + "finger_gap": 0.025703817773765666, + "fingertip_max_gap": 0.09258244352477582, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012851908886882833, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166658999755732, + "object_top_z": 1.2164563104871653, + "finger_top_clearance": 0.04979731073143334, + "fingertip_min_top_clearance": 0.014939193219430002, + "object_projection_between_fingers": 0.8423800858295276, + "object_to_finger_line_xy": 0.009366066191603267, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879122176238791, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4462181296198984, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3383325667434552, + -0.34090605442027555, + 0.8515395605205014 + ], + "target_position": [ + 0.3313685528590101, + -0.34215892395700204, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007075815957103524, + "xy_threshold": 0.08, + "gripper_dist": 0.18358463307752654, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395605205014, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576882344232767, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08850824534123551, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15112588530293455, + "release_required_pad_clearance": 0.05425412267061776, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.526948356922291, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008344531059265137, + "max_z_decrease": 0.008344531059265137, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505735946530652, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008344531059265137, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021146362033584776, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008344531059265137, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00834457684281308, + "max_button_displacement": 0.12, + "button_start": [ + 0.1870684772729873, + -0.39842039346694935, + 0.7768088579177856 + ], + "button_final": [ + 0.1870684772729873, + -0.39842039346694935, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18639830601461438, + -0.39635316906742485, + 0.803455115313524 + ], + "closest_button": [ + 0.18704144656658167, + -0.39841461181640614, + 0.7684643268585205 + ], + "closest_ee_minus_button": [ + -0.0006431405519672917, + 0.0020614427489812903, + 0.034990788455003474 + ], + "button_min_z_position": [ + 0.18704144656658167, + -0.39841461181640614, + 0.7684643268585205 + ], + "min_active_finger_to_button": 0.1456242288186175, + "closest_active_finger": [ + 0.059888944029808044, + -0.4602328836917877, + 0.8075674772262573 + ], + "closest_active_finger_button": [ + 0.18708118796348566, + -0.39842581748962397, + 0.7728049159049988 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12719224393367762, + -0.06180706620216375, + 0.034762561321258545 + ], + "min_contact_pad_to_button": 0.021146362033584776, + "closest_contact_pad": [ + 0.18704144656658167, + -0.39841461181640614, + 0.7896106888921053 + ], + "closest_contact_pad_button": [ + 0.18704144656658167, + -0.39841461181640614, + 0.7684643268585205 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021146362033584776 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "adcfd190c4698462aa16fde09f57e7dd772501f1cd098aa5abdf1d859e1d6e25", + "visual_seed": 9182546884648374753, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..883bf65af3e823eba58adea8affe2f1d993f70e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34485712685788494, + -0.09250675978951385, + 1.1642049674150954 + ], + "current_z": 1.1642049674150954, + "required_z": 0.8611069252472794, + "initial_z": 0.7611069252472794, + "lift_margin": 0.303098042167816, + "gripper_z": 1.1545345392201745, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34069969792750116, + -0.09684128492076086, + 1.1545345392201745 + ], + "object_minus_gripper": [ + 0.004157428930383789, + 0.004334525131247005, + 0.009670428194920921 + ], + "object_to_gripper_xy": 0.006006023928074543, + "object_to_gripper_z": 0.009670428194920921, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34485712685788494, + -0.1161988599975839, + 1.1642049674150954 + ], + "finger_b": [ + 0.33496184041815197, + -0.09250675978951385, + 1.1642049674150954 + ], + "finger_midpoint": [ + 0.33990948363801843, + -0.10435280989354888, + 1.1642049674150954 + ], + "object_minus_finger_midpoint": [ + 0.0049476432198665155, + 0.011846050104035027, + 0.0 + ], + "finger_gap": 0.02567551958565973, + "fingertip_max_gap": 0.09309006290425162, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012837759792829877, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642049674150954, + "object_top_z": 1.2140942184538535, + "finger_top_clearance": 0.049889251038758076, + "fingertip_min_top_clearance": 0.014966775311627389, + "object_projection_between_fingers": 0.8514686054762091, + "object_to_finger_line_xy": 0.009130881154539531, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904503145212581, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.900626235206069, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3388018253118909, + -0.339484613728396, + 0.8515396002564164 + ], + "target_position": [ + 0.3318708357390272, + -0.3405127699135447, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0070068339212660665, + "xy_threshold": 0.08, + "gripper_dist": 0.18348670691430619, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396002564164, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530464117136468, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08813531742348756, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1521081727853589, + "release_required_pad_clearance": 0.05406765871174378, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.147916388613392, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008154869079589844, + "max_z_decrease": 0.008154869079589844, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034995668687774574, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008154869079589844, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021277883310119542, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008154869079589844, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008154912110764275, + "max_button_displacement": 0.12, + "button_start": [ + 0.18757076561450958, + -0.39677423238754267, + 0.7768088579177856 + ], + "button_final": [ + 0.18757076561450958, + -0.39677423238754267, + 0.7768088579177856 + ], + "closest_ee": [ + 0.187802254606767, + -0.39714824399602483, + 0.8036466424802728 + ], + "closest_button": [ + 0.18754512071609497, + -0.3967675864696502, + 0.7686539888381958 + ], + "closest_ee_minus_button": [ + 0.00025713389067202885, + -0.00038065752637461703, + 0.03499265364207704 + ], + "button_min_z_position": [ + 0.18754512071609497, + -0.3967675864696502, + 0.7686539888381958 + ], + "min_active_finger_to_button": 0.14575537842700664, + "closest_active_finger": [ + 0.047336965799331665, + -0.37893837690353394, + 0.8084656000137329 + ], + "closest_active_finger_button": [ + 0.18758435547351837, + -0.3967804908752441, + 0.7730119824409485 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1402473896741867, + 0.01784211397171015, + 0.035453617572784424 + ], + "min_contact_pad_to_button": 0.021277883310119542, + "closest_contact_pad": [ + 0.18754512071609497, + -0.3985307329574214, + 0.789858696632026 + ], + "closest_contact_pad_button": [ + 0.18754512071609497, + -0.3967675864696502, + 0.7686539888381958 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017631464877712055, + 0.021204707793830213 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7937d39ae77e6e8ff389bd4b18321412a552a16f86ee4cf9708846751d95160e", + "visual_seed": 4017303856748204350, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9383a81a3adf321808b416e3afd9694dbcf94579 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3493745690103624, + -0.09162391940076778, + 1.1666576164393923 + ], + "current_z": 1.1666576164393923, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.30555098921533685, + "gripper_z": 1.1567418537472423, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34524101410306823, + -0.09607307922829943, + 1.1567418537472423 + ], + "object_minus_gripper": [ + 0.004133554907294168, + 0.0044491598275316485, + 0.009915762692149999 + ], + "object_to_gripper_xy": 0.006072997558252197, + "object_to_gripper_z": 0.009915762692149999, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3493745690103624, + -0.114989332957258, + 1.1666576164393923 + ], + "finger_b": [ + 0.338876798452278, + -0.09162391940076778, + 1.1666576164393923 + ], + "finger_midpoint": [ + 0.34412568373132024, + -0.10330662617901289, + 1.1666576164393923 + ], + "object_minus_finger_midpoint": [ + 0.005248885279042159, + 0.011682706778245108, + 0.0 + ], + "finger_gap": 0.025615341835626554, + "fingertip_max_gap": 0.09188072573509706, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012807670917813265, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1666576164393923, + "object_top_z": 1.2165110753633972, + "finger_top_clearance": 0.049853458924004945, + "fingertip_min_top_clearance": 0.014956037677201483, + "object_projection_between_fingers": 0.832044650424375, + "object_to_finger_line_xy": 0.009575696943057764, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048440362867548534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8420587379503968, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3396494314344203, + -0.3402247076789483, + 0.8515396196862585 + ], + "target_position": [ + 0.32854505167673714, + -0.34281375727325486, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.01140221152253465, + "xy_threshold": 0.08, + "gripper_dist": 0.18710160344695434, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396196862585, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589948135976099, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09325027227476405, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15443368873989136, + "release_required_pad_clearance": 0.05662513613738203, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 8.651259475956623, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008271217346191406, + "max_z_decrease": 0.008271217346191406, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504080099064178, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008271217346191406, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021166073425070098, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008271217346191406, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008271228570765767, + "max_button_displacement": 0.12, + "button_start": [ + 0.18424497544765475, + -0.39907521009445185, + 0.7768088579177856 + ], + "button_final": [ + 0.18424497544765475, + -0.39907521009445185, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18223125757532593, + -0.39929888452172685, + 0.8035203188722374 + ], + "closest_button": [ + 0.18423515558242798, + -0.39906576275825495, + 0.7685376405715942 + ], + "closest_ee_minus_button": [ + -0.002003898007102045, + -0.0002331217634718996, + 0.034982678300643166 + ], + "button_min_z_position": [ + 0.18423515558242798, + -0.39906576275825495, + 0.7685376405715942 + ], + "min_active_finger_to_button": 0.14774141757464349, + "closest_active_finger": [ + 0.055286332964897156, + -0.46226078271865845, + 0.809182345867157 + ], + "closest_active_finger_button": [ + 0.18425197899341583, + -0.399078905582428, + 0.7744917273521423 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12896564602851868, + -0.06318187713623047, + 0.03469061851501465 + ], + "min_contact_pad_to_button": 0.021166073425070098, + "closest_contact_pad": [ + 0.18423515558242798, + -0.4004830937147677, + 0.7896562067443998 + ], + "closest_contact_pad_button": [ + 0.18423515558242798, + -0.39906576275825495, + 0.7685376405715942 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014173309565127523, + 0.02111856617280561 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "88a7b3d40b0ca49cf1bcd754d0f7f6f87baec134b9f16062693d8db2fc186a6d", + "visual_seed": 9145911257934529862, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..24eab8512b566a4a3b8f620175564c7856fa69af --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34474935753613495, + -0.0894059793697912, + 1.16749350123062 + ], + "current_z": 1.16749350123062, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30638705282049883, + "gripper_z": 1.1577731652117587, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3405970035446594, + -0.09375042453204503, + 1.1577731652117587 + ], + "object_minus_gripper": [ + 0.004152353991475566, + 0.004344445162253838, + 0.009720336018861353 + ], + "object_to_gripper_xy": 0.00600967947883694, + "object_to_gripper_z": 0.009720336018861353, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34474935753613495, + -0.11292693396229508, + 1.16749350123062 + ], + "finger_b": [ + 0.334606840949482, + -0.0894059793697912, + 1.16749350123062 + ], + "finger_midpoint": [ + 0.33967809924280845, + -0.10116645666604314, + 1.16749350123062 + ], + "object_minus_finger_midpoint": [ + 0.005071258293326497, + 0.011760477296251945, + 0.0 + ], + "finger_gap": 0.02561456514667309, + "fingertip_max_gap": 0.09288878727697855, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012807282573336557, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16749350123062, + "object_top_z": 1.2173405680334854, + "finger_top_clearance": 0.049847066802865436, + "fingertip_min_top_clearance": 0.01495412004085963, + "object_projection_between_fingers": 0.8432103182748301, + "object_to_finger_line_xy": 0.009313516381103464, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04894439363848928, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8082214047308667, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3336904828283184, + -0.33843135019239995, + 0.8515395947179635 + ], + "target_position": [ + 0.32663338358632305, + -0.33972647317747307, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0071749559760207905, + "xy_threshold": 0.08, + "gripper_dist": 0.1830633197547958, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395947179635, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588527657716841, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08909570339712962, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15028440350510092, + "release_required_pad_clearance": 0.05454785169856481, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.130139611677125, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008045792579650879, + "max_z_decrease": 0.008045792579650879, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501656199432271, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008045792579650879, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021344548098478508, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008045792579650879, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008045827157899076, + "max_button_displacement": 0.12, + "button_start": [ + 0.18233330547809598, + -0.39598792791366577, + 0.7768088579177856 + ], + "button_final": [ + 0.18233330547809598, + -0.39598792791366577, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18325393930675646, + -0.3967573637157172, + 0.8037584374954901 + ], + "closest_button": [ + 0.18230971693992615, + -0.39598795771598816, + 0.7687630653381348 + ], + "closest_ee_minus_button": [ + 0.0009442223668303107, + -0.0007694059997290226, + 0.034995372157355376 + ], + "button_min_z_position": [ + 0.18230971693992615, + -0.39598795771598816, + 0.7687630653381348 + ], + "min_active_finger_to_button": 0.14497440804209433, + "closest_active_finger": [ + 0.042686231434345245, + -0.3791807293891907, + 0.8081731796264648 + ], + "closest_active_finger_button": [ + 0.18234521150588986, + -0.3959936797618866, + 0.7730979323387146 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13965898007154462, + 0.016812950372695923, + 0.035075247287750244 + ], + "min_contact_pad_to_button": 0.021344548098478508, + "closest_contact_pad": [ + 0.18230971693992615, + -0.39807665393971536, + 0.7900051716746836 + ], + "closest_contact_pad_button": [ + 0.18230971693992615, + -0.39598795771598816, + 0.7687630653381348 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020886962237272044, + 0.021242106336548883 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "af8917fb69e6ea4e6edee11431abc0dcdd6146fabb1fe3bf788837904a8c3f7e", + "visual_seed": 277639471211340901, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad3151c8f55c526ef038fa2fc5e0d077b7ac33a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34934486391386393, + -0.09454006175734449, + 1.1657031127196533 + ], + "current_z": 1.1657031127196533, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.3045964258909529, + "gripper_z": 1.155795057992692, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3453014852871653, + -0.0989235525392433, + 1.155795057992692 + ], + "object_minus_gripper": [ + 0.004043378626698624, + 0.004383490781898813, + 0.009908054726961213 + ], + "object_to_gripper_xy": 0.005963547782472705, + "object_to_gripper_z": 0.009908054726961213, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34934486391386393, + -0.11781357568973748, + 1.1657031127196533 + ], + "finger_b": [ + 0.3389099116375019, + -0.09454006175734449, + 1.1657031127196533 + ], + "finger_midpoint": [ + 0.3441273877756829, + -0.10617681872354098, + 1.1657031127196533 + ], + "object_minus_finger_midpoint": [ + 0.005217476138181021, + 0.011636756966196496, + 0.0 + ], + "finger_gap": 0.02550577738025728, + "fingertip_max_gap": 0.09202907817964986, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01275288869012864, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1657031127196533, + "object_top_z": 1.2154902017063571, + "finger_top_clearance": 0.04978708898670381, + "fingertip_min_top_clearance": 0.014936126696011142, + "object_projection_between_fingers": 0.8326199069858775, + "object_to_finger_line_xy": 0.009521686148478356, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048514539089824935, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.037826239215664, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3405688022038099, + -0.34234365909822845, + 0.8515396327428528 + ], + "target_position": [ + 0.3330312412016633, + -0.34402575364436694, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007722970149057339, + "xy_threshold": 0.08, + "gripper_dist": 0.18473466677465708, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396327428528, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532796517018703, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581863818824802, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1534754136781736, + "release_required_pad_clearance": 0.05290931909412401, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8577438655158042, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008337020874023438, + "max_z_decrease": 0.008337020874023438, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507355229109761, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008337020874023438, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021213445540958876, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008337020874023438, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008337030705532603, + "max_button_displacement": 0.12, + "button_start": [ + 0.18873116374015805, + -0.4002872109413147, + 0.7768088579177856 + ], + "button_final": [ + 0.18873116374015805, + -0.4002872109413147, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18667659776806497, + -0.39928643636113514, + 0.8077717367469268 + ], + "closest_button": [ + 0.1887421756982803, + -0.400296151638031, + 0.7727736234664917 + ], + "closest_ee_minus_button": [ + -0.0020655779302153343, + 0.0010097152768958617, + 0.03499811328043512 + ], + "button_min_z_position": [ + 0.1887240409851074, + -0.4002765715122223, + 0.7684718370437622 + ], + "min_active_finger_to_button": 0.14777437953591355, + "closest_active_finger": [ + 0.058848798274993896, + -0.4614313542842865, + 0.8078088164329529 + ], + "closest_active_finger_button": [ + 0.1887421756982803, + -0.400296151638031, + 0.7727736234664917 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1298933774232864, + -0.06113520264625549, + 0.03503519296646118 + ], + "min_contact_pad_to_button": 0.021213445540958876, + "closest_contact_pad": [ + 0.1887240409851074, + -0.4005502863209623, + 0.7896835166548327 + ], + "closest_contact_pad_button": [ + 0.1887240409851074, + -0.4002765715122223, + 0.7684718370437622 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00027371480873999987, + 0.02121167961107051 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "89fc65ed0d86335756bc679f6a5090a176b11c34d197c6b57746827c7e654dda", + "visual_seed": 6458918118626169997, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a9f331cc3d3b312668656fd7876276eddf44b07b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35069720525795517, + -0.09575555269297364, + 1.1644314748031726 + ], + "current_z": 1.1644314748031726, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.3033249071837617, + "gripper_z": 1.1545377185336303, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3463696674157003, + -0.10016684274796027, + 1.1545377185336303 + ], + "object_minus_gripper": [ + 0.004327537842254869, + 0.004411290054986625, + 0.009893756269542253 + ], + "object_to_gripper_xy": 0.006179568247488802, + "object_to_gripper_z": 0.009893756269542253, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35069720525795517, + -0.1194031443636236, + 1.1644314748031726 + ], + "finger_b": [ + 0.34046127748765476, + -0.09575555269297364, + 1.1644314748031726 + ], + "finger_midpoint": [ + 0.34557924137280494, + -0.10757934852829862, + 1.1644314748031726 + ], + "object_minus_finger_midpoint": [ + 0.005117963885150234, + 0.011823795835324974, + 0.0 + ], + "finger_gap": 0.025767863883927215, + "fingertip_max_gap": 0.09191950407576907, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012883931941963613, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644314748031726, + "object_top_z": 1.2141991235057954, + "finger_top_clearance": 0.049767648702622846, + "fingertip_min_top_clearance": 0.014930294610786854, + "object_projection_between_fingers": 0.8422034187083587, + "object_to_finger_line_xy": 0.00939367893949928, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04845975203788454, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.931376569512294, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.34016733195190896, + -0.34315369108303784, + 0.851539510567688 + ], + "target_position": [ + 0.33235696208725635, + -0.3449499809701163, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00801427069552146, + "xy_threshold": 0.08, + "gripper_dist": 0.18490893355572044, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539510567688, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543927967585667, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08739060903155692, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1533139155205938, + "release_required_pad_clearance": 0.05369530451577846, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.400156309601831, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00835883617401123, + "max_z_decrease": 0.00835883617401123, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035027930351971714, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00835883617401123, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021192011366319097, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00835883617401123, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008358874660526854, + "max_button_displacement": 0.12, + "button_start": [ + 0.18805688619613642, + -0.40121144056320185, + 0.7768088579177856 + ], + "button_final": [ + 0.18805688619613642, + -0.40121144056320185, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1887639598532976, + -0.3996560533940534, + 0.8034364945794913 + ], + "closest_button": [ + 0.1880363374948501, + -0.40119656920433044, + 0.7684500217437744 + ], + "closest_ee_minus_button": [ + 0.000727622358447505, + 0.0015405158102770322, + 0.034986472835716875 + ], + "button_min_z_position": [ + 0.1880363374948501, + -0.40119656920433044, + 0.7684500217437744 + ], + "min_active_finger_to_button": 0.14481440148398247, + "closest_active_finger": [ + 0.060956232249736786, + -0.4608961045742035, + 0.8081202507019043 + ], + "closest_active_finger_button": [ + 0.18807119131088249, + -0.4012178182601928, + 0.7727437019348145 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1271149590611457, + -0.059678286314010676, + 0.035376548767089844 + ], + "min_contact_pad_to_button": 0.021192011366319097, + "closest_contact_pad": [ + 0.1880363374948501, + -0.40119656920433044, + 0.7896420331100935 + ], + "closest_contact_pad_button": [ + 0.1880363374948501, + -0.40119656920433044, + 0.7684500217437744 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021192011366319097 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cdff6992d70a324051f94667ca316d0150f60318891bb4c20b1b6fdb3409a0b2", + "visual_seed": 6087601416444573566, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8ae88610e0a39cf609ce387a2ec5cbb23e64da46 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3510855690689965, + -0.09453184912517731, + 1.1638385213497777 + ], + "current_z": 1.1638385213497777, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.30273183452107744, + "gripper_z": 1.1539223204779454, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34695590462195736, + -0.09884302993288721, + 1.1539223204779454 + ], + "object_minus_gripper": [ + 0.004129664447039161, + 0.004311180807709897, + 0.009916200871832315 + ], + "object_to_gripper_xy": 0.005969958827488294, + "object_to_gripper_z": 0.009916200871832315, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3510855690689965, + -0.11806925936070628, + 1.1638385213497777 + ], + "finger_b": [ + 0.3410365418220371, + -0.09453184912517731, + 1.1638385213497777 + ], + "finger_midpoint": [ + 0.3460610554455168, + -0.1063005542429418, + 1.1638385213497777 + ], + "object_minus_finger_midpoint": [ + 0.0050245136234797205, + 0.011768705117764483, + 0.0 + ], + "finger_gap": 0.02559282378335218, + "fingertip_max_gap": 0.09274060733101122, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01279641189167609, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638385213497777, + "object_top_z": 1.2136634618655844, + "finger_top_clearance": 0.04982494051580666, + "fingertip_min_top_clearance": 0.014947482154741964, + "object_projection_between_fingers": 0.845825824433183, + "object_to_finger_line_xy": 0.009241968716775649, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887030366550561, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.688070273482693, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33763399466490057, + -0.34443363746041544, + 0.8515395040044189 + ], + "target_position": [ + 0.3308156903443109, + -0.34563637565545546, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006923572269715959, + "xy_threshold": 0.08, + "gripper_dist": 0.18313382072831208, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395040044189, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559297751913727, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08851560267585394, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1511237271788775, + "release_required_pad_clearance": 0.05425780133792697, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.534486598226464, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008074820041656494, + "max_z_decrease": 0.008074820041656494, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350498297372991, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008074820041656494, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021117836670313195, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008074820041656494, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008074822876259477, + "max_button_displacement": 0.12, + "button_start": [ + 0.18651561439037317, + -0.40189784765243536, + 0.7768088579177856 + ], + "button_final": [ + 0.18651561439037317, + -0.40189784765243536, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1858445257357104, + -0.4000656823474581, + 0.8037298658962126 + ], + "closest_button": [ + 0.18651571869850153, + -0.40189108252525335, + 0.7687340378761292 + ], + "closest_ee_minus_button": [ + -0.0006711929627911395, + 0.0018254001777952555, + 0.0349958280200835 + ], + "button_min_z_position": [ + 0.18651571869850153, + -0.40189108252525335, + 0.7687340378761292 + ], + "min_active_finger_to_button": 0.14568790048189034, + "closest_active_finger": [ + 0.059467703104019165, + -0.46418535709381104, + 0.8078674674034119 + ], + "closest_active_finger_button": [ + 0.18652579188346857, + -0.4019032120704651, + 0.7731955647468567 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1270580887794494, + -0.06228214502334595, + 0.034671902656555176 + ], + "min_contact_pad_to_button": 0.021117836670313195, + "closest_contact_pad": [ + 0.18651571869850153, + -0.40189108252525335, + 0.7898518745464423 + ], + "closest_contact_pad_button": [ + 0.18651571869850153, + -0.40189108252525335, + 0.7687340378761292 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021117836670313195 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e6e8d0625814d38f89be848e402ceecfab1311869d44c0ed1a8fd9184e166073", + "visual_seed": 3814574034513416247, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..71c994c866287668a0269556f208a35ce0f09c24 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3458811031698511, + -0.0951033565478439, + 1.1647662839023492 + ], + "current_z": 1.1647662839023492, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30365983549222786, + "gripper_z": 1.1551231129864457, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34164849232708816, + -0.09964688821251173, + 1.1551231129864457 + ], + "object_minus_gripper": [ + 0.0042326108427629405, + 0.004543531664667838, + 0.009643170915903498 + ], + "object_to_gripper_xy": 0.006209563151632625, + "object_to_gripper_z": 0.009643170915903498, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3458811031698511, + -0.11850506962756384, + 1.1647662839023492 + ], + "finger_b": [ + 0.33520471503999505, + -0.0951033565478439, + 1.1647662839023492 + ], + "finger_midpoint": [ + 0.3405429091049231, + -0.10680421308770387, + 1.1647662839023492 + ], + "object_minus_finger_midpoint": [ + 0.005338194064928026, + 0.011700856539859972, + 0.0 + ], + "finger_gap": 0.02572208075885127, + "fingertip_max_gap": 0.09244278441956919, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012861040379425636, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647662839023492, + "object_top_z": 1.214657256482135, + "finger_top_clearance": 0.04989097257978581, + "fingertip_min_top_clearance": 0.014967291773935743, + "object_projection_between_fingers": 0.8277193456367443, + "object_to_finger_line_xy": 0.009713279966926643, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048721392209784595, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2564801692386482, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33432377456921614, + -0.3415560468139205, + 0.8515395171655233 + ], + "target_position": [ + 0.32634075054288925, + -0.34343568550737935, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008201323931101621, + "xy_threshold": 0.08, + "gripper_dist": 0.18393680546533775, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395171655233, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558533388535199, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08681373207169756, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15215322075954185, + "release_required_pad_clearance": 0.05340686603584878, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.828575555923508, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008336961269378662, + "max_z_decrease": 0.008336961269378662, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035011934988559354, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008336961269378662, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021191845957741033, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008336961269378662, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00833698526039371, + "max_button_displacement": 0.12, + "button_start": [ + 0.18204067647457126, + -0.3996971547603607, + 0.7768088579177856 + ], + "button_final": [ + 0.18204067647457126, + -0.3996971547603607, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18234164281590573, + -0.40079211226500094, + 0.8034648903045167 + ], + "closest_button": [ + 0.18204818665981293, + -0.39967861771583557, + 0.768471896648407 + ], + "closest_ee_minus_button": [ + 0.00029345615609280284, + -0.0011134945491653725, + 0.03499299365610975 + ], + "button_min_z_position": [ + 0.18204818665981293, + -0.39967861771583557, + 0.768471896648407 + ], + "min_active_finger_to_button": 0.145455991787748, + "closest_active_finger": [ + 0.041491180658340454, + -0.38557136058807373, + 0.8074678778648376 + ], + "closest_active_finger_button": [ + 0.1820499449968338, + -0.3997041881084442, + 0.7728132605552673 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14055876433849335, + 0.014132827520370483, + 0.03465461730957031 + ], + "min_contact_pad_to_button": 0.021191845957741033, + "closest_contact_pad": [ + 0.18204818665981293, + -0.40189520891154734, + 0.7895475000458834 + ], + "closest_contact_pad_button": [ + 0.18204818665981293, + -0.39967861771583557, + 0.768471896648407 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00221659119571177, + 0.021075603397476383 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f82a535d3656fa832d6a3758535fb3f18cf20ce3898d8bd78ed248047f8dc16c", + "visual_seed": 4799312365445865990, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6589d9c1e3123c370f6faf33450d073c65d7be82 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35060043651690276, + -0.09667781752786585, + 1.164455866651732 + ], + "current_z": 1.164455866651732, + "required_z": 0.8611068060379896, + "initial_z": 0.7611068060379896, + "lift_margin": 0.30334906061374234, + "gripper_z": 1.1546208400676323, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3463289436930901, + -0.10103359175038738, + 1.1546208400676323 + ], + "object_minus_gripper": [ + 0.004271492823812673, + 0.004355774222521536, + 0.009835026584099626 + ], + "object_to_gripper_xy": 0.006100690126655036, + "object_to_gripper_z": 0.009835026584099626, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35060043651690276, + -0.12045156716827617, + 1.164455866651732 + ], + "finger_b": [ + 0.3406840497332049, + -0.09667781752786585, + 1.164455866651732 + ], + "finger_midpoint": [ + 0.3456422431250538, + -0.108564692348071, + 1.164455866651732 + ], + "object_minus_finger_midpoint": [ + 0.004958193391848942, + 0.01188687482020516, + 0.0 + ], + "finger_gap": 0.02575899646354275, + "fingertip_max_gap": 0.09271824498080791, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012879498231771374, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164455866651732, + "object_top_z": 1.2143284806293644, + "finger_top_clearance": 0.04987261397763243, + "fingertip_min_top_clearance": 0.014961784193289761, + "object_projection_between_fingers": 0.8517997156999703, + "object_to_finger_line_xy": 0.0091521304825197, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885912249040396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.508791718579145, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33995136883060767, + -0.34005544256788534, + 0.8515395398378501 + ], + "target_position": [ + 0.33285468905014204, + -0.3413721668838049, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007217799306617188, + "xy_threshold": 0.08, + "gripper_dist": 0.18573170857535132, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395398378501, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573928154775879, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08923835858855454, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15322991615633544, + "release_required_pad_clearance": 0.05461917929427727, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.2778108286240135, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008364617824554443, + "max_z_decrease": 0.008364617824554443, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506229186074335, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008364617824554443, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021082232481123953, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008364617824554443, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008364643400829232, + "max_button_displacement": 0.12, + "button_start": [ + 0.18855461478233337, + -0.3976336121559143, + 0.7768088579177856 + ], + "button_final": [ + 0.18855461478233337, + -0.3976336121559143, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18769114845326249, + -0.3955442892737228, + 0.8034345773786482 + ], + "closest_button": [ + 0.1885361224412918, + -0.39762434363365173, + 0.7684442400932312 + ], + "closest_ee_minus_button": [ + -0.0008449739880293239, + 0.002080054359928918, + 0.034990337285417006 + ], + "button_min_z_position": [ + 0.1885361224412918, + -0.39762434363365173, + 0.7684442400932312 + ], + "min_active_finger_to_button": 0.1457311003104703, + "closest_active_finger": [ + 0.06184222549200058, + -0.46072918176651, + 0.8108113408088684 + ], + "closest_active_finger_button": [ + 0.18855854868888855, + -0.3976362645626068, + 0.7761730551719666 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12671632319688797, + -0.0630929172039032, + 0.034638285636901855 + ], + "min_contact_pad_to_button": 0.021082232481123953, + "closest_contact_pad": [ + 0.1885361224412918, + -0.39762434363365173, + 0.7895264725743552 + ], + "closest_contact_pad_button": [ + 0.1885361224412918, + -0.39762434363365173, + 0.7684442400932312 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021082232481123953 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c7e1be067d64f3a3c3ae6fbc377f2fe498ec05163d47865547e73235424f0eac", + "visual_seed": 1916502387198819478, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c8158c8c4dc8d2b1fc927949683991ea976705bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34670867972649355, + -0.09463405429477223, + 1.166197424579324 + ], + "current_z": 1.166197424579324, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3050909165645581, + "gripper_z": 1.1564078757265617, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3423252801917036, + -0.09904770753581578, + 1.1564078757265617 + ], + "object_minus_gripper": [ + 0.004383399534789945, + 0.00441365324104355, + 0.009789548852762398 + ], + "object_to_gripper_xy": 0.006220492457496507, + "object_to_gripper_z": 0.009789548852762398, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34670867972649355, + -0.118454253955681, + 1.166197424579324 + ], + "finger_b": [ + 0.3366512567831075, + -0.09463405429477223, + 1.166197424579324 + ], + "finger_midpoint": [ + 0.3416799682548005, + -0.10654415412522661, + 1.166197424579324 + ], + "object_minus_finger_midpoint": [ + 0.005028711471693037, + 0.01191009983045438, + 0.0 + ], + "finger_gap": 0.02585640478000967, + "fingertip_max_gap": 0.09211610805340106, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01292820239000483, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166197424579324, + "object_top_z": 1.2160183896663979, + "finger_top_clearance": 0.04982096508707379, + "fingertip_min_top_clearance": 0.014946289526122135, + "object_projection_between_fingers": 0.8487006188412677, + "object_to_finger_line_xy": 0.009265395735561796, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048558054026700534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.029953499817836, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33209385560606164, + -0.33868483985726683, + 0.8515395702516815 + ], + "target_position": [ + 0.32511537577020877, + -0.33970577164839333, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007052764177366053, + "xy_threshold": 0.08, + "gripper_dist": 0.18414172816961247, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395702516815, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751675833689542, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08701054781245125, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15326447584413405, + "release_required_pad_clearance": 0.05350527390622563, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0228613125598276, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007967591285705566, + "max_z_decrease": 0.007967591285705566, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035088240778814755, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007967591285705566, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021135519908091278, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007967591285705566, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007967612750755098, + "max_button_displacement": 0.12, + "button_start": [ + 0.18081529438495625, + -0.3959672152996063, + 0.7768088579177856 + ], + "button_final": [ + 0.18081529438495625, + -0.3959672152996063, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17973391520826518, + -0.3960404108112185, + 0.8069977247165445 + ], + "closest_button": [ + 0.18080364167690266, + -0.395969033241272, + 0.7719258666038513 + ], + "closest_ee_minus_button": [ + -0.001069726468637483, + -7.1377569946518e-05, + 0.0350718581126932 + ], + "button_min_z_position": [ + 0.18079696595668782, + -0.3959696888923645, + 0.7688412666320801 + ], + "min_active_finger_to_button": 0.14708352027652305, + "closest_active_finger": [ + 0.053135864436626434, + -0.4603448510169983, + 0.8110471367835999 + ], + "closest_active_finger_button": [ + 0.18081781268119804, + -0.3959697484970093, + 0.7765982151031494 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1276819482445716, + -0.06437510251998901, + 0.03444892168045044 + ], + "min_contact_pad_to_button": 0.021135519908091278, + "closest_contact_pad": [ + 0.18079696595668782, + -0.39710349445584714, + 0.789946353382187 + ], + "closest_contact_pad_button": [ + 0.18079696595668782, + -0.3959696888923645, + 0.7688412666320801 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011338055634826372, + 0.021105086750106916 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8912248445b7c0e6309f2ffb01fbea86b6ba82fc4f7945c6d9f8c7c236a08517", + "visual_seed": 8130338719166770393, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f5118192d56f782ca8fd070b18c24b5e61223a46 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34977530679524815, + -0.0959108151224513, + 1.1672922567400104 + ], + "current_z": 1.1672922567400104, + "required_z": 0.8611068656426347, + "initial_z": 0.7611068656426347, + "lift_margin": 0.30618539109737564, + "gripper_z": 1.157451212316668, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3456150861816671, + -0.1001712412483777, + 1.157451212316668 + ], + "object_minus_gripper": [ + 0.004160220613581067, + 0.004260426125926406, + 0.009841044423342327 + ], + "object_to_gripper_xy": 0.005954717988968169, + "object_to_gripper_z": 0.009841044423342327, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34977530679524815, + -0.1195945586398345, + 1.1672922567400104 + ], + "finger_b": [ + 0.33996864934613036, + -0.0959108151224513, + 1.1672922567400104 + ], + "finger_midpoint": [ + 0.34487197807068926, + -0.1077526868811429, + 1.1672922567400104 + ], + "object_minus_finger_midpoint": [ + 0.0049033287245588975, + 0.0118418717586916, + 0.0 + ], + "finger_gap": 0.02563377142212063, + "fingertip_max_gap": 0.09356436497987716, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012816885711060315, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1672922567400104, + "object_top_z": 1.21720801691206, + "finger_top_clearance": 0.049915760172049684, + "fingertip_min_top_clearance": 0.014974728051614872, + "object_projection_between_fingers": 0.8536418213785161, + "object_to_finger_line_xy": 0.009060639418330527, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049282182489938584, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.458897881550742, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3326498407137706, + -0.3418745441819303, + 0.85153957510306 + ], + "target_position": [ + 0.3258647943985838, + -0.34288921729638633, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006860496704206599, + "xy_threshold": 0.08, + "gripper_dist": 0.18597569701731656, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.85153957510306, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553615560466487, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08978035589622728, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1539845328473618, + "release_required_pad_clearance": 0.05489017794811364, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.8434396012355565, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00817716121673584, + "max_z_decrease": 0.00817716121673584, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505459070131147, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00817716121673584, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021121991930771356, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00817716121673584, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008177167375586882, + "max_button_displacement": 0.12, + "button_start": [ + 0.18156471848487848, + -0.3991506695747375, + 0.7768088579177856 + ], + "button_final": [ + 0.18156471848487848, + -0.3991506695747375, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1825022122875261, + -0.39749718737662854, + 0.8036352596646692 + ], + "closest_button": [ + 0.18156915903091425, + -0.3991416692733764, + 0.7686316967010498 + ], + "closest_ee_minus_button": [ + 0.0009330532566118599, + 0.0016444818967478736, + 0.035003562963619395 + ], + "button_min_z_position": [ + 0.18156915903091425, + -0.3991416692733764, + 0.7686316967010498 + ], + "min_active_finger_to_button": 0.14435622744214666, + "closest_active_finger": [ + 0.05579855293035507, + -0.4609467089176178, + 0.8086785078048706 + ], + "closest_active_finger_button": [ + 0.18157309293746943, + -0.39915445446968073, + 0.7740201354026794 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12577454000711435, + -0.06179225444793707, + 0.03465837240219116 + ], + "min_contact_pad_to_button": 0.021121991930771356, + "closest_contact_pad": [ + 0.18156915903091425, + -0.3991416692733764, + 0.7897536886318212 + ], + "closest_contact_pad_button": [ + 0.18156915903091425, + -0.3991416692733764, + 0.7686316967010498 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021121991930771356 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0e52a28c919b846f33623fc79346aa4a6101496bdae0c5040da1d063436a4c0d", + "visual_seed": 3887370476715055537, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f3ca0becab23f598862727c1b17b824d1fcfaaf0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3447716237508169, + -0.09165676732041039, + 1.1674551315414006 + ], + "current_z": 1.1674551315414006, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3063484447127003, + "gripper_z": 1.157775221312186, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3407729027963007, + -0.09608610616271018, + 1.157775221312186 + ], + "object_minus_gripper": [ + 0.0039987209545161995, + 0.00442933884229979, + 0.009679910229214661 + ], + "object_to_gripper_xy": 0.005967311945255803, + "object_to_gripper_z": 0.009679910229214661, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3447716237508169, + -0.11492964497115256, + 1.1674551315414006 + ], + "finger_b": [ + 0.3343050597526912, + -0.09165676732041039, + 1.1674551315414006 + ], + "finger_midpoint": [ + 0.339538341751754, + -0.10329320614578147, + 1.1674551315414006 + ], + "object_minus_finger_midpoint": [ + 0.0052332819990628665, + 0.011636438825371076, + 0.0 + ], + "finger_gap": 0.02551814640747393, + "fingertip_max_gap": 0.09265816493685905, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012759073203736971, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1674551315414006, + "object_top_z": 1.2173672970068754, + "finger_top_clearance": 0.049912165465474834, + "fingertip_min_top_clearance": 0.014973649639642449, + "object_projection_between_fingers": 0.831767454215185, + "object_to_finger_line_xy": 0.00954564095144066, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04882908246842953, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.447300627375336, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33811787707997004, + -0.3397916298485728, + 0.8515395469983584 + ], + "target_position": [ + 0.33054961296389723, + -0.34156313720224657, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0077728283163051755, + "xy_threshold": 0.08, + "gripper_dist": 0.18656851175044295, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395469983584, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578893004802574, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867998373133571, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15410416899190837, + "release_required_pad_clearance": 0.05339991865667855, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8148263830913118, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008242130279541016, + "max_z_decrease": 0.008242130279541016, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035001942221352784, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008242130279541016, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0212326018621573, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008242130279541016, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008242213149591825, + "max_button_displacement": 0.12, + "button_start": [ + 0.18624953925609586, + -0.39782458543777466, + 0.7768088579177856 + ], + "button_final": [ + 0.18624953925609586, + -0.39782458543777466, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18588665802706186, + -0.3970733900488501, + 0.8037634229494264 + ], + "closest_button": [ + 0.18622615933418274, + -0.3978237509727478, + 0.7687711715698242 + ], + "closest_ee_minus_button": [ + -0.00033950130712087634, + 0.000750360923897686, + 0.03499225137960216 + ], + "button_min_z_position": [ + 0.18621300160884854, + -0.39781901240348816, + 0.7685667276382446 + ], + "min_active_finger_to_button": 0.1460002522337987, + "closest_active_finger": [ + 0.05841264873743057, + -0.4589841961860657, + 0.8080067038536072 + ], + "closest_active_finger_button": [ + 0.18626150488853455, + -0.3978309631347656, + 0.7729207277297974 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12784885615110397, + -0.06115323305130005, + 0.035085976123809814 + ], + "min_contact_pad_to_button": 0.0212326018621573, + "closest_contact_pad": [ + 0.18621300160884854, + -0.3983329767700476, + 0.7897931079812704 + ], + "closest_contact_pad_button": [ + 0.18621300160884854, + -0.39781901240348816, + 0.7685667276382446 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005139643665594273, + 0.02122638034302582 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b25288f62ac65d56cba24a72c462c2775a2ff28a26b29aba37ba6127f23ee0af", + "visual_seed": 7188026109048106315, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b6462d8b32c0ef97752d5d9c8c7dd352c891cc4d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3472678943462058, + -0.09348482736061528, + 1.1643072705553623 + ], + "current_z": 1.1643072705553623, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.30320052412201715, + "gripper_z": 1.1545006525682582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3430980337148758, + -0.09782266430234828, + 1.1545006525682582 + ], + "object_minus_gripper": [ + 0.0041698606313300135, + 0.004337836941732995, + 0.009806617987104138 + ], + "object_to_gripper_xy": 0.006017023102646308, + "object_to_gripper_z": 0.009806617987104138, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3472678943462058, + -0.11704948796265693, + 1.1643072705553623 + ], + "finger_b": [ + 0.33717710050757665, + -0.09348482736061528, + 1.1643072705553623 + ], + "finger_midpoint": [ + 0.34222249742689126, + -0.10526715766163611, + 1.1643072705553623 + ], + "object_minus_finger_midpoint": [ + 0.005045396919314549, + 0.011782330301020827, + 0.0 + ], + "finger_gap": 0.025634300255383023, + "fingertip_max_gap": 0.09272335385952471, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0128171501276915, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1643072705553623, + "object_top_z": 1.214150634991464, + "finger_top_clearance": 0.0498433644361016, + "fingertip_min_top_clearance": 0.014953009330830479, + "object_projection_between_fingers": 0.8450442369870277, + "object_to_finger_line_xy": 0.009276092175074515, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04886167692976236, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.649989691124572, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3399939100014427, + -0.34346069481344, + 0.8515396084959619 + ], + "target_position": [ + 0.33286444990925607, + -0.34481254719642784, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007256494061974531, + "xy_threshold": 0.08, + "gripper_dist": 0.18341664128016436, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396084959619, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539254927493601, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08808022023279354, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15192414003699503, + "release_required_pad_clearance": 0.05404011011639677, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0922198868284783, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008135557174682617, + "max_z_decrease": 0.008135557174682617, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500035497511202, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008135557174682617, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02123905895849375, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008135557174682617, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008135614619871629, + "max_button_displacement": 0.12, + "button_start": [ + 0.18856437504291534, + -0.4010739922523498, + 0.7768088579177856 + ], + "button_final": [ + 0.18856437504291534, + -0.4010739922523498, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1889857124233548, + -0.4011591475148294, + 0.8036706327267065 + ], + "closest_button": [ + 0.18853381276130676, + -0.4010731875896454, + 0.768673300743103 + ], + "closest_ee_minus_button": [ + 0.0004518996620480331, + -8.59599251840093e-05, + 0.03499733198360344 + ], + "button_min_z_position": [ + 0.18853381276130676, + -0.4010731875896454, + 0.768673300743103 + ], + "min_active_finger_to_button": 0.14551286869000027, + "closest_active_finger": [ + 0.04816708713769913, + -0.38572126626968384, + 0.808204710483551 + ], + "closest_active_finger_button": [ + 0.18857795000076294, + -0.4010785818099975, + 0.7732341885566711 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1404108628630638, + 0.015357315540313665, + 0.03497052192687988 + ], + "min_contact_pad_to_button": 0.02123905895849375, + "closest_contact_pad": [ + 0.18853381276130676, + -0.40228626341845364, + 0.7898776887907675 + ], + "closest_contact_pad_button": [ + 0.18853381276130676, + -0.4010731875896454, + 0.768673300743103 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012130758288082522, + 0.021204388047664446 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "60f26c01f23728305764c54be2e558682da7eee230c0beced1dc08074567b522", + "visual_seed": 5451003407875079916, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..07f214e763fb8b162d60aec03310c079848da5f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3418379688870718, + -0.09012497504625384, + 1.163722176345194 + ], + "current_z": 1.163722176345194, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3026157875397175, + "gripper_z": 1.154165479431431, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3374656430488014, + -0.09451548799893082, + 1.154165479431431 + ], + "object_minus_gripper": [ + 0.004372325838270408, + 0.004390512952676978, + 0.009556696913762819 + ], + "object_to_gripper_xy": 0.006196276077099159, + "object_to_gripper_z": 0.009556696913762819, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3418379688870718, + -0.11385539464982909, + 1.163722176345194 + ], + "finger_b": [ + 0.33171409980609134, + -0.09012497504625384, + 1.163722176345194 + ], + "finger_midpoint": [ + 0.33677603434658154, + -0.10199018484804147, + 1.163722176345194 + ], + "object_minus_finger_midpoint": [ + 0.005061934540490254, + 0.011865209801787624, + 0.0 + ], + "finger_gap": 0.025799719760698572, + "fingertip_max_gap": 0.09280089557527019, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012899859880349297, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163722176345194, + "object_top_z": 1.2135264101998535, + "finger_top_clearance": 0.049804233854659596, + "fingertip_min_top_clearance": 0.014941270156397912, + "object_projection_between_fingers": 0.8460204438514827, + "object_to_finger_line_xy": 0.009311870963393108, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048900447787635096, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.708831490248667, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3306800095419588, + -0.3430840262171513, + 0.8515396130108841 + ], + "target_position": [ + 0.32330032777149176, + -0.3443078409890814, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007480469612889158, + "xy_threshold": 0.08, + "gripper_dist": 0.1834907837168681, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396130108841, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528246945584977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08793770168354369, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15235388699194818, + "release_required_pad_clearance": 0.053968850841771845, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9483802548153757, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008038699626922607, + "max_z_decrease": 0.008038699626922607, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503348153177731, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008038699626922607, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021208461903358455, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008038699626922607, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008038720064547375, + "max_button_displacement": 0.12, + "button_start": [ + 0.17900025844573975, + -0.40056928992271423, + 0.7768088579177856 + ], + "button_final": [ + 0.17900025844573975, + -0.40056928992271423, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17935677036747003, + -0.39906898395329704, + 0.8037694731529347 + ], + "closest_button": [ + 0.17898213863372806, + -0.4005697965621948, + 0.768770158290863 + ], + "closest_ee_minus_button": [ + 0.00037463173374197023, + 0.0015008126088977836, + 0.03499931486207164 + ], + "button_min_z_position": [ + 0.17898213863372806, + -0.4005697965621948, + 0.768770158290863 + ], + "min_active_finger_to_button": 0.14499092904496702, + "closest_active_finger": [ + 0.05157731473445892, + -0.4603021740913391, + 0.8079332113265991 + ], + "closest_active_finger_button": [ + 0.17901284992694855, + -0.4005739390850067, + 0.7730750441551208 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12743553519248962, + -0.0597282350063324, + 0.03485816717147827 + ], + "min_contact_pad_to_button": 0.021208461903358455, + "closest_contact_pad": [ + 0.17898213863372806, + -0.4005697965621948, + 0.7899786201942215 + ], + "closest_contact_pad_button": [ + 0.17898213863372806, + -0.4005697965621948, + 0.768770158290863 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021208461903358455 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "50ba0ef918c2024b4910a119e4ecc74da4804f3b0f6a564bc238d761858a042d", + "visual_seed": 288727078488096465, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c00d4eaabb658b72cf9d0ea5cb2b38633f17b864 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34880731632653017, + -0.08779124282247379, + 1.1639247148141805 + ], + "current_z": 1.1639247148141805, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3028182067994145, + "gripper_z": 1.1541196608273792, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.344511765228831, + -0.09232091273617908, + 1.1541196608273792 + ], + "object_minus_gripper": [ + 0.004295551097699191, + 0.004529669913705292, + 0.009805053986801315 + ], + "object_to_gripper_xy": 0.006242569083323919, + "object_to_gripper_z": 0.009805053986801315, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34880731632653017, + -0.11139894423798441, + 1.1639247148141805 + ], + "finger_b": [ + 0.33837316235560266, + -0.08779124282247379, + 1.1639247148141805 + ], + "finger_midpoint": [ + 0.3435902393410664, + -0.0995950935302291, + 1.1639247148141805 + ], + "object_minus_finger_midpoint": [ + 0.005217076985463753, + 0.011803850707755317, + 0.0 + ], + "finger_gap": 0.02581075619219484, + "fingertip_max_gap": 0.0920707305703791, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012905378096097429, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1639247148141805, + "object_top_z": 1.2138266261240558, + "finger_top_clearance": 0.04990191130987531, + "fingertip_min_top_clearance": 0.014970573392962627, + "object_projection_between_fingers": 0.8365770577801871, + "object_to_finger_line_xy": 0.009543555780965855, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853536528518955, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.848124836862639, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 352, + "max_stable_success_frames": 352, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33169449369780746, + -0.3384400466253712, + 0.8515395722606638 + ], + "target_position": [ + 0.32385420477518373, + -0.339946055992177, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007983620394477878, + "xy_threshold": 0.08, + "gripper_dist": 0.18485390613711702, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395722606638, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548646130658686, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08719335668101917, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15315511454486755, + "release_required_pad_clearance": 0.05359667834050959, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.203967873347846, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007963836193084717, + "max_z_decrease": 0.007963836193084717, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506064305521684, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007963836193084717, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021180017502288408, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007963836193084717, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007963859703175272, + "max_button_displacement": 0.12, + "button_start": [ + 0.179554134607315, + -0.39620751142501837, + 0.7768088579177856 + ], + "button_final": [ + 0.179554134607315, + -0.39620751142501837, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18044788212117585, + -0.39554516677992363, + 0.8075684395955383 + ], + "closest_button": [ + 0.17954289913177485, + -0.3962101638317108, + 0.7725257873535156 + ], + "closest_ee_minus_button": [ + 0.0009049829894010042, + 0.0006649970517871862, + 0.03504265224202263 + ], + "button_min_z_position": [ + 0.17953510582447046, + -0.39621102809906006, + 0.7688450217247009 + ], + "min_active_finger_to_button": 0.14517795512016887, + "closest_active_finger": [ + 0.05308091640472412, + -0.4584912061691284, + 0.8106147646903992 + ], + "closest_active_finger_button": [ + 0.17955915629863733, + -0.3962103128433228, + 0.7759595513343811 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1264782398939132, + -0.06228089332580561, + 0.034655213356018066 + ], + "min_contact_pad_to_button": 0.021180017502288408, + "closest_contact_pad": [ + 0.17953510582447046, + -0.3967659731220831, + 0.7900177678247859 + ], + "closest_contact_pad_button": [ + 0.17953510582447046, + -0.39621102809906006, + 0.7688450217247009 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005549450230230568, + 0.021172746100085016 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7a1d456bf6d893b268bdd062728562535ea3a0320925d196fd4fe235c2731a2e", + "visual_seed": 2810855206846421484, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..509622bbb95d54a52f2bc322690695310d3e8cf7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34351375954688085, + -0.0946631530497931, + 1.1651933839780706 + ], + "current_z": 1.1651933839780706, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.30408699517259397, + "gripper_z": 1.1554440640018941, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.339449806643088, + -0.09898563569330932, + 1.1554440640018941 + ], + "object_minus_gripper": [ + 0.004063952903792856, + 0.004322482643516215, + 0.009749319976176452 + ], + "object_to_gripper_xy": 0.005932922501410693, + "object_to_gripper_z": 0.009749319976176452, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34351375954688085, + -0.11811038720391856, + 1.1651933839780706 + ], + "finger_b": [ + 0.3333780844878143, + -0.0946631530497931, + 1.1651933839780706 + ], + "finger_midpoint": [ + 0.3384459220173476, + -0.10638677012685582, + 1.1651933839780706 + ], + "object_minus_finger_midpoint": [ + 0.00506783752953327, + 0.011723617077062723, + 0.0 + ], + "finger_gap": 0.025544171514875386, + "fingertip_max_gap": 0.0926559809720516, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012772085757437686, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651933839780706, + "object_top_z": 1.2150741537929237, + "finger_top_clearance": 0.04988076981485312, + "fingertip_min_top_clearance": 0.014964230944455936, + "object_projection_between_fingers": 0.8425575951287027, + "object_to_finger_line_xy": 0.009303631017418863, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048827990486025805, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.520463598315785, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3373142276049712, + -0.33815862073700664, + 0.8515396013810282 + ], + "target_position": [ + 0.3294729753855124, + -0.3398446809291585, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00802047600462259, + "xy_threshold": 0.08, + "gripper_dist": 0.18262081125111057, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396013810282, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753423373802806, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561092415350229, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1513204877354792, + "release_required_pad_clearance": 0.052805462076751145, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6572987577430792, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008169829845428467, + "max_z_decrease": 0.008169829845428467, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035016037980122074, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008169829845428467, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02123248486496118, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008169829845428467, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008169858826592928, + "max_button_displacement": 0.12, + "button_start": [ + 0.1851729005575179, + -0.3961061537265777, + 0.7768088579177856 + ], + "button_final": [ + 0.1851729005575179, + -0.3961061537265777, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18604128703641082, + -0.39524931109474887, + 0.803633443296947 + ], + "closest_button": [ + 0.18515211343765248, + -0.39609971642494196, + 0.7686390280723572 + ], + "closest_ee_minus_button": [ + 0.0008891735987583416, + 0.0008504053301930936, + 0.03499441522458979 + ], + "button_min_z_position": [ + 0.18515211343765248, + -0.39609971642494196, + 0.7686390280723572 + ], + "min_active_finger_to_button": 0.14486035883438664, + "closest_active_finger": [ + 0.0585789680480957, + -0.4571271538734436, + 0.808087944984436 + ], + "closest_active_finger_button": [ + 0.18518340587615956, + -0.396113246679306, + 0.7729718089103699 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12660443782806385, + -0.06101390719413763, + 0.03511613607406616 + ], + "min_contact_pad_to_button": 0.02123248486496118, + "closest_contact_pad": [ + 0.18515211343765248, + -0.3965484339822072, + 0.7898667709126737 + ], + "closest_contact_pad_button": [ + 0.18515211343765248, + -0.39609971642494196, + 0.7686390280723572 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00044871755726522133, + 0.021227742840316477 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ffa3d3d6b483d8b66ca502abb210efd76701f244ee25ba23bca055eb0462f7d0", + "visual_seed": 9212100944309500456, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ab06453c989d10e6aa68436e81e26f397f56095 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35107136026716657, + -0.09857587652674638, + 1.1669880654034668 + ], + "current_z": 1.1669880654034668, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30588167659799026, + "gripper_z": 1.157169645801664, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34672120914231286, + -0.1029634792300361, + 1.157169645801664 + ], + "object_minus_gripper": [ + 0.004350151124853707, + 0.0043876027032897225, + 0.009818419601802741 + ], + "object_to_gripper_xy": 0.006178581737824729, + "object_to_gripper_z": 0.009818419601802741, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35107136026716657, + -0.12243852962708768, + 1.1669880654034668 + ], + "finger_b": [ + 0.34113556648349797, + -0.09857587652674638, + 1.1669880654034668 + ], + "finger_midpoint": [ + 0.34610346337533227, + -0.11050720307691703, + 1.1669880654034668 + ], + "object_minus_finger_midpoint": [ + 0.0049678968918343, + 0.011931326550170651, + 0.0 + ], + "finger_gap": 0.02584852435050821, + "fingertip_max_gap": 0.09300939534703848, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012924262175254105, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1669880654034668, + "object_top_z": 1.2168404641170043, + "finger_top_clearance": 0.04985239871353753, + "fingertip_min_top_clearance": 0.014955719614061258, + "object_projection_between_fingers": 0.8522479115024312, + "object_to_finger_line_xy": 0.009172453990842598, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900469767351924, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0008130059446816, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3398462707151701, + -0.34004654199682877, + 0.8515395606556853 + ], + "target_position": [ + 0.33300940047134175, + -0.3411879888597522, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006931500246831358, + "xy_threshold": 0.08, + "gripper_dist": 0.1817758126166919, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395606556853, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536947772299046, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0891946065564747, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15036544505978752, + "release_required_pad_clearance": 0.05459730327823735, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.232552116717709, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008115172386169434, + "max_z_decrease": 0.008115172386169434, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035046254522749884, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008115172386169434, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021228262493781683, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008115172386169434, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008115180542033817, + "max_button_displacement": 0.12, + "button_start": [ + 0.18870933353900912, + -0.39744943380355835, + 0.7768088579177856 + ], + "button_final": [ + 0.18870933353900912, + -0.39744943380355835, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1900630419532792, + -0.3986442545092451, + 0.8036929953324436 + ], + "closest_button": [ + 0.1887091398239136, + -0.3974379301071167, + 0.7686936855316162 + ], + "closest_ee_minus_button": [ + 0.0013539021293655917, + -0.0012063244021284225, + 0.03499930980082744 + ], + "button_min_z_position": [ + 0.1887091398239136, + -0.3974379301071167, + 0.7686936855316162 + ], + "min_active_finger_to_button": 0.14446370962883195, + "closest_active_finger": [ + 0.049038365483284, + -0.38515958189964294, + 0.8079807162284851 + ], + "closest_active_finger_button": [ + 0.18871900439262396, + -0.3974548280239105, + 0.773225724697113 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13968063890933996, + 0.012295246124267578, + 0.03475499153137207 + ], + "min_contact_pad_to_button": 0.021228262493781683, + "closest_contact_pad": [ + 0.1887091398239136, + -0.3995961044635518, + 0.7898119575241852 + ], + "closest_contact_pad_button": [ + 0.1887091398239136, + -0.3974379301071167, + 0.7686936855316162 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021581743564351163, + 0.021118271992568993 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e6701db7c7d55953adb76bf66da7cafa543e7d2c86100759e161022672ead964", + "visual_seed": 1613556808971869505, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..68ddf699101ff00d23b6b148bd6ef2ba70aa81e3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3421798257219848, + -0.09855627779061552, + 1.163908235865383 + ], + "current_z": 1.163908235865383, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30280178745526165, + "gripper_z": 1.154309592366294, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3378959798243618, + -0.1029608042332694, + 1.154309592366294 + ], + "object_minus_gripper": [ + 0.004283845897622984, + 0.004404526442653892, + 0.0095986434990889 + ], + "object_to_gripper_xy": 0.006144199610902841, + "object_to_gripper_z": 0.0095986434990889, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3421798257219848, + -0.12232459852105194, + 1.163908235865383 + ], + "finger_b": [ + 0.3321627470774189, + -0.09855627779061552, + 1.163908235865383 + ], + "finger_midpoint": [ + 0.33717128639970184, + -0.11044043815583374, + 1.163908235865383 + ], + "object_minus_finger_midpoint": [ + 0.005008539322282957, + 0.011884160365218222, + 0.0 + ], + "finger_gap": 0.025792924124967153, + "fingertip_max_gap": 0.09267120332164072, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012896462062483583, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163908235865383, + "object_top_z": 1.2138193201087573, + "finger_top_clearance": 0.049911084243374315, + "fingertip_min_top_clearance": 0.014973325273012261, + "object_projection_between_fingers": 0.8491723356689503, + "object_to_finger_line_xy": 0.009230792788460212, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883560166082036, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.446162535920274, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3322003968272428, + -0.3379008242904753, + 0.8515395863402861 + ], + "target_position": [ + 0.3251169720062657, + -0.33895109119379163, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007160863618491537, + "xy_threshold": 0.08, + "gripper_dist": 0.18566345917678484, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395863402861, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550577605717176, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0886144087834305, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15369565777629135, + "release_required_pad_clearance": 0.054307204391715255, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.6353695419953036, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008062899112701416, + "max_z_decrease": 0.008062899112701416, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507404771905743, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008062899112701416, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02115784927098487, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008062899112701416, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00806290291183679, + "max_button_displacement": 0.12, + "button_start": [ + 0.18081690371036524, + -0.39521256089210505, + 0.7768088579177856 + ], + "button_final": [ + 0.18081690371036524, + -0.39521256089210505, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1821173236861455, + -0.39553488872810433, + 0.8037941341936854 + ], + "closest_button": [ + 0.18081071972846982, + -0.39520776271820063, + 0.7687459588050842 + ], + "closest_ee_minus_button": [ + 0.0013066039576756783, + -0.0003271260099036999, + 0.035048175388601166 + ], + "button_min_z_position": [ + 0.18081071972846982, + -0.39520776271820063, + 0.7687459588050842 + ], + "min_active_finger_to_button": 0.14455172887256093, + "closest_active_finger": [ + 0.041205957531929016, + -0.3809317946434021, + 0.8076818585395813 + ], + "closest_active_finger_button": [ + 0.1808249801397323, + -0.3952197134494781, + 0.7730756998062134 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1396190226078033, + 0.014287918806075994, + 0.03460615873336792 + ], + "min_contact_pad_to_button": 0.02115784927098487, + "closest_contact_pad": [ + 0.18081071972846982, + -0.39658334640525256, + 0.7898590437358477 + ], + "closest_contact_pad_button": [ + 0.18081071972846982, + -0.39520776271820063, + 0.7687459588050842 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001375583687051929, + 0.02111308493076347 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2a615daeda62d2972c232960c9d96451bf8601abd582d1869d6dace54f269b97", + "visual_seed": 952854013954344277, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..96fcdeb9caf6cea61dff10dd91566f9824957cfb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3439224385408074, + -0.09628490786132135, + 1.1647186584390736 + ], + "current_z": 1.1647186584390736, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30361215042430767, + "gripper_z": 1.1549527338076704, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3397995817979688, + -0.10062320645058805, + 1.1549527338076704 + ], + "object_minus_gripper": [ + 0.0041228567428385765, + 0.004338298589266695, + 0.009765924631403244 + ], + "object_to_gripper_xy": 0.005984879478452588, + "object_to_gripper_z": 0.009765924631403244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3439224385408074, + -0.11974334882837566, + 1.1647186584390736 + ], + "finger_b": [ + 0.333730830799378, + -0.09628490786132135, + 1.1647186584390736 + ], + "finger_midpoint": [ + 0.33882663467009266, + -0.1080141283448485, + 1.1647186584390736 + ], + "object_minus_finger_midpoint": [ + 0.005095803870714732, + 0.011729220483527147, + 0.0 + ], + "finger_gap": 0.02557669487951748, + "fingertip_max_gap": 0.0925846476272145, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012788347439758745, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647186584390736, + "object_top_z": 1.214574078137964, + "finger_top_clearance": 0.04985541969889029, + "fingertip_min_top_clearance": 0.014956625909667053, + "object_projection_between_fingers": 0.8412197231088447, + "object_to_finger_line_xy": 0.009347541959112032, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879232381360725, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.427308894181187, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 354, + "max_stable_success_frames": 354, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3387144791578874, + -0.3445515168004344, + 0.8515396687615068 + ], + "target_position": [ + 0.33115828790043694, + -0.34636214684978656, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007770097006781028, + "xy_threshold": 0.08, + "gripper_dist": 0.18482567172140774, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396687615068, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579011063012543, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08891482924553377, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15244760529736712, + "release_required_pad_clearance": 0.05445741462276689, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9435848299680316, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008144021034240723, + "max_z_decrease": 0.008144021034240723, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499691659461009, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008144021034240723, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021140035481543133, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008144021034240723, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008144026309488807, + "max_button_displacement": 0.12, + "button_start": [ + 0.18685820698738095, + -0.40262359380722046, + 0.7768088579177856 + ], + "button_final": [ + 0.18685820698738095, + -0.40262359380722046, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1869293441701424, + -0.4024242788694925, + 0.8036611648893919 + ], + "closest_button": [ + 0.18685807287693018, + -0.40261432528495783, + 0.7686648368835449 + ], + "closest_ee_minus_button": [ + 7.127129321221615e-05, + 0.00019004641546532808, + 0.034996328005846955 + ], + "button_min_z_position": [ + 0.18685807287693018, + -0.40261432528495783, + 0.7686648368835449 + ], + "min_active_finger_to_button": 0.14575642643966483, + "closest_active_finger": [ + 0.060596540570259094, + -0.4666386842727661, + 0.807880699634552 + ], + "closest_active_finger_button": [ + 0.18686875700950617, + -0.4026286602020263, + 0.7731966972351074 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12627221643924708, + -0.0640100240707398, + 0.03468400239944458 + ], + "min_contact_pad_to_button": 0.021140035481543133, + "closest_contact_pad": [ + 0.18685807287693018, + -0.4034874248045625, + 0.7897868348333074 + ], + "closest_contact_pad_button": [ + 0.18685807287693018, + -0.40261432528495783, + 0.7686648368835449 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008730995196046809, + 0.02112199794976244 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a5ab9b3cd1a0a9ed4bf1df10bc4cbe2d08200d41c78ad7cba7598b5677e148b0", + "visual_seed": 1893128138414042588, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..39292eab4454a5d9efd6a03e62e5e1ad96a48360 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3423310581584264, + -0.0907408705053513, + 1.163587078818633 + ], + "current_z": 1.163587078818633, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3024806900131567, + "gripper_z": 1.1539850054546932, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33797597320495143, + -0.09518946385390133, + 1.1539850054546932 + ], + "object_minus_gripper": [ + 0.004355084953474975, + 0.004448593348550023, + 0.009602073363939923 + ], + "object_to_gripper_xy": 0.006225491766338433, + "object_to_gripper_z": 0.009602073363939923, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3423310581584264, + -0.11462616003589773, + 1.163587078818633 + ], + "finger_b": [ + 0.33234136023582306, + -0.0907408705053513, + 1.163587078818633 + ], + "finger_midpoint": [ + 0.3373362091971247, + -0.10268351527062453, + 1.163587078818633 + ], + "object_minus_finger_midpoint": [ + 0.004994848961301701, + 0.011942644765273222, + 0.0 + ], + "finger_gap": 0.025890174208430823, + "fingertip_max_gap": 0.09329986340439259, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012945087104215427, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163587078818633, + "object_top_z": 1.2135050223405401, + "finger_top_clearance": 0.04991794352190704, + "fingertip_min_top_clearance": 0.014975383056572077, + "object_projection_between_fingers": 0.8511205463836321, + "object_to_finger_line_xy": 0.009216115167211962, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049149931702196295, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0510567627188854, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3360215828811281, + -0.34049817771027635, + 0.8515396016305844 + ], + "target_position": [ + 0.32958071222119184, + -0.3411883481374632, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006477742668290475, + "xy_threshold": 0.08, + "gripper_dist": 0.18284512746562662, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396016305844, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526542315467927, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08858976200568201, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15162867051503923, + "release_required_pad_clearance": 0.05429488100284101, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.6100877543262477, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008127331733703613, + "max_z_decrease": 0.008127331733703613, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350405731684557, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008127331733703613, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021216527195325185, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008127331733703613, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008127349466911937, + "max_button_displacement": 0.12, + "button_start": [ + 0.1852806359529495, + -0.39744982123374945, + 0.7768088579177856 + ], + "button_final": [ + 0.1852806359529495, + -0.39744982123374945, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18582424078415238, + -0.39576801965407526, + 0.8096526466792752 + ], + "closest_button": [ + 0.1852818131446838, + -0.39745092391967773, + 0.7746567130088806 + ], + "closest_ee_minus_button": [ + 0.0005424276394685734, + 0.0016829042656024695, + 0.03499593367039455 + ], + "button_min_z_position": [ + 0.1852638572454452, + -0.39744722843170166, + 0.768681526184082 + ], + "min_active_finger_to_button": 0.14480942617161555, + "closest_active_finger": [ + 0.058026716113090515, + -0.45687270164489746, + 0.8082537651062012 + ], + "closest_active_finger_button": [ + 0.1852939426898956, + -0.3974572420120239, + 0.7730028629302979 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1272672265768051, + -0.059415459632873535, + 0.03525090217590332 + ], + "min_contact_pad_to_button": 0.021216527195325185, + "closest_contact_pad": [ + 0.1852638572454452, + -0.39744722843170166, + 0.7898980533794072 + ], + "closest_contact_pad_button": [ + 0.1852638572454452, + -0.39744722843170166, + 0.768681526184082 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021216527195325185 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f5ae53af0f70ede08a94bfc200371cb7b4c1d75174d5beecef4ff481f55a2c5d", + "visual_seed": 7909690226213837393, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4233d2a675b60422a56de3ddd08f2e522aa6e3d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3455472424134891, + -0.09387686462679634, + 1.1670537271097299 + ], + "current_z": 1.1670537271097299, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3059472786996086, + "gripper_z": 1.157286822615739, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3413443620958309, + -0.09824125471979515, + 1.157286822615739 + ], + "object_minus_gripper": [ + 0.0042028803176581975, + 0.004364390092998813, + 0.00976690449399098 + ], + "object_to_gripper_xy": 0.006059051398397678, + "object_to_gripper_z": 0.00976690449399098, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3455472424134891, + -0.11740655421862406, + 1.1670537271097299 + ], + "finger_b": [ + 0.33534286791239754, + -0.09387686462679634, + 1.1670537271097299 + ], + "finger_midpoint": [ + 0.3404450551629433, + -0.1056417094227102, + 1.1670537271097299 + ], + "object_minus_finger_midpoint": [ + 0.005102187250545787, + 0.011764844795913859, + 0.0 + ], + "finger_gap": 0.02564713534191087, + "fingertip_max_gap": 0.09270228952370527, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012823567670955435, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1670537271097299, + "object_top_z": 1.2168910152663608, + "finger_top_clearance": 0.04983728815663091, + "fingertip_min_top_clearance": 0.014951186446989272, + "object_projection_between_fingers": 0.8416948474882758, + "object_to_finger_line_xy": 0.009361894078559379, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048851144761852636, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6211019362618004, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.334097686467194, + -0.3454944477349236, + 0.8515395816688772 + ], + "target_position": [ + 0.32678274304093596, + -0.34680843321334237, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007432022279760147, + "xy_threshold": 0.08, + "gripper_dist": 0.18383498401958934, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395816688772, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515169315164477, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08740240789072128, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15305517856750958, + "release_required_pad_clearance": 0.05370120394536064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.411868063558339, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008219540119171143, + "max_z_decrease": 0.008219540119171143, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506435715489743, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008219540119171143, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021229168048886304, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008219540119171143, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008219604733635852, + "max_button_displacement": 0.12, + "button_start": [ + 0.18248267471790314, + -0.4030698835849762, + 0.7768088579177856 + ], + "button_final": [ + 0.18248267471790314, + -0.4030698835849762, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18161363770107664, + -0.4010422973811596, + 0.8072115391928324 + ], + "closest_button": [ + 0.1824705898761749, + -0.4030715227127075, + 0.7722164392471313 + ], + "closest_ee_minus_button": [ + -0.0008569521750982634, + 0.0020292253315479236, + 0.03499509994570105 + ], + "button_min_z_position": [ + 0.18245008587837216, + -0.40307030081748957, + 0.7685893177986145 + ], + "min_active_finger_to_button": 0.14624700612471264, + "closest_active_finger": [ + 0.05329480767250061, + -0.46199652552604675, + 0.8079234957695007 + ], + "closest_active_finger_button": [ + 0.18249338865280146, + -0.40307712554931635, + 0.7729318141937256 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12919858098030085, + -0.0589193999767304, + 0.034991681575775146 + ], + "min_contact_pad_to_button": 0.021229168048886304, + "closest_contact_pad": [ + 0.18245008587837216, + -0.40307030081748957, + 0.7898184858475008 + ], + "closest_contact_pad_button": [ + 0.18245008587837216, + -0.40307030081748957, + 0.7685893177986145 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021229168048886304 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 575825182625704749, + "physical_seed": 3364008238377877894, + "layout_id": "layout_00002", + "step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "workflow_spec_digest": "28e0c102b7e2088cc4bc81b9a6449561b970ff611f665a3b8cbfef793f126c0b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69b620ee022c953ba6cd6d21389035876e457b1dbad3205de4a96346c2458044", + "visual_seed": 7888167205074543421, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5345309411159085880, + 5445981180960300046, + 9151210094967360062 + ], + "runtime_workflow_digest": "9dafc0802c8145b73a1e01ce6d39b9f408ac7e1a637f0dbb43bd0f079185e1cc" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..16f11794a827c754349d742293c3d716329442f1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00002/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_hta_00002", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fc8f2fca9987a8e2439daf45c44f6652791c510b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1cbe78a8449c36aab1f356a8682f655dd226d7126e10c58e15c3ba02130257d +size 5249984 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e08ed998ad1e06e892064703bdf16400be61c4da --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e62cb4ab3a2a939456e93f380968fb22216a2ed52ea97b1c60a3f7c496bb1126 +size 5106370 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fd3f77bfbbb31a80a0f2714199962dd5b721fb84 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76b165726456e948bd7827afb54bc43c230770217530ef1e688fe85e5adf80f3 +size 4184598 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e7897a982b9266f046140a1ad63f8802d8e12242 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1296e514b43713847f225b82160f661990907ab30ddabbdd5ef079ae5abe68b0 +size 4228409 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6f589cec4099a6f14d1612e5e58a72402bf89be4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5da3fa17968ca61e144620d0317ab2439abef494635200c85f8e4ab22d59e2ab +size 4468533 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e655a2b28cb722533be1f8ec8fffd5d00a94a8e7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6ec4573766bfeb236cbb86f5e48cd83f166389a09e89b96ff030c3f56a9010d +size 6296283 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..93096b5ca98718d657f607ca94e8dadc2e2389ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:788014ddfb1aacea56b335e48bfe40b4066bb6552915a22de8ab150e1dfe0ed0 +size 5569737 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cd7f27629f5cb33943354416b643b7e61bfe7ef0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:facdc5f4da6256edb466ae005820e72eb55cdc13055cc8227a636ba8f88359e5 +size 4352186 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1495d88006edd09cbe97091bcaf42ea8af181701 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99aec60f22ae842cace991e4dea48e4158eda3da137f99db535af7f93f6a96db +size 5387753 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8696d92ad2dbf6a2a7dbb8d0370577aa16c87ffd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:612521f4ed34bda524626b4b0e0166ff1508fb2e5bb6691e1bd3e304d096723c +size 4373215 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..41c205b1dc8374a24fcdeefe6dccc953972a7076 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b90049804aca5c51ae82bc93af443ccf64e9e34c77cd7771bf22fa048b61251 +size 4858774 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9278b507fb0f1b496dd73dc318676a0050f8ad01 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:073fddfc2176028e30b715864b788902bfe6ae5f5354ff6c85ab4a3674676d65 +size 5184419 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e9b3863c18f7b49072371b1a5f5375c46b1b52a9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9dbf9d33db6913f6c872e5e4314e7326f7419b844a5eef531561649079a9476a +size 6285949 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3be656f7e1fbcf3a0426fbd5064461a2e3d8b330 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f38dc2fa072ebd7bf871d56c1f054d89f9a7651a9f2642d3663d267d617d2c34 +size 3833111 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1039ec8ff12a4041520d7f475557bf1c1077b3dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ef7098b64b6a6cf22d74c0f981e8a81c04ebda6db6f34825ddc6f7844c74f52 +size 4585677 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6e8494afbdef896643d61d0b85a294aa0b912f24 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5564b3a133d46f647066ab820d0fa2c9aa79a1443f98261086f37043e0880007 +size 4179624 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15a3aa6975a82c8dd74f8755dbff8784374c1e36 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c0ceeee6d99231133f690d049aa3f91f2074a553ace798e8c0a9970563534b8 +size 4160213 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..64dc73c731e0e05e6aed1e3da05ae57be76e05b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78be6604a2f77b9e687019eb31bda52a9e34a975a603a7f2258a6cbf36e14cda +size 5551099 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fe4cb0f9b9798c67da3570b7ea8f7c8f0613d99a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13690f21e9e97c36cc24472582ac190ea2eac05ef1fae9f72ac29624ed6bee47 +size 4194119 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6df8c6aed21f9b91753abed6c6d1ce1deeb46e9a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89f4f4c7511ea0ac3334eb6d0ea598335d87b0c1ae9f67cc2fe9fe091a335af6 +size 5009040 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..054307aab90f212388663d65dfea952e3150f745 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1a4f6d6361661356c9428a85adb0bc168f741bf893d207061136f7efbabe9db +size 4904173 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c1c50b997d40c12aa811a342c9183a9db58f7d75 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28283ef78ea43b81a7a49dad118d933ef34d17aa5d2930d5120bea9eb859230b +size 4218259 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d26cd8aa252365342c63e7577d7c3ed96f09c93b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbe0007335e1edf12de813e519065301164eb8f441ae44c0b6e7bb8be9b4aa5c +size 4484455 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3f074cce646f819b1e185653d280d83163c5206c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e1f95eb72678dd5095554703b557a82e6e593e20cda4d8006bea08ff221c70b +size 4842721 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7510a6ad372dd8fd78897f3e95cdb1be245bb868 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0761185ea06537e5ef02ba7f01a3b53c0c9ab683754233f88936d8c1db617d9 +size 3666821 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a194f25d9b8dc7502c4e66559aa72e13b405f863 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f29f2b39a10ff424c7a5e7b4c60c2922ac074110677fd442561588b2dc68f51 +size 3785143 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0e1f1f3842fb4ec3cf789e04b1cbfb160763b00d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abd9b6c32fcae956e3019ee7193209650e12983b9a8c912e6f932667b87ca0db +size 4499056 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a6411cdef32aeb811c5a4634436b5b8e9f60290f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99bf56ea95e30eed010b5f9e7a2bc1961c3d1d3059da14870ce572635c9a356f +size 4588082 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..54d638a371ac1ab819aa9547e67da3cce8cec6a3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38564b3942321484ff351ddbe82fe6d2c1eb9cf71111aad308a610fa2f088d9f +size 4792476 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b967065d6cc87fa325f546f77d781d594192012 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99c152b24ee290f032636fd2d8bdecc37414c5b671f1a7647668fad1c691ae1d +size 4733125 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bec1acc14c1327e7809a8f83acce1298fc9a7b8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bdfd8acc28fc93aeb4ea69ecdf1457aee226a4a3c9753da13e288dae488ab4ea +size 5380668 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9c63952250994fa136853b0480eb673a6cfb36dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebaab66513fe812b82bed3f8a6a06205d9b5d65cfe7a76e3d0fe2bcfd32b27c5 +size 4814612 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4fefb2f9f578289b7f368f78e077babf19457c53 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2472946061fd78a6c1ac2842078500d46c8e002383ab7355bba885e399211533 +size 4636065 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ec7dc9f73c4a75c50269923c0d9fe53e7b2e286 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea5745259835520084685a7370ccd76f8c6e5f065d3507392bd9ba7537619097 +size 4134871 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6e908ed69eca3ab08abe96c2cad9c7268b245d26 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc0e03a67ce6c8134dc9a178de3f293ca409e11d2004bbc64b9e5f0feb00546d +size 5177875 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e5c6652a2723725931e800b924224f2371cc3e77 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f15f53bcf4175dfab0ceb8225cad6965ddd3e850131bb1cc9f25f62b635944d9 +size 3975555 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..825e9dd661b4a82f6f3db792910169aeacd8f685 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db326c9e2bf25f586c01b98531706d70dcf888c1c6eadf73b6f5e003ffb483b6 +size 4743272 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c4c9bcddb8e416d76953201cbecfc01a25ace174 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e25dd51af89e5bfaf345278d31139b6fcac434e535ccf7888b0462dd334776a9 +size 3985150 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9bf6541416c1aa25ef533813fd00a4ec5b623c4a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b670faed4823758da3898a7497a4c9ff9239bdd9823eef4de85250f54855698b +size 5053970 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b17a69284c76dd9a63af0f2befc9d1459c8c96b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35087b3ca761bf7ed516909a7025df6ac661d8c6bb5149d6aa076df603d183d7 +size 4176201 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fe144a5877753639085be2942aaeccdf8736e3ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccc7a603241b16f211df863c49a046135b8a0e73fbf02c857e247391199107bd +size 6431321 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dd2940dd6b13a0f3034fd33f26f8b756372dcd8f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:402f53d4830aff35e5626c6db2517ee99d2676fadc4fd7a8c58eaa0dc74bfbba +size 4419563 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b9784c60cc968919ae7585562471a2d8e6522e9d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:094d6b0faffd4ac98b464b5b054da1c1ad82eef4560a79fb1cb41072fb69c5e0 +size 4724077 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f2f1967238e594c9c9eea2205dc8d63b3b6115d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:369be6cd64b536443da8424fa697509a7d167e179977a4dad437076053497e82 +size 5266444 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..17f9cedba74838859b474e4da9ec28bd6e855f87 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bad9a44dbd28ace89525fdf287fa0cd925222683582d0f067a36a77806b914dd +size 5332668 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..482129b9fa2539aa35f9da12dd5d7bddecf6f583 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:261b9d0cbd6b7fe5e4e51a43b2ba246a2c03ca7454315c73d13964bfea6e143e +size 4262947 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2a374ecfb4c155e3a438a000cb6721f75e2acd49 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b0bafb1fa652d9e49dc3af27fd5a8a9e8940d3c9eedea693d0aca09aab7f11b +size 4580543 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f93891c164f85b9993d7767f3ee89e7da343853c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4164f8d95cffedc3410b83a68886dc609928a33228d3d4561bbc0d6bb34a83c9 +size 5712158 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ff37d55b198cef9a4339143518ee6df5631182da --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cddc06375012145de35dfdd2204e6af5c6974bf8dee5bbefb940ab87dd362a77 +size 5717426 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d12ce7659aa373eee1436724b146e41db24db6f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c43f87f0ee80fcdaa90fc48299ead0804d3791e779b4cf2deb89ec55f0411a +size 6338437 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e54477c76066672680fd518095ee226ad0cfffa9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14644d9f8dc6c1310968e846b11e3d9c6a246f6c088debd38c825f46bdb1da40 +size 5525350 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e1b663daace2ef83bdcde746237923f250e4ea62 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5352228ac838bddeb21cca35b50e66d2321d501aa61c0ddeeba2a1e311685827 +size 5891260 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..007e06f2f2ff2fc92f6d94a098b56ab6cbe00978 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7dbb37ad70abefa471bbfff0c18a322ab9bf52128493252f062c156e45bebd9 +size 5611506 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..560f9a8d7af6f3fcb3ebf9d277eb005b46d0ab0b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ff0fce0a4c0dfa5f2b5aa0e07808c435dd8b5d59307a40a0586c6b4e2d0e984 +size 4814016 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6fa5440586934f27af96ae86225dd997f772bb21 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:246e6314c88ec3a3d72b7cb3afae282f0598779f5e15e68a74f78f0ffe55229f +size 5605772 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7749578fda5e491aa7b97ce79fc4911061f32c30 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19d746c8eeb2a2c47c87d08abc1eb73c3b5fd8deb53eac4417e00cab4327d28c +size 4866376 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2ecd6217fc8a9b5e7059aafec1ee23158cd49db8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a67eb450fc850ef1650e18c126c3660e2a203c4f57f2a630a784afb6b29b27f +size 5777273 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1b151cefa7a17f40b0823dad19ad64a75d72a5e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fe13d381e7d88c12107dcb319d9c6a9c48a2e3f746cd4bed26dd54d1eece4f8 +size 4545539 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..50d80d2c4527661975092ac50f61fac8d4df8cfe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5fdd59b299a7a8bc63d777ca9058816f06e7d412a216bb3615fa97bc714e3d5 +size 4713482 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cafca979acd9a903915a74595d4799bd56620063 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38b537f535e86607d1307600e5be28537881761e2efdc3d5e43bbe6df12a597a +size 4658200 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d8c91443201ca3fee724b6ef745260f5e27f35e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f1276f4674659d9d41c9f2d91b6b9bc2549068cd9869d98f46a0a595fbb7207 +size 5290589 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3496e7e5ad4b8c829f4f4f18819b216218677bf4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:733efe94c1403169e08b3b6a2ade6037aeafa973952a77eb0e10374662e316ea +size 4129908 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4cd7aca94b5d1deef5c30f7216489c759be4425 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6121b24f33ffe1b9f9969e4761b6188437ec5f5825c7666af3752caaab78eae5 +size 6129050 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f9479dd9a38abe45feba3ee9886aec944310a386 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abdc62b1ad2f5a524f161f85c3bb6d27dfd47c303d608b1a4c7d1db8533b23bf +size 5873452 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de17580d3aea8e84e3db33740a8c5bf671ed43fb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:262f50c31f066ae28f8c9539f1f0bff47f2d264b7b541e282b59688245e0200f +size 5836918 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..53485e7b5484b984d2f02ef6a604a7c00ab9b695 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33d438131a4c4e430fcc0c83ceaa65adce0a0efe1f7339418be74ae2e731a128 +size 3740052 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..43baebfed9c9f27a9cf07b579c51b49a0419bbf5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9b303caf95e72e3d9f0c15bb99290abd14eb339be575f7871f0ca003dfc6df0 +size 4035900 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..424cf8023796e5acad335d060bf0dc2a01816165 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e054b5df2a2fc8c1f149871c0896b88097234857809f81fae66e09ddfd733ca +size 6062257 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66726b243b78d21265436626f1e1f5a375e59cb8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:783f4cac398c953adee8d21858ddd393c11d02bb911fd791cc0d4cd6ced694de +size 5831580 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5144ef4c859addd81518f46135fd09df67d5eb3d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cbcb5a368d55d18e1b966fe0198af29db4efabdbbbb5f701e94bbf773c5cd10 +size 4736274 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a57fd59a0e1f258a52e1992e04ce017fc94067f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:926711cfc8a151ff2d7bf9ddf23d62d5aab5c05b78de08fed50182bf01b4d5ed +size 4170641 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d6ab91d4396d1d8011375edfd3522dfb4ea75c11 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cbde1f9364d7845446feb567e7d079e5f136eabfa6291908c8c78fc2b27359c +size 4343786 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8925e71813223e60b851da570801181e95ab7fda --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa3e3432b4561622e08287e11d86a1bd9fe4d64e329fdae54e5b3693195508d8 +size 4970295 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8ca0b77b9b04d77be5bd4f7c8964e5dce13b19e7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0706ac716f87c0b4d63717dd6eab654733e38c00cc0b81d734f146c3dc4c34c +size 4463477 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d5025c35bd6175f966dced36faf14de11ffbb1d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2981b4d41384dca66831f1ff9334afa25f54837466474814b1004871de1f689b +size 4312781 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e9b6b32069f9649360389abc9c31493dde6bca68 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:368a3c97243d93ad9f95a1bb910371f00042144ad980b048aa3d77c82e3da753 +size 6589462 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2c54515b20d24201b844508f1bc0677e27ebae1a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3793a6b1c040d3a759a71043024c9de5d2725a537314fbda8e930d116035f2f +size 4616506 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4286d3a704f13242a39c065c215cec89cd44e2c1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:271a0bfbc6a953befbad6b441bd13811e8481312f16037898464c27b14a17f80 +size 5201112 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5808586125ddf141f84c3d880e21c84e4ecf9a18 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c5e08889ec043bfa970afcba2271f0774f040930f08da43d338a9c81b17efc5 +size 4991032 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ec787dc6449c118990572d6497ef02c410a63b39 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:423717edd65cca8c698f8885463157a6b5394f3b95cadbb6cccea8843ed26600 +size 5748564 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8b21bd6c2886976800205f0b7080f9b5ef6ce51b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef115025f411e673887e562d5ade747ace442f5ab229ff90df7b215d8ee89eea +size 6058301 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f87ff57a17dd54e037a701837ddd5830df0d4cd8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af1f90b5205216e2f44ee9b549c1a59015006e249b94f1b0ae3453340788c094 +size 3996174 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..37cd10675f11649d0d1aa70248639eea12281d95 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b48003bfe431cadcf3db58beec3183b2ad787deb7eec10b673a109fb30c835b +size 4571691 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..616ffb9a2bb222e73db3f327c167b744074499ae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82c81456530749e89b6a5fff8983efb2fb241d72256b40cd117fbfd1bf1e6cf5 +size 4566588 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c97ee2848f2613364b9371e2a3e55f56a69b99b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4493ed966e66d2e7cff45bcea292084aeb10d64151ae10276a7e6082fa7ab2b0 +size 4833842 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b88fa5ef1a89b3287260b35bea35f6fa1b352427 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5effca9e501ebc3cdcf06ef4c7ef504fd0e23034f19251fd5584333e6ec92189 +size 4902109 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..53313d6f74543e75f173c015a392c8e974f0335d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56b9eba587754ace4669b4efde9a44867c3f9fe174578baa809b1af0fbdc5f7d +size 6149607 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..076e33d99e81a01e6b2fa3cd27c41be31e1b8005 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bb901f27290290f79de0aaf962991f3e4986154c4b2b01f3513e4a3db786374 +size 5804364 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..995e54b10edada333bccc89eca55f671967237e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b99064e059bac2ed3abea91d87c879179dd00270e6fd95678fcc31477e142288 +size 4742738 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1444451e19b0d3d39918d6c90b467e7b006e6b0d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dcce9a9b44e6ba3e566d4dbfa71640545d2148b72b68091963b72b005afa692 +size 5545383 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f095d7a5007879463b30a855a52ffef8f8371052 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:855026fdaf566fb37e773aade86a97a7afcc4450402f2d66ce9dbee641b611b9 +size 5253046 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..374e45ab2c7c03d6479f2464089b4cf33f98d617 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d296a7f4e3b24ee9e047ae6aecd5abb4179be46eeb7b0df105a7182bb91ebd88 +size 4765457 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1818cc0a02efab0d432d11c4ad1dbd2c844e71f2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:488fe9e56308ec596753dd8fba1d81473f95143fe835052161ed4eba238ef796 +size 5125061 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0396e3e41dc74e51243f9ec266abf5853ece69dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc5884381f2ddbf18f46cd17b8e7360dcb90685232396c66c8de01fd13ccc6be +size 5904114 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d1ad4fe53a2696093cbff440c057b20cf03a55df --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1922e449fd986e8bb3e1024bd2d0403d43378a4145ff25d8cf8e2152a53daa16 +size 4213161 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3b0b2dfe4a0ba24945fa7b7488199b9fcfffaef7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed3566604f766ed42bf979a28b39cd5d55981cdbbc619326f1aa146394921df9 +size 5535414 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b2662ffa0618e946c3db492eb569fdf5cd1b1c0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e355b7d31c148868ba2de6d1e88372600288b0c9b42ba8f970c00200dfa0f4a4 +size 5231752 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..035716ad42eb462b1d5a29ebf51c07d43db3b874 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea090459a1f9b4b331859512d7ba9e903e0ae12b01b1a432b53f301e0ef9af48 +size 4380582 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2285d488298d17fc951fe406584552748fda76dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:770e7a6808b22246d7f1c680a2b83de32a3d6389d099b1617d4f5b09927521d7 +size 5067622 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..65be46d0540f5502bbe7a0f0ce73bf2640a33e0a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9adeef65eadb3dbb17445004c7e43527155c094d0c8e3e304efa1af7466dbf8f +size 5008717 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d6bcdbd3a798a737c037936457a6894fa48c90d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3f62e7efbadecac1014ce668794e080116a11d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T18:36:42","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.24951030983445954,0.6056518559359967,0.71338606911949],"aabb_xy":[[-0.25675407588070487,0.5256518577323944],[-0.2422665437882142,0.6856518541395992]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.5842690182119314,0.03290571000722542,0.71338606911949],"aabb_xy":[[0.561769017968416,0.020701075347453468],[0.6067690184554468,0.04511034466699737]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.5473839956657587,0.8863792782784725,0.71338606911949],"aabb_xy":[[0.5108881750384798,0.849895335851715],[0.5838798162930373,0.9228632207052301]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.6511663785472233,-0.08421862342943198,0.71338606911949],"aabb_xy":[[0.6099175675173084,-0.13921862294164944],[0.6924151895771379,-0.029218623917214536]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.24409786661756872,-0.6844111642870767,0.71338606911949],"aabb_xy":[[0.22659786635823212,-0.6985027064758493],[0.26159786687690534,-0.6703196220983041]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.3514170381925319,1.1135746722267612,0.71338606911949],"aabb_xy":[[0.3339863231135253,1.0963025575629102],[0.3688477532715383,1.1308467868906118]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.14007658812444768,1.2396976844557415,0.71338606911949],"aabb_xy":[[-0.1504881468049314,1.2343519511198429],[-0.12966502944396396,1.2450434177916396]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.6345074285689857,-1.344729201959384,0.71338606911949],"aabb_xy":[[-0.6505693560275032,-1.4297292037719755],[-0.6184455011104679,-1.259729200146792]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[0.5842751895925373,-1.0357569362739325,0.71338606911949],"aabb_xy":[[0.5671731116341692,-1.0528637418052023],[0.6013772675509055,-1.0186501307426628]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.10419970823675284,-1.5196588529973787,0.71338606911949],"aabb_xy":[[0.05419970657525807,-1.5696572952530812],[0.15419970989824758,-1.4696604107416757]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[-0.6240471357447143,-1.8037335921084334,0.71338606911949],"aabb_xy":[[-0.6465471352684217,-1.826229539559054],[-0.6015471362210069,-1.7812376446578124]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[0.3328705891506414,-2.3511036664774005,0.71338606911949],"aabb_xy":[[0.2628705857590794,-2.3864194401808314],[0.40287059254220337,-2.3157878927739697]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[0.1207215028593972,1.4902194751752176,0.71338606911949],"aabb_xy":[[0.056721502585418984,1.4401533749779296],[0.18472150313337543,1.5402855753725055]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.6039402691116401,-1.5234067551090222,0.71338606911949],"aabb_xy":[[-0.6216158997002383,-1.5410869713884245],[-0.5862646385230417,-1.505726538829619]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.5892920383040343,-0.7578885996932456,0.71338606911949],"aabb_xy":[[0.5704076545355241,-0.7767745244735984],[0.6081764220725445,-0.7390026749128928]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[0.6446741324652658,1.507657736584791,0.71338606911949],"aabb_xy":[[0.5646741344844807,1.500056195622939],[0.7246741304460508,1.515259277546643]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.3081242366512506,-1.171841329639197,0.71338606911949],"aabb_xy":[[-0.38812423808137775,-1.2513584846518064],[-0.22812423522112335,-1.0923241746265875]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[0.022489541020424997,1.323612224065414,0.71338606911949],"aabb_xy":[[0.014495552442721604,1.3156121439703234],[0.03048352959812839,1.3316123041605041]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[-0.5601315397613603,-1.9811687370106053,0.71338606911949],"aabb_xy":[[-0.6241315421041619,-2.0261095882547373],[-0.4961315374185588,-1.9362278857664725]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.5296651525712031,0.4595113521056877,0.71338606911949],"aabb_xy":[[0.4496651555569551,0.43937680043227645],[0.609665149585451,0.479645903779099]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.2854632009806667,0.2827155443188434,0.71338606911949],"aabb_xy":[[-0.30366902464191436,0.27169014373685174],[-0.267257377319419,0.293740944900835]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[-0.3559217069305897,0.9820884578933531,0.71338606911949],"aabb_xy":[[-0.43592170740080577,0.9737777502790049],[-0.27592170646037384,0.9903991655077017]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[0.5536735900501819,-2.206785186879425,0.71338606911949],"aabb_xy":[[0.5114891758893512,-2.2707851871566365],[0.5958580042110126,-2.142785186602214]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[0.3042507371230039,-2.0679775706367227,0.71338606911949],"aabb_xy":[[0.2962073771970487,-2.1529775717320887],[0.31229409704895905,-1.9829775695413558]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[-0.5713855954758333,1.0619650385027923,0.71338606911949],"aabb_xy":[[-0.6048257706718528,1.028521412671862],[-0.5379454202798136,1.0954086643337222]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_25","position":[0.26282625930528025,-0.45873848132197237,0.71338606911949],"aabb_xy":[[0.2253262594882467,-0.4633766926331141],[0.3003262591223138,-0.4541002700108304]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[-0.29000577526616594,-0.5330664293664427,0.71338606911949],"aabb_xy":[[-0.30516864824310297,-0.5482318866615614],[-0.2748429022892288,-0.5179009720713239]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[0.19978144848838697,-2.1033256177942987,0.71338606911949],"aabb_xy":[[0.14980403162313333,-2.153325619283547],[0.2497588653536405,-2.0533256163050497]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_28","position":[-0.2858534907590414,-2.2693734006813306,0.71338606911949],"aabb_xy":[[-0.3658534893463608,-2.348689002619491],[-0.20585349217172197,-2.1900577987431693]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_29","position":[0.4802565343174474,1.0421508172372733,0.71338606911949],"aabb_xy":[[0.45775653450354503,1.0376762008667928],[0.5027565341313498,1.0466254336077543]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_30","position":[-0.5955944668455615,-2.085275792311289,0.71338606911949],"aabb_xy":[[-0.6305944660383797,-2.096242838308951],[-0.5605944676527431,-2.074308746313626]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_31","position":[-0.03679025266968261,1.682281179384446,0.71338606911949],"aabb_xy":[[-0.043291889177687226,1.6725133573581366],[-0.030288616161677995,1.692049001410756]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_32","position":[-0.06847473967843487,-2.279758947353259,0.71338606911949],"aabb_xy":[[-0.1484685632569931,-2.3597589499461007],[0.01151908390012335,-2.1997589447604176]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_33","position":[0.4757618843438909,0.030214368378927325,0.71338606911949],"aabb_xy":[[0.46850063677348347,0.01742735811541785],[0.4830231319142983,0.043001378642436805]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625094323436511,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9886.png","name":"9886"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9886.png","name":"9886"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2208.png","name":"2208"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5308.png","name":"5308"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7568.png","name":"7568"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9542.png","name":"9542"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":502.6624080411047,"rotation_z_degrees":90.82319283018973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0075127373992259685,0.01276293347628268,-0.01723609493907363]},{"name":"camera_2","offset_m":[0.01957719183592255,-0.0024766715774678164,0.016263946774186754]},{"name":"camera_3","offset_m":[-0.006070838701858889,-0.01605757411748894,0.0190548896479342]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019615497972172223,-0.00030875825728134826,-1.02575129668739e-05],"end_effector_yaw_offset_degrees":0.7279723622148455},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00040427158075461247,-0.0007027578899283854,-0.0002303176670442836],"end_effector_yaw_offset_degrees":-0.05493469016652086},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012582470909955246,-0.0019651852079433456,0.0019027191624115935],"end_effector_yaw_offset_degrees":0.8568343912882277}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004531480119890676,-0.0018293304004682763],"position_m":[0.2188685198801093,-0.031229330400468276,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023793847744681676,-0.0038969456762878297],"position_m":[0.2631793847744681,-0.30859694567628787,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008703896612384408,-0.004901416068201844],"position_m":[0.14237038966123844,0.2802985839317982,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002127829913910405,0.00013886773544959357],"position_m":[0.3245721700860896,0.1836388677354496,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b9f9173b0067d06ce3a7e5083027459a863e6037d873fb8c2f48eca37d39542f","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9886/tex_ceiling_textures_9542/tex_floor_textures_7568/tex_table_textures_2208/tex_wall_textures_5308","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6848095251179895673,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6848095251179895673,"visual_seed":6848095251179895673,"scene_id":"lab_003","finished_at":"2026-09-03T18:39:16"} +{"episode_id":"ep_000001","started_at":"2026-09-03T18:39:20","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.25041268999397603,0.6568231609264599,0.71338606911949],"aabb_xy":[[-0.2782577267745832,0.6260386621881482],[-0.22256765321336897,0.6876076596647716]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[0.49436484858655527,-1.8053739990994004,0.71338606911949],"aabb_xy":[[0.4293648485522526,-1.8520746757797277],[0.559364848620858,-1.7586733224190731]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[0.20253719909621726,-0.6651047864990465,0.71338606911949],"aabb_xy":[[0.13853720179387083,-0.7094712134669032],[0.26653719639856366,-0.6207383595311897]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[0.4875249536723558,-2.1246658393647824,0.71338606911949],"aabb_xy":[[0.39752495507788593,-2.1409164256782036],[0.5775249522668258,-2.108415253051361]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.14966203390829047,0.7251655601840024,0.71338606911949],"aabb_xy":[[0.13275130147194866,0.7116933545913878],[0.16657276634463222,0.7386377657766169]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.482070669077313,-1.4328470009049554,0.71338606911949],"aabb_xy":[[-0.48948312461870147,-1.4386982113265832],[-0.4746582135359245,-1.4269957904833273]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.2698695782941,-0.2639857653457738,0.71338606911949],"aabb_xy":[[-0.2889818856520789,-0.28312054422301575],[-0.25075727093612116,-0.2448509864685317]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.059295987157781505,-0.6073266136644202,0.71338606911949],"aabb_xy":[[-0.09679598834257427,-0.6117448363604806],[-0.021795985972988697,-0.6029083909683596]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.08938335866084057,1.4765761074591608,0.71338606911949],"aabb_xy":[[-0.10688335892017721,1.4624845652703884],[-0.07188335840150395,1.4906676496479336]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[0.6375881057272901,-2.2424997628569288,0.71338606911949],"aabb_xy":[[0.6267364994784145,-2.2533590535845796],[0.6484397119761657,-2.231640472129277]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[0.5978311273718653,-0.7867603052576455,0.71338606911949],"aabb_xy":[[0.5678394646379951,-0.816760304594446],[0.6278227901057357,-0.756760305920845]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[0.08807628320559158,-0.8992279064336619,0.71338606911949],"aabb_xy":[[0.07717050711802886,-0.9792279028324911],[0.09898205929315429,-0.8192279100348328]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.205849294509944,-0.4675191591267178,0.71338606911949],"aabb_xy":[[-0.22834929432384635,-0.47199377549719845],[-0.18334929469604158,-0.4630445427562371]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.5096854659099834,-1.9164915578338748,0.71338606911949],"aabb_xy":[[-0.5736854666134528,-1.9625099403067963],[-0.4456854652065141,-1.8704731753609543]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.3557238263527329,1.1218102665355465,0.71338606911949],"aabb_xy":[[0.29172382924062723,1.0727778967411359],[0.4197238234648386,1.170842636329957]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.4689309260120783,1.470350152584602,0.71338606911949],"aabb_xy":[[-0.5229465222939782,1.4063501496923447],[-0.4149153297301782,1.534350155476859]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.5912515741495123,0.12285623384771016,0.71338606911949],"aabb_xy":[[-0.6410683536143471,0.0728562353634068],[-0.5414347946846776,0.17285623233201353]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.48683808628554237,1.4738383493844185,0.71338606911949],"aabb_xy":[[0.47812411723560777,1.4513383487252298],[0.49555205533547675,1.4963383500436063]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[-0.27326170638062974,-2.3428045484953324,0.71338606911949],"aabb_xy":[[-0.27696496770976864,-2.3465065668040497],[-0.26955844505149085,-2.339102530186614]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[0.5294729407697987,1.0835817567760127,0.71338606911949],"aabb_xy":[[0.5176008577582976,0.9985817570823623],[0.5413450237812998,1.168581756469663]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6553112427254704,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/949.png","name":"949"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/949.png","name":"949"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8711.png","name":"8711"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8976.png","name":"8976"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6341.png","name":"6341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7359.png","name":"7359"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":637.5080301520154,"rotation_z_degrees":187.8852074076458,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010589185465999544,-0.00459918173010284,0.0012725068481079758]},{"name":"camera_2","offset_m":[0.011305368601306761,0.015976660270063146,0.019930194520021243]},{"name":"camera_3","offset_m":[0.0072972764623683885,-0.016064718042030933,0.015409184254137846]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001827113785078248,-0.0005898994655270946,-0.00033489516822133724],"end_effector_yaw_offset_degrees":-0.46802709647489515},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00012398291494915628,-0.0013515931286104438,-0.0016472484210626065],"end_effector_yaw_offset_degrees":0.8880663316873927},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00044432740335074127,3.239133414673816e-05,0.0018702952282681424],"end_effector_yaw_offset_degrees":-0.915555627012691}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00213986798977978,-0.004655464519567476],"position_m":[0.22553986798977976,-0.03405546451956747,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0048296535842509685,-0.002133371541733098],"position_m":[0.255970346415749,-0.3068333715417331,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000823359562580955,-0.0028160228458151406],"position_m":[0.14067664043741904,0.2823839771541849,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013961807998872145,-0.0013066246964485253],"position_m":[0.32530381920011275,0.18219337530355148,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2707a2272291c4a70ad629e90bf7ab0b01891843b7c5b0de4d8e1c8aa305407e","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0001.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_949/tex_ceiling_textures_7359/tex_floor_textures_6341/tex_table_textures_8711/tex_wall_textures_8976","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8733972686145165176,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8733972686145165176,"visual_seed":8733972686145165176,"scene_id":"lab_003","finished_at":"2026-09-03T18:42:26"} +{"episode_id":"ep_000002","started_at":"2026-09-03T18:42:29","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.5978684264085409,-1.6107153505614864,0.71338606911949],"aabb_xy":[[-0.6154467285974877,-1.6282898401355916],[-0.580290124219594,-1.5931408609873816]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.2174808323431835,0.6951595355322162,0.71338606911949],"aabb_xy":[[-0.2814808326036543,0.6501507361792881],[-0.15348083208271268,0.7401683348851441]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.30170316461726443,-1.586558002912742,0.71338606911949],"aabb_xy":[[0.23770746722216785,-1.6505580012134506],[0.365698862012361,-1.5225580046120333]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[-0.24502943013463452,-0.1588906604267657,0.71338606911949],"aabb_xy":[[-0.30002168077014546,-0.2138906621700785],[-0.19003717949912358,-0.10389065868345293]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.23449633390263303,-1.878592080998402,0.71338606911949],"aabb_xy":[[0.1704963335250994,-1.928337347849214],[0.29849633428016664,-1.8288468141475895]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[-0.6428512086249492,1.53913245758535,0.71338606911949],"aabb_xy":[[-0.6476948033861792,1.534280805106366],[-0.6380076138637193,1.5439841100643343]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.07851278409671991,-1.1621065628109355,0.71338606911949],"aabb_xy":[[-0.142512787386428,-1.205441481814853],[-0.014512780807011792,-1.1187716438070179]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[-0.424119088973151,-1.8602522418697862,0.71338606911949],"aabb_xy":[[-0.4419881967276065,-1.874085149846997],[-0.4062499812186955,-1.8464193338925754]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[-0.46085153424725767,-1.4287863614871072,0.71338606911949],"aabb_xy":[[-0.4951678114218756,-1.478786361460285],[-0.42653525707263973,-1.3787863615139295]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.5477466884756574,1.2670821853820895,0.71338606911949],"aabb_xy":[[0.49774668711477016,1.2171042808066739],[0.5977466898365446,1.3170600899575051]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.43358761467462953,-0.3662950392151787,0.71338606911949],"aabb_xy":[[-0.4706217241026893,-0.40067224654888817],[-0.39655350524656985,-0.3319178318814692]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.6011569713426346,0.6507365193641421,0.71338606911949],"aabb_xy":[[0.5786605499087706,0.6282365195573947],[0.6236533927764988,0.6732365191708896]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[-0.5149201312115725,1.3469263226399208,0.71338606911949],"aabb_xy":[[-0.5226233218856495,1.3392169519411827],[-0.5072169405374956,1.354635693338659]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[0.03843561774011317,1.0443308077129978,0.71338606911949],"aabb_xy":[[0.03139530780657618,0.9643308083133266],[0.04547592767365016,1.1243308071126694]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.2898454257918269,1.0827362765102806,0.71338606911949],"aabb_xy":[[-0.29581196473256266,1.0767751318509162],[-0.2838788868510911,1.0886974211696445]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.165300624744519,-1.5513158728835996,0.71338606911949],"aabb_xy":[[0.15373164399758246,-1.5763158730005313],[0.1768696054914556,-1.526315872766668]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.575083058688431,-2.1008540278459136,0.71338606911949],"aabb_xy":[[0.5201093366520981,-2.1558540274101468],[0.6300567807247639,-2.0458540282816804]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.373698917063755,0.5562071539413802,0.71338606911949],"aabb_xy":[[0.3486989177917927,0.5398617903452178],[0.39869891633571725,0.5725525175375424]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.33784866431837723,1.3505272365137286,0.71338606911949],"aabb_xy":[[-0.36034866456189263,1.338322601853957],[-0.31534866407486184,1.3627318711735008]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[0.5521876942152368,0.4342205756267492,0.71338606911949],"aabb_xy":[[0.5456860577072322,0.4244527536004395],[0.5586893307232415,0.44398839765305903]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[-0.42692619053251357,-0.9466973292506367,0.71338606911949],"aabb_xy":[[-0.4869261913933263,-0.9981237592571229],[-0.3669261896717007,-0.8952708992441502]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[0.034081600110497545,-1.983490782759282,0.71338606911949],"aabb_xy":[[0.02862365447347747,-2.063490786066941],[0.039539545747517606,-1.903490779451623]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[-0.3869540711911643,1.7863066081780095,0.71338606911949],"aabb_xy":[[-0.47195406988323896,1.7543207447831306],[-0.3019540724990897,1.8182924715728883]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[0.3078194762380362,-2.170565175509399,0.71338606911949],"aabb_xy":[[0.2438194738952346,-2.2155060267535305],[0.3718194785808377,-2.1256243242652655]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[0.6827313790812755,-0.11467723453053846,0.71338606911949],"aabb_xy":[[0.6707986447194474,-0.12705938733839783],[0.6946641134431035,-0.1022950817226791]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[0.3827229897291269,1.156759437867505,0.71338606911949],"aabb_xy":[[0.30272299271487885,1.1366248861940935],[0.4627229867433748,1.176893989540916]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[-0.43828576798525737,-0.5683589192147225,0.71338606911949],"aabb_xy":[[-0.5022857682592357,-0.6184250194120104],[-0.3742857677112791,-0.5182928190174345]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_27","position":[0.27156471625147427,1.388797448690274,0.71338606911949],"aabb_xy":[[0.2075647198559012,1.3248341602715406],[0.33556471264704735,1.4527607371090077]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6549262292249741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7471.png","name":"7471"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7471.png","name":"7471"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2639.png","name":"2639"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6281.png","name":"6281"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1379.png","name":"1379"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6151.png","name":"6151"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":562.3349584734988,"rotation_z_degrees":118.62667242169752,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007887634527924355,0.00035828354341585836,0.00817387409611094]},{"name":"camera_2","offset_m":[0.0007748308933345806,0.002035498158258292,-0.019674208636491164]},{"name":"camera_3","offset_m":[0.00575135189264428,-0.0073360006683047055,-0.009982104276010323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013509502845874158,-0.0011218912019469163,-0.0016995227784686643],"end_effector_yaw_offset_degrees":-0.9500669278602567},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006872126539563786,0.00019136868439784214,0.00014486052566617218],"end_effector_yaw_offset_degrees":0.45515667822068107},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010322701301828912,-0.0013833758910529817,0.001840612800400986],"end_effector_yaw_offset_degrees":0.11097875529078882}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005100197824466799,-0.0034828502533738293],"position_m":[0.2228899802175533,-0.03288285025337383,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00491792572603517,-0.0014772142480900807],"position_m":[0.2558820742739648,-0.3061772142480901,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004123294415350252,-0.0018588878845216938],"position_m":[0.13737670558464973,0.2833411121154783,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024151357721933246,0.004784470590288611],"position_m":[0.3291151357721933,0.1882844705902886,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b26fed34c658822427e986f0638d74292fc11b21db04472930174b655dd904f4","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7471/tex_ceiling_textures_6151/tex_floor_textures_1379/tex_table_textures_2639/tex_wall_textures_6281","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3794485622772285978,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3794485622772285978,"visual_seed":3794485622772285978,"scene_id":"lab_003","finished_at":"2026-09-03T18:45:08"} +{"episode_id":"ep_000003","started_at":"2026-09-03T18:45:13","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[0.21316204539519024,-0.9416868109203516,0.71338606911949],"aabb_xy":[[0.14916204348284792,-0.9975979601783621],[0.2771620473075326,-0.8857756616623412]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[0.11485422882062668,-0.6855620370101971,0.71338606911949],"aabb_xy":[[0.09034060472362083,-0.7098266303122336],[0.13936785291763254,-0.6612974437081607]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.18615262833931834,1.1854071358964302,0.71338606911949],"aabb_xy":[[-0.26615262699620434,1.1709022769721673],[-0.10615262968243233,1.199911994820693]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.3441458215082771,-2.0897255882165595,0.71338606911949],"aabb_xy":[[0.33924652920171355,-2.117402507519128],[0.34904511381484055,-2.0620486689139903]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.5810949273971859,1.4024782801068052,0.71338606911949],"aabb_xy":[[0.5592051798082451,1.312478282817556],[0.6029846749861267,1.4924782773960543]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.11136606480473354,1.4483412347754618,0.71338606911949],"aabb_xy":[[-0.12323814781623467,1.3633412350818115],[-0.09949398179323245,1.5333412344691122]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_6","position":[-0.4916818592658874,-0.2963239264052606,0.71338606911949],"aabb_xy":[[-0.5302275520910884,-0.3348696974614493],[-0.4531361664406864,-0.25777815534907195]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[-0.1029577914253128,0.5655307598773605,0.71338606911949],"aabb_xy":[[-0.1729577930275923,0.5520979666757029],[-0.03295778982303332,0.578963553079018]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.17289117049893254,-1.6074894366972423,0.71338606911949],"aabb_xy":[[-0.2528911737567755,-1.6874859444892265],[-0.09289116724108959,-1.5274929289052586]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[0.05424015174893615,1.6050236599491199,0.71338606911949],"aabb_xy":[[0.04552618269900164,1.5825236592899314],[0.06295412079887061,1.6275236606083079]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[-0.19813320755187508,0.781505116950207,0.71338606911949],"aabb_xy":[[-0.2681332101884614,0.7614002519543412],[-0.12813320491528873,0.8016099819460722]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[0.051284080143225275,1.8204239534985684,0.71338606911949],"aabb_xy":[[0.04003902457260744,1.8091821557744734],[0.06252913571384311,1.831665751222664]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[0.7013555496527273,-1.6282654126357212,0.71338606911949],"aabb_xy":[[0.6838555503746404,-1.6456035127020672],[0.7188555489308142,-1.6109273125693753]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.5610779579567653,-1.1267368043730035,0.71338606911949],"aabb_xy":[[0.5502374797302504,-1.1439230856636522],[0.5719184361832802,-1.1095505230823548]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.5922662890527003,-1.5237004830923455,0.71338606911949],"aabb_xy":[[-0.599307740003448,-1.53072723483014],[-0.5852248381019528,-1.516673731354551]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.5336612340936984,-2.1918898599740477,0.71338606911949],"aabb_xy":[[0.4536612370794504,-2.2120244116474588],[0.6136612311079463,-2.1717553083006367]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.4382885900977018,0.17066786851777627,0.71338606911949],"aabb_xy":[[-0.48838605407877544,0.10666786800796446],[-0.3881911261166282,0.23466786902758807]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.09918138716158464,-2.3636745881936316,0.71338606911949],"aabb_xy":[[0.04918138587774467,-2.4136534425842533],[0.14918138844542458,-2.313695733803009]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[0.6562612086876303,-2.422563807652786,0.71338606911949],"aabb_xy":[[0.6212612073361484,-2.4429235436096066],[0.6912612100391119,-2.402204071695965]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[-0.040974902221610265,-1.1024610344631665,0.71338606911949],"aabb_xy":[[-0.10497489864893217,-1.149630658285263],[0.023025094205711645,-1.05529141064107]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[-0.5798435036306588,-1.8506525732109185,0.71338606911949],"aabb_xy":[[-0.6298435052921535,-1.900651015466621],[-0.529843501969164,-1.8006541309552155]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6594288055979322,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6291.png","name":"6291"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6291.png","name":"6291"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/942.png","name":"942"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5670.png","name":"5670"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6900.png","name":"6900"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/131.png","name":"131"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":806.7894047894988,"rotation_z_degrees":1.1311838814918485,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005684497018992936,-0.009256211161008499,-0.0038107794856284023]},{"name":"camera_2","offset_m":[0.00618928281932285,0.01811785219195339,0.01927846481357452]},{"name":"camera_3","offset_m":[0.005642769322979042,0.017019530195259713,0.005666611721167381]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014908500150049623,0.0013598742499709477,0.0019041293311412417],"end_effector_yaw_offset_degrees":0.9066142416834129},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006556344635930455,0.001958573815937138,-6.214390133797709e-06],"end_effector_yaw_offset_degrees":-0.4698461933421081},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014114142241975288,-0.000748728011151008,0.0002206259319466209],"end_effector_yaw_offset_degrees":0.9225423385234566}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004152544457879507,0.004363189565666879],"position_m":[0.21924745554212047,-0.02503681043433312,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019768244368971464,0.0019928748328459332],"position_m":[0.26277682443689715,-0.3027071251671541,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018893853441353547,0.0030693050869897718],"position_m":[0.13961061465586463,0.2882693050869898,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016281330574778497,0.002488530545426252],"position_m":[0.32507186694252216,0.18598853054542624,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f648f4c72629c6dfc5fda234b542368439796ef86402f6ca2516872480375cc2","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6291/tex_ceiling_textures_131/tex_floor_textures_6900/tex_table_textures_942/tex_wall_textures_5670","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7276777840761579724,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7276777840761579724,"visual_seed":7276777840761579724,"scene_id":"lab_003","finished_at":"2026-09-03T18:48:09"} +{"episode_id":"ep_000004","started_at":"2026-09-03T18:48:12","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.022352303848532817,-2.5102416557649696,0.71338606911949],"aabb_xy":[[-0.03037857447915882,-2.5189931507423227],[-0.014326033217906823,-2.5014901607876174]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.6576351201980166,0.10432601862319224,0.71338606911949],"aabb_xy":[[0.620303843672774,0.06967296382833991],[0.6949663967232592,0.13897907341804455]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.4049377859677805,-0.27912216933925116,0.71338606911949],"aabb_xy":[[-0.42257062156130804,-0.2967451153548741],[-0.3873049503742529,-0.2614992233236281]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.24377789139074102,0.9678797897516471,0.71338606911949],"aabb_xy":[[0.1787778935090933,0.9167561260451066],[0.3087778892723889,1.0190034534581884]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.5685886669208134,-0.8445480596247368,0.71338606911949],"aabb_xy":[[-0.5854993993571551,-0.8580202652173512],[-0.5516779344844716,-0.8310758540321221]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[0.42479654389891097,1.7433276074014956,0.71338606911949],"aabb_xy":[[0.39049963288117023,1.709030721191554],[0.4590934549166515,1.7776244936114367]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.3468965376936713,-2.524876227312072,0.71338606911949],"aabb_xy":[[-0.3643965379530079,-2.538967769500845],[-0.32939653743433467,-2.5107846851232996]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[0.41832162653922067,0.7293033352137921,0.71338606911949],"aabb_xy":[[0.33832162913562724,0.6493107640156093],[0.4983216239428141,0.8092959064119749]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.5194715652618418,-0.7396781812200897,0.71338606911949],"aabb_xy":[[0.43947156418872146,-0.7494562275574741],[0.5994715663349621,-0.7299001348827052]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.083313435262517,-1.6479319074340033,0.71338606911949],"aabb_xy":[[-0.13331271043095316,-1.6979319087099505],[-0.033314160094080836,-1.5979319061580561]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[0.16269385468516973,-2.1388302989001446,0.71338606911949],"aabb_xy":[[0.115564475683334,-2.202830299944546],[0.20982323368700534,-2.0748302978557422]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.37506724459562313,1.6014702537552803,0.71338606911949],"aabb_xy":[[-0.39756724510766367,1.5789783953898817],[-0.3525672440835825,1.6239621121206784]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.42895001719603953,-2.2688644596962786,0.71338606911949],"aabb_xy":[[-0.49295001449838594,-2.313230886664135],[-0.36495001989369313,-2.2244980327284214]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.4335334508246527,-1.443836687201912,0.71338606911949],"aabb_xy":[[-0.47852603754310313,-1.4888366864763605],[-0.3885408641062023,-1.398836687927463]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[-0.32405495201719303,-0.7669926712086996,0.71338606911949],"aabb_xy":[[-0.38805495227766384,-0.8120014705616276],[-0.2600549517567222,-0.7219838718557716]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[0.14969307796432474,-2.5796820420273847,0.71338606911949],"aabb_xy":[[0.12136336801578451,-2.584142784221102],[0.17802278791286497,-2.575221299833668]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.29714346633142297,-1.966869119875819,0.71338606911949],"aabb_xy":[[0.2792743585769675,-1.9807020278530298],[0.31501257408587846,-1.9530362118986078]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.2643036977221235,-2.520278964412324,0.71338606911949],"aabb_xy":[[-0.26774437396218065,-2.5241403973866885],[-0.2608630214820663,-2.5164175314379595]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.6721357480630648,-0.4587837016019427,0.71338606911949],"aabb_xy":[[0.6650942971123173,-0.4658104533397372],[0.6791771990138125,-0.4517569498641481]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.4723723197206622,-0.3451314496841018,0.71338606911949],"aabb_xy":[[-0.5073723179907821,-0.35220557737909],[-0.4373723214505422,-0.33805732198911365]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_20","position":[0.698588053805935,-1.851015062778081,0.71338606911949],"aabb_xy":[[0.6825261263474174,-1.9360150645906726],[0.7146499812644527,-1.766015060965489]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[-0.40189656064303014,-0.8730617291718044,0.71338606911949],"aabb_xy":[[-0.40601251075510275,-0.8771772842046498],[-0.3977806105309574,-0.8689461741389587]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[0.4974583459157329,-0.976710095101583,0.71338606911949],"aabb_xy":[[0.46245834678577724,-0.9824553161772471],[0.5324583450456886,-0.9709648740259189]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.01879593962163939,0.7660933274240711,0.71338606911949],"aabb_xy":[[-0.1087959363572496,0.7129098641067765],[0.07120405711397082,0.8192767907413655]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6537469543832183,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6807.png","name":"6807"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6807.png","name":"6807"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/436.png","name":"436"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5539.png","name":"5539"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4505.png","name":"4505"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1454.png","name":"1454"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":533.2680746410831,"rotation_z_degrees":186.8164644574377,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015946466619223595,-0.005850574428721949,0.014080623605461268]},{"name":"camera_2","offset_m":[0.004845875660922597,-0.004293574508481331,0.0015246646980226625]},{"name":"camera_3","offset_m":[-0.01104444343214252,-0.011630825970720808,-0.0066933393084653535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010896159171272738,0.0006496766667627952,0.000456537441363784],"end_effector_yaw_offset_degrees":0.29937224018003583},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003593058022818285,0.0019588850333353124,-1.4342705160118319e-05],"end_effector_yaw_offset_degrees":0.5703883376467704},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00012920458110726946,3.944977127289754e-05,-0.0018071904680562812],"end_effector_yaw_offset_degrees":0.5484226821785492}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002706409745596129,0.0037291633468441434],"position_m":[0.22069359025440385,-0.025670836653155855,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033579508188398355,0.004046428884810487],"position_m":[0.25744204918116015,-0.30065357111518953,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0043685993291439264,-0.0022932304543423067],"position_m":[0.13713140067085605,0.2829067695456577,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017870141621479673,0.0007252204594380106],"position_m":[0.324912985837852,0.184225220459438,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d818f25b525c8f78eb3928d1106ee9ad536962f68300ced873f03fda312488b1","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6807/tex_ceiling_textures_1454/tex_floor_textures_4505/tex_table_textures_436/tex_wall_textures_5539","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6626376866443853587,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6626376866443853587,"visual_seed":6626376866443853587,"scene_id":"lab_003","finished_at":"2026-09-03T18:50:52"} +{"episode_id":"ep_000005","started_at":"2026-09-03T18:50:55","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.4922138091608059,-0.5041360427567945,0.71338606911949],"aabb_xy":[[0.46766759353805515,-0.5343849393058314],[0.5167600247835565,-0.47388714620775735]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[-0.37704355434502,1.2324446211991562,0.71338606911949],"aabb_xy":[[-0.4270435556288599,1.182465766808534],[-0.32704355306118,1.2824234755897783]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.5012989972215243,-0.22828324419892354,0.71338606911949],"aabb_xy":[[0.41129900072065245,-0.2741948866173818],[0.5912989937223959,-0.1823716017804653]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.4506058225303633,1.6183438086025075,0.71338606911949],"aabb_xy":[[0.4006065473619271,1.5683438073265603],[0.5006050976987995,1.6683438098784547]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[-0.5650376289448643,0.23376535156882383,0.71338606911949],"aabb_xy":[[-0.6300376299453648,0.18297898641414886],[-0.5000376279443638,0.28455171672349877]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[0.4909421651729535,1.3679904851865192,0.71338606911949],"aabb_xy":[[0.45664525415521284,1.3336935989765777],[0.525239076190694,1.4022873713964603]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.5588979076922851,-1.847351907984089,0.71338606911949],"aabb_xy":[[0.5412650720987574,-1.864974853999712],[0.5765307432858126,-1.829728961968466]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[-0.14675409918973503,-1.2803152216245703,0.71338606911949],"aabb_xy":[[-0.19675409783565623,-1.3302347652840325],[-0.09675410054381384,-1.2303956779651077]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[-0.5920889339093778,0.9722471087899427,0.71338606911949],"aabb_xy":[[-0.6270889352608595,0.9518873728331219],[-0.557088932557896,0.9926068447467635]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[0.6776242406188246,-0.5125093944562407,0.71338606911949],"aabb_xy":[[0.6363754295889098,-0.567509393968458],[0.7188730516487393,-0.45750939494402315]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.07548050631990866,1.0362608167956768,0.71338606911949],"aabb_xy":[[-0.0930588085088555,1.0186863272215718],[-0.05790220413096181,1.0538353063697818]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[0.2567963382796933,-0.8754999781287787,0.71338606911949],"aabb_xy":[[0.16710926197157788,-0.9654999783832292],[0.3464834145878088,-0.7854999778743281]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.02825524197553342,-2.410027914797851,0.71338606911949],"aabb_xy":[[-0.009244759209259377,-2.4144461374939112],[0.0657552431603262,-2.40560969210179]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[0.627981368807474,-2.569193106481961,0.71338606911949],"aabb_xy":[[0.6160486344456458,-2.5815752592898202],[0.639914103169302,-2.5568109536741015]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.03608095595498473,1.5728611375949035,0.71338606911949],"aabb_xy":[[-0.08108095742121359,1.5278612807334233],[0.008919045511244119,1.6178609944563846]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.05302167628001431,0.8700683769879345,0.71338606911949],"aabb_xy":[[-0.06173564532994878,0.8475683763287462],[-0.044307707230079804,0.8925683776471226]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.033054891299970746,-1.0531032837842853,0.71338606911949],"aabb_xy":[[-0.05805489085170923,-1.06324576764942],[-0.008054891748232262,-1.0429607999191506]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.10862872393579937,1.4054597986982666,0.71338606911949],"aabb_xy":[[-0.12612872418084872,1.3879600108586998],[-0.09112872369074997,1.4229595865378335]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.043247309152494195,-1.6265777298789552,0.71338606911949],"aabb_xy":[[-0.10824730770956703,-1.6563302632928378],[0.02175268940457864,-1.5968251964650726]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[-0.2972509739690452,-2.0187016438948975,0.71338606911949],"aabb_xy":[[-0.3210871916096503,-2.1087016447033844],[-0.2734147563284402,-1.9287016430864115]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[0.529071294189434,1.739590377546087,0.71338606911949],"aabb_xy":[[0.49157129561381313,1.726854081882529],[0.5665712927650547,1.752326673209645]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[0.20648714960360803,-1.6152358066940957,0.71338606911949],"aabb_xy":[[0.14148715144768897,-1.641532051244008],[0.2714871477595271,-1.5889395621441835]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[0.49871364458814926,-0.9356079418220997,0.71338606911949],"aabb_xy":[[0.4826517171296316,-1.0206079436346913],[0.5147755720466669,-0.8506079400095078]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[0.48779974108679025,0.9392257002469808,0.71338606911949],"aabb_xy":[[0.4378049081588486,0.8892257013517373],[0.5377945740147319,0.9892256991422244]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.6271843532671943,-2.12912109892998,0.71338606911949],"aabb_xy":[[0.537184356531584,-2.1823045622472743],[0.7171843500028044,-2.0759376356126853]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_25","position":[0.577482746766512,-0.7224089093110564,0.71338606911949],"aabb_xy":[[0.5158919875425193,-0.7864089074201034],[0.6390735059905049,-0.6584089112020096]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_26","position":[-0.3606261099182573,-0.4025817783015997,0.71338606911949],"aabb_xy":[[-0.395088457316399,-0.4370756606994223],[-0.3261637625201154,-0.3680878959037769]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[-0.5560441744268607,-0.269141375062925,0.71338606911949],"aabb_xy":[[-0.6360441713898998,-0.34621701670669847],[-0.47604417746382144,-0.19206573341915156]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555050517154202,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9576.png","name":"9576"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9576.png","name":"9576"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/304.png","name":"304"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2744.png","name":"2744"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/212.png","name":"212"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5362.png","name":"5362"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":831.6052537846265,"rotation_z_degrees":219.7717898334718,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017076217934161045,0.01852690105870088,0.006229367529977398]},{"name":"camera_2","offset_m":[-0.006310787636181607,0.011356848641396657,-0.0006897055899032327]},{"name":"camera_3","offset_m":[-0.008918651127708057,0.019027770305083413,-0.012037661985445638]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003037809890566029,0.0007329312310506361,0.0006219088655332154],"end_effector_yaw_offset_degrees":-0.4180096660699477},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[4.3336743209580406e-06,0.0008041883122041067,0.00020333663715110936],"end_effector_yaw_offset_degrees":0.022535985996954944},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006485365450836322,-1.5524863297518374e-05,0.0015606385408897358],"end_effector_yaw_offset_degrees":-0.9138034708583214}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016231271143479333,-0.0019558323634891227],"position_m":[0.2250231271143479,-0.03135583236348912,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020006699802259465,0.002844603235942325],"position_m":[0.258799330019774,-0.3018553967640577,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00020581432767525533,0.0026433451193398376],"position_m":[0.14129418567232474,0.28784334511933984,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022364476566834714,0.0015203455274055925],"position_m":[0.32893644765668345,0.1850203455274056,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c86848fe59d386256b2ee1391435663c06570e1f507872e8c3e63a78c110c211","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0005.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9576/tex_ceiling_textures_5362/tex_floor_textures_212/tex_table_textures_304/tex_wall_textures_2744","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2484904371402096521,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2484904371402096521,"visual_seed":2484904371402096521,"scene_id":"lab_003","finished_at":"2026-09-03T18:53:30"} +{"episode_id":"ep_000006","started_at":"2026-09-03T18:53:33","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.6125593714022127,1.433191887482422,0.71338606911949],"aabb_xy":[[-0.662558646570649,1.3831918862064752],[-0.5625600962337767,1.4831918887583695]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.4868427206615318,1.2224931489152326,0.71338606911949],"aabb_xy":[[0.45438101977960427,1.1923603168003296],[0.5193044215434591,1.2526259810301348]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[0.5291062105820057,1.7662687785927242,0.71338606911949],"aabb_xy":[[0.5041062106494878,1.759386110371801],[0.5541062105145236,1.7731514468136476]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.051206284960254145,-2.507645203230434,0.71338606911949],"aabb_xy":[[0.013706283775461346,-2.5120634259264936],[0.08870628614504693,-2.5032269805343725]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.49073315217691027,0.6052798385383973,0.71338606911949],"aabb_xy":[[0.4532331536012894,0.5925435428748392],[0.528233150752531,0.6180161342019551]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[-0.4970693658594619,-0.8481584502599979,0.71338606911949],"aabb_xy":[[-0.547069364505383,-0.8980779939194602],[-0.4470693672135407,-0.7982389066005354]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[-0.5561093315345553,-1.9436086723297588,0.71338606911949],"aabb_xy":[[-0.5974138745982912,-2.007608671897876],[-0.5148047884708192,-1.8796086727616417]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[-0.5742538037337673,0.1881731951650818,0.71338606911949],"aabb_xy":[[-0.5987674278307732,0.16390860186304534],[-0.5497401796367615,0.21243778846711825]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.05997505521331392,-1.9345006210398803,0.71338606911949],"aabb_xy":[[0.04982203965916453,-1.9705701626126202],[0.07012807076746329,-1.8984310794671395]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.2741662042864396,1.618005178725768,0.71338606911949],"aabb_xy":[[-0.29117630157649027,1.601870690227494],[-0.25715610699638897,1.6341396672240418]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[0.5016781876391216,0.9842823254447062,0.71338606911949],"aabb_xy":[[0.49031645298583537,0.972913859038418],[0.5130399222924077,0.9956507918509941]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[0.30214903739661925,-2.581005074572874,0.71338606911949],"aabb_xy":[[0.29173747871613553,-2.586350807908772],[0.31256059607710296,-2.575659341236975]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.08966546384871188,0.5072822948835745,0.71338606911949],"aabb_xy":[[-0.14465867518584863,0.45228229454478086],[-0.03467225251157511,0.5622822952223681]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.03917647542951097,-1.7621925183487417,0.71338606911949],"aabb_xy":[[-0.053819880983543955,-1.7768512380055257],[-0.024533069875477986,-1.7475337986919572]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[0.07631893143054447,-1.499732773978902,0.71338606911949],"aabb_xy":[[0.04131893223772619,-1.5106998199765644],[0.11131893062336272,-1.488765727981239]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.10080911852621366,-1.2110093555269572,0.71338606911949],"aabb_xy":[[-0.11166072477508927,-1.221868646254608],[-0.08995751227733807,-1.200150064799306]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[0.053886620413866604,1.466581230262268,0.71338606911949],"aabb_xy":[[-0.029835605086215855,1.376581226727572],[0.13760884591394906,1.556581233796964]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.43308819988502206,-0.08077440914984368,0.71338606911949],"aabb_xy":[[-0.4980882008421493,-0.13272262108354926],[-0.36808819892789485,-0.028826197216138116]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[0.39678121515607323,-0.549968075450741,0.71338606911949],"aabb_xy":[[0.3540145082766531,-0.6139680788725435],[0.4395479220354935,-0.48596807202893855]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.47569424984611475,1.4781842930637858,0.71338606911949],"aabb_xy":[[0.43866014041805484,1.4438070857300762],[0.5127283592741743,1.512561500397495]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[0.020398964392739916,1.0014331330579989,0.71338606911949],"aabb_xy":[[-0.007446072387867205,0.9706486343196872],[0.04824400117334704,1.0322176317963105]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.5734406544632598,-1.0091904760629846,0.71338606911949],"aabb_xy":[[0.5359406543576667,-1.0160126379159655],[0.6109406545688526,-1.0023683142100033]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6558503737874671,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7482.png","name":"7482"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7482.png","name":"7482"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1366.png","name":"1366"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8336.png","name":"8336"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3523.png","name":"3523"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3521.png","name":"3521"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":573.1339678549481,"rotation_z_degrees":341.1864726577751,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008625047191385637,0.0029374934822769642,0.01155515494749933]},{"name":"camera_2","offset_m":[-0.00775931027516755,-0.005029470686665368,-0.017823878036656745]},{"name":"camera_3","offset_m":[0.009223094772127093,0.005763813221454722,0.010083634442648873]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015059120855091188,-0.00021530138391655067,0.0015289328999818666],"end_effector_yaw_offset_degrees":0.5739591301818483},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001846751828233061,0.0018062663083016689,0.00017308150792695164],"end_effector_yaw_offset_degrees":-0.36312679148631477},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010478742647930242,0.0007297385790314193,-0.0012734352727417956],"end_effector_yaw_offset_degrees":-0.7369875698663986}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011844308668788064,0.0005164607743949534],"position_m":[0.22221556913312118,-0.028883539225605045,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003051975667532989,8.252586457752932e-05],"position_m":[0.25774802433246696,-0.3046174741354225,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019251140975175551,0.0037023402839789334],"position_m":[0.13957488590248243,0.28890234028397893,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004008862171247902,-0.00424914605409697],"position_m":[0.3307088621712479,0.17925085394590304,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"255ee2e66c0d346a22c7db30d10fb4fcd4601b1f34398cf2de0dc47315fbe804","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0006.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7482/tex_ceiling_textures_3521/tex_floor_textures_3523/tex_table_textures_1366/tex_wall_textures_8336","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7413963612252140801,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7413963612252140801,"visual_seed":7413963612252140801,"scene_id":"lab_003","finished_at":"2026-09-03T18:56:16"} +{"episode_id":"ep_000007","started_at":"2026-09-03T18:56:18","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.6156201430557504,-2.4359476598074337,0.71338606911949],"aabb_xy":[[-0.6264606212822653,-2.4531339410980824],[-0.6047796648292355,-2.418761378516785]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.37456249642264483,-1.1926329511760472,0.71338606911949],"aabb_xy":[[0.35206607498878073,-1.2151329509827946],[0.39705891785650893,-1.1701329513692997]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[0.5633966255146317,-1.1365777074496324,0.71338606911949],"aabb_xy":[[0.5415068779256907,-1.2265777047388815],[0.5852863731035723,-1.0465777101603833]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[0.26185473407589,-1.5869235356134477,0.71338606911949],"aabb_xy":[[0.21967031991505925,-1.650923535890659],[0.30403914823672074,-1.5229235353362367]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.4958202107406567,0.0011377905590248538,0.71338606911949],"aabb_xy":[[-0.5302826887537443,-0.005525886623897969],[-0.4613577327275688,0.007801467741947676]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[-0.6296532562140671,0.4097851507625818,0.71338606911949],"aabb_xy":[[-0.6330939324541244,0.4059237177882175],[-0.62621257997401,0.41364658373694646]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.43735030621041693,-2.2263944530510407,0.71338606911949],"aabb_xy":[[0.38333470992851687,-2.2903944559432974],[0.4913659024923169,-2.162394450158783]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.21099698208746387,1.3841541446945391,0.71338606911949],"aabb_xy":[[0.17349698090267104,1.3797359219984784],[0.24849698327225664,1.3885723673905994]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.6126297331797139,0.05816083673918948,0.71338606911949],"aabb_xy":[[-0.6196711841304614,0.051134085001394936],[-0.6055882822289662,0.06518758847698403]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[0.43134697963879276,1.0512225894484732,0.71338606911949],"aabb_xy":[[0.420101924068175,1.0399807917243777],[0.44259203520941065,1.0624643871725683]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.7059080802320021,-0.20232049536795493,0.71338606911949],"aabb_xy":[[0.7004501345949821,-0.282320498675614],[0.7113660258690222,-0.12232049206029577]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.20355073112812228,-0.6677188151491413,0.71338606911949],"aabb_xy":[[-0.2885507298201969,-0.6997046785440202],[-0.11855073243604763,-0.6357329517542625]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.2942264855291623,0.7231200945876379,0.71338606911949],"aabb_xy":[[0.20422648611079142,0.6897445977434482],[0.3842264849475332,0.7564955914318277]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[-0.417883864988727,-1.8645734797405056,0.71338606911949],"aabb_xy":[[-0.4528838641815452,-1.8755405257381677],[-0.38288386579590866,-1.8536064337428426]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.637295153895693,-1.6256877483941838,0.71338606911949],"aabb_xy":[[-0.6618087779926989,-1.6499523416962203],[-0.6127815297986872,-1.6014231550921474]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[0.340551658129308,0.9568342280784146,0.71338606911949],"aabb_xy":[[0.329984178471209,0.9462891979654059],[0.351119137787407,0.967379258191423]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[0.5111743617102149,1.5155425329082726,0.71338606911949],"aabb_xy":[[0.4461743631531421,1.48578999949439],[0.5761743602672877,1.5452950663221552]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.4435467596446954,-0.14427641998932517,0.71338606911949],"aabb_xy":[[-0.4517613047603794,-0.15295301028696642],[-0.43533221452901144,-0.13559982969168385]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[-0.0661584070788852,-1.3545097332257308,0.71338606911949],"aabb_xy":[[-0.10365840787088065,-1.3608775741839205],[-0.02865840628688976,-1.3481418922675406]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[0.5014348264348123,1.0136443961917916,0.71338606911949],"aabb_xy":[[0.4839348273004452,1.0037647691542035],[0.5189348255691795,1.0235240232293792]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[-0.5821186118695966,-0.4295173023700629,0.71338606911949],"aabb_xy":[[-0.58701790417616,-0.4571942216726317],[-0.577219319563033,-0.40184038306749414]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[-0.21377718226659936,-0.3261868026558554,0.71338606911949],"aabb_xy":[[-0.2637771836274866,-0.376164707231271],[-0.16377718090571214,-0.27620889808043975]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.08672692678495475,-2.349993662316427,0.71338606911949],"aabb_xy":[[-0.11457196356556186,-2.380778161054739],[-0.05888189000434761,-2.319209163578116]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[-0.411203618213344,1.4799995734925493,0.71338606911949],"aabb_xy":[[-0.4462036165240394,1.4722845585690036],[-0.3762036199026485,1.487714588416095]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_24","position":[-0.6175317972446368,-0.24800035818665211,0.71338606911949],"aabb_xy":[[-0.6350317974896861,-0.26550014602621896],[-0.6000317969995873,-0.23050057034708527]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_25","position":[0.37373602670164496,-0.6346198582490139,0.71338606911949],"aabb_xy":[[0.332431483637909,-0.6986198578171309],[0.41504056976538095,-0.5706198586808967]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_26","position":[-0.24544008311888516,0.6739126651154024,0.71338606911949],"aabb_xy":[[-0.3254400863767281,0.5939161573234183],[-0.1654400798610422,0.7539091729073862]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_27","position":[-0.4148540778219603,0.16271559340377895,0.71338606911949],"aabb_xy":[[-0.41855733915109916,0.1590135750950611],[-0.4111508164928215,0.1664176117124968]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_28","position":[-0.19468065032908477,1.3725002534368205,0.71338606911949],"aabb_xy":[[-0.279680648746508,1.2876259579745355],[-0.10968065191166154,1.4573745488991054]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_29","position":[-0.5015107759675906,-1.1272326976615268,0.71338606911949],"aabb_xy":[[-0.507605403855709,-1.1358020922131957],[-0.4954161480794723,-1.1186633031098583]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_30","position":[-0.6112041913787458,0.5867895195695487,0.71338606911949],"aabb_xy":[[-0.6812041931874913,0.5654357508053612],[-0.5412041895700004,0.608143288333736]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_31","position":[0.018304071025695756,0.6680376363343332,0.71338606911949],"aabb_xy":[[-0.031793392955377864,0.6040376358245214],[0.06840153500676938,0.732037636844145]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6586214500651292,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7570.png","name":"7570"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7570.png","name":"7570"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6274.png","name":"6274"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2297.png","name":"2297"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2178.png","name":"2178"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4635.png","name":"4635"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":812.6753791710227,"rotation_z_degrees":292.39998039115187,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01755395721683157,0.018926522303331115,0.0018799943972833064]},{"name":"camera_2","offset_m":[0.009893088213175569,0.010651303558392281,-0.008240237987184096]},{"name":"camera_3","offset_m":[0.01336879586067467,-0.01314975093395375,-0.0007969489326222802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013687805319086226,0.0006782403499825218,0.0019193752455625192],"end_effector_yaw_offset_degrees":-0.5532905051042403},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001478605854425422,-0.0010703837707099297,0.0008100154772314361],"end_effector_yaw_offset_degrees":0.33094741463044586},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001595486978327191,-0.001995886203921354,-0.0006783074249150397],"end_effector_yaw_offset_degrees":0.35116070062634197}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003807385894775599,0.0002826510106983893],"position_m":[0.21959261410522438,-0.02911734898930161,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002456406014862034,-0.004722120832361434],"position_m":[0.25834359398513795,-0.3094221208323615,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004424768484407763,-0.0003450218577343376],"position_m":[0.13707523151559223,0.2848549781422657,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030468247129504613,-0.0032992299772018263],"position_m":[0.3236531752870495,0.18020077002279816,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6546865871760402135ce20561515eeb4b8fa93d14f36f2f4744eadb0b13f333","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7570/tex_ceiling_textures_4635/tex_floor_textures_2178/tex_table_textures_6274/tex_wall_textures_2297","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3937621487534083993,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3937621487534083993,"visual_seed":3937621487534083993,"scene_id":"lab_003","finished_at":"2026-09-03T18:59:01"} +{"episode_id":"ep_000008","started_at":"2026-09-03T18:59:04","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[-0.00924835786174616,1.1955022433856533,0.71338606911949],"aabb_xy":[[-0.014091952622976132,1.1906505909066691],[-0.004404763100516183,1.2003538958646374]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.07681390681942524,-1.5476033948227828,0.71338606911949],"aabb_xy":[[0.06604093289805746,-1.5826033930418217],[0.08758688074079302,-1.5126033966037438]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.5208345315253778,0.44469194084104613,0.71338606911949],"aabb_xy":[[-0.5708345331868726,0.3946934985853434],[-0.47083452986388313,0.49469038309674884]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.17345056697382377,0.8755403006498939,0.71338606911949],"aabb_xy":[[-0.23845056961161726,0.8240607019504468],[-0.10845056433603029,0.9270198993493407]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.6076852081905071,0.6569275393447693,0.71338606911949],"aabb_xy":[[-0.6426852095419887,0.6365678033879484],[-0.5726852068390252,0.67728727530159]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.6141877148161066,-1.6881098059035677,0.71338606911949],"aabb_xy":[[0.5963942078811901,-1.7059095514993654],[0.631981221751023,-1.67031006030777]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.19252760949605452,0.17349167777907715,0.71338606911949],"aabb_xy":[[-0.19956906044680212,0.16646492604128263],[-0.18548615854530692,0.18051842951687172]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.5095175729698008,-1.1212235612902748,0.71338606911949],"aabb_xy":[[-0.5645130507904601,-1.1762235627241815],[-0.4545220951491413,-1.0662235598563676]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[0.4290614615508552,-1.2384587543540935,0.71338606911949],"aabb_xy":[[0.369061461299454,-1.2927400793905581],[0.48906146180225635,-1.1841774293176288]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[-0.16961952927321966,1.558881963905804,0.71338606911949],"aabb_xy":[[-0.2046195284031753,1.5531367428301401],[-0.13461953014326397,1.5646271849814684]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[0.2898269101585458,-1.7126805003814338,0.71338606911949],"aabb_xy":[[0.27549248503238233,-1.724740715935973],[0.30416133528470923,-1.7006202848268952]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.6042538883556281,-1.3131999161148138,0.71338606911949],"aabb_xy":[[0.5542764714903744,-1.3631999176040621],[0.6542313052208816,-1.263199914625565]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.31910799029521214,-0.3045047745953413,0.71338606911949],"aabb_xy":[[-0.3319798937961522,-0.38450477500917746],[-0.30623608679427194,-0.2245047741815052]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.49623803031445046,1.4934270903284612,0.71338606911949],"aabb_xy":[[-0.503520346691114,1.4034270867189518],[-0.4889557139377867,1.5834270939379698]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.04724722954530858,-2.526541291161715,0.71338606911949],"aabb_xy":[[0.03922095891468258,-2.535292786139068],[0.055273500175934576,-2.517789796184363]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[0.31789203365064855,-0.7023654908700101,0.71338606911949],"aabb_xy":[[0.25789203380408177,-0.7591841130630487],[0.37789203349721534,-0.6455468686769713]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[0.5799624437606616,-2.097131447208189,0.71338606911949],"aabb_xy":[[0.5549624438281439,-2.104014115429112],[0.6049624436931796,-2.0902487789872657]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[0.1267355177004369,1.7494815729574777,0.71338606911949],"aabb_xy":[[0.11549046212981903,1.7382397752333825],[0.1379805732710547,1.760723370681573]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[0.26438319407253263,0.6972241167704594,0.71338606911949],"aabb_xy":[[0.24688326063854926,0.6797241168502247],[0.281883127506516,0.7147241166906938]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.5407985309289438,1.444654835686483,0.71338606911949],"aabb_xy":[[0.532762196227659,1.4366167163820662],[0.5488348656302287,1.4526929549908998]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569791949041204,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9749.png","name":"9749"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9749.png","name":"9749"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5872.png","name":"5872"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4604.png","name":"4604"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3765.png","name":"3765"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3870.png","name":"3870"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":596.7107646165857,"rotation_z_degrees":228.45866810237166,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009051650630362262,0.015031887688832606,-0.013763416666289859]},{"name":"camera_2","offset_m":[-0.009022453719102383,0.007352849493132734,-0.013030837877398645]},{"name":"camera_3","offset_m":[0.011741850959440105,0.0034241673949494816,-0.005749578298444491]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004407213341667217,-0.0003634012644533704,0.0018203401876246716],"end_effector_yaw_offset_degrees":-0.0929124053301591},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009917503092251644,0.001347107149678671,0.0014908113085533334],"end_effector_yaw_offset_degrees":0.6626573540186256},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013270655837434504,0.0018256513812567221,-0.0015701073906106834],"end_effector_yaw_offset_degrees":-0.690214409956041}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002115407147491595,0.0026156852256553446],"position_m":[0.22551540714749158,-0.026784314774344654,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003944215566443643,-0.0040221132311501935],"position_m":[0.25685578443355633,-0.30872211323115023,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004805669599272449,-0.00018931257194380012],"position_m":[0.14630566959927244,0.2850106874280562,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001850401078083595,0.0028053926659636994],"position_m":[0.32688504010780833,0.1863053926659637,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"40ef766d1006c507dc9971416f42ba72b7a0cece3fa4cefe439cb8ae6c38442e","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9749/tex_ceiling_textures_3870/tex_floor_textures_3765/tex_table_textures_5872/tex_wall_textures_4604","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":47680447766406401,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":47680447766406401,"visual_seed":47680447766406401,"scene_id":"lab_003","finished_at":"2026-09-03T19:01:43"} +{"episode_id":"ep_000009","started_at":"2026-09-03T19:01:47","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[0.580334084552566,1.7555336407989448,0.71338606911949],"aabb_xy":[[0.5153340859954931,1.7257811073850622],[0.6453340831096388,1.7852861742128274]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.380853345449384,-2.1916743880509273,0.71338606911949],"aabb_xy":[[-0.4021313535928562,-2.2566743903770003],[-0.3595753373059117,-2.1266743857248542]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.2479791696215402,1.7410387041918862,0.71338606911949],"aabb_xy":[[-0.2571390485654168,1.7345074861483492],[-0.2388192906776636,1.7475699222354233]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.554141669011674,1.6835133628166719,0.71338606911949],"aabb_xy":[[-0.6041416684518697,1.6335454383323553],[-0.5041416695714784,1.733481287300988]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.21823044085686089,-1.2739336079347432,0.71338606911949],"aabb_xy":[[-0.229592175510147,-1.2853020743410313],[-0.20686870620357467,-1.2625651415284551]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.2464017930562561,-0.3306146134512238,0.71338606911949],"aabb_xy":[[-0.3104017901683618,-0.3796469832456344],[-0.18240179594415043,-0.28158224365681317]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[0.47889876567319556,-2.0105544113605545,0.71338606911949],"aabb_xy":[[0.46301427240787035,-2.0249073516593787],[0.49478325893852065,-1.9962014710617304]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[0.34934870008123986,1.1635557598348147,0.71338606911949],"aabb_xy":[[0.33046431631272966,1.1446698350544622],[0.36823308384975006,1.1824416846151677]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.19638269445377293,-0.12374207372913837,0.71338606911949],"aabb_xy":[[-0.21193846386403825,-0.13929250697354556],[-0.1808269250435077,-0.10819164048473119]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.4412302459942335,-0.20453826664473063,0.71338606911949],"aabb_xy":[[-0.5212302433978269,-0.28453083784291344],[-0.36123024859064007,-0.12454569544654782]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[-0.2594027620179898,1.5370233196940117,0.71338606911949],"aabb_xy":[[-0.2674390967192746,1.528985200389595],[-0.25136642731670494,1.5450614389984285]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[-0.20173299356966967,0.4263118158647097,0.71338606911949],"aabb_xy":[[-0.23550855276036262,0.41227332065154465],[-0.16795743437897667,0.4403503110778747]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.5849122414067529,-2.536254653784108,0.71338606911949],"aabb_xy":[[-0.6299048281252034,-2.581254653058557],[-0.5399196546883026,-2.4912546545096594]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[-0.1063389440105802,-2.448262130950597,0.71338606911949],"aabb_xy":[[-0.13880064489250762,-2.478394963065499],[-0.07387724312865272,-2.4181292988356935]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[-0.6398425425196927,0.28869242248466254,0.71338606911949],"aabb_xy":[[-0.6771738190449353,0.2540393676898102],[-0.6025112659944502,0.32334547727951485]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[-0.30429826871050825,0.13571718259714372,0.71338606911949],"aabb_xy":[[-0.30963078336512123,0.13039285435190812],[-0.29896575405589526,0.14104151084237931]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.2936724296145726,-2.290649850770177,0.71338606911949],"aabb_xy":[[0.25775892518958293,-2.3265633589869323],[0.3295859340395623,-2.254736342553423]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[0.6721986419250936,-2.45949046925255,0.71338606911949],"aabb_xy":[[0.6387584667290738,-2.4929340950834793],[0.705638817121113,-2.4260468434216196]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[-0.4149068558554748,-0.4895667421910814,0.71338606911949],"aabb_xy":[[-0.42667504265013245,-0.5745667420963031],[-0.4031386690608174,-0.40456674228586]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.6547240093198152,1.4539794368940133,0.71338606911949],"aabb_xy":[[0.5907240090458369,1.4039133366967251],[0.7187240095937933,1.504045537091301]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[-0.0952207698181482,1.0189170825975618,0.71338606911949],"aabb_xy":[[-0.17522076683239618,0.9987825309241505],[-0.015220772803900204,1.039051634270973]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[0.19610653370899478,-1.8593772221611218,0.71338606911949],"aabb_xy":[[0.17359284188553756,-1.929377222762129],[0.21862022553245195,-1.789377221560114]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.5721407756479293,-2.5480971650109923,0.71338606911949],"aabb_xy":[[0.5476271515509235,-2.5723617583130287],[0.5966543997449352,-2.523832571708956]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[0.6687934066886656,-1.8993868812741308,0.71338606911949],"aabb_xy":[[0.6575483511180478,-1.910628678998226],[0.6800384622592834,-1.8881450835500355]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[0.5061172525248185,0.1882894128311916,0.71338606911949],"aabb_xy":[[0.5019813961921183,0.15078941338683463],[0.5102531088575187,0.22578941227554863]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_25","position":[-0.30085386352073423,1.0339176663451606,0.71338606911949],"aabb_xy":[[-0.3358538634167531,1.0255434308332205],[-0.26585386362471536,1.0422919018571006]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_26","position":[-0.05870037870829958,1.7251731817792622,0.71338606911949],"aabb_xy":[[-0.1387003797814199,1.7153951354418782],[0.02129962236482074,1.734951228116647]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_27","position":[0.39402086312260054,-1.1677908852784968,0.71338606911949],"aabb_xy":[[0.3340208632760337,-1.2246095074715353],[0.45402086296916727,-1.110972263085458]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_28","position":[-0.3532905515029885,-1.9938219948207059,0.71338606911949],"aabb_xy":[[-0.4004199305048241,-2.0578219958651074],[-0.30616117250115277,-1.9298219937763037]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[0.2062733036028046,0.8932171272706357,0.71338606911949],"aabb_xy":[[0.1422733071754827,0.8460475034485395],[0.2702733000301265,0.9403867510927324]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626845599538728,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7833.png","name":"7833"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7833.png","name":"7833"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5379.png","name":"5379"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2164.png","name":"2164"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/614.png","name":"614"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4963.png","name":"4963"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":541.8838183943423,"rotation_z_degrees":196.67058823538554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013177209696391464,-0.004655692008531562,-0.007331838434373674]},{"name":"camera_2","offset_m":[0.005107219061046487,0.013055901682250366,-0.013207977248775381]},{"name":"camera_3","offset_m":[-0.009409227564463328,0.005445652867712099,0.014411379457808102]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-8.234207348279733e-05,-0.001445864817810051,-0.0019481538302055417],"end_effector_yaw_offset_degrees":0.4134884758037354},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005518914491250307,-0.0019188458252161014,0.0009457065649236484],"end_effector_yaw_offset_degrees":0.30544557939298866},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001190532706278575,0.0005290576285917237,0.0008066880149362526],"end_effector_yaw_offset_degrees":-0.35933854661443076}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004095906641186757,-0.004442835435589434],"position_m":[0.21930409335881323,-0.033842835435589434,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002772105356922164,-0.0035264499474111444],"position_m":[0.26357210535692216,-0.30822644994741116,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012063355443488345,-0.001811093868787347],"position_m":[0.14270633554434883,0.28338890613121265,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029962121712439472,-0.004200794353384171],"position_m":[0.32370378782875603,0.17929920564661583,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6361bcde6d8ba253d442e00a732d86f6d12142c30dc35fc729a784ab1518209e","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7833/tex_ceiling_textures_4963/tex_floor_textures_614/tex_table_textures_5379/tex_wall_textures_2164","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3575173830508143426,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3575173830508143426,"visual_seed":3575173830508143426,"scene_id":"lab_003","finished_at":"2026-09-03T19:04:32"} +{"episode_id":"ep_000010","started_at":"2026-09-03T19:04:35","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.47573433155985967,-2.4800027877328272,0.71338606911949],"aabb_xy":[[0.3957343282958465,-2.4935628200417406],[0.5557343348238728,-2.466442755423914]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[-0.09521530271111411,-1.695639665462132,0.71338606911949],"aabb_xy":[[-0.17521530596895707,-1.775636173254116],[-0.015215299453271144,-1.615643157670148]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.6518959874725285,-2.213154177008949,0.71338606911949],"aabb_xy":[[0.6297234604958777,-2.235329844165072],[0.6740685144491794,-2.190978509852826]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[0.5067983093903436,-0.6249204577372038,0.71338606911949],"aabb_xy":[[0.4427983077123463,-0.6734378492165181],[0.570798311068341,-0.5764030662578896]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[0.6646108886862028,0.08886860352892789,0.71338606911949],"aabb_xy":[[0.6146378231536873,0.038868603716394994],[0.7145839542187182,0.13886860334146078]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[0.008088059513733481,0.9287505626016688,0.71338606911949],"aabb_xy":[[-0.05191194134707932,0.8773241325951823],[0.06808806037454627,0.980176992608155]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[0.5974188464650745,-1.3702877014731676,0.71338606911949],"aabb_xy":[[0.5599188458004957,-1.3859747594733898],[0.6349188471296531,-1.3546006434729454]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[0.14164308788062852,0.9000055764881942,0.71338606911949],"aabb_xy":[[0.1355484599925102,0.8914361819365256],[0.14773771576874684,0.9085749710398631]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.5278229976195651,0.5640529594542509,0.71338606911949],"aabb_xy":[[-0.607822997893172,0.49110341162853416],[-0.44782299734595804,0.6370025072799675]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.4706555731525044,-0.8737401057132799,0.71338606911949],"aabb_xy":[[0.40665987575740775,-0.9377401040139884],[0.534651270547601,-0.8097401074125711]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[-0.49219006340512755,0.16288869811258122,0.71338606911949],"aabb_xy":[[-0.5016075379749902,0.15347252097486222],[-0.48277258883526475,0.17230487525030028]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.4577717765129863,-0.8754504571217019,0.71338606911949],"aabb_xy":[[-0.4952717768612141,-0.8872418527027855],[-0.4202717761647586,-0.8636590615406184]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.16321619887980254,0.06318472610261461,0.71338606911949],"aabb_xy":[[-0.23321620151638886,0.04307986110674909],[-0.09321619624321617,0.0832895910984801]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[0.36921098226297366,-1.6313349225472393,0.71338606911949],"aabb_xy":[[0.36431168995641017,-1.659011841849808],[0.37411027456953716,-1.6036580032446706]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.5176089650193614,-1.030860317330608,0.71338606911949],"aabb_xy":[[-0.5519058760371018,-1.0651572035405492],[-0.48331205400162064,-0.9965634311206666]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.5115245205192074,-1.266549322879458,0.71338606911949],"aabb_xy":[[0.4926401367506972,-1.285435247659811],[0.5304089042877176,-1.2476633980991054]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[-0.6300522431314081,0.8251743126814048,0.71338606911949],"aabb_xy":[[-0.6800522444152479,0.7751954582907827],[-0.580052241847568,0.875153167072027]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.22683690368868592,1.0355358905983412,0.71338606911949],"aabb_xy":[[-0.31683690341186005,1.012462538063161],[-0.1368369039655117,1.0586092431335208]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[0.6608836726858569,-2.389942085327738,0.71338606911949],"aabb_xy":[[0.6195791296221208,-2.4539420848958553],[0.7021882157495928,-2.325942085759621]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[0.5724991684270719,0.8660451999277967,0.71338606911949],"aabb_xy":[[0.5084991660842704,0.8211043486836641],[0.6364991707698735,0.9109860511719291]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.03486739836186303,-2.426277916369842,0.71338606911949],"aabb_xy":[[-0.035132598048098755,-2.4467158520215233],[0.10486739477182482,-2.40583998071816]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.3054764006937825,-1.1032353379053237,0.71338606911949],"aabb_xy":[[-0.3654764005403493,-1.1600539600983626],[-0.24547640084721573,-1.0464167157122852]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[-0.20655646826730162,0.7981740588438946,0.71338606911949],"aabb_xy":[[-0.21025972959644046,0.7944720405351767],[-0.20285320693816272,0.8018760771526124]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[-0.48854438006247014,-1.7732035359782943,0.71338606911949],"aabb_xy":[[-0.5785443837393882,-1.8346359425553984],[-0.3985443763855518,-1.7117711294011897]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[0.24045675757387164,-2.1400181258315714,0.71338606911949],"aabb_xy":[[0.2278299702866753,-2.1495641995331445],[0.253083544861068,-2.1304720521299982]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[-0.5673075573266311,-2.5232312292312047,0.71338606911949],"aabb_xy":[[-0.6323075573609338,-2.569931905911532],[-0.5023075572923283,-2.4765305525508774]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_26","position":[0.47627878817820335,1.429516665741628,0.71338606911949],"aabb_xy":[[0.43773309535300226,1.3909708946854393],[0.5148244810034044,1.4680624367978168]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_27","position":[-0.5140185306863083,1.2591125682140238,0.71338606911949],"aabb_xy":[[-0.5189745508711895,1.2366125680119024],[-0.5090625105014271,1.2816125684161457]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_28","position":[-0.17443408373762936,-0.8428587230273619,0.71338606911949],"aabb_xy":[[-0.23843408695626722,-0.8895818349263702],[-0.1104340805189915,-0.7961356111283535]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[0.7007224518959543,1.7599408119909472,0.71338606911949],"aabb_xy":[[0.6899494779745865,1.7249408137719082],[0.7114954258173221,1.7949408102099862]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_30","position":[0.3428491282914925,-1.2514659171083067,0.71338606911949],"aabb_xy":[[0.2852186594042216,-1.3114659160350168],[0.40047959717876325,-1.1914659181815956]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_31","position":[0.5944860870652278,1.7635498057841965,0.71338606911949],"aabb_xy":[[0.5903502307325277,1.7260498063398397],[0.5986219433979281,1.8010498052285537]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_32","position":[0.09333988310826147,-1.3481424859038964,0.71338606911949],"aabb_xy":[[0.05583988159262976,-1.3593692589200415],[0.13083988462389318,-1.3369157128877514]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_33","position":[-0.35815879523859573,-1.8850225535940586,0.71338606911949],"aabb_xy":[[-0.38065879505249817,-1.8894971699645393],[-0.3356587954246934,-1.8805479372235778]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6596340288467335,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5043.png","name":"5043"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5043.png","name":"5043"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7829.png","name":"7829"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5844.png","name":"5844"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2725.png","name":"2725"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6032.png","name":"6032"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":630.3742312339348,"rotation_z_degrees":7.150690807089051,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006622837763624111,-0.018334032515823228,0.010490060003853136]},{"name":"camera_2","offset_m":[-0.0037457745889178627,0.0013054031473057753,-0.012871030865560625]},{"name":"camera_3","offset_m":[0.010828754297216584,-0.004292231432489156,-0.007823197481924957]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012985977666328248,0.0004862344595033931,-0.0007170316921318199],"end_effector_yaw_offset_degrees":-0.852114452632678},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008787716105171351,-0.0003943671971005545,0.0018863765441373657],"end_effector_yaw_offset_degrees":-0.6603646872274742},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005098587617011411,-0.0005381339745837649,0.00012733650513190812],"end_effector_yaw_offset_degrees":-0.7162379188348131}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003992401879930426,0.0005426714922820161],"position_m":[0.2273924018799304,-0.028857328507717984,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011356884830986003,-0.00439447679101921],"position_m":[0.2596643115169014,-0.30909447679101926,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0039260526956781,0.0049399071957674625],"position_m":[0.1454260526956781,0.2901399071957675,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021799671357882293,-0.00022199212040038743],"position_m":[0.3288799671357882,0.1832780078795996,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e49aa2399798341430b75543c99a56479c578f0bbe45ed6e8d0099f094f2264f","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5043/tex_ceiling_textures_6032/tex_floor_textures_2725/tex_table_textures_7829/tex_wall_textures_5844","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7371528588017697583,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7371528588017697583,"visual_seed":7371528588017697583,"scene_id":"lab_003","finished_at":"2026-09-03T19:07:23"} +{"episode_id":"ep_000011","started_at":"2026-09-03T19:07:26","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.03408822165449388,1.3162280262475186,0.71338606911949],"aabb_xy":[[-0.039044241839375084,1.293728026045397],[-0.029132201469612685,1.3387280264496402]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[-0.052186928859938475,-1.8837392977409406,0.71338606911949],"aabb_xy":[[-0.11618692614558712,-1.9252460166937844],[0.011813068425710171,-1.8422325787880964]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[0.31492163596708367,0.9832342959088929,0.71338606911949],"aabb_xy":[[0.2599284246299469,0.9282342955700995],[0.3699148473042204,1.0382342962476867]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.27670685594714084,-1.5252863176969873,0.71338606911949],"aabb_xy":[[-0.2942067893811242,-1.5427863176172216],[-0.25920692251315747,-1.5077863177767525]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.4687301821302734,1.6203137031418868,0.71338606911949],"aabb_xy":[[0.41873018117974053,1.5887645561383652],[0.5187301830808062,1.651862850145408]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[0.5001807150077155,-2.0615822594179187,0.71338606911949],"aabb_xy":[[0.4626807165843152,-2.074746473385749],[0.5376807134311159,-2.0484180454500875]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.40371802948612745,-2.02194697720678,0.71338606911949],"aabb_xy":[[-0.4208201074444956,-2.03905378273805],[-0.3866159515277593,-2.0048401716755104]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.40072691518825904,-0.8458847904927429,0.71338606911949],"aabb_xy":[[-0.40480507309530883,-0.8499657707410061],[-0.39664875728120935,-0.8418038102444795]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[-0.2531470912512317,-0.6297159246525514,0.71338606911949],"aabb_xy":[[-0.28313875398510197,-0.659715923989352],[-0.2231554285173613,-0.5997159253157509]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[0.02696526373357655,-1.4754793579020433,0.71338606911949],"aabb_xy":[[-0.007625819120468664,-1.5404793581870742],[0.06155634658762177,-1.410479357617012]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[-0.4727333042050046,0.322689268509444,0.71338606911949],"aabb_xy":[[-0.5303637730922753,0.26268926958273336],[-0.4151028353177336,0.3826892674361545]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[0.43559247909130105,-0.370057370622356,0.71338606911949],"aabb_xy":[[0.43145662275860097,-0.40755737006671294],[0.43972833542400136,-0.33255737117799894]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.5868020226094898,-2.0155343574746256,0.71338606911949],"aabb_xy":[[-0.6014454281635226,-2.0301930771314094],[-0.5721586170554567,-2.000875637817841]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.6013562910514947,0.47336319550800265,0.71338606911949],"aabb_xy":[[-0.6192253988059502,0.4595302875307917],[-0.5834871832970392,0.4871961034852136]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.34182786349980687,1.3360065042547014,0.71338606911949],"aabb_xy":[[0.2868278643232174,1.2810168294797437],[0.39682786267639636,1.390996179029659]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[0.6642466343258531,0.14212641484284871,0.71338606911949],"aabb_xy":[[0.6141491703447794,0.07812641433303691],[0.7143440983069267,0.20612641535266052]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.5843918745987489,-0.48885891746776977,0.71338606911949],"aabb_xy":[[-0.5952323528252637,-0.5060451987584185],[-0.5735513963722338,-0.4716726361771209]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[0.47613659956952015,-1.976776443279613,0.71338606911949],"aabb_xy":[[0.40613659776077476,-1.9981302120438003],[0.5461366013782656,-1.9554226745154255]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[-0.6151605689682439,-1.4333852337547495,0.71338606911949],"aabb_xy":[[-0.6195911983230841,-1.4388336054894322],[-0.6107299396134037,-1.4279368620200668]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[0.05120229075221894,1.5880942908809437,0.71338606911949],"aabb_xy":[[0.0012289967489584747,1.538094290326396],[0.10117558475547937,1.6380942914354908]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[-0.5668979342958227,-1.2906688868901997,0.71338606911949],"aabb_xy":[[-0.5914115583928286,-1.3149334801922363],[-0.5423843101988168,-1.2664042935881634]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[0.4529373007211699,-1.8519079689902433,0.71338606911949],"aabb_xy":[[0.44480961252785667,-1.860821577400951],[0.4610649889144831,-1.8429943605795356]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[0.06905298200262533,-1.0310993975016232,0.71338606911949],"aabb_xy":[[0.057484001255688755,-1.056099397618555],[0.0806219627495619,-1.0060993973846917]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[0.07439445628298924,-1.9384716187261914,0.71338606911949],"aabb_xy":[[0.06431274920441575,-2.0184716166183057],[0.0844761633615627,-1.8584716208340766]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[-0.42252405802205756,-2.3828795707296426,0.71338606911949],"aabb_xy":[[-0.4454397709071075,-2.4057838678660666],[-0.3996083451370077,-2.3599752735932196]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.33245493197897313,-1.5763194815140615,0.71338606911949],"aabb_xy":[[0.309990162007568,-1.5988194823929223],[0.35491970195037825,-1.5538194806352013]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_26","position":[-0.40474641745473366,1.540692811614829,0.71338606911949],"aabb_xy":[[-0.43307612740327384,1.5362320694211122],[-0.3764167075061934,1.5451535538085464]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[-0.49898600825639555,-0.783482771591578,0.71338606911949],"aabb_xy":[[-0.5489860092755308,-0.819948987329406],[-0.4489860072372603,-0.74701655585375]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_28","position":[0.5103423745098419,1.0514449738642915,0.71338606911949],"aabb_xy":[[0.4769021993138222,1.018001348033361],[0.5437825497058614,1.0848885996952211]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[0.15596630911717346,1.2577130997242456,0.71338606911949],"aabb_xy":[[0.12219074992648049,1.2436746045110807],[0.18974186830786643,1.2717515949374105]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_30","position":[0.10779846594448017,1.1311663985509357,0.71338606911949],"aabb_xy":[[0.0875141632210814,1.1108837734082264],[0.1280827686678789,1.151449023693644]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_31","position":[0.38834602689128417,-1.187072298965994,0.71338606911949],"aabb_xy":[[0.35404911587354354,-1.2213691851759352],[0.4226429379090248,-1.1527754127560526]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_32","position":[0.4197842812966699,0.12614306152541355,0.71338606911949],"aabb_xy":[[0.410028291787496,0.1163805274661791],[0.4295402708058438,0.135905595584648]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_33","position":[-0.01789626441599912,0.3500832711543267,0.71338606911949],"aabb_xy":[[-0.025890252993702508,0.3420831910592363],[-0.009902275838295723,0.358083351249417]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_34","position":[-0.3905753525936681,0.5716945841192871,0.71338606911949],"aabb_xy":[[-0.4333420594730883,0.5076945806974846],[-0.3478086457142479,0.6356945875410895]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6608269012108632,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3352.png","name":"3352"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3352.png","name":"3352"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5959.png","name":"5959"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8748.png","name":"8748"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6778.png","name":"6778"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/607.png","name":"607"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":638.6589481188219,"rotation_z_degrees":348.2562224510621,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0034464475004552103,0.01368747681812368,-0.01625421582871961]},{"name":"camera_2","offset_m":[0.013511785875811578,0.0016475909698654596,0.00868078272562292]},{"name":"camera_3","offset_m":[-0.009874962825743764,-0.0007665250683810618,0.014004953494424075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017002040675073728,0.0003742529605558981,-0.001907368091924019],"end_effector_yaw_offset_degrees":-0.9791660690676982},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[9.882578409430715e-06,-0.00161377678109571,-0.0019073860158350584],"end_effector_yaw_offset_degrees":0.31609203628786253},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018929194512764245,-0.00053208891463078,-0.0004860112138217029],"end_effector_yaw_offset_degrees":-0.8401129778266341}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038393457172520183,0.004226195531401455],"position_m":[0.22723934571725202,-0.025173804468598543,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001630760944664732,-0.0017029151015951162],"position_m":[0.2624307609446647,-0.3064029151015951,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010281327605455685,0.0025619231745902873],"position_m":[0.14252813276054555,0.2877619231745903,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002729005944375613,0.0015327557557503427],"position_m":[0.32942900594437563,0.18503275575575034,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"28bad3692208f09639a026efca31c9bbd01d22283b1b0df801b104c2e89199ba","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3352/tex_ceiling_textures_607/tex_floor_textures_6778/tex_table_textures_5959/tex_wall_textures_8748","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3060346481182339728,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3060346481182339728,"visual_seed":3060346481182339728,"scene_id":"lab_003","finished_at":"2026-09-03T19:10:02"} +{"episode_id":"ep_000012","started_at":"2026-09-03T19:10:06","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.3907171949835179,0.3900875447580372,0.71338606911949],"aabb_xy":[[-0.4329016091443487,0.32608754448082605],[-0.34853278082268724,0.45408754503524845]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[0.4533092056943244,-1.6111838559075684,0.71338606911949],"aabb_xy":[[0.3683092070022498,-1.6431697193024473],[0.5383092043863991,-1.5791979925126896]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[0.6484594817179776,-0.1448442064057751,0.71338606911949],"aabb_xy":[[0.6313574037596095,-0.1619510119370449],[0.6655615596763458,-0.12773740087450539]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[-0.6244490427379321,-1.7532841697770054,0.71338606911949],"aabb_xy":[[-0.6463387903268728,-1.8432841670662543],[-0.6025592951489912,-1.663284172487756]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.5810971566267757,-1.0504791786306082,0.71338606911949],"aabb_xy":[[0.5234666877395047,-1.1104791775573184],[0.6387276255140464,-0.9904791797038972]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[0.16385594575141293,-2.438718071604849,0.71338606911949],"aabb_xy":[[0.13885594619967445,-2.448860555469983],[0.18885594530315142,-2.4285755877397137]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[-0.25646109371112386,0.9458836084193591,0.71338606911949],"aabb_xy":[[-0.32146109374542653,0.8991829317390319],[-0.19146109367682107,0.9925842850996864]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.6315344240695162,0.7382652218489594,0.71338606911949],"aabb_xy":[[0.5415344275686443,0.6923535794305009],[0.7215344205703879,0.7841768642674174]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.6018594900666048,-1.1697864695467632,0.71338606911949],"aabb_xy":[[-0.6855817155666872,-1.2597864730814592],[-0.5181372645665223,-1.0797864660120673]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[-0.5210447545873763,0.34032720637222447,0.71338606911949],"aabb_xy":[[-0.5443265967855075,0.2553272050749964],[-0.4977629123892449,0.42532720766945253]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[0.4031454321177341,0.9544446911106412,0.71338606911949],"aabb_xy":[[0.32314543471414064,0.8744521199124583],[0.4831454295213275,1.0344372623088238]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.4835373937857059,1.5687344149176154,0.71338606911949],"aabb_xy":[[-0.5385111158220388,1.5137344153533823],[-0.42856367174937304,1.6237344144818486]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.21017023446251953,0.82835572264164,0.71338606911949],"aabb_xy":[[-0.22928254182049843,0.809220943764398],[-0.1910579271045407,0.8474905015188821]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.28492134145643877,-2.3266899601457594,0.71338606911949],"aabb_xy":[[-0.3085064649203336,-2.391689962391191],[-0.2613362179925439,-2.2616899579003276]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.1404358991824063,-0.9585477113767535,0.71338606911949],"aabb_xy":[[0.11826337220575545,-0.9807233785328766],[0.16260842615905713,-0.9363720442206303]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[-0.5834964960618735,-2.215651928009091,0.71338606911949],"aabb_xy":[[-0.6209964960056399,-2.2239450180439273],[-0.5459964961181071,-2.207358837974254]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[-0.25839897234806297,-0.6045847806990325,0.71338606911949],"aabb_xy":[[-0.2625149224601356,-0.608700335731878],[-0.25428302223599025,-0.6004692256661869]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[0.04147245978190861,-2.5105729989387835,0.71338606911949],"aabb_xy":[[-0.003520126936541801,-2.5555729982132322],[0.08646504650035902,-2.4655729996643347]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[0.17270268015826595,1.7301318726137942,0.71338606911949],"aabb_xy":[[0.1614576245876481,1.7188900748896987],[0.18394773572888376,1.7413736703378893]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.6669232811548576,-1.5281134471043938,0.71338606911949],"aabb_xy":[[0.6294232808626826,-1.5321549225049973],[0.7044232814470323,-1.5240719717037903]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[0.30143375167997644,-2.5012657053645446,0.71338606911949],"aabb_xy":[[0.246438273859317,-2.556265706798451],[0.35642922950063577,-2.4462657039306372]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[0.5642155918314651,1.191788000525035,0.71338606911949],"aabb_xy":[[0.5142155908809322,1.1602388535215133],[0.6142155927819978,1.2233371475285562]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.654691513009886,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8793.png","name":"8793"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8793.png","name":"8793"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8207.png","name":"8207"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2811.png","name":"2811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2242.png","name":"2242"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3063.png","name":"3063"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":552.4120651684914,"rotation_z_degrees":92.59979933707193,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003283683294741331,0.019023045993377428,0.019716255009907684]},{"name":"camera_2","offset_m":[0.0003342242091380482,-0.007745659518773089,-0.019836749446303585]},{"name":"camera_3","offset_m":[-0.016208859699516555,-0.016406356119284225,0.0030467505572239553]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011859736060383704,0.001395698470206935,0.0009418508673374433],"end_effector_yaw_offset_degrees":0.3606712711130238},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012175481228863948,0.00028652831292895736,-0.001058747560592788],"end_effector_yaw_offset_degrees":-0.1221904694452689},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004340895752320427,0.0014563784363219503,0.0016059737322686079],"end_effector_yaw_offset_degrees":0.09622234448112721}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019606874044613932,0.00041017673552009876],"position_m":[0.22536068740446139,-0.0289898232644799,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002339349201741189,0.003959550420494105],"position_m":[0.2584606507982588,-0.3007404495795059,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002725963109954495,-0.00423477665552503],"position_m":[0.14422596310995447,0.280965223344475,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0040881276844989345,0.0024495016773239944],"position_m":[0.32261187231550104,0.185949501677324,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"64f1bc6115a4a1c84f9156665e37131d55870af0a9a7737a9626e6f49ea02520","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8793/tex_ceiling_textures_3063/tex_floor_textures_2242/tex_table_textures_8207/tex_wall_textures_2811","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7353726071663683521,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7353726071663683521,"visual_seed":7353726071663683521,"scene_id":"lab_003","finished_at":"2026-09-03T19:12:53"} +{"episode_id":"ep_000013","started_at":"2026-09-03T19:12:56","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[-0.5517734275206378,0.0700472704865418,0.71338606911949],"aabb_xy":[[-0.6015902069854726,0.020047272002238423],[-0.5019566480558031,0.12004726897084515]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.08804902067516551,-2.2298213420230644,0.71338606911949],"aabb_xy":[[0.008049022087846093,-2.3091369439612253],[0.16804901926248494,-2.1505057400849035]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[0.27260858813589006,-1.365851987667424,0.71338606911949],"aabb_xy":[[0.24760858858415158,-1.3759944715325587],[0.29760858768762855,-1.3557095038022893]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[0.5181510300715049,0.5881547081273144,0.71338606911949],"aabb_xy":[[0.5005727278825579,0.5705802185532094],[0.5357293322604516,0.6057291977014192]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[-0.17974840163012662,0.5179555925011972,0.71338606911949],"aabb_xy":[[-0.26474840004754985,0.4330812970389122],[-0.09474840321270339,0.6028298879634821]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[0.6660194586371211,-1.8641189832233316,0.71338606911949],"aabb_xy":[[0.6483866230435935,-1.8817419292389543],[0.6836522942306487,-1.8464960372077084]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.2929987203907692,0.11686099852960075,0.71338606911949],"aabb_xy":[[-0.3179987203232871,0.10997833030867744],[-0.2679987204582513,0.12374366675052408]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[0.42766739349523486,1.240768760835949,0.71338606911949],"aabb_xy":[[0.36366739020552674,1.1974338418320312],[0.491667396784943,1.2841036798398664]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[-0.10218328845511149,0.3637673239978172,0.71338606911949],"aabb_xy":[[-0.12467970988897557,0.3412673241910697],[-0.07968686702124737,0.3862673238045646]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.4952994294443196,-2.068246597463736,0.71338606911949],"aabb_xy":[[0.4152994272815571,-2.14820178108988],[0.5752994316070821,-1.988291413837593]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[0.41340725814024526,-0.8932866419457937,0.71338606911949],"aabb_xy":[[0.3830091470411016,-0.923693543947463],[0.4438053692393888,-0.8628797399441239]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.42449363905135096,1.1935588669444797,0.71338606911949],"aabb_xy":[[-0.46199364023614375,1.189140644248419],[-0.38699363786655816,1.19797708964054]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.07756874562244498,-1.9177581146195033,0.71338606911949],"aabb_xy":[[0.013568744214454321,-1.969547066143428],[0.14156874703043565,-1.8659691630955786]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[-0.6578770711333716,-0.8953390832658816,0.71338606911949],"aabb_xy":[[-0.675307786212378,-0.9126111979297323],[-0.640446356054365,-0.8780669686020307]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.43248261531794174,-1.619074527641871,0.71338606911949],"aabb_xy":[[0.41961071181700155,-1.699074528055707],[0.44535451881888183,-1.5390745272280346]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.14192779288770518,-1.0081416827030454,0.71338606911949],"aabb_xy":[[0.07792779218423583,-1.0541600651759666],[0.20592779359117455,-0.9621233002301246]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.21497706058388893,-1.7673298552887542,0.71338606911949],"aabb_xy":[[-0.2275797597209654,-1.7799252515136197],[-0.20237436144681248,-1.7547344590638887]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.5290988525879192,-1.458892316952716,0.71338606911949],"aabb_xy":[[0.5038780157280793,-1.4841160678056022],[0.5543196894477587,-1.4336685660998287]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[-0.12829267979855907,-2.0004691698218213,0.71338606911949],"aabb_xy":[[-0.15329267896419216,-2.007421415527178],[-0.10329268063292593,-1.9935169241164648]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.14000398563815475,0.6856318516644997,0.71338606911949],"aabb_xy":[[0.11371516131771407,0.6593604180098483],[0.16629280995859538,0.7119032853191508]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[0.7122542515785542,1.732541649546095,0.71338606911949],"aabb_xy":[[0.6996274642913578,1.722995575844522],[0.7248810388657505,1.7420877232476677]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[-0.2055650319204958,-0.6768265562794735,0.71338606911949],"aabb_xy":[[-0.2555600428799478,-0.7268265553150653],[-0.15557002096104378,-0.6268265572438819]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.06074267488245699,1.1965686205611177,0.71338606911949],"aabb_xy":[[-0.019257325587758948,1.1882579129467696],[0.14074267535267296,1.2048793281754662]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[-0.5079898476721822,-1.846643999150772,0.71338606911949],"aabb_xy":[[-0.5391367665157653,-1.9166439978375789],[-0.476842928828599,-1.7766440004639645]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[-0.24791339762757325,-1.3607267817467825,0.71338606911949],"aabb_xy":[[-0.30288711966390613,-1.415726781311016],[-0.19293967559124037,-1.3057267821825496]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6620317929265455,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7261.png","name":"7261"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7261.png","name":"7261"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3294.png","name":"3294"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4564.png","name":"4564"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9010.png","name":"9010"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5650.png","name":"5650"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":600.9718942715459,"rotation_z_degrees":343.0204323849103,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017738646448396966,-0.01866122877670949,0.017610110859344042]},{"name":"camera_2","offset_m":[0.01106718290295735,0.015774152952488383,-0.01623214192264697]},{"name":"camera_3","offset_m":[-0.002633045188246589,0.017429485655861148,0.018895914684382436]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007181060040619071,0.0018755470544194945,0.0018429726835746674],"end_effector_yaw_offset_degrees":-0.6239949832619776},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019170224626865852,-0.0017211569230334756,-0.000380605065292447],"end_effector_yaw_offset_degrees":0.3325017948664195},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.829829739318216e-06,-0.0014833764007743083,0.00037928457214296725],"end_effector_yaw_offset_degrees":-0.8413613214558027}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002609056062491393,-0.004232164441855796],"position_m":[0.2207909439375086,-0.033632164441855794,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031718997717531524,-0.0013549286418781037],"position_m":[0.2639718997717531,-0.3060549286418781,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008849030552685357,0.0006753923314377387],"position_m":[0.14238490305526852,0.28587539233143777,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032901589848817895,0.0008774651317980213],"position_m":[0.3234098410151182,0.184377465131798,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5b7d5d6e9dce5fb6367c107de5d25a2656ee3beb72431db3f32c0ed64e5e62b6","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7261/tex_ceiling_textures_5650/tex_floor_textures_9010/tex_table_textures_3294/tex_wall_textures_4564","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2658180592504474051,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2658180592504474051,"visual_seed":2658180592504474051,"scene_id":"lab_003","finished_at":"2026-09-03T19:15:13"} +{"episode_id":"ep_000014","started_at":"2026-09-03T19:15:17","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.650901116012675,-0.017254278772145692,0.71338606911949],"aabb_xy":[[-0.6568676549534107,-0.02321542343150973],[-0.6449345770719392,-0.011293134112781655]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[0.585101130654949,1.3062511541222266,0.71338606911949],"aabb_xy":[[0.5476011308379153,1.3016129428110845],[0.6226011304719824,1.3108893654333682]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.14343754113024443,0.10758826697034651,0.71338606911949],"aabb_xy":[[-0.14757339746294465,0.07008826752598951],[-0.13930168479754426,0.14508826641470352]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.1631617187133908,-0.9430659037997176,0.71338606911949],"aabb_xy":[[-0.19965753934066954,-0.9795498462264752],[-0.12666589808611206,-0.9065819613729601]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[-0.37775187669027327,-0.6899015492505969,0.71338606911949],"aabb_xy":[[-0.38378888969093805,-0.6959282503195452],[-0.37171486368960854,-0.6838748481816488]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.6347073758658965,-0.34920705531255924,0.71338606911949],"aabb_xy":[[-0.6722073742892968,-0.36237126928038976],[-0.5972073774424961,-0.3360428413447285]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.6208820477173802,0.895752428971551,0.71338606911949],"aabb_xy":[[-0.6553443951155219,0.861258546573728],[-0.5864197003192383,0.9302463113693734]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[-0.5803738349861588,0.6082029906255935,0.71338606911949],"aabb_xy":[[-0.5938203616202021,0.5947331389725022],[-0.5669273083521155,0.6216728422786847]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.4318760801161739,-2.5127264329825403,0.71338606911949],"aabb_xy":[[-0.4563897042131798,-2.5369910262845767],[-0.4073624560191681,-2.488461839680504]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.6656757641219225,-1.4735029093773158,0.71338606911949],"aabb_xy":[[-0.6881757639358249,-1.4779775257477965],[-0.6431757643080201,-1.469028293006835]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.6663927945260333,0.2612492459376581,0.71338606911949],"aabb_xy":[[0.6610552188600287,0.2362492450085183],[0.6717303701920379,0.28624924686679787]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.44479900989652377,-1.0542862833410558,0.71338606911949],"aabb_xy":[[0.4272990096371872,-1.0683778255298286],[0.46229901015586045,-1.0401947411522834]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.21852012005360333,-1.8722831819387213,0.71338606911949],"aabb_xy":[[0.21367652529237335,-1.8771348344177055],[0.2233637148148333,-1.8674315294597372]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.6790571406753059,-2.330786824662329,0.71338606911949],"aabb_xy":[[0.6440571406988101,-2.3402514407099457],[0.7140571406518018,-2.321322208614713]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.5108970667385768,-1.47284517973451,0.71338606911949],"aabb_xy":[[0.5029035769432949,-1.4808433116749857],[0.518890556533859,-1.4648470477940345]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.5473771659131185,-1.1006487826688087,0.71338606911949],"aabb_xy":[[-0.5591453527077761,-1.1856487825740305],[-0.5356089791184611,-1.0156487827635874]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.19663006790394988,1.334363959196207,0.71338606911949],"aabb_xy":[[-0.20747054613046478,1.3171776779055582],[-0.18578958967743497,1.3515502404868556]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.1533977211204235,-1.6038695253595738,0.71338606911949],"aabb_xy":[[0.12839772195479038,-1.6108217710649304],[0.1783977202860566,-1.5969172796542173]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[0.39258142977108457,-1.1738055557971971,0.71338606911949],"aabb_xy":[[0.35914125457506485,-1.2072491816281268],[0.42602160496710406,-1.1403619299662666]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[0.21557414180726542,-0.5845343064343393,0.71338606911949],"aabb_xy":[[0.1255741432127955,-0.6007848927477604],[0.30557414040173536,-0.5682837201209183]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[0.6816590644291931,0.793503639129852,0.71338606911949],"aabb_xy":[[0.6647483319928512,0.7800314335372375],[0.6985697968655348,0.8069758447224665]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[-0.31761244440299563,-1.9107608320675344,0.71338606911949],"aabb_xy":[[-0.3230703900400157,-1.990760835375193],[-0.31215449876597556,-1.830760828759875]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[0.4317447328113706,-0.2684373859600906,0.71338606911949],"aabb_xy":[[0.42304677052065537,-0.2805623602675653],[0.44044269510208595,-0.25631241165261587]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.656700081579605,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1904.png","name":"1904"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1904.png","name":"1904"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/818.png","name":"818"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6623.png","name":"6623"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/979.png","name":"979"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1324.png","name":"1324"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":756.3792117893352,"rotation_z_degrees":236.370476548503,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016652133053314793,0.007320004436368422,-0.006580197392723202]},{"name":"camera_2","offset_m":[0.014256570731766113,-0.0004475522416600708,0.011125328764612405]},{"name":"camera_3","offset_m":[0.018253607166713526,-0.016157100383975616,-0.014378097291905471]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001752886218386446,0.0016583730914027676,0.0011335774378505243],"end_effector_yaw_offset_degrees":-0.6555360695688848},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008701347972424165,-0.0007646174832667309,0.0005180939238839449],"end_effector_yaw_offset_degrees":-0.7859062451694321},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019415047859266355,0.0017409266515170637,0.00020593049126887758],"end_effector_yaw_offset_degrees":-0.46621372548678375}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028918084566443127,0.0021700422540743046],"position_m":[0.2262918084566443,-0.027229957745925695,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011353063213693894,0.001917910078292502],"position_m":[0.2596646936786306,-0.3027820899217075,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004266540819851072,0.0014004518541319757],"position_m":[0.13723345918014893,0.28660045185413197,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002827579326345484,-0.002150354370904877],"position_m":[0.32641724206736544,0.1813496456290951,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5fc7b5df104cabf00c147817799927fe73ec40cd1b40bf3e7184a9f16f4866d8","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1904/tex_ceiling_textures_1324/tex_floor_textures_979/tex_table_textures_818/tex_wall_textures_6623","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6929891173412099027,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6929891173412099027,"visual_seed":6929891173412099027,"scene_id":"lab_003","finished_at":"2026-09-03T19:17:51"} +{"episode_id":"ep_000015","started_at":"2026-09-03T19:17:55","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[0.3350979095708426,1.7143301952106689,0.71338606911949],"aabb_xy":[[0.2929134954100119,1.6503301949334577],[0.37728232373167336,1.77833019548788]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_1","position":[-0.2242009894575424,-0.8129466732892572,0.71338606911949],"aabb_xy":[[-0.29420099126628785,-0.8343004420534444],[-0.154200987648797,-0.7915929045250697]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[0.3340500364366097,1.2907115767814243,0.71338606911949],"aabb_xy":[[0.2888787185884407,1.226711579636886],[0.3792213542847787,1.3547115739259628]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.5529589038664341,-0.5449788927352546,0.71338606911949],"aabb_xy":[[-0.6029589052273212,-0.5949567973106702],[-0.5029589025055468,-0.495000988159839]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.12837362463804602,1.2880688622665635,0.71338606911949],"aabb_xy":[[0.09337362466155019,1.2786042462189469],[0.16337362461454186,1.29753347831418]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.5155090233019283,-0.6893455032919811,0.71338606911949],"aabb_xy":[[-0.5655090227421238,-0.7393134277762974],[-0.46550902386173254,-0.6393775788076648]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[-0.43194041057063914,0.683104909172374,0.71338606911949],"aabb_xy":[[-0.46440211145256644,0.6529720770574712],[-0.3994787096887115,0.7132377412872764]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[0.5276298393359031,-2.139170869546396,0.71338606911949],"aabb_xy":[[0.4636298369931015,-2.184111720790528],[0.5916298416787046,-2.094230018302263]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[0.4897418067857815,-2.3792705011436754,0.71338606911949],"aabb_xy":[[0.4771391076487051,-2.391865897368541],[0.502344505922858,-2.36667510491881]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.5548436660590113,0.05850565028730692,0.71338606911949],"aabb_xy":[[-0.5898436652518294,0.04753860428964427],[-0.5198436668661929,0.06947269628496952]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[0.20375726451708442,-1.3564996477561544,0.71338606911949],"aabb_xy":[[0.13975726129844657,-1.4032227596551625],[0.2677572677357223,-1.3097765358571458]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[-0.33831302291292575,-0.5336793130933541,0.71338606911949],"aabb_xy":[[-0.3496747575662119,-0.5450477794996421],[-0.3269512882596396,-0.522310846687066]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[0.6636944824560254,-2.4742576004657684,0.71338606911949],"aabb_xy":[[0.6448100986875153,-2.4931435252461207],[0.6825788662245357,-2.455371675685415]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.643106710621594,-0.9522132746357217,0.71338606911949],"aabb_xy":[[0.6312346276100929,-1.037213274329372],[0.6549787936330951,-0.8672132749420712]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.10539169537115312,-1.7759776562826395,0.71338606911949],"aabb_xy":[[-0.13970797254577105,-1.825977656255817],[-0.07107541819653519,-1.7259776563094615]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[0.20145575341624067,1.2249477874503034,0.71338606911949],"aabb_xy":[[0.1950419397730557,1.2185379672026346],[0.20786956705942558,1.2313576076979713]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.3280939941786804,-2.359637566784118,0.71338606911949],"aabb_xy":[[-0.33205447794841486,-2.3673054313696387],[-0.32413351040894606,-2.3519697021985975]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.05339979600024236,-2.0991718794593517,0.71338606911949],"aabb_xy":[[0.025070086051702134,-2.103632621653069],[0.08172950594878259,-2.094711137265635]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.3252857536830991,-1.5520520107908824,0.71338606911949],"aabb_xy":[[-0.362785753788692,-1.5588741726438635],[-0.2877857535775061,-1.5452298489379013]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.48170978204897774,1.806864887998533,0.71338606911949],"aabb_xy":[[-0.5517097836512572,1.7934320947968758],[-0.4117097804466983,1.820297681200191]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[0.427491689493265,-1.0971647933899433,0.71338606911949],"aabb_xy":[[0.377496678533813,-1.147164792425535],[0.47748670045271707,-1.0471647943543516]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.5751140464531159,-2.3486684569057266,0.71338606911949],"aabb_xy":[[0.5674897783629377,-2.3563016804422703],[0.5827383145432942,-2.341035233369183]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[0.16921824555900833,0.9579276930354972,0.71338606911949],"aabb_xy":[[0.14467202993625758,0.9276787964864601],[0.19376446118175902,0.9881765895845342]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[0.5271762068779053,-1.5085293102956885,0.71338606911949],"aabb_xy":[[0.4773594274130706,-1.5585293087799919],[0.5769929863427401,-1.4585293118113851]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_24","position":[-0.10892444958966296,-0.9211837404844638,0.71338606911949],"aabb_xy":[[-0.1739244496239657,-0.9678844171647911],[-0.043924449555360234,-0.8744830638041365]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_25","position":[-0.007876777427816228,-2.3093978867676066,0.71338606911949],"aabb_xy":[[-0.01591311212910107,-2.3174360060720236],[0.00015955727346861348,-2.3013597674631896]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[0.4638428819454399,-0.7416508880102546,0.71338606911949],"aabb_xy":[[0.4463428816861033,-0.7557424301990275],[0.48134288220477656,-0.7275593458214822]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.11873435212115302,-0.8749541580848739,0.71338606911949],"aabb_xy":[[0.08373435222513416,-0.8833283935968139],[0.1537343520171719,-0.866579922572934]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[0.4443738038358527,-1.7160068079021757,0.71338606911949],"aabb_xy":[[0.39437380217435786,-1.7660052501578782],[0.4943738054973474,-1.6660083656464728]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_29","position":[0.3853769458139058,-2.405988984583359,0.71338606911949],"aabb_xy":[[0.37290958770417015,-2.418454309216683],[0.39784430392364145,-2.393523659950036]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_30","position":[-0.17272431634671548,-2.4864051700862695,0.71338606911949],"aabb_xy":[[-0.17680247425376522,-2.490486150334533],[-0.16864615843966574,-2.482324189838006]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6579860055325931,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3826.png","name":"3826"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3826.png","name":"3826"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7189.png","name":"7189"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6874.png","name":"6874"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4267.png","name":"4267"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3392.png","name":"3392"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":565.2793150273977,"rotation_z_degrees":50.777183632733454,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009327946136435875,0.019309180997034405,0.002446451832454049]},{"name":"camera_2","offset_m":[0.009810729562895703,0.00807294427677149,-0.004544097740857738]},{"name":"camera_3","offset_m":[-0.007486916006179328,0.01759115946674455,0.016114100166943427]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008858143055553384,0.0007963458450938083,0.0004613458798256604],"end_effector_yaw_offset_degrees":-0.19767834393159767},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017259889073711365,0.0017843707795199043,2.216136447829491e-05],"end_effector_yaw_offset_degrees":0.303642257165716},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005345107849104949,-0.0013324612238930188,0.001338815944404213],"end_effector_yaw_offset_degrees":0.8415739847795478}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007657963873438098,0.003604317254768231],"position_m":[0.2241657963873438,-0.02579568274523177,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[1.0658737560878886e-05,0.001334406292591156],"position_m":[0.2608106587375609,-0.3033655937074089,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00011373705279578948,-0.0026416664130559197],"position_m":[0.1413862629472042,0.2825583335869441,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025914583615511654,-0.0018912387837714205],"position_m":[0.32929145836155116,0.18160876121622857,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8c8b66830188526c15768a790f9058e5d61608fb1cf740e9cf7b1bbd483f00ef","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3826/tex_ceiling_textures_3392/tex_floor_textures_4267/tex_table_textures_7189/tex_wall_textures_6874","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1472917580298923378,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1472917580298923378,"visual_seed":1472917580298923378,"scene_id":"lab_003","finished_at":"2026-09-03T19:20:39"} +{"episode_id":"ep_000016","started_at":"2026-09-03T19:20:42","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[0.36814008620480854,-1.7803479885503495,0.71338606911949],"aabb_xy":[[0.36109863525406094,-1.787374740288144],[0.37518153715555613,-1.773321236812555]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.5784674696102994,0.20392656380002494,0.71338606911949],"aabb_xy":[[-0.6129299476233872,0.1972628866171021],[-0.5440049915972116,0.21059024098294774]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.3139982515702129,1.1264558357894576,0.71338606911949],"aabb_xy":[[0.27649825175317927,1.1218176244783156],[0.3514982513872464,1.1310940471005992]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.25876002281228927,-0.43881201311704787,0.71338606911949],"aabb_xy":[[-0.28125915853851624,-0.4613120138953109],[-0.2362608870860623,-0.41631201233878495]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[-0.08726551681962014,-0.9108269962036593,0.71338606911949],"aabb_xy":[[-0.16726551789274047,-0.9206050425410436],[-0.007265515746499807,-0.9010489498662747]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[0.6050088799545599,0.13459987378168758,0.71338606911949],"aabb_xy":[[0.5410088785465691,0.08281092225776289],[0.6690088813625504,0.1863888253056123]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[-0.006326987818273011,-1.693512658699962,0.71338606911949],"aabb_xy":[[-0.07032698973061535,-1.7494238079579725],[0.05767301409406933,-1.6376015094419516]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[0.6548287251631884,-2.4103196431507383,0.71338606911949],"aabb_xy":[[0.6379179927268465,-2.4237918487433525],[0.67173945759953,-2.3968474375581232]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[0.5112563282966867,-0.8116398674310135,0.71338606911949],"aabb_xy":[[0.4612563272775514,-0.8481060831688416],[0.5612563293158219,-0.7751736516931858]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.37740751030902275,1.574663453749959,0.71338606911949],"aabb_xy":[[-0.3965198176670017,1.555528674872717],[-0.35829520295104395,1.593798232627201]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.11078521035989353,0.7704367499322902,0.71338606911949],"aabb_xy":[[-0.15208975342362951,0.7064367503641731],[-0.06948066729615753,0.8344367495004072]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.4240431701656191,0.6131109101751595,0.71338606911949],"aabb_xy":[[0.3745627489516603,0.5491109122623077],[0.4735235913795779,0.6771109080880113]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.19911158784641875,1.5935420372999611,0.71338606911949],"aabb_xy":[[-0.20520621573453707,1.5849726427482922],[-0.19301695995830043,1.6021114318516296]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[0.055491585338278915,1.3536398678343349,0.71338606911949],"aabb_xy":[[0.019578080913289227,1.3177263596175803],[0.09140508976326858,1.3895533760510894]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.4130500272230042,1.1588319692630584,0.71338606911949],"aabb_xy":[[0.3951809194685487,1.1449990612858472],[0.4309191349774597,1.1726648772402692]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.15438385395799692,0.3615929695339979,0.71338606911949],"aabb_xy":[[-0.2043626624683128,0.3115929695282791],[-0.10440504544768103,0.4115929695397167]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[-0.43207387353152843,0.6869389970311928,0.71338606911949],"aabb_xy":[[-0.4476296429417938,0.6713885637867856],[-0.4165181041212633,0.7024894302756]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[-0.1720319136774301,-1.0224292793044079,0.71338606911949],"aabb_xy":[[-0.22200933054268365,-1.0724292807936562],[-0.12205449681217649,-0.9724292778151592]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.3260328173021032,-2.0398936288678624,0.71338606911949],"aabb_xy":[[-0.38115802293169393,-2.099893630309149],[-0.27090761167251237,-1.979893627426575]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.3738626982125257,1.6315042127359392,0.71338606911949],"aabb_xy":[[0.36574904353914867,1.6233983962819099],[0.38197635288590287,1.639610029189968]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.5009725512023799,0.34844034510942334,0.71338606911949],"aabb_xy":[[0.4834725509430434,0.3343488029206507],[0.5184725514617167,0.36253188729819597]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[0.3459294697021362,-0.6245703971019336,0.71338606911949],"aabb_xy":[[0.27592946757070663,-0.6473323627276292],[0.4159294718335657,-0.6018084314762379]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.1686831334715676,-2.250598051176944,0.71338606911949],"aabb_xy":[[0.15827157479108386,-2.255943784512842],[0.1790946921520513,-2.2452523178410453]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_23","position":[0.14727646795120342,0.7781600086248659,0.71338606911949],"aabb_xy":[[0.1391487797578902,0.7692464002141584],[0.15540415614451664,0.7870736170355737]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[0.547207205277555,-1.3602360788771806,0.71338606911949],"aabb_xy":[[0.5320350359959216,-1.375404935805384],[0.5623793745591883,-1.3450672219489772]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[-0.5193492650936554,0.8253333375606129,0.71338606911949],"aabb_xy":[[-0.5693485402620917,0.7753333362846658],[-0.46934998992521937,0.8753333388365602]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_26","position":[0.024293700020176057,-1.8206696577966146,0.71338606911949],"aabb_xy":[[-0.05570629796060898,-1.8282711987584666],[0.10429369800096111,-1.8130681168347627]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_27","position":[0.5145128922244999,-0.20626983538412702,0.71338606911949],"aabb_xy":[[0.5072516446540924,-0.21905684564763653],[0.5217741397949074,-0.19348282512061757]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_28","position":[-0.2612015533944913,1.2739065728177335,0.71338606911949],"aabb_xy":[[-0.2946807206555323,1.2404274594466265],[-0.22772238613345042,1.3073856861888404]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6621860133916491,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5230.png","name":"5230"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5230.png","name":"5230"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1303.png","name":"1303"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6872.png","name":"6872"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1602.png","name":"1602"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3850.png","name":"3850"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":827.2564331918275,"rotation_z_degrees":85.69432026231011,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018677367820220128,0.0187425470041087,0.012372450517387643]},{"name":"camera_2","offset_m":[0.0024244370448656787,-0.015663969972001656,-0.017438799110262342]},{"name":"camera_3","offset_m":[0.010325525486479869,-0.016793825110028613,-0.0024137111172598084]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009665583284772655,-0.0006002539801980347,-0.0010454165191502876],"end_effector_yaw_offset_degrees":0.03043247417840833},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016880999540233622,-0.0012056421032890733,-0.00046076635743637286],"end_effector_yaw_offset_degrees":-0.24847485161538518},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001476144949460583,0.0003949287455324471,-0.0016901412016253779],"end_effector_yaw_offset_degrees":-0.940821087311158}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004958783311024091,-0.00456108414745388],"position_m":[0.22835878331102408,-0.03396108414745388,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004146045949785783,0.00018530826409855067],"position_m":[0.26494604594978577,-0.30451469173590145,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003538412398384064,0.001991100034059363],"position_m":[0.14503841239838405,0.2871911000340594,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004616693821019936,-0.0031661243813537777],"position_m":[0.32208330617898007,0.18033387561864622,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3ae77eebd5d23ebe9f5824ce5649007b550cea217d6d9d43aacdea6c710f67ae","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5230/tex_ceiling_textures_3850/tex_floor_textures_1602/tex_table_textures_1303/tex_wall_textures_6872","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1438835098022615585,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1438835098022615585,"visual_seed":1438835098022615585,"scene_id":"lab_003","finished_at":"2026-09-03T19:23:16"} +{"episode_id":"ep_000017","started_at":"2026-09-03T19:23:20","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.45835047826243347,0.5068456653417646,0.71338606911949],"aabb_xy":[[0.4523134652617688,0.5008189642728165],[0.46438749126309825,0.5128723664107129]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[-0.3913181154471277,0.2632610169308167,0.71338606911949],"aabb_xy":[[-0.4391242830608963,0.1982610142237577],[-0.34351194783335903,0.32826101963787563]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[0.6619533479064681,-0.09211830155485323,0.71338606911949],"aabb_xy":[[0.6269533495957725,-0.09983331647839887],[0.6969533462171634,-0.08440328663130757]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.6338818218443096,0.47685686190514964,0.71338606911949],"aabb_xy":[[-0.658881821396048,0.4667143780400149],[-0.608881822292571,0.48699934577028436]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[-0.057218441765566785,-1.192921079662591,0.71338606911949],"aabb_xy":[[-0.06525477646685163,-1.2009591989670076],[-0.049182107064281944,-1.184882960358174]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[-0.6702155473450634,-0.6330497886462259,0.71338606911949],"aabb_xy":[[-0.690499850068462,-0.6533324137889346],[-0.6499312446216645,-0.6127671635035169]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[0.4873516046512085,1.041258937684209,0.71338606911949],"aabb_xy":[[0.46985160551684135,1.031379310646621],[0.5048516037855757,1.0511385647217966]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.12284662363025323,0.27662946877038985,0.71338606911949],"aabb_xy":[[-0.17266340309508799,0.2266294702860865],[-0.07302984416541845,0.3266294672546932]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[0.11919406133845756,0.7249504890620173,0.71338606911949],"aabb_xy":[[0.11115070141250238,0.6399504879666509],[0.12723742126441273,0.8099504901573837]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.5931676309120828,-0.45440510235475395,0.71338606911949],"aabb_xy":[[0.58905168080001,-0.4585206573875994],[0.5972835810241554,-0.4502895473219084]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.417938552176997,-2.1815512631803484,0.71338606911949],"aabb_xy":[[-0.4255628202671753,-2.189184486716892],[-0.4103142840868188,-2.1739180396438047]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.00346151011237128,-1.0507179772845994,0.71338606911949],"aabb_xy":[[-0.05153170122476548,-1.105717977623393],[0.05845472144950804,-0.9957179769458058]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.07499986192821329,0.573821262318619,0.71338606911949],"aabb_xy":[[-0.10539797302735687,0.5434143603169495],[-0.044601750829069704,0.6042281643202885]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[0.3761099526781835,-1.6819630763217188,0.71338606911949],"aabb_xy":[[0.306109951075904,-1.6953958695233764],[0.44610995428046296,-1.6685302831200612]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.4638811485084988,0.2756885417903181,0.71338606911949],"aabb_xy":[[0.45100924500755873,0.19568854137648198],[0.476753052009439,0.35568854220415425]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.6547618972220239,-1.4019986630508543,0.71338606911949],"aabb_xy":[[-0.6596611895285873,-1.4296755823534228],[-0.6498626049154603,-1.3743217437482853]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[0.41726029372055895,1.5121816497135065,0.71338606911949],"aabb_xy":[[0.353260291670827,1.4720871666241986],[0.481260295770291,1.5522761328028145]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[-0.6618683460695883,1.1338407066449907,0.71338606911949],"aabb_xy":[[-0.6667119408308183,1.1289890541660068],[-0.6570247513083584,1.138692359123975]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.6519836871394222,0.9239819121864494,0.71338606911949],"aabb_xy":[[0.5969914365039115,0.8689819104431367],[0.7069759377749334,0.9789819139297622]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[0.06680028727743104,-1.461848937023003,0.71338606911949],"aabb_xy":[[-0.0031997145313144015,-1.4832027057871906],[0.13680028908617647,-1.4404951682588159]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[-0.42768505206404706,-0.8239938996112561,0.71338606911949],"aabb_xy":[[-0.46214739946218875,-0.8584877820090786],[-0.39322270466590514,-0.7895000172134332]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.19796567638193402,1.7900006181286616,0.71338606911949],"aabb_xy":[[-0.2354656766741088,1.785959142728058],[-0.16046567608975917,1.794042093529265]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[0.19956439912623503,-2.0303857899354054,0.71338606911949],"aabb_xy":[[0.18246232116786687,-2.0474925954666747],[0.21666647708460318,-2.013278984404135]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.30966376637661064,0.5188809163375727,0.71338606911949],"aabb_xy":[[0.30166977779890725,0.5108808362424824],[0.31765775495431403,0.5268809964326631]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[-0.6570193646537381,-2.351890256095877,0.71338606911949],"aabb_xy":[[-0.6663663722360333,-2.366193878313521],[-0.6476723570714429,-2.337586633878233]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_25","position":[-0.4813356257695409,0.741628371051493,0.71338606911949],"aabb_xy":[[-0.5226401688332768,0.6776283714833758],[-0.4400310827058048,0.80562837061961]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_26","position":[-0.49707794914419046,-1.808892656174167,0.71338606911949],"aabb_xy":[[-0.5570779500050032,-1.8603190861806531],[-0.43707794828337765,-1.7574662261676803]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_27","position":[-0.561090347099662,1.5887532686857608,0.71338606911949],"aabb_xy":[[-0.6260903471339647,1.5420525920054338],[-0.49609034706535926,1.6354539453660883]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_28","position":[-0.6099469854080679,-2.160484661463973,0.71338606911949],"aabb_xy":[[-0.6349469853405858,-2.1673673296848968],[-0.58494698547555,-2.1536019932430497]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_29","position":[-0.5976271801699526,-0.5668555342098189,0.71338606911949],"aabb_xy":[[-0.6072588163903822,-0.5764928469895279],[-0.5879955439495229,-0.55721822143011]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_30","position":[0.6454060075353161,-1.9638839795429237,0.71338606911949],"aabb_xy":[[0.6253475959220758,-1.9839490664520814],[0.6654644191485564,-1.9438188926337665]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_31","position":[0.1428153061431806,-1.8823538805387527,0.71338606911949],"aabb_xy":[[0.0878153065214348,-1.9373375733262257],[0.19781530576492648,-1.8273701877512802]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6589983746687486,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8234.png","name":"8234"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8234.png","name":"8234"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7551.png","name":"7551"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6206.png","name":"6206"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1860.png","name":"1860"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6511.png","name":"6511"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":582.4968799152381,"rotation_z_degrees":67.67145243147452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0078084847670219885,0.0010777883909521974,-0.0170239230068376]},{"name":"camera_2","offset_m":[-0.006048308328695674,-0.006330167754243417,-0.007565995476978688]},{"name":"camera_3","offset_m":[-0.013915960893068905,0.01346746887330064,0.009493911342849888]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015707809484025283,-0.0017529177817635128,0.0009601069803066853],"end_effector_yaw_offset_degrees":0.3904171235106486},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016135422182010917,-0.0019738570182354534,0.0019705943129569295],"end_effector_yaw_offset_degrees":-0.6491683805339996},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006146807891142746,0.000993160380455689,0.001674458876697055],"end_effector_yaw_offset_degrees":0.8831750741957283}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002430793367324601,-0.0038492973643682693],"position_m":[0.22096920663267539,-0.03324929736436827,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00048062698023794165,-0.0017920334666832682],"position_m":[0.26031937301976205,-0.3064920334666833,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016839764885806761,0.0006372577202729702],"position_m":[0.1398160235114193,0.28583725772027296,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010426935713514843,-0.0028595821091581476],"position_m":[0.3256573064286485,0.18064041789084184,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0d9f530de06a91009def0454c210f7bea17de164471a2f754519e7ed078886c","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0017.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8234/tex_ceiling_textures_6511/tex_floor_textures_1860/tex_table_textures_7551/tex_wall_textures_6206","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":198028291099383746,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":198028291099383746,"visual_seed":198028291099383746,"scene_id":"lab_003","finished_at":"2026-09-03T19:25:58"} +{"episode_id":"ep_000018","started_at":"2026-09-03T19:26:01","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.20414891107795874,-1.4523122466619822,0.71338606911949],"aabb_xy":[[-0.20785217240709758,-1.4560142649707],[-0.20044564974881984,-1.448610228353264]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.5097710887988296,1.2158214092773165,0.71338606911949],"aabb_xy":[[0.46368599754409817,1.1518214120247614],[0.5558561800535611,1.2798214065298716]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.4655393484467627,0.9288759174757217,0.71338606911949],"aabb_xy":[[-0.5153561279115975,0.8788759189914183],[-0.41572256898192794,0.978875915960025]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.336253246720385,1.1953115902581288,0.71338606911949],"aabb_xy":[[-0.3707155941185267,1.1608177078603057],[-0.3017908993222431,1.229805472655951]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[0.24976260885023516,1.7667626896793007,0.71338606911949],"aabb_xy":[[0.23189350109577966,1.7529297817020897],[0.26763171660469065,1.7805955976565118]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[0.3729550381588309,-2.4922296172783347,0.71338606911949],"aabb_xy":[[0.2929550401780459,-2.4998311582401866],[0.452955036139616,-2.4846280763164827]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.2620515055311736,1.3619087699307322,0.71338606911949],"aabb_xy":[[0.2334021731707574,1.3332632106536564],[0.29070083789158985,1.390554329207808]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[-0.4854514432861254,-1.4561897455755697,0.71338606911949],"aabb_xy":[[-0.5332576108998941,-1.5211897482826282],[-0.43764527567235667,-1.3911897428685105]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[0.15449126787806655,-0.6205254316846542,0.71338606911949],"aabb_xy":[[0.11699126930244576,-0.6332617273482121],[0.19199126645368736,-0.6077891360210962]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.19878312433697432,0.6818343868551318,0.71338606911949],"aabb_xy":[[-0.20436479597110307,0.6693343870373563],[-0.19320145270284556,0.6943343866729073]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[0.5522037808986215,-1.1254982477571969,0.71338606911949],"aabb_xy":[[0.5022089479706799,-1.1754982466524404],[0.6021986138265631,-1.0754982488619533]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.3789844459949444,-1.9232976741019028,0.71338606911949],"aabb_xy":[[-0.3908565290064455,-2.0082976737955534],[-0.3671123629834433,-1.8382976744082526]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[0.5006054301665717,0.29811299339640085,0.71338606911949],"aabb_xy":[[0.4206054330069964,0.2865653924385838],[0.580605427326147,0.3096605943542179]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.2790983798996384,-0.16098759744673607,0.71338606911949],"aabb_xy":[[-0.3015948013335025,-0.18348759725348351],[-0.2566019584657743,-0.13848759763998864]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.18667433629147068,1.5994456949892197,0.71338606911949],"aabb_xy":[[-0.25067433796946803,1.5509283035099055],[-0.1226743346134733,1.647963086468534]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.3678140761949684,-0.99390126633391,0.71338606911949],"aabb_xy":[[0.34281407626245053,-1.0007839345548333],[0.3928140761274863,-0.9870185981129866]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[0.6576793399574363,-1.520368775475293,0.71338606911949],"aabb_xy":[[0.6494647948417521,-1.5290453657729342],[0.6658938850731201,-1.5116921851776515]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.4915450924719884,1.0491911512059815,0.71338606911949],"aabb_xy":[[0.43654509285024257,0.9942074584185088],[0.5465450920937343,1.1041748439934542]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[0.6595595553425462,-0.11803748359622857,0.71338606911949],"aabb_xy":[[0.6227090074055586,-0.1555374844192623],[0.6964101032795338,-0.08053748277319484]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.5402468460784647,-1.7414826634312415,0.71338606911949],"aabb_xy":[[-0.5627459818046916,-1.7639826642095044],[-0.5177477103522377,-1.7189826626529785]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.5554082601960737,1.615794160004032,0.71338606911949],"aabb_xy":[[0.5054349661928131,1.5657941594494842],[0.605381554199334,1.6657941605585789]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[0.38330187268174143,-0.30389961641297836,0.71338606911949],"aabb_xy":[[0.37273439302364236,-0.3144446465259869],[0.3938693523398404,-0.2933545862999698]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.26143692276751995,-2.0422383164004962,0.71338606911949],"aabb_xy":[[-0.27320510956217753,-2.1272383163057182],[-0.2496687359728625,-1.9572383164952751]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[-0.5881232198516274,-2.0912502092022365,0.71338606911949],"aabb_xy":[[-0.6521232221944289,-2.1361910604463685],[-0.5241232175088257,-2.0463093579581035]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[0.2856372756716097,0.613262969222486,0.71338606911949],"aabb_xy":[[0.23563727609527502,0.5632823902703802],[0.33563727524794446,0.6632435481745921]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[-0.11890049939997782,-1.7109571244250845,0.71338606911949],"aabb_xy":[[-0.15481400382496752,-1.7468706326418388],[-0.08298699497498813,-1.6750436162083298]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_26","position":[0.10767587092255848,-1.754145192973,0.71338606911949],"aabb_xy":[[0.08778483104221824,-1.7668010042576974],[0.12756691080289873,-1.7414893816883037]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.11773209988422872,0.373481221766613,0.71338606911949],"aabb_xy":[[-0.18173210058769806,0.327462839293692],[-0.053732099180759385,0.4194996042395341]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6564414215756079,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9687.png","name":"9687"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9687.png","name":"9687"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3219.png","name":"3219"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6365.png","name":"6365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/594.png","name":"594"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/33.png","name":"33"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":768.4189049812869,"rotation_z_degrees":34.75897082014956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009801295349771554,-0.013398767786697158,0.001624630479962176]},{"name":"camera_2","offset_m":[0.019740473786309314,-0.011103269718648301,0.01781918987063635]},{"name":"camera_3","offset_m":[-0.00038743999435761,-0.01859727891393254,0.011387743716501236]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00013049124154147383,0.001843339054886939,-0.0003191574113793037],"end_effector_yaw_offset_degrees":0.9049451406515208},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001215662762224061,-0.0010304911391231157,0.00025336616998089794],"end_effector_yaw_offset_degrees":0.5391678965749298},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00025634667713471154,0.0009100227188364382,-0.000995668690156463],"end_effector_yaw_offset_degrees":0.7017319397880681}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004212327457768795,-0.0005567611197776455],"position_m":[0.2191876725422312,-0.029956761119777645,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018122255929853702,0.0011776973657101116],"position_m":[0.2589877744070146,-0.3035223026342899,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004371023658828576,0.001768782176099281],"position_m":[0.1371289763411714,0.2869687821760993,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013893116163408614,-0.003242107527471093],"position_m":[0.3253106883836591,0.1802578924725289,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"857c05c90b5ffea1597fa23aa69c0d16a85e1859b582a185fa295cc03083ff6a","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9687/tex_ceiling_textures_33/tex_floor_textures_594/tex_table_textures_3219/tex_wall_textures_6365","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1774706945077227350,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1774706945077227350,"visual_seed":1774706945077227350,"scene_id":"lab_003","finished_at":"2026-09-03T19:28:57"} +{"episode_id":"ep_000019","started_at":"2026-09-03T19:29:00","dimensions":{"distractor":{"count":32,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[0.34071976686667504,0.6781531543380921,0.71338606911949],"aabb_xy":[[0.2507197682722051,0.6619025680246711],[0.430719765461145,0.6944037406515131]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[0.30600456306040535,-0.7204612819601963,0.71338606911949],"aabb_xy":[[0.2883717274668777,-0.7380842279758192],[0.3236373986539329,-0.7028383359445732]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.09106005206055756,0.4623194710424272,0.71338606911949],"aabb_xy":[[-0.12697355648554726,0.42640596282567256],[-0.05514654763556788,0.49823297925918175]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.16443152898490265,-2.455470638919062,0.71338606911949],"aabb_xy":[[0.12693153056150228,-2.4686348528868924],[0.20193152740830297,-2.442306424951231]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.08060487969712293,-1.1779049660673893,0.71338606911949],"aabb_xy":[[-0.14460487612444484,-1.2250745898894857],[-0.01660488326980103,-1.1307353422452928]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.5643312881854933,0.23322503198107203,0.71338606911949],"aabb_xy":[[-0.5879164116493882,0.16822502973564027],[-0.5407461647215985,0.2982250342265038]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[-0.3105757111314888,-1.9472921411517792,0.71338606911949],"aabb_xy":[[-0.3605757124153287,-1.9972709955424013],[-0.2605757098476488,-1.897313286761157]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.03804027937411558,1.5838086667023972,0.71338606911949],"aabb_xy":[[0.02286811009248224,1.568639809774194],[0.05321244865574892,1.5989775236306007]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[0.02656759940744502,1.4448061217861672,0.71338606911949],"aabb_xy":[[0.019323833361199694,1.3648061235825646],[0.033811365453690345,1.5248061199897693]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[0.6117721606859228,-0.06317059014780169,0.71338606911949],"aabb_xy":[[0.6005271051153049,-0.07441238787189695],[0.6230172162565406,-0.05192879242370639]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[-0.5976718657323337,0.6748636498747258,0.71338606911949],"aabb_xy":[[-0.6776718626953728,0.5977880082309524],[-0.5176718687692945,0.7519392915184993]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.16859302428162637,0.6414738154471404,0.71338606911949],"aabb_xy":[[0.15702404353468982,0.6164738153302087],[0.18016200502856297,0.6664738155640721]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[0.6357277294957613,1.1829735321836163,0.71338606911949],"aabb_xy":[[0.5857277285452285,1.151424385180095],[0.6857277304462941,1.2145226791871377]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.3560037070258164,1.4440561179030182,0.71338606911949],"aabb_xy":[[0.32560559592667276,1.4136492159013485],[0.38640181812495994,1.4744630199046875]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[-0.20463198434057306,-0.377732330989514,0.71338606911949],"aabb_xy":[[-0.22680451131722387,-0.3999079981456371],[-0.18245945736392222,-0.3555566638333908]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[-0.5588377884006346,-0.09612501355848702,0.71338606911949],"aabb_xy":[[-0.6238377910384281,-0.14760461225793398],[-0.4938377857628411,-0.044645414859040056]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.37952001558072157,-2.27435614373426,0.71338606911949],"aabb_xy":[[-0.41411109843476673,-2.3393561440192907],[-0.3449289327266763,-2.2093561434492286]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[-0.5847721359081526,1.2587031322059707,0.71338606911949],"aabb_xy":[[-0.6023188308242715,1.2212031306417193],[-0.5672254409920336,1.2962031337702218]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[-0.18457153930619885,-0.2915227355008301,0.71338606911949],"aabb_xy":[[-0.18853202307593322,-0.2991906000863507],[-0.18061105553646448,-0.2838548709153095]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.6014462150697983,-0.694919709691266,0.71338606911949],"aabb_xy":[[0.5214462164129123,-0.7094245686155288],[0.6814462137266843,-0.6804148507670033]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[0.5508314065063122,-2.1162727368541066,0.71338606911949],"aabb_xy":[[0.5402639268482132,-2.126817766967115],[0.5613988861644112,-2.105727706741098]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[0.14681822957807245,-1.2465774200306785,0.71338606911949],"aabb_xy":[[0.056818229854898254,-1.2696507725658581],[0.2368182293012466,-1.2235040674954984]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[-0.010943800341478127,0.6538419041836434,0.71338606911949],"aabb_xy":[[-0.07494380201947548,0.6053245127043292],[0.053056201336519226,0.7023592956629576]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_23","position":[0.6026207778509582,1.6496668858015204,0.71338606911949],"aabb_xy":[[0.5971628322139382,1.5696668824938613],[0.6080787234879783,1.7296668891091795]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[-0.013124024321995442,-0.9778138630919517,0.71338606911949],"aabb_xy":[[-0.06809774635832833,-1.032813862656185],[0.04184969771433744,-0.9228138635277185]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[0.08494079243663821,-2.228953121914128,0.71338606911949],"aabb_xy":[[0.07530915621620858,-2.238590434693837],[0.09457242865706782,-2.219315809134419]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_26","position":[0.1789619348653042,-0.8016132861596512,0.71338606911949],"aabb_xy":[[0.16551540823126087,-0.8150831378127423],[0.19240846149934754,-0.7881434345065599]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[-0.5045913289269629,-1.6146668173492715,0.71338606911949],"aabb_xy":[[-0.5595845402640997,-1.6696668176880651],[-0.44959811758982615,-1.559666817010478]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[-0.45069358607097376,0.951400040096885,0.71338606911949],"aabb_xy":[[-0.5306935893349869,0.9378400077879715],[-0.37069358280696063,0.9649600724057982]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_29","position":[-0.20522031997603374,-0.5507734577609233,0.71338606911949],"aabb_xy":[[-0.21292351065011075,-0.5584828284596612],[-0.19751712930195667,-0.5430640870621852]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_30","position":[-0.5792129294218669,-1.9822392354993745,0.71338606911949],"aabb_xy":[[-0.6167129297700945,-1.9940306310804579],[-0.541712929073639,-1.9704478399182908]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[0.14852742029592536,1.12916224906454,0.71338606911949],"aabb_xy":[[0.08452741888793468,1.0773732975406152],[0.212527421703916,1.1809512005884646]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6618346324351982,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/168.png","name":"168"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/168.png","name":"168"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/117.png","name":"117"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8353.png","name":"8353"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9908.png","name":"9908"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9348.png","name":"9348"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":804.4589960920993,"rotation_z_degrees":146.41699139923247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011805948174468561,-0.009859923836807094,-0.008795260231022586]},{"name":"camera_2","offset_m":[-0.017787704480655437,-0.014990921682324968,0.0051761620393044674]},{"name":"camera_3","offset_m":[-0.0037153578789319193,0.011927775757953892,-0.013355299940998924]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016547699527848772,-0.0007166133834840336,0.00024390556364591942],"end_effector_yaw_offset_degrees":-0.7705328772661302},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007863853171393184,0.0008708637421786175,0.0014321024580660376],"end_effector_yaw_offset_degrees":0.8589750245196965},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001420646774689641,-0.0002155617043318387,0.0010120238660344325],"end_effector_yaw_offset_degrees":0.5742431634586325}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019564862858576083,-0.0041095131164971925],"position_m":[0.2214435137141424,-0.03350951311649719,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038895446192165417,0.00045412705056489984],"position_m":[0.2646895446192165,-0.3042458729494351,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003361246438272761,0.0038111044450246405],"position_m":[0.14486124643827275,0.28901110444502465,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031378995474252167,-0.00396869645671067],"position_m":[0.3235621004525748,0.17953130354328933,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9f3a057abea01dbb4d34c7387bda9344afe18d6853a99143c96584079490cee3","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_168/tex_ceiling_textures_9348/tex_floor_textures_9908/tex_table_textures_117/tex_wall_textures_8353","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2460006012420909811,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2460006012420909811,"visual_seed":2460006012420909811,"scene_id":"lab_003","finished_at":"2026-09-03T19:31:44"} +{"episode_id":"ep_000020","started_at":"2026-09-03T19:31:48","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[0.1265269175109891,-1.4651437376707626,0.71338606911949],"aabb_xy":[[0.08550897412461822,-1.51514373830172],[0.16754486089735998,-1.4151437370398052]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[0.061313786657861136,-2.0997531133205687,0.71338606911949],"aabb_xy":[[0.05327745195657627,-2.1077912326249852],[0.06935012135914595,-2.0917149940161512]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[0.5723918626487181,-0.7092302574551383,0.71338606911949],"aabb_xy":[[0.5123918610057963,-0.7612304067470825],[0.63239186429164,-0.6572301081631942]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.2129325929118876,-2.5251245046143693,0.71338606911949],"aabb_xy":[[0.14293258952032561,-2.5604402783178],[0.2829325963034496,-2.4898087309109385]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.526409842664496,-0.6021090512818137,0.71338606911949],"aabb_xy":[[-0.5864098425110628,-0.6589276734748524],[-0.4664098428179292,-0.545290429088775]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.6623798571956268,0.09607497122945219,0.71338606911949],"aabb_xy":[[-0.6799581593845736,0.0785004816553473],[-0.6448015550066799,0.1136494608035571]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.35349922702393677,-2.1427003782392697,0.71338606911949],"aabb_xy":[[-0.41749922432628317,-2.1870668052071265],[-0.28949922972159037,-2.098333951271413]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[-0.5022503023773988,-2.069558878375488,0.71338606911949],"aabb_xy":[[-0.5204561260386465,-2.0805842789574798],[-0.4840444787161512,-2.0585334777934965]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[-0.2191280331060395,-0.755159832688655,0.71338606911949],"aabb_xy":[[-0.2741280327277854,-0.8101435254761279],[-0.1641280334842937,-0.7001761399011824]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[-0.5378351922537115,1.304104219644623,0.71338606911949],"aabb_xy":[[-0.5878181424411907,1.2541042200020625],[-0.48785224206623207,1.3541042192871833]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.6355378457124048,0.39690109716090305,0.71338606911949],"aabb_xy":[[-0.6404371380189683,0.36922417785833417],[-0.6306385534058413,0.4245780164634717]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[0.33758565671173035,-1.0250322958017841,0.71338606911949],"aabb_xy":[[0.2475856569885562,-1.0481056483369637],[0.42758565643490454,-1.001958943266604]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.02957488912377837,-2.337321022423472,0.71338606911949],"aabb_xy":[[-0.06707488906754477,-2.3456141124583088],[0.007925110819988035,-2.3290279323886356]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[0.5689420754606471,-0.847880318621423,0.71338606911949],"aabb_xy":[[0.56082842078727,-0.855986135075452],[0.5770557301340242,-0.8397745021673938]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.3197315508994398,0.2934773018821515,0.71338606911949],"aabb_xy":[[-0.324687571084321,0.27097730168002987],[-0.31477553071455855,0.3159773020842731]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[0.5742348875614269,0.48025319574175906,0.71338606911949],"aabb_xy":[[0.5392348883686084,0.4692861497440964],[0.609234886754245,0.49122024173942164]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.4324358908598552,0.5051303467439299,0.71338606911949],"aabb_xy":[[-0.4667328018775958,0.4708334605339884],[-0.39813897984211455,0.5394272329538711]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.4732647316308764,0.33612956117375914,0.71338606911949],"aabb_xy":[[-0.537264733973678,0.29118870992962664],[-0.40926472928807484,0.38107041241789164]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[0.6286211114807279,0.8927149964593135,0.71338606911949],"aabb_xy":[[0.6204065663650437,0.884038406161672],[0.6368356565964116,0.9013915867569546]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[-0.15551111969434916,-1.5629953901099933,0.71338606911949],"aabb_xy":[[-0.20560858367542278,-1.626995390619805],[-0.10541365571327554,-1.4989953896001813]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[0.6229274823966549,-1.1592958381855218,0.71338606911949],"aabb_xy":[[0.57311070293182,-1.209295836669825],[0.6727442618614895,-1.1092958397012183]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[-0.23337992264476515,0.6239008508624742,0.71338606911949],"aabb_xy":[[-0.3133799237178855,0.6141228045250897],[-0.15337992157164482,0.6336788971998586]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.5216818029497778,-1.3327804008624966,0.71338606911949],"aabb_xy":[[0.4831361101245768,-1.3713261719186856],[0.5602274957749789,-1.294234629806308]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[0.36346037836315137,-2.0343768154024,0.71338606911949],"aabb_xy":[[0.29846037980607854,-2.064129348816282],[0.4284603769202242,-2.0046242819885167]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[-0.26968760338306136,0.9431992963232725,0.71338606911949],"aabb_xy":[[-0.3237031996649613,0.8791992934310152],[-0.2156720071011613,1.0071992992155296]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[0.30958432357118126,-0.6371102192886502,0.71338606911949],"aabb_xy":[[0.2596112580386658,-0.6871102191011831],[0.3595573891036967,-0.5871102194761173]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[0.3186753686346624,-0.9185130302955096,0.71338606911949],"aabb_xy":[[0.3121737321266578,-0.9282808523218194],[0.325177005142667,-0.9087452082691999]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_27","position":[0.29421458613053597,-1.8429656925978026,0.71338606911949],"aabb_xy":[[0.2567145875549151,-1.8557019882613606],[0.3317145847061567,-1.8302293969342447]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_28","position":[-0.04962210130056566,-2.523456731236526,0.71338606911949],"aabb_xy":[[-0.113622103212908,-2.5793678804945364],[0.014377900611776684,-2.4675455819785155]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_29","position":[0.06484157362715515,1.4468475838894128,0.71338606911949],"aabb_xy":[[0.04967870065021808,1.431682126594294],[0.08000444660409224,1.4620130411845316]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6558034963375429,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6867.png","name":"6867"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6867.png","name":"6867"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4577.png","name":"4577"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5474.png","name":"5474"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9579.png","name":"9579"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9801.png","name":"9801"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":578.1335823765812,"rotation_z_degrees":45.50567989004997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012729800481592592,0.018665946103825045,-0.005870522775792102]},{"name":"camera_2","offset_m":[0.018748850377671152,0.009302561129622938,-0.013404955750938644]},{"name":"camera_3","offset_m":[-0.01777127685783062,0.0012139475254459922,0.013325174197325765]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007575029585397291,-0.00179449448390861,0.0015319121347693592],"end_effector_yaw_offset_degrees":0.6532017414171967},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004745495287585761,0.0018460952454290038,0.0016494105521063299],"end_effector_yaw_offset_degrees":-0.5271205686622868},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001339087422865246,-0.0008899353877075322,0.0011684974366898428],"end_effector_yaw_offset_degrees":-0.3904676843013237}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025856776616715515,-0.0009445252065955713],"position_m":[0.22081432233832843,-0.03034452520659557,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001521904068269304,0.003119736184489164],"position_m":[0.2592780959317307,-0.30158026381551084,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0041186779045296095,0.00045032007946216573],"position_m":[0.13738132209547038,0.28565032007946217,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014336026522870603,0.0025026305261313586],"position_m":[0.328133602652287,0.18600263052613136,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3d8313c4503fd11674bf638af1a48739290150f61ebbbacc42ccb19bb97bb59c","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6867/tex_ceiling_textures_9801/tex_floor_textures_9579/tex_table_textures_4577/tex_wall_textures_5474","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8955775586271983976,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8955775586271983976,"visual_seed":8955775586271983976,"scene_id":"lab_003","finished_at":"2026-09-03T19:34:33"} +{"episode_id":"ep_000021","started_at":"2026-09-03T19:34:36","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.42988129967142524,-0.3406981077591045,0.71338606911949],"aabb_xy":[[-0.4348373198563065,-0.36319810796122615],[-0.42492527948654407,-0.3181981075569829]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.0917980787483822,0.32668802152139387,0.71338606911949],"aabb_xy":[[-0.14177114428089768,0.27668802170886103],[-0.04182501321586674,0.37668802133392687]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.31467332244280155,0.6825436270283278,0.71338606911949],"aabb_xy":[[0.28838449812236083,0.6562721933736764],[0.34096214676324216,0.7088150606829788]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[0.5745947018179938,-1.2404326843413078,0.71338606911949],"aabb_xy":[[0.5105946999056515,-1.2963438335993185],[0.6385947037303362,-1.1845215350832976]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.5209617232847538,1.1176569430141154,0.71338606911949],"aabb_xy":[[-0.5376388592778494,1.1009570190401852],[-0.5042845872916584,1.1343568669880457]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[0.43677612284270984,1.7539412668356342,0.71338606911949],"aabb_xy":[[0.4021850399886645,1.6889412665506027],[0.47136720569675494,1.8189412671206648]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[-0.3111123831258993,-0.6641057703754951,0.71338606911949],"aabb_xy":[[-0.31644995879190385,-0.6891057713046349],[-0.3057748074598947,-0.6391057694463553]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[-0.6216531547657648,-1.567026086191803,0.71338606911949],"aabb_xy":[[-0.6591531547095312,-1.5753191762266396],[-0.5841531548219984,-1.5587329961569665]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.4138872291284821,1.6827788174443161,0.71338606911949],"aabb_xy":[[-0.4513872277041029,1.6700425217807582],[-0.3763872305528613,1.695515113107874]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.18359212372911038,0.7688000600339642,0.71338606911949],"aabb_xy":[[-0.26359212231642976,0.6894844580958033],[-0.10359212514179093,0.8481156619721251]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.060599194311281024,1.3234599346448106,0.71338606911949],"aabb_xy":[[0.005606943675770076,1.2684599329014978],[0.115591444946792,1.3784599363881234]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.6253573612923031,-2.327426614430551,0.71338606911949],"aabb_xy":[[0.6024416484072532,-2.350330911566975],[0.648273074177353,-2.304522317294128]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[-0.6566575983058125,-0.9363736099515607,0.71338606911949],"aabb_xy":[[-0.6653555605965278,-0.9484985842590357],[-0.6479596360150972,-0.9242486356440862]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[-0.6693362826752075,-2.209633869548883,0.71338606911949],"aabb_xy":[[-0.678629900912358,-2.2471338680370168],[-0.6600426644380568,-2.172133871060749]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[0.1489442289331293,1.5684331742237032,0.71338606911949],"aabb_xy":[[0.08394423037605647,1.5386806408098206],[0.21394422749020214,1.5981857076375858]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.41724668938187437,-1.407744172564748,0.71338606911949],"aabb_xy":[[-0.4812466896423451,-1.452752971917676],[-0.3532466891214035,-1.36273537321182]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[-0.13910886191050653,-0.5709956294038787,0.71338606911949],"aabb_xy":[[-0.1741088610404622,-0.5767408504795427],[-0.10410886278055087,-0.5652504083282145]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.6762213266123602,-1.8032846535705271,0.71338606911949],"aabb_xy":[[0.6549433184688879,-1.8682846558966002],[0.6974993347558324,-1.738284651244454]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[-0.3768307581252555,-0.8805110580623443,0.71338606911949],"aabb_xy":[[-0.38027143436531274,-0.8843724910367089],[-0.37339008188519834,-0.87664962508798]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.6730578030780978,-0.8678063594986658,0.71338606911949],"aabb_xy":[[0.6269727118233663,-0.9318063567512209],[0.7191428943328293,-0.8038063622461107]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.6451791254919226,-1.060309751940792,0.71338606911949],"aabb_xy":[[0.5811791222022143,-1.1036446709447092],[0.7091791287816306,-1.016974832936874]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[-0.5327085458644478,0.7098310776172831,0.71338606911949],"aabb_xy":[[-0.5977085485022412,0.6583514789178362],[-0.4677085432266542,0.7613106763167301]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[0.5371996941079522,1.4130391306875825,0.71338606911949],"aabb_xy":[[0.44719969438477797,1.3899657781524022],[0.6271996938311263,1.4361124832227619]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[0.4676264978227016,-0.4732798603922346,0.71338606911949],"aabb_xy":[[0.38762649916581565,-0.4877847193164973],[0.5476264964795876,-0.45877500146797173]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[0.25867147761753584,-1.2495448788657342,0.71338606911949],"aabb_xy":[[0.23617147780363346,-1.2540194952362147],[0.2811714774314382,-1.2450702624952532]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556558736443903,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/533.png","name":"533"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/533.png","name":"533"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1638.png","name":"1638"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8107.png","name":"8107"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4706.png","name":"4706"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2829.png","name":"2829"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":558.0548538510941,"rotation_z_degrees":223.6046675222661,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011746962551538388,0.0075812996481126535,-0.019823266757802226]},{"name":"camera_2","offset_m":[0.012602328598939849,0.010428391641028777,0.0008508543159680831]},{"name":"camera_3","offset_m":[-0.0003873184174012466,0.0025331702815293913,3.5036664486051694e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018130467415726063,0.0005180166756726732,0.00020682527795986812],"end_effector_yaw_offset_degrees":-0.51859842803022},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011999363416016276,-0.0004201094320700838,0.0004103453226650972],"end_effector_yaw_offset_degrees":0.583149611603635},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007865893067771782,-7.633597093306276e-05,-0.000999546363469214],"end_effector_yaw_offset_degrees":0.607215265586156}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001533396197841297,0.004949047283646378],"position_m":[0.2218666038021587,-0.02445095271635362,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004898249768701956,-0.0029978040799416017],"position_m":[0.255901750231298,-0.30769780407994163,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018738158033171628,0.002198876813319979],"position_m":[0.13962618419668282,0.28739887681332,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034511360712202255,0.0019701578790171682],"position_m":[0.3301511360712202,0.18547015787901716,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"192b5fecf94d997881ea06e767b5c9b3d3459fe1e2ef54f864137bc31018524a","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_533/tex_ceiling_textures_2829/tex_floor_textures_4706/tex_table_textures_1638/tex_wall_textures_8107","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4945988353256345382,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4945988353256345382,"visual_seed":4945988353256345382,"scene_id":"lab_003","finished_at":"2026-09-03T19:37:28"} +{"episode_id":"ep_000022","started_at":"2026-09-03T19:37:31","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.2054128570109613,-2.5445812065388926,0.71338606911949],"aabb_xy":[[-0.2169818377578979,-2.5695812066558243],[-0.19384387626402474,-2.519581206421961]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[-0.15294469036751912,-1.649457315925643,0.71338606911949],"aabb_xy":[[-0.15757980551975248,-1.6533246510027912],[-0.1483095752152857,-1.6455899808484937]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.20222049102834777,-0.7848546110215946,0.71338606911949],"aabb_xy":[[-0.21972049127339716,-0.8023543988611613],[-0.18472049078329839,-0.7673548231820276]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.696654398147927,1.200364429997546,0.71338606911949],"aabb_xy":[[0.6848862113532694,1.1153644300923244],[0.7084225849425845,1.2853644299027676]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.15643240358065502,-0.13082091058385448,0.71338606911949],"aabb_xy":[[-0.17198817299092028,-0.14637134382826167],[-0.14087663417038976,-0.11527047733944729]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.37333776020446474,-1.8609757831637357,0.71338606911949],"aabb_xy":[[0.35083776039056236,-1.8654503995342164],[0.3958377600183671,-1.856501166793255]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[-0.15105271013011334,-2.1536961545900324,0.71338606911949],"aabb_xy":[[-0.17351748010151843,-2.176196155468893],[-0.1285879401587082,-2.131196153711172]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.476658385621904,0.923599383993917,0.71338606911949],"aabb_xy":[[0.4670267494014743,0.913962071214208],[0.48629002184233355,0.9332366967736259]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.3528607315482227,-2.1401929593725963,0.71338606911949],"aabb_xy":[[-0.40785620936888206,-2.195192960806503],[-0.2978652537275633,-2.085192957938689]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[0.3477519114466867,-2.3545956906674337,0.71338606911949],"aabb_xy":[[0.3390379423967521,-2.3770956913266215],[0.3564658804966211,-2.332095690008245]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.5145224812387603,0.18802896587512752,0.71338606911949],"aabb_xy":[[0.5026503982272592,0.10302896618147714],[0.5263945642502614,0.27302896556877787]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.49299686582254165,1.5556248594459539,0.71338606911949],"aabb_xy":[[0.4279968679408939,1.5045011957394132],[0.5579968637041894,1.606748523152495]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.57821772618431,0.608280625297621,0.71338606911949],"aabb_xy":[[0.5583266863039698,0.5956248140129241],[0.5981087660646502,0.6209364365823178]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.3213570841660031,1.1503629307617471,0.71338606911949],"aabb_xy":[[-0.33398387145319947,1.1408168570601742],[-0.30873029687880676,1.15990900446332]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.2889832331654247,-1.9426786244368373,0.71338606911949],"aabb_xy":[[-0.33426184804657394,-2.006678623785021],[-0.24370461828427542,-1.8786786250886536]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[-0.6251692036612726,0.3393211224463344,0.71338606911949],"aabb_xy":[[-0.6586483709223137,0.3058420090752274],[-0.5916900364002318,0.37280023581744137]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.4367727733428084,-0.8045394861563813,0.71338606911949],"aabb_xy":[[0.372772776040462,-0.848905913124238],[0.5007727706451548,-0.7601730591885245]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[0.6783670345252995,-1.5469503366558868,0.71338606911949],"aabb_xy":[[0.6723300215246347,-1.5529770377248353],[0.6844040475259642,-1.5409236355869387]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.12408008074415089,-1.8726649717375747,0.71338606911949],"aabb_xy":[[0.060080081574380974,-1.9194316588565372],[0.18808007991392084,-1.8258982846186123]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[-0.5054244235892039,-0.3525441801657676,0.71338606911949],"aabb_xy":[[-0.5694244208748526,-0.3940508991186116],[-0.4414244263035553,-0.31103746121292364]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[-0.6159829004036266,1.3683164463680288,0.71338606911949],"aabb_xy":[[-0.6534829010682052,1.3526293883678064],[-0.5784828997390478,1.3840035043682508]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.3760154666184312,-1.9695066213355732,0.71338606911949],"aabb_xy":[[0.3635481085086957,-1.9819719459688967],[0.388482824728167,-1.9570412967022497]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[0.42662163293240707,-2.4581238557590646,0.71338606911949],"aabb_xy":[[0.41933931655574336,-2.5481238593685727],[0.43390394930907067,-2.3681238521495547]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[0.6427753122407283,-1.1783552151045085,0.71338606911949],"aabb_xy":[[0.582775311989327,-1.232636540140973],[0.7027753124921293,-1.1240738900680436]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[0.6222038252190476,-1.8307988512277718,0.71338606911949],"aabb_xy":[[0.567210613881911,-1.8857988515665656],[0.6771970365561845,-1.7757988508889784]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[0.07987087028362772,1.033869121612454,0.71338606911949],"aabb_xy":[[0.069459311603144,1.0285233882765554],[0.09028242896411143,1.0392148549483522]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[-0.5110837426001726,0.5519594039894944,0.71338606911949],"aabb_xy":[[-0.5610611594654261,0.5019594025002457],[-0.461106325734919,0.6019594054787428]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_27","position":[0.15361778158789308,0.8062766952939664,0.71338606911949],"aabb_xy":[[0.08961778519232,0.7423134068752327],[0.21761777798346615,0.8702399837126998]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6604929898424289,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3220.png","name":"3220"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6340.png","name":"6340"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7934.png","name":"7934"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9524.png","name":"9524"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":582.1290564141111,"rotation_z_degrees":315.45496546442325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0036442437738493094,0.00803119572500555,0.012364139689622241]},{"name":"camera_2","offset_m":[0.005463859543936449,0.018319770812945734,0.015330360320792966]},{"name":"camera_3","offset_m":[-0.0061078263154384915,-0.016408721662544163,0.0070707824481200665]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019207081365418942,0.0001999926691346938,-0.001964931337798231],"end_effector_yaw_offset_degrees":-0.6175296438752966},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017440036529400784,0.000220470612076321,0.0019800075810096967],"end_effector_yaw_offset_degrees":-0.963622076736047},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008926127097471097,-0.0008515867879830181,-0.0012653180903114195],"end_effector_yaw_offset_degrees":0.7376357466183716}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004401720367615902,0.001257433739134949],"position_m":[0.2278017203676159,-0.02814256626086505,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010903557104850851,-0.002014941115644697],"position_m":[0.2618903557104851,-0.30671494111564473,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004465060248138491,-0.003790994575344541],"position_m":[0.1459650602481385,0.28140900542465547,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013144467162912064,-0.004218262484205204],"position_m":[0.3280144467162912,0.1792817375157948,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7cfbcdd3fbb47da3ffa806ec24a380e870fb97716d149d002df79daafb2a46ef","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9846/tex_ceiling_textures_9524/tex_floor_textures_7934/tex_table_textures_3220/tex_wall_textures_6340","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2029517031505511789,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2029517031505511789,"visual_seed":2029517031505511789,"scene_id":"lab_003","finished_at":"2026-09-03T19:40:19"} +{"episode_id":"ep_000023","started_at":"2026-09-03T19:40:22","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[0.5976278555385708,0.15139693884595973,0.71338606911949],"aabb_xy":[[0.592046183904442,0.13889693902818423],[0.6032095271726996,0.16389693866373523]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.19312711716706066,-1.2679096314432607,0.71338606911949],"aabb_xy":[[0.12912711494665363,-1.312282715568549],[0.2571271193874677,-1.2235365473179725]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.23207083462764322,1.0609529367283774,0.71338606911949],"aabb_xy":[[0.1670708360705704,1.0312004033144948],[0.29707083318471605,1.09070547014226]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[0.6583623638004186,-1.7232105134765996,0.71338606911949],"aabb_xy":[[0.6408623635410821,-1.7373020556653724],[0.6758623640597553,-1.7091189712878272]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[-0.38151859351879663,0.6428767647651217,0.71338606911949],"aabb_xy":[[-0.404800435716928,0.5578767634678935],[-0.3582367513206653,0.7278767660623496]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[-0.37700685418213187,0.022341728414283057,0.71338606911949],"aabb_xy":[[-0.42698980436961115,-0.027658271228277347],[-0.3270239039946525,0.07234172805684345]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.1376072235154261,-2.0772259685334387,0.71338606911949],"aabb_xy":[[-0.1481747031735251,-2.087770998646447],[-0.12703974385732708,-2.06668093842043]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[-0.6301142500219518,-1.6603829225223738,0.71338606911949],"aabb_xy":[[-0.6941142473076004,-1.7018896414752178],[-0.5661142527363031,-1.6188762035695299]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.02157886255749042,-1.5951202831037212,0.71338606911949],"aabb_xy":[[-0.026534882742371625,-1.617620283305843],[-0.016622842372609224,-1.5726202829015998]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.039660549151566915,1.293583331303334,0.71338606911949],"aabb_xy":[[-0.0013573942348039728,1.2435833306723767],[0.0806784925379378,1.3435833319342914]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[0.584419410831057,0.30700324528561307,0.71338606911949],"aabb_xy":[[0.5544518539212312,0.2770032449877273],[0.6143869677408825,0.3370032455834988]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.301109089627527,1.3965525687763005,0.71338606911949],"aabb_xy":[[-0.30742118916386546,1.3907856295230816],[-0.2947969900911886,1.4023195080295194]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[0.49676369217821836,-1.443749037523867,0.71338606911949],"aabb_xy":[[0.4367636923316516,-1.5005676597169055],[0.5567636920247852,-1.3869304153308282]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[-0.6720269330422027,1.7603547096259793,0.71338606911949],"aabb_xy":[[-0.689526866476186,1.7428547097057445],[-0.6545269996082193,1.7778547095462136]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.28554606463648635,1.468361745503087,0.71338606911949],"aabb_xy":[[0.1955460652181154,1.434986248658897],[0.3755460640548572,1.5017372423472763]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[0.40787362947835115,-0.9195190528958452,0.71338606911949],"aabb_xy":[[0.3625950145972019,-0.9835190522440288],[0.4531522443595004,-0.8555190535476614]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[0.33030583620414,1.223261004417433,0.71338606911949],"aabb_xy":[[0.3222624762781848,1.1382610033220666],[0.3383491961300951,1.3082610055127994]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.6782766917894398,-2.554310830944092,0.71338606911949],"aabb_xy":[[-0.6864912369051237,-2.5629874212417323],[-0.6700621466737557,-2.5456342406464496]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[-0.5483621664216369,0.23132670707074654,0.71338606911949],"aabb_xy":[[-0.5746509907420775,0.2050552734160953],[-0.5220733421011962,0.2575981407253978]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.550330670563776,-0.7368052472992599,0.71338606911949],"aabb_xy":[[0.5390856149931581,-0.7480470450233552],[0.5615757261343938,-0.7255634495751646]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.07344025432737888,0.9368771781348024,0.71338606911949],"aabb_xy":[[0.06020930879269758,0.9236497591128029],[0.08667119986206016,0.9501045971568017]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.28430425061568965,-2.4354066883884,0.71338606911949],"aabb_xy":[[-0.33143362961752526,-2.499406689432801],[-0.23717487161385392,-2.371406687343997]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.3915274450085074,-1.1956419370852613,0.71338606911949],"aabb_xy":[[-0.4415274445848421,-1.2456225160373673],[-0.34152744543217267,-1.1456613581331554]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[0.5189896851791458,1.6299066151548014,0.71338606911949],"aabb_xy":[[0.5014429902630269,1.5924066135905501],[0.5365363800952647,1.6674066167190527]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[0.42985674456902223,0.2078621477018081,0.71338606911949],"aabb_xy":[[0.38486415785057176,0.16286214842735933],[0.4748493312874726,0.25286214697625686]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_25","position":[0.48283273259470794,-0.4343580218137011,0.71338606911949],"aabb_xy":[[0.4128327361847461,-0.45479595746538276],[0.5528327290046696,-0.4139200861620193]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[-0.5101355651547512,-1.923647197014214,0.71338606911949],"aabb_xy":[[-0.5651092871910841,-1.9786471965784473],[-0.45516184311841834,-1.868647197449981]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[-0.09309770727533007,-0.9997749424745395,0.71338606911949],"aabb_xy":[[-0.1570977075493083,-1.0498410426718272],[-0.029097707001351836,-0.9497088422772514]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[0.060046157054963634,1.6891591346692407,0.71338606911949],"aabb_xy":[[0.004920951425372861,1.6291591332279536],[0.11517136268455441,1.7491591361105279]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_29","position":[0.1686798293189149,-2.2382089658998723,0.71338606911949],"aabb_xy":[[0.15711084857197832,-2.263208966016804],[0.18024881006585147,-2.2132089657829406]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_30","position":[0.3014561784742734,1.7411978803361907,0.71338606911949],"aabb_xy":[[0.2374561793045035,1.6944311932172282],[0.36545617764404337,1.7879645674551532]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_31","position":[0.10441092489722281,-2.1589621549971234,0.71338606911949],"aabb_xy":[[0.09465493538804891,-2.1687246890563574],[0.11416691440639669,-2.1491996209378885]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_32","position":[0.6426720490511493,-1.8659312529544605,0.71338606911949],"aabb_xy":[[0.5786720473731519,-1.9144486444337745],[0.7066720507291466,-1.817413861475146]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6559482625243462,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8132.png","name":"8132"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8132.png","name":"8132"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7180.png","name":"7180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3069.png","name":"3069"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1446.png","name":"1446"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3983.png","name":"3983"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":540.2871052776659,"rotation_z_degrees":163.7514705813324,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00382704545935968,0.014358673304986896,0.017263805281068436]},{"name":"camera_2","offset_m":[-0.012112336510951748,-0.005023646618798491,-0.016703929860250655]},{"name":"camera_3","offset_m":[-0.009882014339310992,-0.0016486281993902084,0.01196282805567531]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006209761143510667,-0.0010188536115302799,0.00154702753862995],"end_effector_yaw_offset_degrees":-0.3871874251041514},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00033639595940909055,-0.0012572394406925001,-0.0015265701221061744],"end_effector_yaw_offset_degrees":-0.7599597847355504},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001185482112174428,-0.0009828922906904164,-0.0008250259985223005],"end_effector_yaw_offset_degrees":0.38982736230083703}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002172330288992973,-0.004519782982361061],"position_m":[0.22122766971100702,-0.03391978298236106,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033442418194463874,-0.000684384205781683],"position_m":[0.2574557581805536,-0.30538438420578173,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007151100843422612,0.0022152011690331763],"position_m":[0.14221511008434226,0.2874152011690332,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00029854763117395915,-0.0004900673568818854],"position_m":[0.326401452368826,0.1830099326431181,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1caeec5d246b17fc2057d49f2fe245a02ee2dc427112c6aafb3810d39f15c5ea","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0023.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8132/tex_ceiling_textures_3983/tex_floor_textures_1446/tex_table_textures_7180/tex_wall_textures_3069","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8740945792917598526,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8740945792917598526,"visual_seed":8740945792917598526,"scene_id":"lab_003","finished_at":"2026-09-03T19:43:13"} +{"episode_id":"ep_000024","started_at":"2026-09-03T19:43:17","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[-0.15201015327107437,1.0102985191922405,0.71338606911949],"aabb_xy":[[-0.16394288763290243,0.9979163663843811],[-0.1400774189092463,1.0226806720000998]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[0.4195651984379518,0.456773556516505,0.71338606911949],"aabb_xy":[[0.3345652000205286,0.37189926105421994],[0.504565196855375,0.54164785197879]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[0.21158986060266294,-2.257245993404039,0.71338606911949],"aabb_xy":[[0.16882315372324277,-2.3212459968258417],[0.25435656748208313,-2.1932459899822367]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.21908439215837222,-0.49392894242963914,0.71338606911949],"aabb_xy":[[-0.24158352788459916,-0.5164289432079021],[-0.19658525643214522,-0.4714289416513761]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[-0.4671174048393696,-1.784787126369185,0.71338606911949],"aabb_xy":[[-0.49708496174919525,-1.8147871266670705],[-0.4371498479295439,-1.754787126071299]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[0.6657974737798695,-0.5384372990032826,0.71338606911949],"aabb_xy":[[0.6553859150993858,-0.543783032339181],[0.6762090324603532,-0.533091565667384]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.09533323178211073,-0.718071403646602,0.71338606911949],"aabb_xy":[[0.04533323142154464,-0.768051390856205],[0.14533323214267674,-0.6680914164369991]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[0.5043472354977214,-1.912320911809405,0.71338606911949],"aabb_xy":[[0.4427564762737286,-1.9763209099184522],[0.5659379947217142,-1.8483209137003584]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.10923511822997456,-0.6761614982524466,0.71338606911949],"aabb_xy":[[-0.13423511816249245,-0.6830441664733701],[-0.08423511829745668,-0.6692788300315234]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[0.5955919276336679,1.0849481663574791,0.71338606911949],"aabb_xy":[[0.5850244479755689,1.0744031362444706],[0.6061594072917669,1.0954931964704877]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.40087324966022364,0.2923738178243207,0.71338606911949],"aabb_xy":[[0.39673739332752345,0.2548738183799637],[0.40500910599292383,0.3298738172686777]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.4464446457392186,-0.7894641657296431,0.71338606911949],"aabb_xy":[[0.4392008796929733,-0.8694641639332455],[0.45368841178546393,-0.7094641675260408]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.6277300811617961,-2.5135534233107357,0.71338606911949],"aabb_xy":[[-0.669034624225532,-2.577553422878853],[-0.58642553809806,-2.4495534237426186]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[-0.6429824925712314,-2.1762771010443807,0.71338606911949],"aabb_xy":[[-0.6654824930832719,-2.1987689594097786],[-0.6204824920591907,-2.153785242678982]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[-0.07234590631139715,1.2874044800603741,0.71338606911949],"aabb_xy":[[-0.1560681318114796,1.197404476525678],[0.011376319188685313,1.3774044835950698]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.24994236671912712,-0.7470102501292737,0.71338606911949],"aabb_xy":[[-0.2724423665330295,-0.7514848664997544],[-0.22744236690522474,-0.742535633758793]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_16","position":[-0.29465617012918605,1.5369132757874593,0.71338606911949],"aabb_xy":[[-0.3356741135155569,1.4869132751565017],[-0.25363822674281516,1.5869132764184164]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.30999375687088326,1.1828076025191177,0.71338606911949],"aabb_xy":[[0.2599937552093884,1.1328091602634147],[0.3599937585323779,1.2328060447748201]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[0.46727174247624137,-2.30109433885233,0.71338606911949],"aabb_xy":[[0.4436866190123465,-2.366094341097762],[0.4908568659401362,-2.2360943366068984]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[0.5632753613390791,-2.495753135617448,0.71338606911949],"aabb_xy":[[0.5273618569140893,-2.531666643834203],[0.5991888657640686,-2.4598396274006933]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.3174233841447219,-1.7563228319889932,0.71338606911949],"aabb_xy":[[-0.3669038053586807,-1.8203228299018452],[-0.26794296293076314,-1.6923228340761416]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.661798849963727,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4344.png","name":"4344"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4344.png","name":"4344"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3900.png","name":"3900"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3388.png","name":"3388"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8212.png","name":"8212"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6841.png","name":"6841"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":635.0830315010573,"rotation_z_degrees":274.0967513654752,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006893638901782486,-0.003519125408572972,-0.008576171512388786]},{"name":"camera_2","offset_m":[-0.012643777430829985,0.012502091271076241,0.01220753366283393]},{"name":"camera_3","offset_m":[0.012555771048720462,-0.0017324189440537964,-0.006647596487100773]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018610251208629888,0.00012211340491699195,-0.0012227906869259223],"end_effector_yaw_offset_degrees":0.40365056104710684},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019143326593546832,-0.0009735888091801565,0.0005002261235840079],"end_effector_yaw_offset_degrees":-0.48264955089580996},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00017996547662144308,5.423244457321676e-05,0.0014894313423018902],"end_effector_yaw_offset_degrees":0.9162095952616314}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004542204777041048,-0.004568084146473218],"position_m":[0.22794220477704102,-0.03396808414647322,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003729140334039374,0.00022222495102834118],"position_m":[0.26452914033403935,-0.30447777504897167,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003218101443580797,-0.0030744667314122],"position_m":[0.14471810144358077,0.2821255332685878,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027008362787027196,0.002890604154462173],"position_m":[0.3294008362787027,0.18639060415446218,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8074a45306eeeab696fda27af14eb58d25f3bcd21f89584cda594d9f77244941","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0024.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4344/tex_ceiling_textures_6841/tex_floor_textures_8212/tex_table_textures_3900/tex_wall_textures_3388","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":9024981233203199451,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":9024981233203199451,"visual_seed":9024981233203199451,"scene_id":"lab_003","finished_at":"2026-09-03T19:45:56"} +{"episode_id":"ep_000025","started_at":"2026-09-03T19:45:59","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.1824635046107358,-0.21084092020744594,0.71338606911949],"aabb_xy":[[-0.21746350458723165,-0.22030553625506258],[-0.14746350463424,-0.20137630415982935]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[0.684053954863336,-1.7380243683399725,0.71338606911949],"aabb_xy":[[0.6787214402087229,-1.7433486965852079],[0.689386469517949,-1.7327000400947368]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.39149880243745255,-0.18007950811083484,0.71338606911949],"aabb_xy":[[-0.4089988026967893,-0.19417105029960752],[-0.373998802178116,-0.16598796592206225]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.20577221410882496,1.1625362636262837,0.71338606911949],"aabb_xy":[[0.19390013109732382,1.0775362639326334],[0.21764429712032604,1.247536263319934]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[-0.49421295636798696,-1.2881567698256269,0.71338606911949],"aabb_xy":[[-0.5225426663165271,-1.2926175120193442],[-0.4658832464194468,-1.28369602763191]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.6433901389568635,0.9712402797159863,0.71338606911949],"aabb_xy":[[-0.6905195179586989,0.9072402786715842],[-0.5962607599550276,1.0352402807603882]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[0.014000506312560224,-1.2040952794554507,0.71338606911949],"aabb_xy":[[-0.03597255921995524,-1.2540952792679836],[0.0639735718450757,-1.1540952796429178]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.33980147874779704,-1.8031041978306326,0.71338606911949],"aabb_xy":[[-0.41979530232635526,-1.8831042004234744],[-0.2598076551692388,-1.7231041952377912]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[0.2683693770988125,-1.964954759716505,0.71338606911949],"aabb_xy":[[0.2397200447383962,-1.9936003189935807],[0.29701870945922865,-1.9363092004394291]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[0.5388060117104669,-2.4621153542006793,0.71338606911949],"aabb_xy":[[0.5351027503813278,-2.465817372509397],[0.5425092730396056,-2.4584133358919615]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[0.40237642749066715,0.3636183661612682,0.71338606911949],"aabb_xy":[[0.39747713518410355,0.33594144685869937],[0.40727571979723054,0.3912952854638369]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.31608321949049883,-1.1474101211154193,0.71338606911949],"aabb_xy":[[-0.39608321976410577,-1.220359668941136],[-0.23608321921689182,-1.0744605732897026]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.4334928708198509,0.14543612696799801,0.71338606911949],"aabb_xy":[[0.3964587613917911,0.11105891963428857],[0.47052698024791056,0.17981333430170746]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.07219008459406673,-2.388044073059854,0.71338606911949],"aabb_xy":[[0.034690084488473764,-2.394866234912835],[0.10969008469965967,-2.381221911206872]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[-0.11517897020359325,-1.8868020091158828,0.71338606911949],"aabb_xy":[[-0.12259142574498173,-1.8926532195375105],[-0.10776651466220478,-1.8809507986942546]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[0.5252790251031036,-0.08592320576410684,0.71338606911949],"aabb_xy":[[0.5049947223797048,-0.10620583090681568],[0.5455633278265023,-0.06564058062139799]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[0.4955709574950322,-0.5090186291554906,0.71338606911949],"aabb_xy":[[0.4829682583579558,-0.5216140253803561],[0.5081736566321087,-0.49642323293062507]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[0.5457637427562128,-2.197037363318417,0.71338606911949],"aabb_xy":[[0.5328918392552725,-2.277037363732253],[0.5586356462571528,-2.117037362904581]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.09268008465338551,-2.494309878270756,0.71338606911949],"aabb_xy":[[-0.14249686411822027,-2.5443098767550594],[-0.04286330518855075,-2.4443098797864526]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[-0.5870154211582664,-1.8369371046498018,0.71338606911949],"aabb_xy":[[-0.6707376466583489,-1.9269371081844975],[-0.503293195658184,-1.7469371011151056]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.08302337743385879,1.5027201221264197,0.71338606911949],"aabb_xy":[[-0.12052337894949049,1.4914933491102744],[-0.04552337591822707,1.5139468951425645]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[-0.22925495972271376,1.60678554573277,0.71338606911949],"aabb_xy":[[-0.234210979907595,1.5842855455306484],[-0.22429893953783261,1.6292855459348916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6551186216486126,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8682.png","name":"8682"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8682.png","name":"8682"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6271.png","name":"6271"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3996.png","name":"3996"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2707.png","name":"2707"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9273.png","name":"9273"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":575.9723086051645,"rotation_z_degrees":310.459527570688,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007355905973488196,-0.018062998012905337,0.007593158894103967]},{"name":"camera_2","offset_m":[-0.005700878332442793,0.004713845341167332,-0.0025137417846949443]},{"name":"camera_3","offset_m":[-0.009900369357946578,-0.0007571938161071573,-0.018135932496542155]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011587414302133957,0.0011417228178357526,0.00030207201282434273],"end_effector_yaw_offset_degrees":-0.5026003634294205},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008753375186591481,-0.0018921280511457654,0.0012054648624834374],"end_effector_yaw_offset_degrees":0.10916699197936697},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.1595201731721805e-05,-0.0012462004728825541,-8.243830971860211e-05],"end_effector_yaw_offset_degrees":0.887779062517883}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020703776097348112,0.0035763522613570927],"position_m":[0.2254703776097348,-0.025823647738642905,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021944659724040427,0.003310365760920665],"position_m":[0.25860553402759595,-0.3013896342390794,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001972990860269439,-0.00371083420752822],"position_m":[0.13952700913973054,0.2814891657924718,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00498243582242574,0.0032155308874336234],"position_m":[0.33168243582242574,0.18671553088743362,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7cfac17c826c8433bff0887eadfb8d115a75fa8295394421e98359a671ac4458","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8682/tex_ceiling_textures_9273/tex_floor_textures_2707/tex_table_textures_6271/tex_wall_textures_3996","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8674199194994899528,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8674199194994899528,"visual_seed":8674199194994899528,"scene_id":"lab_003","finished_at":"2026-09-03T19:48:44"} +{"episode_id":"ep_000026","started_at":"2026-09-03T19:48:47","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[-0.11556404383314678,0.41158610971694776,0.71338606911949],"aabb_xy":[[-0.12498151840300951,0.40216993257922873],[-0.10614656926328402,0.4210022868546668]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[-0.3976976097498045,1.2971224431623867,0.71338606911949],"aabb_xy":[[-0.44767502661505804,1.2471224416731377],[-0.34772019288455086,1.3471224446516348]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.6237520089114401,0.5241308551796893,0.71338606911949],"aabb_xy":[[0.6036935972981999,0.5040657682705316],[0.6438104205246805,0.5441959420888467]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[0.6776990300007533,-1.6898733832055837,0.71338606911949],"aabb_xy":[[0.6432366826026112,-1.7243672656034064],[0.7121613773988948,-1.655379500807761]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.6162309213610375,-1.8170271449228563,0.71338606911949],"aabb_xy":[[-0.6512309213375335,-1.8264917609704727],[-0.5812309213845418,-1.8075625288752395]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[-0.010028143730444139,-1.8999449415888274,0.71338606911949],"aabb_xy":[[-0.015609815364572897,-1.9124449414066027],[-0.004446472096315378,-1.8874449417710517]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.2825561729070664,-0.6040596569536942,0.71338606911949],"aabb_xy":[[-0.29570741887835583,-0.6290596567103809],[-0.2694049269357771,-0.5790596571970078]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[-0.3057272712010438,-2.193833887641728,0.71338606911949],"aabb_xy":[[-0.3165677494275587,-2.2110201689323765],[-0.2948867929745289,-2.176647606351079]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.05143227955421115,-1.4754702089265885,0.71338606911949],"aabb_xy":[[-0.08893228106984286,-1.4866969819427338],[-0.013932278038579438,-1.4642434359104437]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.22164606778133616,0.5191449612291121,0.71338606911949],"aabb_xy":[[-0.30164606576212116,0.5115434202672602],[-0.14164606980055108,0.5267465021909641]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.3902448071670785,-2.178087828683543,0.71338606911949],"aabb_xy":[[-0.40201299396173606,-2.2630878285887643],[-0.378476620372421,-2.0930878287783212]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[0.041555744510713644,1.2835021297658398,0.71338606911949],"aabb_xy":[[-0.01844425635009916,1.232075699759353],[0.10155574537152644,1.3349285597723257]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.02064193204973086,1.6163872535162604,0.71338606911949],"aabb_xy":[[-0.055641933401212595,1.5960275175594394],[0.01435806930175087,1.636746989473081]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.20850865153014286,-0.7327085042870396,0.71338606911949],"aabb_xy":[[0.1585086519538082,-0.7826890832391458],[0.25850865110647764,-0.6827279253349339]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[0.39621954992178976,-1.4949559067058136,0.71338606911949],"aabb_xy":[[0.3462264378125979,-1.5449559073800094],[0.4462126620309817,-1.444955906031618]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.5752710635813962,0.8164129920954197,0.71338606911949],"aabb_xy":[[-0.5930645705163127,0.7986132464996221],[-0.5574775566464798,0.8342127376912174]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[0.5149187754530282,-1.7290689187960293,0.71338606911949],"aabb_xy":[[0.49741877617494135,-1.746407018862375],[0.5324187747311151,-1.7117308187296831]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.4301110127902896,0.5648118751993545,0.71338606911949],"aabb_xy":[[-0.4851032634258007,0.5098118734560417],[-0.3751187621547788,0.6198118769426673]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[-0.0539632009922929,0.9016853079159439,0.71338606911949],"aabb_xy":[[-0.11796320136982652,0.8519400410651315],[0.01003679938524072,0.9514305747667561]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.5731762888891616,-0.6696397595660131,0.71338606911949],"aabb_xy":[[0.48348921258104616,-0.7596397598204636],[0.6628633651972771,-0.5796397593115625]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.35484451057696265,0.4703998903001465,0.71338606911949],"aabb_xy":[[0.3468182399463367,0.46164839532279395],[0.3628707812075887,0.4791513852774992]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[0.042438075391678654,-1.651948568466377,0.71338606911949],"aabb_xy":[[-0.007561925969208571,-1.7019264730417922],[0.09243807675256586,-1.601970663890961]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_22","position":[-0.20131647369958816,-1.7320299421229304,0.71338606911949],"aabb_xy":[[-0.2512994238870675,-1.7820299417654906],[-0.15133352351210883,-1.6820299424803697]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.2605390785573498,0.7884119722352261,0.71338606911949],"aabb_xy":[[-0.2642423398864887,0.7847099539265082],[-0.2568358172282109,0.7921139905439439]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[-0.5542549763210864,-2.066583237018361,0.71338606911949],"aabb_xy":[[-0.5994262941692554,-2.1305832341628994],[-0.5090836584729175,-2.0025832398738226]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6545060682272857,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8733.png","name":"8733"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4927.png","name":"4927"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5361.png","name":"5361"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5647.png","name":"5647"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":747.191244197467,"rotation_z_degrees":254.20584891823447,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0017061816387263437,0.013558898078816408,0.018627210349133432]},{"name":"camera_2","offset_m":[0.014289536576078999,-0.00542677219484697,-0.009111274265415333]},{"name":"camera_3","offset_m":[0.012759843456697142,-0.016684440040314413,0.000836949041503332]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019861923758242354,-0.00022457196616258962,0.001769116098534332],"end_effector_yaw_offset_degrees":-0.9868676292216136},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001935954360397925,-0.0006440890043887904,-0.0013526551989492077],"end_effector_yaw_offset_degrees":-0.5765893699160174},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015256471396235258,-0.000997236990967111,9.735321636976943e-05],"end_effector_yaw_offset_degrees":0.18719691393607074}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002820237159523407,-0.0011670732037801523],"position_m":[0.2205797628404766,-0.030567073203780153,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004938194475723436,-0.000615895818664061],"position_m":[0.25586180552427656,-0.3053158958186641,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0042489666402042115,0.0003153559982916696],"position_m":[0.1457489666402042,0.2855153559982917,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004860778797784365,-0.00093471403228511],"position_m":[0.33156077879778434,0.18256528596771487,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"99b09c2c43737c08795908779a5d3c73142fe724fc24ada12422371092d32341","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3943/tex_ceiling_textures_5647/tex_floor_textures_5361/tex_table_textures_8733/tex_wall_textures_4927","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8914229221153632647,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8914229221153632647,"visual_seed":8914229221153632647,"scene_id":"lab_003","finished_at":"2026-09-03T19:51:30"} +{"episode_id":"ep_000027","started_at":"2026-09-03T19:51:33","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.5397545118024294,-2.2544767207433973,0.71338606911949],"aabb_xy":[[0.48475451218068355,-2.3094604135308705],[0.5947545114241752,-2.199493027955925]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[-0.36409164130074806,-0.6699888639269536,0.71338606911949],"aabb_xy":[[-0.39909164265222974,-0.6903485998837743],[-0.32909163994926627,-0.6496291279701326]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[0.04636044844740406,-1.80456385071516,0.71338606911949],"aabb_xy":[[-0.0036126170851114104,-1.854563850527693],[0.09633351397991954,-1.7545638509026271]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[0.28531277236122055,-0.9228998428619639,0.71338606911949],"aabb_xy":[[0.21531277595125867,-0.9433377785136453],[0.35531276877118223,-0.9024619072102819]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.18675386285405815,-0.6694538128784109,0.71338606911949],"aabb_xy":[[-0.25075385996616384,-0.7184861826728215],[-0.12275386574195246,-0.6204214430840003]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[0.07305697591806481,-2.3586106610070825,0.71338606911949],"aabb_xy":[[0.009056975644086585,-2.4086767612043705],[0.13705697619204305,-2.3085445608097945]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.001889979749137738,-1.5745898655351216,0.71338606911949],"aabb_xy":[[-0.06588998196954476,-1.6189629496604099],[0.06211002247126929,-1.5302167814098333]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.545501337409759,-1.0521799576572721,0.71338606911949],"aabb_xy":[[-0.6305013361018337,-1.084165821052151],[-0.4605013387176844,-1.0201940942623933]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.03935988358152065,0.750758124605146,0.71338606911949],"aabb_xy":[[-0.054462185042538726,0.735656602974084],[-0.024257582120502535,0.7658596462362076]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.25423009278540976,-1.9955487827329572,0.71338606911949],"aabb_xy":[[0.20474967157145102,-2.059548780645809],[0.3037105139993686,-1.9315487848201054]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.28248267270917626,-1.219042440128149,0.71338606911949],"aabb_xy":[[0.2770247270721562,-1.2990424434358079],[0.28794061834619633,-1.1390424368204897]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.472626495424636,-1.813209660520546,0.71338606911949],"aabb_xy":[[0.40862649308183435,-1.8581505117646784],[0.5366264977674374,-1.7682688092764134]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[-0.1811863960654142,1.1493482865118287,0.71338606911949],"aabb_xy":[[-0.23118140702486628,1.099348287476237],[-0.1311913851059622,1.1993482855474205]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.45125974109736144,1.147772056865564,0.71338606911949],"aabb_xy":[[-0.5152597443159993,1.1010489449665557],[-0.3872597378787236,1.1944951687645724]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.30995761032793356,-0.661944771757164,0.71338606911949],"aabb_xy":[[0.23995760693637155,-0.6972605454605949],[0.3799576137194955,-0.6266289980537332]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.21970670271671977,-1.6019190513277817,0.71338606911949],"aabb_xy":[[0.12970670299354553,-1.6249924038629615],[0.30970670243989384,-1.5788456987926018]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.5403414920518947,-0.16821845106505862,0.71338606911949],"aabb_xy":[[-0.5903414937133894,-0.2182168933207613],[-0.4903414903903999,-0.11822000880935589]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[0.31752005543488404,1.4590880465434561,0.71338606911949],"aabb_xy":[[0.26252005723313915,1.4185660799170186],[0.3725200536366288,1.4996100131698937]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.0640809267156055,-1.3027480754517695,0.71338606911949],"aabb_xy":[[-0.11405834358085908,-1.352748076941018],[-0.014103509850351912,-1.252748073962521]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.6021671223651275,-1.1869797705092808,0.71338606911949],"aabb_xy":[[-0.666167123773118,-1.2387687220332055],[-0.5381671209571367,-1.1351908189853561]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.29780391811019824,1.1401137175336156,0.71338606911949],"aabb_xy":[[-0.3075599076193721,1.130351183474381],[-0.2880479286010243,1.1498762515928498]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[0.5584817273930995,0.04854787034970354,0.71338606911949],"aabb_xy":[[0.5359817268810588,0.026056011984305176],[0.58098172790514,0.07103972871510189]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[-0.5344659292742251,-1.983881374377349,0.71338606911949],"aabb_xy":[[-0.5984659313239571,-2.023975857466657],[-0.4704659272244931,-1.943786891288041]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[-0.14935668103172273,-2.3923482238199023,0.71338606911949],"aabb_xy":[[-0.2069871499189935,-2.4523482227466125],[-0.09172621214445183,-2.3323482248931913]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.5725589329547189,0.9987066516112018,0.71338606911949],"aabb_xy":[[0.5637568776457462,0.9908953254562727],[0.5813609882636916,1.0065179777661308]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6628408074525208,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9894.png","name":"9894"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9894.png","name":"9894"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6990.png","name":"6990"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1210.png","name":"1210"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5974.png","name":"5974"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/124.png","name":"124"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":813.7264030689786,"rotation_z_degrees":140.95514982875324,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01884393112115522,0.007431896098672796,-0.01696676918267251]},{"name":"camera_2","offset_m":[0.016290159513896788,0.011188555518187922,-0.006274086709067116]},{"name":"camera_3","offset_m":[0.006629099264308595,-0.018323535213747515,0.009675116059820302]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017507788877225007,-0.0015330302423258813,0.00017627795271277355],"end_effector_yaw_offset_degrees":-0.01499708794969612},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001673555517785218,0.0008382474087004965,0.001881991391115868],"end_effector_yaw_offset_degrees":-0.06949239025684095},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011688101571236086,0.0007948549177015734,0.0012185566500092552],"end_effector_yaw_offset_degrees":0.5820028121924028}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-4.88106056453514e-06,-0.0036154082928848367],"position_m":[0.22339511893943545,-0.03301540829288484,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004036206357016496,-0.0014469471855309535],"position_m":[0.2648362063570165,-0.306146947185531,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038793414746800393,-0.004273581580771437],"position_m":[0.13762065852531996,0.28092641841922855,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007149376464048174,0.0016193706071026678],"position_m":[0.32741493764640484,0.18511937060710265,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fd76548a55437032e9cfe14d0de30108424e2ea04c4733d4aaaf86a23c9281f9","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0027.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9894/tex_ceiling_textures_124/tex_floor_textures_5974/tex_table_textures_6990/tex_wall_textures_1210","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8194055173829165657,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8194055173829165657,"visual_seed":8194055173829165657,"scene_id":"lab_003","finished_at":"2026-09-03T19:54:28"} +{"episode_id":"ep_000028","started_at":"2026-09-03T19:54:31","dimensions":{"distractor":{"count":35,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[-0.4887478183667619,-1.6330923382270912,0.71338606911949],"aabb_xy":[[-0.5246613227917516,-1.6690058464438455],[-0.45283431394177215,-1.5971788300103364]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.26645456377765847,1.064789070728093,0.71338606911949],"aabb_xy":[[-0.3464545624345445,1.0502842118038302],[-0.18645456512077246,1.079293929652356]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[-0.3018322416388235,-2.329661079460461,0.71338606911949],"aabb_xy":[[-0.38183224022614287,-2.408976681398622],[-0.22183224305150404,-2.2503454775223]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[-0.4596707746177989,1.5141553719456078,0.71338606911949],"aabb_xy":[[-0.4694267641269728,1.5043928378863731],[-0.44991478510862504,1.523917906004842]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.464296865961663,0.299845200576077,0.71338606911949],"aabb_xy":[[-0.48721257884671293,0.2769409034396535],[-0.44138115307661313,0.3227494977125005]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[-0.6195310869751782,-2.480346708161174,0.71338606911949],"aabb_xy":[[-0.669011508189137,-2.5443467060740264],[-0.5700506657612194,-2.4163467102483227]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[0.3410220726140998,-2.4124172566461066,0.71338606911949],"aabb_xy":[[0.3035220726703334,-2.4207103466809428],[0.3785220725578662,-2.4041241666112696]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[0.4260151239823864,0.550056080704787,0.71338606911949],"aabb_xy":[[0.3620151216395848,0.5051152294606543],[0.49001512632518796,0.5949969319489193]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[0.691829144960495,-1.484902291601238,0.71338606911949],"aabb_xy":[[0.6614310338613513,-1.5153091936029073],[0.7222272560596384,-1.4544953895995683]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.42179062346511653,-1.5132889039500361,0.71338606911949],"aabb_xy":[[0.3601998642411238,-1.5772889020590832],[0.48338138268910946,-1.4492889058409895]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.4930047409494277,-1.7747456473480532,0.71338606911949],"aabb_xy":[[-0.5479969915849388,-1.8297456490913662],[-0.4380124903139168,-1.7197456456047406]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[0.17581072867811065,-2.356080825365218,0.71338606911949],"aabb_xy":[[0.13877661925005094,-2.390458032698927],[0.21284483810617036,-2.321703618031508]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[0.27012121663352273,-0.6023712396486682,0.71338606911949],"aabb_xy":[[0.19012121616330685,-0.6106819472630166],[0.3501212171037387,-0.5940605320343199]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.04088696355175436,-2.338489193944208,0.71338606911949],"aabb_xy":[[0.033845512601006766,-2.3455159456820027],[0.04792841450250196,-2.331462442206414]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[-0.34434251570676816,-0.28132027861901765,0.71338606911949],"aabb_xy":[[-0.4243425189707813,-0.294880310927931],[-0.26434251244275503,-0.2677602463101043]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[0.34787533891950795,-1.1452917142278431,0.71338606911949],"aabb_xy":[[0.3103753381275125,-1.1516595551860331],[0.3853753397115034,-1.1389238732696532]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_16","position":[0.3034593437638844,1.571823385779377,0.71338606911949],"aabb_xy":[[0.2941657255267338,1.534323387291243],[0.312752962001035,1.6093233842675108]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.04525137717774075,-1.713212766448862,0.71338606911949],"aabb_xy":[[0.03783892163635228,-1.71906397687049],[0.05266383271912923,-1.7073615560272342]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.4584153460494568,-2.0800448913644294,0.71338606911949],"aabb_xy":[[-0.5224153431615624,-2.12907726115884],[-0.39441534893735103,-2.0310125215700188]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.5738161515324292,0.20956123255670178,0.71338606911949],"aabb_xy":[[0.5363161500167974,0.19833445954055676],[0.6113161530480609,0.22078800557284686]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[0.5168064484824093,0.732347839836569,0.71338606911949],"aabb_xy":[[0.49430644895870185,0.7098518923859481],[0.5393064480061166,0.7548437872871897]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[0.07202036647498034,1.5550184404516565,0.71338606911949],"aabb_xy":[[-0.007979630488058831,1.477942798807883],[0.1520203634380195,1.63209408209543]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.5627524241144418,0.006041753978057063,0.71338606911949],"aabb_xy":[[-0.5753551232515184,-0.006553642246808434],[-0.5501497249773655,0.01863715020292256]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[0.37419691477120587,0.7781710062862288,0.71338606911949],"aabb_xy":[[0.3091969162141331,0.7484184728723461],[0.43919691332827876,0.8079235397001113]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[-0.41727014935121975,-1.030629621629656,0.71338606911949],"aabb_xy":[[-0.4259841184011542,-1.0531296222888438],[-0.4085561803012852,-1.0081296209704673]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[0.3775710551037801,-1.7079079522780043,0.71338606911949],"aabb_xy":[[0.35868667133526994,-1.726793877058357],[0.39645543887229034,-1.6890220274976515]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_26","position":[0.17274130772306429,-2.5280965570278964,0.71338606911949],"aabb_xy":[[0.1618897014741887,-2.538955847755547],[0.18359291397193991,-2.5172372663002456]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[0.5059285888486118,1.0897146119546366,0.71338606911949],"aabb_xy":[[0.45595552331609646,1.039714612142104],[0.5559016543811274,1.1397146117671697]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_28","position":[-0.3986602991552938,-0.20693749557394536,0.71338606911949],"aabb_xy":[[-0.4361602992608867,-0.21375965742692646],[-0.36116029904970076,-0.2001153337209642]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[-0.5196711667687396,0.4315776482106486,0.71338606911949],"aabb_xy":[[-0.5646637534871899,0.3865776489361997],[-0.47467858005028907,0.47657764748509723]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_30","position":[-0.649709789980481,-2.001725798831304,0.71338606911949],"aabb_xy":[[-0.6612787707274176,-2.026725798948236],[-0.6381408092335444,-1.9767257987143725]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_31","position":[0.11297274449029493,-1.9250543934161506,0.71338606911949],"aabb_xy":[[0.09268844176689615,-1.9453370185588594],[0.13325704721369366,-1.9047717682734417]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_32","position":[-0.446821977057584,-2.422742986674612,0.71338606911949],"aabb_xy":[[-0.4600529225922652,-2.435970405696611],[-0.4335910315229026,-2.4095155676526123]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_33","position":[0.5122152168122367,1.3341482903066253,0.71338606911949],"aabb_xy":[[0.5009701612416189,1.3229064925825298],[0.5234602723828545,1.3453900880307204]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_34","position":[0.5047844652515587,-2.4898539877737256,0.71338606911949],"aabb_xy":[[0.46353565422164394,-2.544853987285943],[0.5460332762814734,-2.434853988261508]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6593501157402126,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2602.png","name":"2602"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2602.png","name":"2602"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8424.png","name":"8424"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2600.png","name":"2600"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8368.png","name":"8368"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1512.png","name":"1512"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":627.9525397580807,"rotation_z_degrees":249.1805721730731,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003213345671988263,-0.017654411504771296,-0.0028001032853185726]},{"name":"camera_2","offset_m":[-0.000965237076389288,-0.015708661862306433,0.007439127730101407]},{"name":"camera_3","offset_m":[0.01879906543199363,0.005836600208129022,0.01697481792018563]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001243048355512181,-0.0002571907008914831,0.001545488186940103],"end_effector_yaw_offset_degrees":-0.3804275649901778},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016463776082798708,-0.001974650462991078,8.57985245152318e-05],"end_effector_yaw_offset_degrees":0.33976997252321195},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007433905811462557,-0.001937213198657704,0.0008775845339474325],"end_effector_yaw_offset_degrees":0.5262059034755793}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011598244067826556,-0.004145165148798594],"position_m":[0.22455982440678265,-0.03354516514879859,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002009725025702909,0.002228046510788757],"position_m":[0.2628097250257029,-0.30247195348921124,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002198888817548022,-0.004412986057774566],"position_m":[0.143698888817548,0.28078701394222544,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001822085154623526,0.004380606148702102],"position_m":[0.3248779148453765,0.1878806061487021,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d580606f45b5ed19273ab4c0d43d7e0b4a4faffdc315c2944838a3cd2e13a977","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2602/tex_ceiling_textures_1512/tex_floor_textures_8368/tex_table_textures_8424/tex_wall_textures_2600","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":9063045200424116709,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":9063045200424116709,"visual_seed":9063045200424116709,"scene_id":"lab_003","finished_at":"2026-09-03T19:57:19"} +{"episode_id":"ep_000029","started_at":"2026-09-03T19:57:22","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[0.6112830168770991,-0.329150307332589,0.71338606911949],"aabb_xy":[[0.5412830134855371,-0.36446608103601985],[0.681283020268661,-0.2938345336291581]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[0.5104747646890455,-2.232099374562927,0.71338606911949],"aabb_xy":[[0.45047476443764434,-2.286380699599392],[0.5704747649404467,-2.1778180495264623]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[-0.02622616263746147,-2.0507969209361985,0.71338606911949],"aabb_xy":[[-0.10621998621601969,-2.13079692352904],[0.05376766094109675,-1.970796918343357]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[-0.24612335169198796,-0.24058301340707144,0.71338606911949],"aabb_xy":[[-0.3011165630291247,-0.29558301374586504],[-0.19113014035485124,-0.18558301306827785]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[-0.30215638612918805,-0.987844142956773,0.71338606911949],"aabb_xy":[[-0.34928576513102366,-1.051844144001175],[-0.2550270071273523,-0.9238441419123712]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.7104329330215409,-1.5354065705721098,0.71338606911949],"aabb_xy":[[0.6978061457343446,-1.5449526442736827],[0.7230597203087373,-1.525860496870537]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.19622997480589466,-2.2130341102940174,0.71338606911949],"aabb_xy":[[0.13122997384876744,-2.2649823222277226],[0.26122997576302187,-2.1610858983603114]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.3572424196871973,-0.38501841292586825,0.71338606911949],"aabb_xy":[[0.3397424194421479,-0.4025182007654351],[0.37474241993224666,-0.3675186250863014]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.5563649639019909,-1.744369099040348,0.71338606911949],"aabb_xy":[[-0.5788649637158934,-1.7488437154108287],[-0.5338649640880886,-1.7398944826698672]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[-0.265047082610397,0.07734175122804965,0.71338606911949],"aabb_xy":[[-0.2875462183366239,0.054841750449786675],[-0.24254794688416997,0.09984175200631262]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.34312866694547406,1.3821957763812431,0.71338606911949],"aabb_xy":[[-0.38062866536887435,1.3690315624134124],[-0.30562866852207365,1.3953599903490739]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.6452486883112156,-2.416852702915171,0.71338606911949],"aabb_xy":[[0.5952486879506494,-2.4668326901247735],[0.6952486886717816,-2.3668727157055676]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[-0.28796788768437814,-2.237459123696145,0.71338606911949],"aabb_xy":[[-0.3579678894931236,-2.258812892460332],[-0.2179678858756327,-2.2161053549319574]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[0.6310404247194945,-0.9205283622482605,0.71338606911949],"aabb_xy":[[0.6230464361417911,-0.9285284423433509],[0.6390344132971979,-0.9125282821531702]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[0.0313474992886299,0.8918030704325015,0.71338606911949],"aabb_xy":[[-0.04865249936825611,0.8772982115082386],[0.1113474979455159,0.9063079293567642]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[0.37011309366777945,-1.863641405052925,0.71338606911949],"aabb_xy":[[0.28011308999086126,-1.9250738116300288],[0.4601130973446976,-1.80220899847582]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.5940206824654575,-1.9640118200496721,0.71338606911949],"aabb_xy":[[0.5445402612514987,-2.0280118179625237],[0.6435011036794163,-1.9000118221368203]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.03128357382884672,-1.6023275649315316,0.71338606911949],"aabb_xy":[[0.0029538638803064954,-1.606788307125249],[0.05961328377738695,-1.5978668227378148]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.12408351635511428,1.0404030241287074,0.71338606911949],"aabb_xy":[[-0.17405681035837473,0.9904030235741599],[-0.07411022235185381,1.0904030246832546]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.22335553976367428,1.6008815935025322,0.71338606911949],"aabb_xy":[[-0.23270254734596954,1.5865779712848878],[-0.21400853218137908,1.6151852157201758]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[-0.5128054117598114,-1.4993850094901946,0.71338606911949],"aabb_xy":[[-0.5246774947713125,-1.584385009183845],[-0.5009333287483103,-1.4143850097965442]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[0.5038701720924428,-0.12324281638924806,0.71338606911949],"aabb_xy":[[0.4625656290287068,-0.18724281595736514],[0.5451747151561788,-0.05924281682113097]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[-0.06914367118264308,-2.5412212000398586,0.71338606911949],"aabb_xy":[[-0.0772713593759563,-2.550134808450567],[-0.061015982989329864,-2.5323075916291513]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.15042922771246536,0.21632982268482648,0.71338606911949],"aabb_xy":[[-0.1545073856195151,0.21224884243656317],[-0.14635106980541562,0.2204108029330898]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[-0.6118117914527754,1.3861598139454894,0.71338606911949],"aabb_xy":[[-0.6159476477854757,1.3486598145011324],[-0.6076759351200753,1.4236598133898464]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[-0.40983625639352916,-1.3646194824204554,0.71338606911949],"aabb_xy":[[-0.4311142645370014,-1.4296194847465284],[-0.3885582482500569,-1.2996194800943823]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[0.16139607212242624,-2.0258329819847543,0.71338606911949],"aabb_xy":[[0.11531098086769477,-2.0898329792373094],[0.20748116337715772,-1.9618329847321994]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[0.4030772513264034,0.692947727181854,0.71338606911949],"aabb_xy":[[0.3976193056893833,0.6129477238741948],[0.40853519696342344,0.772947730489513]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[-0.10886367127956043,0.6543026644875112,0.71338606911949],"aabb_xy":[[-0.15886367294105516,0.6043042222318084],[-0.058863669618065655,0.7043011067432138]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_29","position":[0.5530722817822806,-2.5421547868385685,0.71338606911949],"aabb_xy":[[0.5206105809003531,-2.572287618953471],[0.585533982664208,-2.5120219547236653]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6605414539349841,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4860.png","name":"4860"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4860.png","name":"4860"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9419.png","name":"9419"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6618.png","name":"6618"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2138.png","name":"2138"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6829.png","name":"6829"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":521.7342588747073,"rotation_z_degrees":114.11780265327629,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016220200095931964,-0.00340453268616547,0.004321417096383461]},{"name":"camera_2","offset_m":[-0.01924825774990998,-0.013860539535741161,-0.010125348349920325]},{"name":"camera_3","offset_m":[0.014781021703451708,0.016722618238660728,0.012606165585583317]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008473421126774737,0.0017436446046259677,-0.0019606700727217703],"end_effector_yaw_offset_degrees":-0.923864075153084},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008057763704459649,0.0013616844651612677,-0.0013585188028874561],"end_effector_yaw_offset_degrees":-0.8599408947165212},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001917578370743338,0.0018431175798789877,-0.001638673977095631],"end_effector_yaw_offset_degrees":0.7105854865138401}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002398806861869427,-0.004915750617212043],"position_m":[0.22100119313813055,-0.034315750617212044,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004661290367232671,0.004787076478170011],"position_m":[0.26546129036723265,-0.29991292352183,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013621636313523146,-1.8891270440317756e-05],"position_m":[0.1428621636313523,0.2851811087295597,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0048972055389183144,-0.0026481707030746485],"position_m":[0.3218027944610817,0.18085182929692534,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0ecc1122f6cce1c7e5a51e8848413d5f4ec1379f58fa2b9315ea887b30e865a","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4860/tex_ceiling_textures_6829/tex_floor_textures_2138/tex_table_textures_9419/tex_wall_textures_6618","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1157510453925206722,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1157510453925206722,"visual_seed":1157510453925206722,"scene_id":"lab_003","finished_at":"2026-09-03T20:00:24"} +{"episode_id":"ep_000030","started_at":"2026-09-03T20:00:28","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.27562120743672724,1.4289879746837966,0.71338606911949],"aabb_xy":[[0.2631538493269916,1.416522650050473],[0.2880885655464629,1.44145329931712]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.17631113740259918,1.6128557681195406,0.71338606911949],"aabb_xy":[[-0.22158975228374844,1.5488557687713569],[-0.13103252252144992,1.6768557674677242]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[0.43341998275280647,-0.3547398359786862,0.71338606911949],"aabb_xy":[[0.41453559898429626,-0.37362576075903897],[0.45230436652131667,-0.3358539111983334]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.24972791276378115,1.1998829954819468,0.71338606911949],"aabb_xy":[[0.22726314279237603,1.1773829946030863],[0.27219268273518626,1.2223829963608073]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.5657578795909652,0.7206025141441299,0.71338606911949],"aabb_xy":[[-0.603257881106597,0.7093757411279847],[-0.5282578780753335,0.7318292871602748]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.1494342902254252,-0.7754433405454628,0.71338606911949],"aabb_xy":[[-0.2294342934832682,-0.8554398483374469],[-0.06943428696758228,-0.695446832753479]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.27348723155593135,0.7508902642939717,0.71338606911949],"aabb_xy":[[0.18848723286385666,0.7189044008990928],[0.35848723024800594,0.7828761276888505]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[-0.45671623851771076,1.1079732549069372,0.71338606911949],"aabb_xy":[[-0.5167162401606327,1.055973105614993],[-0.39671623687478896,1.1599734041988814]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[-0.28234633518390834,-1.8489550047719083,0.71338606911949],"aabb_xy":[[-0.346346332469557,-1.8904617237247523],[-0.2183463378982597,-1.8074482858190644]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[-0.3446717654344574,1.5211191336338596,0.71338606911949],"aabb_xy":[[-0.3796717637045773,1.5140450059388713],[-0.3096717671643375,1.5281932613288476]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.40993106075931235,1.3960944375295679,0.71338606911949],"aabb_xy":[[-0.47393105718663425,1.3489248137074714],[-0.34593106433199045,1.4432640613516643]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.6242371309059136,-0.06818906254108104,0.71338606911949],"aabb_xy":[[0.5442371329251285,-0.07579060350293297],[0.7042371288866986,-0.06058752157922908]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[-0.47537475232212045,-2.334965170924878,0.71338606911949],"aabb_xy":[[-0.5251915317869551,-2.384965169409181],[-0.42555797285728564,-2.2849651724405744]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.37831576556734814,1.4171834479267518,0.71338606911949],"aabb_xy":[[0.37010122045166416,1.40850685762911],[0.3865303106830321,1.4258600382243927]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.341597748419004,-0.7506936504455874,0.71338606911949],"aabb_xy":[[-0.3456759063260538,-0.7547746306938508],[-0.3375195905119543,-0.7466126701973241]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[-0.35523547279456125,-0.6529101975350233,0.71338606911949],"aabb_xy":[[-0.392735473979354,-0.6573284202310837],[-0.3177354716097684,-0.6484919748389627]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[0.4860448301383382,0.2805246075456873,0.71338606911949],"aabb_xy":[[0.4635448306146307,0.2580286600950665],[0.5085448296620454,0.30302055499630803]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[0.18894449073415187,0.8698752015998208,0.71338606911949],"aabb_xy":[[0.1664444904906365,0.857670566940049],[0.2114444909776673,0.8820798362595929]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[0.528469847562675,-0.5292607460008876,0.71338606911949],"aabb_xy":[[0.5221577480263366,-0.5350276852541064],[0.5347819470990134,-0.5234938067476688]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[-0.16764538073879132,-1.4483788694632975,0.71338606911949],"aabb_xy":[[-0.17414701724679593,-1.4581466914896073],[-0.1611437442307867,-1.4386110474369878]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6564537513880115,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9633.png","name":"9633"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9633.png","name":"9633"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5788.png","name":"5788"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9451.png","name":"9451"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5338.png","name":"5338"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8583.png","name":"8583"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":711.3514476529635,"rotation_z_degrees":240.91437771167188,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0002244300272758494,0.015701166026765672,-0.003486331284435939]},{"name":"camera_2","offset_m":[0.010735065169630915,-0.006318329956994986,-0.008822496323785498]},{"name":"camera_3","offset_m":[-0.003588103313748068,-0.009660118357936573,-0.00026757872011801825]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001656677195475655,0.0018953491499691557,-0.001528924868133628],"end_effector_yaw_offset_degrees":0.11132022245514639},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009381460691253679,-0.0016139756023874265,-0.001678365798257217],"end_effector_yaw_offset_degrees":0.7627309674072564},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001145651496655986,0.0005371985228010277,0.0007664530859505239],"end_effector_yaw_offset_degrees":-0.1057506780344637}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031926775794908274,-0.0012599802542378746],"position_m":[0.2265926775794908,-0.030659980254237874,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00459101512686854,-0.004118673070479639],"position_m":[0.25620898487313143,-0.30881867307047967,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017366870070804116,-0.001754169095525531],"position_m":[0.1432366870070804,0.2834458309044745,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034235313543357236,0.0014549475282043525],"position_m":[0.3301235313543357,0.18495494752820435,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f1ccee233b1729ab537e81f7d7c8b68f893aa370d4c6c70ba3ee9a937fdda9fb","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9633/tex_ceiling_textures_8583/tex_floor_textures_5338/tex_table_textures_5788/tex_wall_textures_9451","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5720829026295168005,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5720829026295168005,"visual_seed":5720829026295168005,"scene_id":"lab_003","finished_at":"2026-09-03T20:03:19"} +{"episode_id":"ep_000031","started_at":"2026-09-03T20:03:22","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[0.04847987689728117,0.6667360870966648,0.71338606911949],"aabb_xy":[[-0.01552012337669706,0.6166699868993768],[0.1124798771712594,0.7168021872939527]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[0.3628594742113229,1.0722259557384821,0.71338606911949],"aabb_xy":[[0.2791372487112404,0.9822259522037862],[0.4465816997114053,1.162225959273178]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[0.6988927109208771,1.2271817801824123,0.71338606911949],"aabb_xy":[[0.6770029633319363,1.137181782893163],[0.7207824585098179,1.3171817774716612]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[-0.12158796466363753,-2.494691565133529,0.71338606911949],"aabb_xy":[[-0.2015879616266767,-2.571767206777302],[-0.04158796770059835,-2.417615923489755]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[0.268563502097813,0.49297171506203785,0.71338606911949],"aabb_xy":[[0.2632259264318085,0.46797171413289806],[0.2739010777638176,0.5179717159911776]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.14858226046243472,-1.218785891923678,0.71338606911949],"aabb_xy":[[0.12229343614199405,-1.245057325578329],[0.17487108478287536,-1.1925144582690266]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.21006269125240074,1.485708081067568,0.71338606911949],"aabb_xy":[[-0.23134069939587296,1.4207080787414947],[-0.18878468310892846,1.5507080833936409]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[-0.5016564534578487,1.2438132247812463,0.71338606911949],"aabb_xy":[[-0.5816564548879758,1.1642960697686369],[-0.4216564520277214,1.3233303797938558]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[0.4720009978079305,-1.4614298436770392,0.71338606911949],"aabb_xy":[[0.4544543028918116,-1.4989298452412902],[0.48954769272404947,-1.4239298421127877]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.3638035085743352,-2.350238912823677,0.71338606911949],"aabb_xy":[[0.28380350531032206,-2.3637989451325905],[0.4438035118383483,-2.336678880514764]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[0.3399709696171509,-0.526418553929175,0.71338606911949],"aabb_xy":[[0.3088240507735678,-0.5964185526159822],[0.371117888460734,-0.45641855524236785]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.569562537561705,-0.7826277757511713,0.71338606911949],"aabb_xy":[[-0.6045625367545232,-0.7935948217488338],[-0.5345625383688867,-0.7716607297535085]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.03838288608778817,0.9380324277411924,0.71338606911949],"aabb_xy":[[-0.08337547280623858,0.8930324284667438],[0.006609700630662241,0.9830324270156413]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[0.23586092530729608,-2.025735403899673,0.71338606911949],"aabb_xy":[[0.21086092537477824,-2.032618072120596],[0.260860925239814,-2.01885273567875]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.24729365390982616,-2.5144582498845662,0.71338606911949],"aabb_xy":[[0.19731623704457257,-2.564458251373815],[0.29727107077507975,-2.4644582483953177]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[0.6177947277546356,-1.580905797710413,0.71338606911949],"aabb_xy":[[0.6123367821176154,-1.6609058010180722],[0.6232526733916556,-1.500905794402754]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[0.539797724255499,-2.0734422841425344,0.71338606911949],"aabb_xy":[[0.4926683452536632,-2.1374422851869364],[0.5869271032573345,-2.0094422830981324]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.43140085290780616,-0.2065151488467598,0.71338606911949],"aabb_xy":[[0.36740085149981544,-0.2583041003706845],[0.4954008543157968,-0.1547261973228351]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[0.4927948777822393,-2.229509733504327,0.71338606911949],"aabb_xy":[[0.4427998668227873,-2.279509732539919],[0.5427898887416913,-2.1795097344687355]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[-0.17829348691663316,-2.224530928320405,0.71338606911949],"aabb_xy":[[-0.2582934873868491,-2.2328416359347534],[-0.09829348644641722,-2.216220220706057]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[0.4528512592053131,0.32224831984140456,0.71338606911949],"aabb_xy":[[0.3631641828971977,0.23224831958695397],[0.5425383355134286,0.41224832009585505]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.3383458528690322,0.7558257460787736,0.71338606911949],"aabb_xy":[[-0.3835171707172012,0.6918257489342352],[-0.2931745350208632,0.8198257432233121]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.6813543487268121,-1.817407691668714,0.71338606911949],"aabb_xy":[[0.6739418931854236,-1.8232589020903418],[0.6887668042682006,-1.811556481247086]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[-0.41448201146922314,-0.3022667106321939,0.71338606911949],"aabb_xy":[[-0.4193256062304531,-0.307118363111178],[-0.40963841670799317,-0.2974150581532098]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[-0.031362795306828395,-1.6877991726158654,0.71338606911949],"aabb_xy":[[-0.04646509676784648,-1.702900694246927],[-0.016260493845810287,-1.6726976509848035]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[0.007069438391931637,-2.3117731131459966,0.71338606911949],"aabb_xy":[[-0.017444185705074222,-2.336037706448033],[0.0315830624889375,-2.28750851984396]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[0.04355900616875574,-1.4255441630095598,0.71338606911949],"aabb_xy":[[0.03964513297333322,-1.4342931784161166],[0.047472879364178266,-1.416795147603003]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[0.6150369109040308,-0.537352072994338,0.71338606911949],"aabb_xy":[[0.560036912702286,-0.5778740396207754],[0.6700369091057756,-0.4968301063679003]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_28","position":[0.03282695816529657,0.774679138919057,0.71338606911949],"aabb_xy":[[-0.004673042126878253,0.7706376635184535],[0.07032695845747139,0.7787206143196608]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_29","position":[0.09937647309925879,1.2396442791407694,0.71338606911949],"aabb_xy":[[0.07688005166539469,1.217144279334022],[0.12187289453312289,1.2621442789475168]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_30","position":[-0.2533042233060387,-1.2592701578800019,0.71338606911949],"aabb_xy":[[-0.32330422490831817,-1.2727029510816592],[-0.1833042217037592,-1.245837364678344]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6542088994037466,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5723.png","name":"5723"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5723.png","name":"5723"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9007.png","name":"9007"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3848.png","name":"3848"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4252.png","name":"4252"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9216.png","name":"9216"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":644.031840081461,"rotation_z_degrees":9.659838365081246,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010090431975889533,-0.013415893238599628,-0.0010385736933233233]},{"name":"camera_2","offset_m":[0.016270621916382674,0.013163538404598222,-0.0030435928033956915]},{"name":"camera_3","offset_m":[0.006168453247007887,0.012494942550305501,0.007227731624718552]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00016784730648384464,0.0012735023346329283,0.0006272080516461281],"end_effector_yaw_offset_degrees":0.845889071510642},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016611647337537731,-0.0008112615196329527,0.001485193544282823],"end_effector_yaw_offset_degrees":-0.9064569574382841},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006800517222667472,0.0016196862417474553,-0.001978538759923843],"end_effector_yaw_offset_degrees":0.49026663451987273}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000654973239711417,-0.0043544971108706865],"position_m":[0.22274502676028857,-0.03375449711087068,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002765279144672361,0.004186564502403889],"position_m":[0.25803472085532764,-0.3005134354975961,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001290155256307629,0.003721008355751859],"position_m":[0.14279015525630762,0.28892100835575185,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013555477048314037,0.0020677681227389277],"position_m":[0.32534445229516856,0.18556776812273892,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b4fb9360c55020d4e37b5d3e076006906f3693806497c5ecc7834c8214ec9de9","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0031.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5723/tex_ceiling_textures_9216/tex_floor_textures_4252/tex_table_textures_9007/tex_wall_textures_3848","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7854070627808589366,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7854070627808589366,"visual_seed":7854070627808589366,"scene_id":"lab_003","finished_at":"2026-09-03T20:06:10"} +{"episode_id":"ep_000032","started_at":"2026-09-03T20:06:13","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.5198135837419471,-0.8290564228126893,0.71338606911949],"aabb_xy":[[0.48418442784198734,-0.8646890895695422],[0.5554427396419068,-0.7934237560558363]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[0.14745346488502242,-1.6501512632774467,0.71338606911949],"aabb_xy":[[0.11397429762398148,-1.6836303766485536],[0.18093263214606337,-1.6166721499063397]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[-0.18858405037595283,1.1855536411566967,0.71338606911949],"aabb_xy":[[-0.2685840536337958,1.1055571333647127],[-0.10858404711810987,1.2655501489486807]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.08757539062295328,1.4609057836243644,0.71338606911949],"aabb_xy":[[-0.09842699687182888,1.4500464928967134],[-0.07672378437407767,1.4717650743520154]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.45226069761337406,-0.20387555181287897,0.71338606911949],"aabb_xy":[[0.42976427617950996,-0.22637555161962641],[0.47475711904723816,-0.18137555200613154]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[0.5707561855597405,-2.487678713498428,0.71338606911949],"aabb_xy":[[0.5538454531233986,-2.5011509190910424],[0.5876669179960822,-2.474206507905813]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[0.04349752103568694,-1.0059620380381924,0.71338606911949],"aabb_xy":[[0.032252465465069095,-1.0172038357622877],[0.054742576606304764,-0.9947202403140971]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.45772159780755994,-2.3929892007151663,0.71338606911949],"aabb_xy":[[0.4475685822534104,-2.429058742287906],[0.46787461336170916,-2.3569196591424255]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.18950586993982288,-2.3134124456853953,0.71338606911949],"aabb_xy":[[0.13950586957925679,-2.363392432894998],[0.23950587030038892,-2.263432458475792]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.2647123994827171,-1.2734260498070415,0.71338606911949],"aabb_xy":[[0.2520856121955207,-1.2829721235086142],[0.2773391867699134,-1.2638799761054684]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.5716667187842467,-1.388360717729115,0.71338606911949],"aabb_xy":[[-0.6216397843167621,-1.438360717541648],[-0.5216936532517312,-1.3383607179165822]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[0.6149506838571084,-1.8233086754892334,0.71338606911949],"aabb_xy":[[0.5967448601958607,-1.834334076071225],[0.6331565075183561,-1.8122832749072417]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[-0.15157305493675344,0.041938590186127556,0.71338606911949],"aabb_xy":[[-0.20156616704594538,-0.008061410488068079],[-0.10157994282756158,0.0919385908603232]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.27797660298920873,-1.1516272774536436,0.71338606911949],"aabb_xy":[[-0.32745702420316747,-1.2156272753664954],[-0.22849618177524988,-1.0876272795407917]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[-0.3469009351358283,0.9423600609147225,0.71338606911949],"aabb_xy":[[-0.3793626360177557,0.9122272287998197],[-0.3144392342539008,0.9724928930296248]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[0.7079148774132304,0.05131045269655843,0.71338606911949],"aabb_xy":[[0.7015010637700454,0.04490063244889008],[0.7143286910564153,0.05772027294422676]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[0.309935575372176,0.5603270605300641,0.71338606911949],"aabb_xy":[[0.2599355744216431,0.5287779135265427],[0.35993557632270873,0.5918762075335855]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.015595086858808394,0.9920716029304852,0.71338606911949],"aabb_xy":[[-0.10559508658198256,0.9689982503953052],[0.07440491286436578,1.0151449554656646]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.23407205829178906,-1.3091982224909804,0.71338606911949],"aabb_xy":[[-0.25861827391453973,-1.3394471190400172],[-0.20952584266903834,-1.278949325941943]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[0.6364766571748883,-0.36047376484963145,0.71338606911949],"aabb_xy":[[0.5996820240499819,-0.39737963994621367],[0.6732712902997945,-0.3235678897530491]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.623395094794825,-1.010630279102914,0.71338606911949],"aabb_xy":[[-0.660895094900418,-1.017452440955895],[-0.5858950946892321,-1.0038081172499327]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[-0.4725529557164051,-2.465039988240703,0.71338606911949],"aabb_xy":[[-0.47651343948613945,-2.4727078528262236],[-0.46859247194667075,-2.4573721236551824]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.2358795393725901,0.6313288945341973,0.71338606911949],"aabb_xy":[[-0.2464470190306891,0.6207838644211887],[-0.2253120597144911,0.6418739246472058]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[-0.08516720884567408,-2.179900270816722,0.71338606911949],"aabb_xy":[[-0.1651672062492675,-2.2598928420149047],[-0.005167211442080668,-2.099907699618539]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[0.4704428775411693,-1.3906883558452947,0.71338606911949],"aabb_xy":[[0.4631605611645055,-1.4806883594548033],[0.4777251939178328,-1.3006883522357853]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.481560814694203,-1.5085018913099197,0.71338606911949],"aabb_xy":[[-0.5065608138598361,-1.515454137015276],[-0.4565608155285699,-1.501549645604563]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_26","position":[0.6836265331547002,0.45434364320283915,0.71338606911949],"aabb_xy":[[0.6450808403294992,0.4157978721466505],[0.7221722259799013,0.4928894142590278]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[0.17284256067630366,-2.5235836823796305,0.71338606911949],"aabb_xy":[[0.12284255965716842,-2.5600498981174584],[0.22284256169543898,-2.4871174666418026]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[0.23281963040556541,1.5096772835711092,0.71338606911949],"aabb_xy":[[0.1688196301450946,1.4646684842181812],[0.2968196306660362,1.5546860829240372]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_29","position":[-0.1251294641451005,-0.7190754318789339,0.71338606911949],"aabb_xy":[[-0.13857599077914382,-0.7325452835320251],[-0.11168293751105715,-0.7056055802258426]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_30","position":[-0.037907815694259606,-1.665638249211614,0.71338606911949],"aabb_xy":[[-0.10290781385017866,-1.6919344937615264],[0.027092182461659453,-1.639342004661702]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_31","position":[-0.6099495019908262,1.445918437024495,0.71338606911949],"aabb_xy":[[-0.6739495026942955,1.399900054551574],[-0.5459495012873569,1.491936819497416]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6545494215266793,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3536.png","name":"3536"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3536.png","name":"3536"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4883.png","name":"4883"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6082.png","name":"6082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3620.png","name":"3620"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8237.png","name":"8237"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":676.0446496617695,"rotation_z_degrees":301.21886014325344,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007054280238165119,0.01971221086594858,-0.014463851870100105]},{"name":"camera_2","offset_m":[-0.008152165298164964,-0.011844052531607217,0.004449734695480885]},{"name":"camera_3","offset_m":[-0.01367401255878237,0.012106564608936114,0.01844720427376714]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007168220253912657,0.001986573295357906,0.0018563515446924292],"end_effector_yaw_offset_degrees":0.0645151034778666},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001988259704061592,0.001967021507415687,0.0007797984619873528],"end_effector_yaw_offset_degrees":-0.13362518563377246},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000788676273330482,0.000883701836528924,0.0008841844410258978],"end_effector_yaw_offset_degrees":0.41769631404063867}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004573903356459442,-0.00010953505863368213],"position_m":[0.22797390335645942,-0.02950953505863368,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019868411385691367,0.004952284918692737],"position_m":[0.25881315886143086,-0.29974771508130726,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000493355478371444,-0.0007070107694055394],"position_m":[0.14100664452162853,0.28449298923059446,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027968523982371367,0.000950044822344941],"position_m":[0.3294968523982371,0.18445004482234495,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c4878b15b7afc1be025110aed2560cf9bde931cc3b948a041fee369ebb54af63","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3536/tex_ceiling_textures_8237/tex_floor_textures_3620/tex_table_textures_4883/tex_wall_textures_6082","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1877014116459366602,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1877014116459366602,"visual_seed":1877014116459366602,"scene_id":"lab_003","finished_at":"2026-09-03T20:09:01"} +{"episode_id":"ep_000033","started_at":"2026-09-03T20:09:04","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.33942268691238253,-0.3630595464673827,0.71338606911949],"aabb_xy":[[-0.34333656010780506,-0.3718085618739395],[-0.33550881371696,-0.354310531060826]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.3319149097296692,-1.470428316477426,0.71338606911949],"aabb_xy":[[0.322567902147374,-1.4847319386950701],[0.3412619173119645,-1.456124694259782]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.5897854500299688,-0.33412641971051515,0.71338606911949],"aabb_xy":[[0.5672863143037419,-0.3566264204887781],[0.6122845857561958,-0.3116264189322521]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.2862216912832796,-0.6111656469025473,0.71338606911949],"aabb_xy":[[-0.2975834259365657,-0.6225341133088352],[-0.2748599566299934,-0.5997971804962591]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.3355654379382156,1.6819855994372177,0.71338606911949],"aabb_xy":[[0.27397467871422276,1.6179856013281708],[0.3971561971622084,1.7459855975462646]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.016205078043388,-1.4657939022929645,0.71338606911949],"aabb_xy":[[-0.01494184080019512,-1.5357939009797714],[0.047351996886971115,-1.395793903606157]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[-0.5084839702341922,-0.5371574153751602,0.71338606911949],"aabb_xy":[[-0.5434839693641479,-0.5429026364508243],[-0.47348397110423657,-0.531412194299496]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[-0.5297953488047329,-2.0141422476824293,0.71338606911949],"aabb_xy":[[-0.5398770558833063,-2.094142245574544],[-0.5197136417261593,-1.9341422497903147]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.47581598475456155,0.2101115250593364,0.71338606911949],"aabb_xy":[[0.4408159864844416,0.20303739736434817],[0.5108159830246815,0.2171856527543245]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[0.5208123179115429,0.9947984839454151,0.71338606911949],"aabb_xy":[[0.4568123155687413,0.9498576327012827],[0.5848123202543444,1.0397393351895476]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.11502009584528516,-1.8854913498786137,0.71338606911949],"aabb_xy":[[-0.1319308282816269,-1.8989635554712279],[-0.09810936340894336,-1.8720191442859986]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[0.3645000679348891,-0.6890814088463542,0.71338606911949],"aabb_xy":[[0.32770543480998277,-0.7259872839429365],[0.4012947010597953,-0.652175533749772]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.6352776403880516,-0.6149339561253253,0.71338606911949],"aabb_xy":[[0.6066283080276353,-0.643579515402401],[0.6639269727484678,-0.5862883968482494]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.35622494992797016,0.755594250313206,0.71338606911949],"aabb_xy":[[0.3470650709840936,0.749063032269669],[0.3653848288718468,0.7621254683567431]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.10692949323866408,1.5178360189040263,0.71338606911949],"aabb_xy":[[-0.12450779542761094,1.5002615293299215],[-0.08935119104971724,1.5354105084781315]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.3791316102669946,-2.4788740200378583,0.71338606911949],"aabb_xy":[[0.3448153330923766,-2.528874020011036],[0.4134478874416125,-2.4288740200646806]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[-0.6070701883816827,0.09652206116453987,0.71338606911949],"aabb_xy":[[-0.6770701917732446,0.06120628746110902],[-0.5370701849901206,0.13183783486797074]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[0.646374638823203,-1.998616681350561,0.71338606911949],"aabb_xy":[[0.6264835989428628,-2.0112724926352583],[0.6662656787035433,-1.9859608700658646]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[0.6316356748815681,0.7881970295254108,0.71338606911949],"aabb_xy":[[0.581635674521002,0.7382170423158076],[0.6816356752421341,0.8381770167350135]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.1606338945201291,-1.3804094546637713,0.71338606911949],"aabb_xy":[[-0.21062890547958119,-1.4304094536993632],[-0.11063888356067711,-1.3304094556281798]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.45847342205610064,-0.13391613366367094,0.71338606911949],"aabb_xy":[[0.3884734256461387,-0.15435406931535262],[0.5284734184660622,-0.11347819801198918]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[0.431739437281379,-1.166785915335193,0.71338606911949],"aabb_xy":[[0.41423943703632954,-1.1842857031747596],[0.4492394375264283,-1.1492861274956259]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.6480003188374586,-2.0875083445153972,0.71338606911949],"aabb_xy":[[0.625500319313751,-2.1100042919660176],[0.6705003183611659,-2.065012397064776]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_23","position":[-0.12379023876491368,-0.7308231426645904,0.71338606911949],"aabb_xy":[[-0.16878282548336412,-0.775823141939039],[-0.0787976520464633,-0.6858231433901415]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6564186489502817,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8990.png","name":"8990"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8990.png","name":"8990"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9275.png","name":"9275"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4291.png","name":"4291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9285.png","name":"9285"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3277.png","name":"3277"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":620.90264186214,"rotation_z_degrees":188.09999836467136,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011966658732021776,-0.006615884444534585,-0.006820814927975417]},{"name":"camera_2","offset_m":[0.019087894057766442,-0.00334780803790162,0.007132690106526968]},{"name":"camera_3","offset_m":[0.012943507767516366,0.009621609455257585,0.005404647457513553]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018838275644732843,-0.0006187219119010079,-0.0019476979261246448],"end_effector_yaw_offset_degrees":0.5768434673897509},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012227584363824723,0.0009691867670385116,0.001922284557573031],"end_effector_yaw_offset_degrees":-0.7343045296749273},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013156164685119809,0.000744661159449688,-0.0004094393003186113],"end_effector_yaw_offset_degrees":-0.5129599739325819}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003573523641623132,0.0028210570822759266],"position_m":[0.21982647635837685,-0.02657894291772407,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007356629439197529,0.0033007071682156818],"position_m":[0.26006433705608023,-0.30139929283178435,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004314941628842415,0.003636272428801949],"position_m":[0.13718505837115758,0.28883627242880194,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027064359089915635,0.003710548377491344],"position_m":[0.32399356409100843,0.18721054837749135,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a5b78e390217ff1170e6749df2a5f8c40ea39703ff13bcd73881697d8f5d4230","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8990/tex_ceiling_textures_3277/tex_floor_textures_9285/tex_table_textures_9275/tex_wall_textures_4291","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2834012732975269935,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2834012732975269935,"visual_seed":2834012732975269935,"scene_id":"lab_003","finished_at":"2026-09-03T20:11:51"} +{"episode_id":"ep_000034","started_at":"2026-09-03T20:11:55","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.1732888930999994,0.7441335055860292,0.71338606911949],"aabb_xy":[[-0.20113392988060652,0.7133490068477175],[-0.14544385631939227,0.7749180043243409]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.5382283156715397,1.4688702697780953,0.71338606911949],"aabb_xy":[[-0.5757283142471605,1.4561339741145372],[-0.5007283170959189,1.481606565441653]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.38698744393024676,-1.511514277926535,0.71338606911949],"aabb_xy":[[0.37895110922896186,-1.5195523972309517],[0.39502377863153154,-1.5034761586221181]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.4004281364244172,0.798831748521879,0.71338606911949],"aabb_xy":[[-0.4254281355900503,0.7918795028165224],[-0.3754281372587841,0.8057839942272356]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.4723226885363956,-1.5015569982535937,0.71338606911949],"aabb_xy":[[-0.4811247438453682,-1.5093683244085225],[-0.46352063322742276,-1.4937456720986644]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.2321667869022846,-1.0405821672699567,0.71338606911949],"aabb_xy":[[-0.26966678769428,-1.0469500082281469],[-0.1946667861102891,-1.0342143263117665]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[0.16802602482510698,-2.305845910798843,0.71338606911949],"aabb_xy":[[0.1305260244768792,-2.3176373063799263],[0.2055260251733347,-2.294054515217759]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.4623444915889572,-1.2682540390777453,0.71338606911949],"aabb_xy":[[0.44479779667283825,-1.3057540406419965],[0.4798911865050761,-1.230754037513494]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[0.056468834022976644,-1.1853901460613065,0.71338606911949],"aabb_xy":[[0.033968834012828346,-1.1994863657009098],[0.07896883403312493,-1.1712939264217033]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.37818771828811065,1.3798107443078882,0.71338606911949],"aabb_xy":[[-0.39730002564608957,1.3606759654306464],[-0.35907541093013184,1.3989455231851304]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[-0.09221224763581104,1.5816587222187208,0.71338606911949],"aabb_xy":[[-0.12870806826308978,1.5451747797919633],[-0.055716427008532285,1.6181426646454784]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[0.1516626998849,1.4606868115701288,0.71338606911949],"aabb_xy":[[0.10947828572406929,1.3966868112929176],[0.19384711404573077,1.52468681184734]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.2431862055662969,-0.592181999175414,0.71338606911949],"aabb_xy":[[0.18818620594455107,-0.6471656919628868],[0.29818620518804273,-0.5371983063879413]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.3909444203164842,-0.8215129719565748,0.71338606911949],"aabb_xy":[[-0.454944420576955,-0.8665217713095028],[-0.3269444200560134,-0.7765041726036468]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[0.3397611200041777,0.8715841932103707,0.71338606911949],"aabb_xy":[[0.2969944131247575,0.8075841897885683],[0.3825278268835979,0.9355841966321732]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.5752202272237819,-0.008902477102167072,0.71338606911949],"aabb_xy":[[0.5052202238322198,-0.04421825080559793],[0.6452202306153437,0.026413296601263788]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.2634054667687109,0.5506334617466742,0.71338606911949],"aabb_xy":[[0.25897483741387073,0.5451850900119916],[0.2678360961235511,0.5560818334813568]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[-0.38074313038218144,-2.5070085669047057,0.71338606911949],"aabb_xy":[[-0.39115468906266504,-2.5123543002406037],[-0.3703315717016976,-2.501662833568807]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[0.4262924405570072,1.573701123106137,0.71338606911949],"aabb_xy":[[0.4180778954413232,1.5650245328084953],[0.43450698567269114,1.582377713403778]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[-0.47756381148070337,-1.680804009206947,0.71338606911949],"aabb_xy":[[-0.5275467616681826,-1.7308040088495071],[-0.427580861293224,-1.6308040095643863]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[-0.1511403938643786,0.4095219524029923,0.71338606911949],"aabb_xy":[[-0.20611411590071152,0.3545219528387591],[-0.09616667182804575,0.46452195196722545]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[-0.17145453456112902,-2.040784076355753,0.71338606911949],"aabb_xy":[[-0.17536840775655155,-2.04953309176231],[-0.1675406613657065,-2.0320350609491964]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.23414855429492043,-0.5015076382529027,0.71338606911949],"aabb_xy":[[-0.2540395941752607,-0.5141634495375996],[-0.21425751441458019,-0.48885182696820595]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[-0.3882299774298529,-1.3452163431649362,0.71338606911949],"aabb_xy":[[-0.4037857468401182,-1.3607667764093434],[-0.3726742080195876,-1.329665909920529]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[-0.5668391686939388,1.5400324060951536,0.71338606911949],"aabb_xy":[[-0.5776796469204536,1.5228461248045047],[-0.5559986904674238,1.557218687385802]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[-0.12063034360266822,0.9754016613281742,0.71338606911949],"aabb_xy":[[-0.15813034410002647,0.9714329777800558],[-0.08313034310530996,0.9793703448762926]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[-0.041953353937276505,0.4894458518048217,0.71338606911949],"aabb_xy":[[-0.05482525743821664,0.40944585139098555],[-0.02908145043633636,0.5694458522186578]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[-0.3850241308519453,0.9877215689545231,0.71338606911949],"aabb_xy":[[-0.43502413251343997,0.9377231266988203],[-0.33502412919045044,1.0377200112102256]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6581753976512813,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3179.png","name":"3179"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3179.png","name":"3179"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7294.png","name":"7294"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/695.png","name":"695"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9635.png","name":"9635"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6099.png","name":"6099"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":541.0312530071445,"rotation_z_degrees":77.17359288967558,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004000252436096904,0.014798537048788137,0.009541507706454878]},{"name":"camera_2","offset_m":[0.006989667951497927,-0.01923768857041095,0.00686382109792142]},{"name":"camera_3","offset_m":[-0.01705521057858491,6.397299746347535e-05,0.019271041858222777]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004119821640104896,-0.0005419953384381278,-0.0015037402780127868],"end_effector_yaw_offset_degrees":0.742294073902463},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018460336941400835,0.0008767255465656652,-0.0014824725163968227],"end_effector_yaw_offset_degrees":-0.35774224455014436},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000170111434653995,0.0017539393308198406,0.000280213767543534],"end_effector_yaw_offset_degrees":0.6388067027475821}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007846850080270905,-0.004612592894548251],"position_m":[0.2226153149919729,-0.03401259289454825,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009875332499915323,-0.0009870300032657408],"position_m":[0.25981246675000846,-0.30568703000326575,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0045093954281917046,0.0019576960676043675],"position_m":[0.1460093954281917,0.2871576960676044,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004442139257810843,-0.003987620103788909],"position_m":[0.32225786074218915,0.17951237989621108,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c33b7d9f0fda10d1c9513f7f58006e58597e77e6545e7946a92edc627416ca44","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3179/tex_ceiling_textures_6099/tex_floor_textures_9635/tex_table_textures_7294/tex_wall_textures_695","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":9078377008903428082,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":9078377008903428082,"visual_seed":9078377008903428082,"scene_id":"lab_003","finished_at":"2026-09-03T20:14:42"} +{"episode_id":"ep_000035","started_at":"2026-09-03T20:14:47","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[0.06315646286856724,1.1138611693073028,0.71338606911949],"aabb_xy":[[-0.0008435388094301111,1.0653437778279886],[0.1271564645465646,1.162378560786617]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[0.2902993101635718,0.6294934842387327,0.71338606911949],"aabb_xy":[[0.22529930916307128,0.5787071190840578],[0.3552993111640723,0.6802798493934077]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[0.08234932213935364,0.7578468733626931,0.71338606911949],"aabb_xy":[[0.04643581771436396,0.7219333651459383],[0.11826282656434332,0.7937603815794476]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[-0.3317665801586225,0.8228603032798611,0.71338606911949],"aabb_xy":[[-0.3817665788045436,0.7729407596203988],[-0.28176658151270123,0.8727798469393235]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.6416245606551374,-1.8154303642541332,0.71338606911949],"aabb_xy":[[0.6171109365581315,-1.8396949575561696],[0.6661381847521433,-1.7911657709520967]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[-0.20022545851130896,1.3654714275322726,0.71338606911949],"aabb_xy":[[-0.21772545875635832,1.3479716396927057],[-0.18272545826625955,1.3829712153718394]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.3870678719144352,0.9860508938006292,0.71338606911949],"aabb_xy":[[-0.4095678724264758,0.9635590354352306],[-0.3645678714023946,1.0085427521660273]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.6300395427539465,1.4493934898553449,0.71338606911949],"aabb_xy":[[0.6227957767077013,1.369393491651742],[0.6372833088001919,1.5293934880589468]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.34604812888948144,-1.320224146067643,0.71338606911949],"aabb_xy":[[-0.39604813017332136,-1.3702030004582648],[-0.2960481276056414,-1.2702452916770206]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.6512387553279684,-0.22054475207681445,0.71338606911949],"aabb_xy":[[-0.6887387556201432,-0.22458622747741805],[-0.6137387550357936,-0.21650327667621086]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.4975692831876114,0.9106227224480796,0.71338606911949],"aabb_xy":[[-0.5101719823246879,0.8980273262232142],[-0.48496658405053494,0.9232181186729452]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.4287804883382256,-1.0646928730132508,0.71338606911949],"aabb_xy":[[-0.48378048751481506,-1.1196825477882082],[-0.3737804891616361,-1.009703198238293]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[-0.24608162655728377,-2.427659830630946,0.71338606911949],"aabb_xy":[[-0.251037646742165,-2.450159830833068],[-0.2411256063724026,-2.405159830428825]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.533566645846542,0.7826336989801757,0.71338606911949],"aabb_xy":[[-0.5400682823545466,0.772865876953866],[-0.5270650093385374,0.7924015210064855]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.25774341944898127,0.5456847623293766,0.71338606911949],"aabb_xy":[[-0.3193341786729741,0.4816847642203297],[-0.19615266022498845,0.6096847604384235]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.2520945406069102,0.19663308611586272,0.71338606911949],"aabb_xy":[[-0.342094537107782,0.15072144369740448],[-0.1620945441060385,0.24254472853432096]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[-0.4120613529392032,0.5828389343160358,0.71338606911949],"aabb_xy":[[-0.4424594640383467,0.5524320323143662],[-0.3816632418400595,0.6132458363177052]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[0.2784178333154127,1.6506512874772112,0.71338606911949],"aabb_xy":[[0.2144178314030703,1.594740138219201],[0.342417835227755,1.706562436735222]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.5374172394657843,-0.07280938241814106,0.71338606911949],"aabb_xy":[[0.45741724250274507,-0.1498850240619145],[0.6174172364288234,0.004266259225632396]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.5656394453179705,-0.23609396595619803,0.71338606911949],"aabb_xy":[[0.5404186084581306,-0.2613177168090847],[0.59086028217781,-0.21087021510331125]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[0.2033981197394974,-1.2072741048572049,0.71338606911949],"aabb_xy":[[0.19613687216909,-1.2200611151207144],[0.21065936730990484,-1.1944870945936954]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[0.49379485919999855,-2.4490726467886343,0.71338606911949],"aabb_xy":[[0.4237948558084365,-2.4843884204920648],[0.5637948625915604,-2.413756873085203]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.3251110582240224,1.0452239889593584,0.71338606911949],"aabb_xy":[[0.2865653653988214,1.0066782179031695],[0.36365675104922346,1.083769760015547]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_23","position":[0.3923081740142371,-0.5406571231624873,0.71338606911949],"aabb_xy":[[0.3023081754197671,-0.5569077094759083],[0.482308172608707,-0.5244065368490662]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[-0.5882167312825127,0.38739532714460445,0.71338606911949],"aabb_xy":[[-0.638199681469992,0.337395327502044],[-0.5382337810950333,0.4373953267871648]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_25","position":[0.6882466370140106,0.4463227720081542,0.71338606911949],"aabb_xy":[[0.6526174811140508,0.4106901052513012],[0.7238757929139703,0.48195543876500707]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[-0.18754405099910443,0.963471522625102,0.71338606911949],"aabb_xy":[[-0.25254405103340716,0.9167708459447748],[-0.12254405096480167,1.0101721993054293]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_27","position":[0.5929625636157723,-2.207677409352131,0.71338606911949],"aabb_xy":[[0.5229625618070268,-2.2290311781163186],[0.6629625654245177,-2.186323640587944]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_28","position":[-0.32320474487633094,1.6269333937906754,0.71338606911949],"aabb_xy":[[-0.4031985684548892,1.546933391197834],[-0.24321092129777278,1.7069333963835172]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[-0.08134865552340009,-2.547386275765421,0.71338606911949],"aabb_xy":[[-0.11512421471409306,-2.5614247709785856],[-0.04757309633270712,-2.5333477805522557]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_30","position":[-0.04870651850833896,-2.480669126647673,0.71338606911949],"aabb_xy":[[-0.08620651845210536,-2.4889622166825096],[-0.011206518564572547,-2.4723760366128364]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_31","position":[-0.51686336889681,-0.41505540441775945,0.71338606911949],"aabb_xy":[[-0.5968633710595723,-0.49501058804390313],[-0.43686336673404735,-0.3351002207916159]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6601671384078407,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/493.png","name":"493"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/493.png","name":"493"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8099.png","name":"8099"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/925.png","name":"925"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8084.png","name":"8084"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1465.png","name":"1465"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":524.2470979837101,"rotation_z_degrees":252.01128703859422,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00013406593438434686,0.007984225165816362,0.004236444981336195]},{"name":"camera_2","offset_m":[-0.006826550745165161,-0.01795881925647781,0.009137553400894997]},{"name":"camera_3","offset_m":[0.01847506306593152,0.002192682350461675,0.0013860846939310993]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013048543623291153,-0.0014546628073690017,0.001159206458388181],"end_effector_yaw_offset_degrees":0.44222567147533764},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013358879698135858,0.00016637974405015864,0.000685101898666858],"end_effector_yaw_offset_degrees":0.6607771444484303},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[8.527645086476915e-05,-0.0003331390355811293,-0.0005568916423013106],"end_effector_yaw_offset_degrees":-0.39239913887983136}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0048006509122897325,0.003197160960214311],"position_m":[0.22820065091228972,-0.026202839039785687,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004012551277013151,0.004339264506664566],"position_m":[0.26481255127701314,-0.3003607354933355,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007656829379443829,-0.0024825488990190205],"position_m":[0.1407343170620556,0.282717451100981,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003921697269313546,-0.0004960521195480246],"position_m":[0.3227783027306864,0.18300394788045196,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d3be6b300c4034bfe5eabc494683402d760140e15a6765d04fc90ea5075f691b","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0035.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_493/tex_ceiling_textures_1465/tex_floor_textures_8084/tex_table_textures_8099/tex_wall_textures_925","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":403292265718867691,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":403292265718867691,"visual_seed":403292265718867691,"scene_id":"lab_003","finished_at":"2026-09-03T20:17:29"} +{"episode_id":"ep_000036","started_at":"2026-09-03T20:17:32","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[0.5092585567004109,-2.2607312410196645,0.71338606911949],"aabb_xy":[[0.4292585592968175,-2.340723812217847],[0.5892585541040043,-2.1807386698214812]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.3501843530278075,-1.766847841869482,0.71338606911949],"aabb_xy":[[0.2701843515976803,-1.8463649968820912],[0.4301843544579347,-1.6873306868568723]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.6872571939039442,1.7303870115526503,0.71338606911949],"aabb_xy":[[0.6778397193340815,1.720970834414931],[0.696674668473807,1.739803188690369]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.4880906190165295,0.3320061048358829,0.71338606911949],"aabb_xy":[[0.4729277460395925,0.3168406475407642],[0.5032534919934666,0.3471715621310017]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[0.4292806695155036,1.1292280530728367,0.71338606911949],"aabb_xy":[[0.3642806713595846,1.1029318085229245],[0.4942806676714227,1.1555242976227489]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.10557869883585358,1.806402267618394,0.71338606911949],"aabb_xy":[[0.08890156284275806,1.7897023436444635],[0.12225583482894907,1.823102191592324]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.5512001330387091,0.502632899192236,0.71338606911949],"aabb_xy":[[-0.6011932451479011,0.45263289851804045],[-0.5012070209295173,0.5526328998664317]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[-0.5512388755591688,0.2560161483353456,0.71338606911949],"aabb_xy":[[-0.6212388773679143,0.2346623795711582],[-0.4812388737504234,0.27736991709953296]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[-0.3804441037477402,0.08393053961116514,0.71338606911949],"aabb_xy":[[-0.3865387316358585,0.07536114505949643],[-0.37434947585962186,0.09249993416283386]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[0.04666709804617308,1.385104743834388,0.71338606911949],"aabb_xy":[[-0.003332900599748112,1.3351852001749256],[0.09666709669209428,1.4350242874938504]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[-0.10037793376728277,0.525020993048384,0.71338606911949],"aabb_xy":[[-0.16037793462809558,0.47359456304189745],[-0.04037793290646997,0.5764474230548702]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[-0.38688165125135454,-0.33704982873528966,0.71338606911949],"aabb_xy":[[-0.47688165097452867,-0.36012318127046944],[-0.2968816515281803,-0.31397647620010977]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.11847795035069186,-0.728817954807985,0.71338606911949],"aabb_xy":[[-0.12728000565966457,-0.7366292809629139],[-0.10967589504171915,-0.7210066286530558]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[0.09239794558156766,-1.1170020610920233,0.71338606911949],"aabb_xy":[[0.06856172794096262,-1.2070020619005097],[0.11623416322217275,-1.0270020602835368]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.19123605065050042,1.1508317290348953,0.71338606911949],"aabb_xy":[[-0.2712360528132629,1.0708765454087517],[-0.11123604848773791,1.230786912661039]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[-0.5868102408277728,-2.3258356903196216,0.71338606911949],"aabb_xy":[[-0.6224393967277325,-2.3614683570764745],[-0.551181084927813,-2.2902030235627686]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.0027656260175530356,1.5375983498650938,0.71338606911949],"aabb_xy":[[-0.007801853640545975,1.5270533197520852],[0.013333105675652046,1.5481433799781024]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.21874933195346907,-1.9681206564154716,0.71338606911949],"aabb_xy":[[-0.26856611141830383,-2.018120654899775],[-0.1689325524886343,-1.9181206579311683]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.010663789350802588,1.0693167129322392,0.71338606911949],"aabb_xy":[[-0.06933621111941336,1.061006005317891],[0.09066378982101854,1.0776274205465874]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.7132282976042967,-0.11637233000924674,0.71338606911949],"aabb_xy":[[0.7019832420336789,-0.12761412773334202],[0.7244733531749146,-0.10513053228515146]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.6441976733587379,-0.7643292735430862,0.71338606911949],"aabb_xy":[[-0.6557666541056745,-0.7893292736600179],[-0.6326286926118013,-0.7393292734261545]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6577923114399159,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6802.png","name":"6802"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6802.png","name":"6802"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3682.png","name":"3682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6322.png","name":"6322"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3425.png","name":"3425"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3288.png","name":"3288"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":794.3480731627285,"rotation_z_degrees":166.4926939210071,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008084158806354682,-0.0035460919017263857,0.016876807897570293]},{"name":"camera_2","offset_m":[0.011480473981768113,0.007262023731702927,-0.003280603220523627]},{"name":"camera_3","offset_m":[-0.0005863882414517511,-0.0009027674702806014,-9.512071109158901e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001220982473126265,0.0011162225542035603,0.0012925766471765152],"end_effector_yaw_offset_degrees":0.9218939889647575},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018510032064151906,-0.0013351850192035882,-0.0002849549248719527],"end_effector_yaw_offset_degrees":0.23094377059134197},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013201125136005172,0.0010813184770068988,-0.00165234188698823],"end_effector_yaw_offset_degrees":-0.10210662940095871}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032688678193851803,-0.00033576192482471026],"position_m":[0.22666886781938517,-0.02973576192482471,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010263275694798431,0.003720294478722775],"position_m":[0.2618263275694798,-0.30097970552127723,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001481363855411757,-0.0025755166870751944],"position_m":[0.14001863614458823,0.28262448331292483,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000765584481457463,0.0033718902908179997],"position_m":[0.32746558448145746,0.186871890290818,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"203149586ae3a0e3500d939cd9714cd69db9b99173fd440f846e997986a2a336","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6802/tex_ceiling_textures_3288/tex_floor_textures_3425/tex_table_textures_3682/tex_wall_textures_6322","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":285962731813176930,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":285962731813176930,"visual_seed":285962731813176930,"scene_id":"lab_003","finished_at":"2026-09-03T20:20:25"} +{"episode_id":"ep_000037","started_at":"2026-09-03T20:20:28","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[0.6860810523331411,-1.2540252761581436,0.71338606911949],"aabb_xy":[[0.6615674282361352,-1.2782898694601803],[0.710594676430147,-1.2297606828561074]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.5450132972058908,1.0289038285258205,0.71338606911949],"aabb_xy":[[-0.5794757752189785,1.0222401513428978],[-0.510550819192803,1.0355675057087432]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.0202585773066849,-1.4038386227672632,0.71338606911949],"aabb_xy":[[0.007027631772003599,-1.4170660417892624],[0.033489522841366186,-1.3906112037452636]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[-0.39960240359875554,1.022419332841837,0.71338606911949],"aabb_xy":[[-0.4076286742293816,1.0136678378644843],[-0.3915761329681296,1.0311708278191896]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[0.30834192612446665,1.702008067210555,0.71338606911949],"aabb_xy":[[0.25834192668427103,1.6520401427262386],[0.35834192556466227,1.7519759916948712]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[0.6227069800854124,0.32236107532165637,0.71338606911949],"aabb_xy":[[0.6075441071084753,0.30719561802653766],[0.6378698530623494,0.3375265326167752]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[0.34307565835000076,-1.084751958289865,0.71338606911949],"aabb_xy":[[0.29307565970407956,-1.1346715019493274],[0.39307565699592195,-1.0348324146304027]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.4926821144552938,-0.693217772152545,0.71338606911949],"aabb_xy":[[-0.5230802255544372,-0.7236246741542144],[-0.46228400335615016,-0.6628108701508754]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[0.33232747770865667,0.8729476153332576,0.71338606911949],"aabb_xy":[[0.31469464211512904,0.8553246693176346],[0.3499603133021842,0.8905705613488806]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[0.24010284357229517,-0.7821740955047349,0.71338606911949],"aabb_xy":[[0.19482422869114593,-0.8461740948529185],[0.2853814584534444,-0.7181740961565511]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.6881511460596808,-0.8621495963590591,0.71338606911949],"aabb_xy":[[0.6801077861337255,-0.9471495974544254],[0.6961945059856358,-0.7771495952636925]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.3442360079932272,-2.3593861811920362,0.71338606911949],"aabb_xy":[[-0.4142360098019726,-2.3807399499562236],[-0.27423600618448174,-2.338032412427849]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[-0.40301609188752774,0.7932503772151596,0.71338606911949],"aabb_xy":[[-0.4630160935304496,0.7412502279232154],[-0.3430160902446059,0.8452505265071037]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.32513644842540557,-0.7354548642617758,0.71338606911949],"aabb_xy":[[-0.33047402409141013,-0.7604548651909155],[-0.319798872759401,-0.710454863332636]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.5760496913372515,-0.40485906006248973,0.71338606911949],"aabb_xy":[[-0.6260496926981386,-0.4548369646379054],[-0.5260496899763641,-0.35488115548707416]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[0.45668610856753133,-2.3515513691863483,0.71338606911949],"aabb_xy":[[0.39668610872096455,-2.408369991379387],[0.5166861084140981,-2.2947327469933096]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[0.21745758242285584,1.4724824365796123,0.71338606911949],"aabb_xy":[[0.20552484806102775,1.4601002837717527],[0.22939031678468388,1.4848645893874715]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[0.10682072532731357,-1.324175200995998,0.71338606911949],"aabb_xy":[[0.09882673674961016,-1.3321752810910878],[0.11481471390501695,-1.3161751209009072]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[0.6342476059977735,-0.37040153178009083,0.71338606911949],"aabb_xy":[[0.6139633032743746,-0.3906841569227997],[0.6545319087211722,-0.350118906637382]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.42017028291654174,0.684252669689061,0.71338606911949],"aabb_xy":[[-0.42480539806877515,0.6803853346119122],[-0.4155351677643083,0.6881200047662095]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[0.6190870842903564,1.399713785335988,0.71338606911949],"aabb_xy":[[0.5590870840389551,1.3454324602995231],[0.6790870845417575,1.4539951103724524]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[0.21284671582386838,1.3630252326922059,0.71338606911949],"aabb_xy":[[0.20653461628752992,1.357258293438987],[0.2191588153602068,1.3687921719454248]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.3886784554315667,-1.2929844411530345,0.71338606911949],"aabb_xy":[[-0.40474038289008435,-1.377984442965626],[-0.37261652797304906,-1.2079844393404424]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[-0.22764682841021622,-2.08305624576103,0.71338606911949],"aabb_xy":[[-0.24544033534513265,-2.100855991356828],[-0.20985332147529978,-2.0652565001652325]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[-0.5447709932688953,-2.4378861971028414,0.71338606911949],"aabb_xy":[[-0.5534849623188297,-2.460386197762029],[-0.5360570242189607,-2.4153861964436527]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[0.5635630905243916,-1.2221375933589531,0.71338606911949],"aabb_xy":[[0.5085676127037321,-1.2771375947928598],[0.6185585683450509,-1.167137591925046]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[-0.23980200454223183,1.1342821724534904,0.71338606911949],"aabb_xy":[[-0.28256871142165196,1.070282169031688],[-0.1970352976628116,1.1982821758752928]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_27","position":[-0.5310904823197824,0.2962328066104378,0.71338606911949],"aabb_xy":[[-0.5390137625585307,0.27373280637243447],[-0.5231672020810341,0.3187328068484412]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[-0.40909832834083976,0.42178826715686535,0.71338606911949],"aabb_xy":[[-0.48909832632162475,0.4141867261950134],[-0.32909833036005465,0.4293898081187173]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_29","position":[0.4985919618438057,-0.5188857529241164,0.71338606911949],"aabb_xy":[[0.4285919602415263,-0.532318546125774],[0.5685919634460852,-0.5054529597224588]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_30","position":[0.10954530323083755,0.976852192789301,0.71338606911949],"aabb_xy":[[0.08089597087042132,0.9482066335122251],[0.13819463559125378,1.0054977520663768]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_31","position":[0.4562033421181535,0.40369853705452297,0.71338606911949],"aabb_xy":[[0.3912033442365057,0.3525748733479821],[0.5212033399998013,0.4548222007610639]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_32","position":[-0.16917156420187562,-1.0117223117010117,0.71338606911949],"aabb_xy":[[-0.2241452862382085,-1.0667223112652449],[-0.11419784216554274,-0.9567223121367785]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6602608758377977,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7423.png","name":"7423"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7423.png","name":"7423"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9267.png","name":"9267"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2528.png","name":"2528"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6688.png","name":"6688"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8436.png","name":"8436"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":533.1530923361548,"rotation_z_degrees":164.87398605024424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0045656116938272585,0.018360366043814375,0.011501256011007929]},{"name":"camera_2","offset_m":[-0.008987485434096847,-0.011132844190240002,-0.010277786010928543]},{"name":"camera_3","offset_m":[0.005841336420402108,0.015613293990186346,-0.004246022550001442]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00046014516134551455,-0.0005218651427784384,-0.0009910121371634179],"end_effector_yaw_offset_degrees":0.5779050546726965},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005728884248826719,-9.971895834055508e-05,0.001313277839124803],"end_effector_yaw_offset_degrees":-0.5969666507263558},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00042194096614987407,-0.0015487461156443688,0.00046126593537208207],"end_effector_yaw_offset_degrees":0.9610626229422798}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004889943602202019,-0.004473239009415139],"position_m":[0.228289943602202,-0.033873239009415135,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025830370408126023,0.0013536436562957034],"position_m":[0.26338303704081256,-0.3033463563437043,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004486869184963813,0.0001845257063983908],"position_m":[0.1370131308150362,0.2853845257063984,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037386865563915008,0.003846676493839453],"position_m":[0.3229613134436085,0.18734667649383946,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"760af7078ec4681a850a720cb25db5aedfa05217fa911e962804ab7eaeba7981","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7423/tex_ceiling_textures_8436/tex_floor_textures_6688/tex_table_textures_9267/tex_wall_textures_2528","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1634755749243820441,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1634755749243820441,"visual_seed":1634755749243820441,"scene_id":"lab_003","finished_at":"2026-09-03T20:23:12"} +{"episode_id":"ep_000038","started_at":"2026-09-03T20:23:18","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_0","position":[0.008999873491491228,1.2481897245238378,0.71338606911949],"aabb_xy":[[-0.00610242796952687,1.2330882028927754],[0.02410217495250932,1.2632912461548993]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[0.10719245989167236,-1.058369265126992,0.71338606911949],"aabb_xy":[[0.08264624426892164,-1.0886181616760289],[0.1317386755144231,-1.0281203685779547]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[-0.07949501604657272,1.5952354861886309,0.71338606911949],"aabb_xy":[[-0.10166754302322355,1.5730598190325076],[-0.05732248906992188,1.6174111533447537]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[0.5072407597943405,1.7255091153049231,0.71338606911949],"aabb_xy":[[0.4697407591297617,1.7098220573047007],[0.5447407604589191,1.741196173305145]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.16790589356752383,-1.3700687748599376,0.71338606911949],"aabb_xy":[[-0.2579058929858947,-1.4034442717041273],[-0.07790589414915292,-1.3366932780157479]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[0.0906019113279557,1.7144690314245223,0.71338606911949],"aabb_xy":[[0.061952578967539446,1.6858234721474465],[0.1192512436883719,1.7431145907015981]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.05137260086568496,-2.144715661723132,0.71338606911949],"aabb_xy":[[-0.09636518758413537,-2.1897156609975807],[-0.006380014147234554,-2.0997156624486832]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.7038698279975102,-1.8716677156102521,0.71338606911949],"aabb_xy":[[0.6861941974089119,-1.8893479318896549],[0.7215454585861085,-1.8539874993308494]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[0.1974863762204423,1.0301061843076198,0.71338606911949],"aabb_xy":[[0.13248637526331508,0.9781579723739143],[0.2624863771775695,1.0820543962413254]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.4361301753388259,-2.386971142666137,0.71338606911949],"aabb_xy":[[-0.4666144254658561,-2.436971142447633],[-0.40564592521179577,-2.336971142884641]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.06485318151979291,0.8243215541726472,0.71338606911949],"aabb_xy":[[-0.12885317880544156,0.7828148352198031],[-0.0008531842341442664,0.865828273125491]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.640902341332559,1.1591927858793603,0.71338606911949],"aabb_xy":[[-0.6861809562137081,1.0951927865311764],[-0.5956237264514096,1.2231927852275437]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[0.4900313448603417,0.03671135159300043,0.71338606911949],"aabb_xy":[[0.4350358670396822,-0.018288649840906508],[0.545026822681001,0.09171135302690736]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[0.3374736305860355,1.6973266352517222,0.71338606911949],"aabb_xy":[[0.2574736301158196,1.6890159276373744],[0.4174736310562515,1.705637342866071]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.2660012257278605,1.4718225397745948,0.71338606911949],"aabb_xy":[[-0.33000122283996614,1.4227901699801841],[-0.20200122861575476,1.5208549095690054]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.0904743544128811,-2.387285874144019,0.71338606911949],"aabb_xy":[[-0.09918832346281556,-2.4097858748032066],[-0.08176038536294658,-2.36478587348483]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[0.42240339167932994,-1.2385355865848617,0.71338606911949],"aabb_xy":[[0.41682172004520124,-1.251035586402637],[0.42798506331345876,-1.226035586767086]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[0.3866050287102545,-1.5767698568719901,0.71338606911949],"aabb_xy":[[0.3491050271946228,-1.587996629888135],[0.4241050302258862,-1.5655430838558448]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.3137338265838666,0.7167483337984231,0.71338606911949],"aabb_xy":[[-0.34936298248382636,0.6811156670415701],[-0.2781046706839069,0.752381000555276]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.6587985514934944,0.9409263768899936,0.71338606911949],"aabb_xy":[[0.5947985541911479,0.8965599499221367],[0.7227985487958407,0.9852928038578502]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[-0.13078643676770974,1.1210656403687769,0.71338606911949],"aabb_xy":[[-0.14255462356236728,1.0360656404635555],[-0.11901824997305224,1.2060656402739987]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[0.5443466882131045,-0.5494159332646515,0.71338606911949],"aabb_xy":[[0.5218475524868775,-0.5719159340429145],[0.5668458239393315,-0.5269159324863886]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[0.27571793100908126,-1.9718449148350585,0.71338606911949],"aabb_xy":[[0.2676745710831261,-2.0568449159304247],[0.28376129093503644,-1.8868449137396919]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.5504355970872845,-0.6639379381556489,0.71338606911949],"aabb_xy":[[-0.5591335593779999,-0.6760629124631236],[-0.5417376347965693,-0.6518129638481741]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[-0.4336394873344838,-1.9781387236159778,0.71338606911949],"aabb_xy":[[-0.4429331055716344,-2.0156387221041117],[-0.42434586909733324,-1.9406387251278436]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[0.46479628061326417,1.4745291492648103,0.71338606911949],"aabb_xy":[[0.445911896844754,1.4556432244844575],[0.48368066438177443,1.493415074045163]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[0.6305396613201344,-0.9893910972436848,0.71338606911949],"aabb_xy":[[0.610481249706894,-1.0094561841528424],[0.6505980729333746,-0.9693260103345271]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[-0.42617442877496103,-0.49159718428495935,0.71338606911949],"aabb_xy":[[-0.5061744320389742,-0.5051572165938727],[-0.3461744255109479,-0.47803715197604607]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[-0.2639552996583088,0.2575065093410145,0.71338606911949],"aabb_xy":[[-0.28306760701628764,0.23837173046377247],[-0.2448429923003299,0.2766412882182565]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_29","position":[-0.47872079770012765,-1.548461341603499,0.71338606911949],"aabb_xy":[[-0.4840583733661322,-1.573461342532639],[-0.4733832220341231,-1.5234613406743593]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_30","position":[0.5853981002320412,-2.4472817109218434,0.71338606911949],"aabb_xy":[[0.5402267823838723,-2.511281708066382],[0.6305694180802103,-2.383281713777305]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_31","position":[0.18503998035089053,1.488465086860486,0.71338606911949],"aabb_xy":[[0.1475399817752697,1.475728791196928],[0.2225399789265113,1.5012013825240438]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_32","position":[0.40475174232058375,1.1930924824579758,0.71338606911949],"aabb_xy":[[0.3814699001224524,1.1080924811607478],[0.4280335845187151,1.278092483755204]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_33","position":[0.007832840419124576,-1.6097868491011273,0.71338606911949],"aabb_xy":[[0.0014190267759396356,-1.6161966693487955],[0.014246654062309514,-1.6033770288534588]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_34","position":[-0.53776966411086,0.520691099362883,0.71338606911949],"aabb_xy":[[-0.5576607039912003,0.5080352880781862],[-0.5178786242305198,0.5333469106475799]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6604392796644792,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1361.png","name":"1361"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2463.png","name":"2463"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9101.png","name":"9101"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4634.png","name":"4634"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":837.6919281602914,"rotation_z_degrees":303.4641595515748,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-4.037511461854604e-05,0.01566943299358684,0.0018097411058046395]},{"name":"camera_2","offset_m":[-0.008180551486670433,0.0036568089854474156,0.002452623042300456]},{"name":"camera_3","offset_m":[-0.018265002972516826,-0.004425233659802519,-0.010615041399378616]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007797518289374694,0.0008768838381031404,-0.00032728126872868754],"end_effector_yaw_offset_degrees":-0.12552293872959308},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009752471868576516,0.00015189708548123126,0.0018072664332608062],"end_effector_yaw_offset_degrees":0.39203408899837844},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010020304774389934,0.00014138614683755412,-0.001494124986699002],"end_effector_yaw_offset_degrees":-0.6430531779114408}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002104409709123165,-0.003976374099510644],"position_m":[0.2212955902908768,-0.03337637409951064,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024335618730704986,0.0006771133126511827],"position_m":[0.26323356187307045,-0.30402288668734884,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004542072417987867,0.0043102287370124686],"position_m":[0.1369579275820121,0.2895102287370125,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002555093120700719,0.0006768922585330172],"position_m":[0.3292550931207007,0.184176892258533,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e07a1f8067eec089fdbcaca40d7fce39314cdb3d0c7ac9f6956a07febce400ba","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8041/tex_ceiling_textures_4634/tex_floor_textures_9101/tex_table_textures_1361/tex_wall_textures_2463","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3106091130764705609,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3106091130764705609,"visual_seed":3106091130764705609,"scene_id":"lab_003","finished_at":"2026-09-03T20:26:03"} +{"episode_id":"ep_000039","started_at":"2026-09-03T20:26:06","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.04685675350022578,-0.5207221646612985,0.71338606911949],"aabb_xy":[[-0.06119117862638923,-0.5327823802158373],[-0.032522328374062326,-0.5086619491067597]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.6465355984924461,-0.8934258745865595,0.71338606911949],"aabb_xy":[[0.5825355965801038,-0.94933702384457],[0.7105356004047885,-0.8375147253285491]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[0.4096836208749586,0.9094543352833817,0.71338606911949],"aabb_xy":[[0.37405446497499883,0.8738216685265286],[0.4453127767749183,0.9450870020402345]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.009267973578699795,1.4810354822668104,0.71338606911949],"aabb_xy":[[-0.05573202752724349,1.4560701091986823],[0.07426797468464308,1.5060008553349389]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.18738001652015812,-1.1500468651628275,0.71338606911949],"aabb_xy":[[-0.22471129304540075,-1.1846999199576798],[-0.1500487399949155,-1.1153938103679752]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[0.10347398998302892,-1.0714028534448887,0.71338606911949],"aabb_xy":[[0.09262238373415331,-1.0822621441725397],[0.11432559623190451,-1.0605435627172377]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[0.5194049597093071,0.3489476435668428,0.71338606911949],"aabb_xy":[[0.4394111361307489,0.2689476409740013],[0.5993987832878653,0.42894764615968445]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[0.2129653046892125,-1.6192323442375087,0.71338606911949],"aabb_xy":[[0.14896530139950434,-1.6625672632414263],[0.27696530797892055,-1.575897425233591]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[0.3061257088346103,-1.8387904414268217,0.71338606911949],"aabb_xy":[[0.28902363087624217,-1.8558972469580914],[0.3232277867929785,-1.821683635895552]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[-0.33662737204617404,1.7998402842579755,0.71338606911949],"aabb_xy":[[-0.3591273715698814,1.7773443368073547],[-0.3141273725224666,1.8223362317085963]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.23546667886570677,-2.3088676743997834,0.71338606911949],"aabb_xy":[[-0.3254666782840776,-2.342243171243973],[-0.14546667944733585,-2.2754921775555936]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.21244355169067153,-1.5924766283859606,0.71338606911949],"aabb_xy":[[-0.2624223602009874,-1.6424766283916792],[-0.16246474318035564,-1.5424766283802416]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.03239268461650968,-1.184110134076013,0.71338606911949],"aabb_xy":[[-0.03650863472858234,-1.1882256891088583],[-0.02827673450443701,-1.1799945790431672]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[-0.37338921121307295,-0.9756897072614434,0.71338606911949],"aabb_xy":[[-0.38109240188715,-0.9833990779601813],[-0.3656860205389959,-0.9679803365627053]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[-0.5438238249873435,-0.2098220663242376,0.71338606911949],"aabb_xy":[[-0.55298370393122,-0.21635328436777462],[-0.5346639460434668,-0.2032908482807006]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.24706557253580486,0.7802811794893927,0.71338606911949],"aabb_xy":[[0.23965311699441638,0.7744299690677647],[0.25447802807719333,0.7861323899110206]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.47603993631476194,-1.6771432144933343,0.71338606911949],"aabb_xy":[[-0.5135399378303936,-1.6883699875094793],[-0.4385399347991302,-1.6659164414771892]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.7093205734756223,0.8402432168568787,0.71338606911949],"aabb_xy":[[0.7000269552384716,0.8027432183687448],[0.7186141917127727,0.8777432153450127]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.4548173868344736,-0.16484363323693518,0.71338606911949],"aabb_xy":[[-0.46668946984597476,-0.24984363293058554],[-0.44294530382297254,-0.07984363354328483]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[0.689109162446319,-2.0675190681012032,0.71338606911949],"aabb_xy":[[0.6715308602573722,-2.0850935576753082],[0.7066874646352659,-2.049944578527098]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[-0.6598443802749667,-2.131794122879687,0.71338606911949],"aabb_xy":[[-0.6876894170555738,-2.162578621617999],[-0.6319993434943596,-2.101009624141376]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.4865360211379053,1.65537509903054,0.71338606911949],"aabb_xy":[[0.4490360206405471,1.6514064154824215],[0.5240360216352635,1.6593437825786586]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[0.659517409085242,-1.0445312158309115,0.71338606911949],"aabb_xy":[[0.6220174082932466,-1.0508990567891014],[0.6970174098772375,-1.038163374872721]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[0.29855029201349936,-0.7613817076859815,0.71338606911949],"aabb_xy":[[0.29411966265865924,-0.7668300794206641],[0.3029809213683396,-0.7559333359512989]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.5219445741415649,1.103695694344156,0.71338606911949],"aabb_xy":[[0.4519445723328195,1.0823419255799687],[0.5919445759503104,1.1250494631083434]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[-0.4755259002611108,-1.182815587117693,0.71338606911949],"aabb_xy":[[-0.4984416131461608,-1.2057198842541168],[-0.452610187376061,-1.1599112899812698]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6572865381215323,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6585.png","name":"6585"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6585.png","name":"6585"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9543.png","name":"9543"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4999.png","name":"4999"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2504.png","name":"2504"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/673.png","name":"673"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":503.46780823099004,"rotation_z_degrees":55.93063661141692,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011993667889006656,0.0013753373919446615,-0.018368771651009554]},{"name":"camera_2","offset_m":[0.015607750228010735,-0.003893556854695498,0.016313806988288663]},{"name":"camera_3","offset_m":[-0.0015253714081408937,-0.008511709983070307,0.003884650123744407]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012629388436163807,-0.0019451163121128668,-0.0018140117792299392],"end_effector_yaw_offset_degrees":0.06654881402746593},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009047218984626908,-0.0017925724479185036,0.0018029454288165212],"end_effector_yaw_offset_degrees":0.4542664018271818},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.2776939960499586e-05,-0.001364013096541405,0.00089844172618071],"end_effector_yaw_offset_degrees":-0.9847292139102486}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008600039672347981,0.0021087596300894034],"position_m":[0.22426000396723478,-0.027291240369910597,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028152869352462587,-0.0025501346424160786],"position_m":[0.25798471306475373,-0.30725013464241613,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004068943051453882,-0.000950820605070346],"position_m":[0.14556894305145388,0.28424917939492966,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036789478304403876,0.002331288245575479],"position_m":[0.3230210521695596,0.1858312882455755,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4de747f93de740c81a33d8c024a94da410b6d4dffb2634a9d8770a6261684d86","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6585/tex_ceiling_textures_673/tex_floor_textures_2504/tex_table_textures_9543/tex_wall_textures_4999","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3481264857806784460,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3481264857806784460,"visual_seed":3481264857806784460,"scene_id":"lab_003","finished_at":"2026-09-03T20:28:54"} +{"episode_id":"ep_000040","started_at":"2026-09-03T20:28:58","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.643737722439025,0.6510141134424643,0.71338606911949],"aabb_xy":[[0.629094316884992,0.63635539378568],[0.6583811279930579,0.6656728330992484]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.41986648411689864,-1.3486944437301112,0.71338606911949],"aabb_xy":[[0.3703860629029399,-1.4126944416429632],[0.4693469053308575,-1.2846944458172596]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[0.5032777422113681,-2.412888011868405,0.71338606911949],"aabb_xy":[[0.48772197280110297,-2.4284384451128123],[0.5188335116216335,-2.397337578623998]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[-0.23420235698581815,-0.8655401772677669,0.71338606911949],"aabb_xy":[[-0.25426076859905844,-0.8856052641769244],[-0.2141439453725779,-0.8454750903586093]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[-0.14373613297475607,-1.8945531022349644,0.71338606911949],"aabb_xy":[[-0.177215300235797,-1.9280322156060714],[-0.11025696571371513,-1.8610739888638574]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[-0.4667439355089179,1.18225017889274,0.71338606911949],"aabb_xy":[[-0.5042439356807897,1.1495494435098328],[-0.42924393533704586,1.2149509142756472]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.17947756402974757,1.734739931195501,0.71338606911949],"aabb_xy":[[0.16687486489267112,1.7221445349706357],[0.19208026316682403,1.7473353274203667]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.15496351182577617,0.6524493362658035,0.71338606911949],"aabb_xy":[[-0.15840418806583334,0.648587903291439],[-0.151522835585719,0.656310769240168]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.45408513063160993,-0.15632567216691529,0.71338606911949],"aabb_xy":[[-0.46416683771018336,-0.2363256700590299],[-0.4440034235530364,-0.07632567427480061]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.015083815114140364,1.0350540905217844,0.71338606911949],"aabb_xy":[[-0.0749161846090338,1.0119807379866044],[0.10508381483731453,1.058127443056964]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[0.2855290910398708,-1.6710881765018604,0.71338606911949],"aabb_xy":[[0.23053587970273404,-1.7260881768406542],[0.34052230237700754,-1.616088176163067]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[-0.413553739050577,-1.8064223579157224,0.71338606911949],"aabb_xy":[[-0.4385537383225392,-1.822767721511885],[-0.3885537397786146,-1.7900769943195602]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.6809689083376875,1.0040835345488688,0.71338606911949],"aabb_xy":[[-0.6850470662447371,1.0000025543006055],[-0.6768907504306377,1.008164514797132]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.5316522931585492,-1.5468753763355607,0.71338606911949],"aabb_xy":[[-0.5766448798769995,-1.5918753756100095],[-0.4866597064400987,-1.501875377061112]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.5180189314695129,0.8649550411358735,0.71338606911949],"aabb_xy":[[0.48687201262592983,0.7949550424490662],[0.5491658503130961,0.9349550398226806]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[0.5135457147877649,0.3486509838794678,0.71338606911949],"aabb_xy":[[0.5054180265944517,0.3397373754687602],[0.5216734029810781,0.3575645922901755]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[0.6674989093414041,0.3059383291625566,0.71338606911949],"aabb_xy":[[0.6247322024619839,0.24193832574075408],[0.7102656162208243,0.369938332584359]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[0.44969766859992366,-1.5114565994760014,0.71338606911949],"aabb_xy":[[0.4318285608454681,-1.5252895074532122],[0.4675667763543791,-1.4976236914987906]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[-0.22091902766679128,0.7762457529654645,0.71338606911949],"aabb_xy":[[-0.2680484066686269,0.7122457519210623],[-0.17378964866495555,0.8402457540098662]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.41343521148411694,1.4653728238235586,0.71338606911949],"aabb_xy":[[-0.42666615701879823,1.4521454048015592],[-0.40020426594943564,1.478600242845558]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.17171242289066846,1.4604978788200689,0.71338606911949],"aabb_xy":[[-0.20167997980049412,1.4304978785221831],[-0.1417448659808428,1.4904978791179546]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[-0.5913721778386539,-1.2056398734154987,0.71338606911949],"aabb_xy":[[-0.6553721785421234,-1.2516582558884197],[-0.5273721771351847,-1.1596214909425777]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.31049104786627546,-0.5924933721448473,0.71338606911949],"aabb_xy":[[0.2564754515843754,-0.6564933750371044],[0.3645066441481754,-0.52849336925259]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[0.4604316376583639,-0.3288099674112459,0.71338606911949],"aabb_xy":[[0.45339132772482704,-0.4088099668109174],[0.467471947591901,-0.24880996801157457]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[0.5144358456843459,-0.3698632876821901,0.71338606911949],"aabb_xy":[[0.5083412177962274,-0.37843268223385884],[0.5205304735724641,-0.3612938931305214]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6606697138282739,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6059.png","name":"6059"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6059.png","name":"6059"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3646.png","name":"3646"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8475.png","name":"8475"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8847.png","name":"8847"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9521.png","name":"9521"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":729.3819216904539,"rotation_z_degrees":48.75075693562744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005862326247875202,-0.004167931483540905,-0.005602123710536207]},{"name":"camera_2","offset_m":[-0.009401546712400788,-0.016468469576313507,-0.000442770204590142]},{"name":"camera_3","offset_m":[0.0196091971553141,0.015965018918219668,0.0032553112734809223]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001831529444519846,-0.00118848113969913,0.0007952981099387953],"end_effector_yaw_offset_degrees":0.28107331181498396},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006974843308136811,0.001599175122109422,-0.0018366704201512208],"end_effector_yaw_offset_degrees":-0.6885146955162291},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008062978429021228,0.0005923749374417541,-0.0003870038541267022],"end_effector_yaw_offset_degrees":-0.7596945848220042}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00026228496862484504,0.003134965516951219],"position_m":[0.22313771503137514,-0.02626503448304878,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011601990788355932,-0.002262240462254337],"position_m":[0.26196019907883555,-0.30696224046225434,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033551545222105694,-0.00037950760148298436],"position_m":[0.1381448454777894,0.28482049239851703,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00370458648035719,0.00170362784276582],"position_m":[0.3304045864803572,0.1852036278427658,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f518e0f6ca072de105e79cea1ad35dd6afdc98118473497fb5bc98229f4033db","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6059/tex_ceiling_textures_9521/tex_floor_textures_8847/tex_table_textures_3646/tex_wall_textures_8475","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3819047572242359195,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3819047572242359195,"visual_seed":3819047572242359195,"scene_id":"lab_003","finished_at":"2026-09-03T20:31:44"} +{"episode_id":"ep_000041","started_at":"2026-09-03T20:31:47","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[0.11025694560131205,-1.9295299861235709,0.71338606911949],"aabb_xy":[[0.10491936993530751,-1.9545299870527106],[0.11559452126731665,-1.904529985194431]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[0.5725207477147012,-0.6464592648505105,0.71338606911949],"aabb_xy":[[0.5671882330600883,-0.6517835930957461],[0.5778532623693143,-0.641134936605275]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[-0.4277026458897555,1.8178419592297739,0.71338606911949],"aabb_xy":[[-0.4502026458999037,1.8037457395901706],[-0.40520264587960714,1.8319381788693772]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.26179503015922234,1.652096216184065,0.71338606911949],"aabb_xy":[[0.21181207997174298,1.6020962165415047],[0.3117779803467016,1.7020962158266255]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.5412373115229583,-0.17465093604416948,0.71338606911949],"aabb_xy":[[-0.5486497670643469,-0.1805021464657974],[-0.5338248559815699,-0.1687997256225415]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.022063982183434305,-0.6473860114633079,0.71338606911949],"aabb_xy":[[-0.059563983368227096,-0.6518042341593682],[0.01543601900135849,-0.6429677887672471]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.4656428728283091,-0.6531639106035168,0.71338606911949],"aabb_xy":[[0.45622539825844627,-0.6625800877412358],[0.47506034739817177,-0.6437477334657977]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.289519838058457,0.34194245257388456,0.71338606911949],"aabb_xy":[[-0.3395198394193442,0.2919645479984689],[-0.2395198366975698,0.3919203571493001]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[-0.4390037033851389,1.557312338381506,0.71338606911949],"aabb_xy":[[-0.4724828706461799,1.5238332250103992],[-0.405524536124098,1.5907914517526132]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.2275257947029652,-0.5783720384648352,0.71338606911949],"aabb_xy":[[-0.2775257933488864,-0.6282915821242976],[-0.17752579605704397,-0.5284524948053728]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[0.5562983884855708,0.10111471861221233,0.71338606911949],"aabb_xy":[[0.4922983920899978,0.037151430193478774],[0.620298384881144,0.16507800703094588]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.3787673882473328,-1.6267025276287068,0.71338606911949],"aabb_xy":[[0.3412673898239324,-1.6398667415965373],[0.4162673866707331,-1.6135383136608759]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.46638826881400575,-0.9298332822644946,0.71338606911949],"aabb_xy":[[0.40138827093235796,-0.9809569459710357],[0.5313882666956535,-0.8787096185579539]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.1344012164112106,-0.9692067260899173,0.71338606911949],"aabb_xy":[[-0.14448292348978406,-1.049206723982032],[-0.12431950933263711,-0.8892067281978026]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[-0.3635855476246559,-2.1373438020951894,0.71338606911949],"aabb_xy":[[-0.4010855479168307,-2.141385277495793],[-0.3260855473324811,-2.1333023266945856]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[-0.468695700248134,-1.6008373365098465,0.71338606911949],"aabb_xy":[[-0.47277385815518375,-1.6049183167581098],[-0.46461754234108427,-1.5967563562615832]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[-0.6566034390733384,-0.37220471718763903,0.71338606911949],"aabb_xy":[[-0.6744725468277939,-0.38603762516484996],[-0.6387343313188829,-0.3583718092104281]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[-0.3265370715769095,0.7263552425823603,0.71338606911949],"aabb_xy":[[-0.3517579084367491,0.7011314917294734],[-0.30131623471706975,0.7515789934352469]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[0.007185539528856033,-1.5258555147879782,0.71338606911949],"aabb_xy":[[-0.07281446190127117,-1.6053726698005877],[0.08718554095898323,-1.4463383597753687]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.009041382635707418,-2.320979023953232,0.71338606911949],"aabb_xy":[[-0.08095862104121075,-2.382411430530336],[0.09904138631262557,-2.2595466173761274]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.6140301277870298,-1.1278736122442208,0.71338606911949],"aabb_xy":[[-0.6181659841197301,-1.165373611688578],[-0.6098942714543297,-1.090373612799864]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.1573296548769193,0.8162702602502843,0.71338606911949],"aabb_xy":[[-0.20445903387875494,0.7522702592058822],[-0.1102002758750836,0.8802702612946861]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[-0.45045297360503495,-1.6923480333832606,0.71338606911949],"aabb_xy":[[-0.46755505156340316,-1.7094548389145303],[-0.43335089564666684,-1.6752412278519908]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[-0.06806992658657585,-2.5681462402675748,0.71338606911949],"aabb_xy":[[-0.07722980553045244,-2.5746774583111116],[-0.05891004764269925,-2.561615022224038]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[0.2068860672843954,-1.1556745540995415,0.71338606911949],"aabb_xy":[[0.14188606617845215,-1.1806399271676697],[0.2718860683903387,-1.1307091810314132]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[0.2826207967620964,1.4744611724832466,0.71338606911949],"aabb_xy":[[0.2186207960586271,1.428442790010326],[0.3466207974655658,1.5204795549561683]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[-0.4484144444906669,0.9192850909461336,0.71338606911949],"aabb_xy":[[-0.5034144441124129,0.8643013981586609],[-0.39341444486892113,0.9742687837336064]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_27","position":[0.4349427442994802,0.7944175871203334,0.71338606911949],"aabb_xy":[[0.42234004516240375,0.781822190895468],[0.44754544343655667,0.807012983345199]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_28","position":[0.3731844144005898,0.3077683906525235,0.71338606911949],"aabb_xy":[[0.36834081963935983,0.30291673817353937],[0.3780280091618198,0.3126200431315076]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[-0.49279971608316125,-1.2492376712162752,0.71338606911949],"aabb_xy":[[-0.503705492170724,-1.329237667615104],[-0.48189393999559854,-1.1692376748174458]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_30","position":[0.6574522348028806,-0.8265484234091951,0.71338606911949],"aabb_xy":[[0.5934522324600789,-0.8714892746533276],[0.7214522371456821,-0.7816075721650626]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_31","position":[-0.3332282939710916,-2.3778601075024297,0.71338606911949],"aabb_xy":[[-0.34051061034775515,-2.467860111111938],[-0.32594597759442784,-2.28786010389292]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_32","position":[-0.4214043614468773,0.10294747994382902,0.71338606911949],"aabb_xy":[[-0.5014043588504706,0.022954908745646204],[-0.3414043640432839,0.1829400511420118]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_33","position":[0.47084073979635743,-1.3318045038401467,0.71338606911949],"aabb_xy":[[0.4620595126491213,-1.340584251128677],[0.47962196694359377,-1.3230247565516169]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6540249729249571,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8904.png","name":"8904"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8904.png","name":"8904"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5364.png","name":"5364"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7623.png","name":"7623"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9566.png","name":"9566"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7424.png","name":"7424"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":586.2398299424718,"rotation_z_degrees":291.8219406337587,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004310626154482713,-0.004925300689091397,0.007926586294315748]},{"name":"camera_2","offset_m":[-0.0005072789556728151,-0.009026197267571088,0.008506193078486927]},{"name":"camera_3","offset_m":[0.0030743827510962725,-0.014751354559225528,-0.015508152132142983]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021677210718094257,-0.0007274247374392342,0.0003619743282620765],"end_effector_yaw_offset_degrees":-0.40969486417194556},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004941839652390088,-0.001744600426182125,0.00020805530798908992],"end_effector_yaw_offset_degrees":0.3494680789106488},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018124536922245961,0.0010687288744918224,-0.001594238112661071],"end_effector_yaw_offset_degrees":-0.341166355499096}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003572034429955029,-0.004929997300855804],"position_m":[0.21982796557004497,-0.0343299973008558,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030716559176327428,0.003994696113301425],"position_m":[0.2577283440823672,-0.3007053038866986,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007098645285685979,0.0030630045023718926],"position_m":[0.14079013547143138,0.2882630045023719,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00030215818189536885,-0.0011139009396852985],"position_m":[0.3263978418181046,0.1823860990603147,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9581fdf77aef774ed6aeed02a84516ef76a592825ee0e7409cf09491893108d5","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8904/tex_ceiling_textures_7424/tex_floor_textures_9566/tex_table_textures_5364/tex_wall_textures_7623","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2434984804066242549,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2434984804066242549,"visual_seed":2434984804066242549,"scene_id":"lab_003","finished_at":"2026-09-03T20:34:41"} +{"episode_id":"ep_000042","started_at":"2026-09-03T20:34:44","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.6290559336218291,0.664780811533713,0.71338606911949],"aabb_xy":[[-0.6768621012355978,0.5997808088266541],[-0.5812497660080604,0.729780814240772]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[-0.28310919615308944,-1.9502434702465465,0.71338606911949],"aabb_xy":[[-0.2957118952901659,-1.9628388664714123],[-0.270506497016013,-1.9376480740216813]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[0.27531476689838685,-0.6876578856941229,0.71338606911949],"aabb_xy":[[0.22533735003313324,-0.7376578871833713],[0.3252921837636404,-0.6376578842048742]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[0.33992027306317607,-0.3805243547752801,0.71338606911949],"aabb_xy":[[0.32855853840988986,-0.39189282118156815],[0.3512820077164622,-0.369155888368992]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.5145022958107319,-0.35460676804641,0.71338606911949],"aabb_xy":[[0.5064659611094471,-0.36264488735082673],[0.5225386305120168,-0.34656864874199317]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[0.18306807103007317,-1.6362278628853786,0.71338606911949],"aabb_xy":[[0.14573679450483054,-1.6708809176802308],[0.2203993475553158,-1.6015748080905263]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.4073561669711897,-0.8290851326911781,0.71338606911949],"aabb_xy":[[-0.41339317997185454,-0.8351118337601263],[-0.4013191539705251,-0.8230584316222299]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.6490771842122968,0.16694291271365325,0.71338606911949],"aabb_xy":[[-0.6715763199385237,0.14444291193539024],[-0.6265780484860698,0.1894429134919162]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[-0.09414407015167714,0.597011612218405,0.71338606911949],"aabb_xy":[[-0.15814406726378283,0.5479792424239944],[-0.03014407303957145,0.6460439820128157]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.33608006196453877,-1.9793305535824923,0.71338606911949],"aabb_xy":[[0.332001904057489,-1.9834115338307554],[0.34015821987158845,-1.9752495733342288]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.5011518247964688,0.5219294060230029,0.71338606911949],"aabb_xy":[[0.45115182343558163,0.4719515014475872],[0.551151826157356,0.5719073105984184]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.6678404231039452,-1.8758585816630111,0.71338606911949],"aabb_xy":[[-0.6903404229178476,-1.8803331980334919],[-0.6453404232900428,-1.8713839652925304]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.531401020301592,-1.3323142944355537,0.71338606911949],"aabb_xy":[[-0.611401020771808,-1.3406250020499022],[-0.45140101983137615,-1.3240035868212052]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[-0.07858217188026695,0.9679694263818366,0.71338606911949],"aabb_xy":[[-0.10309579597727281,0.9437048330798],[-0.05406854778326109,0.9922340196838729]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.6237028626644774,-2.1911562060122214,0.71338606911949],"aabb_xy":[[0.5337028603304584,-2.2686385605973336],[0.7137028649984966,-2.1136738514271083]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[0.5314879576602649,0.0630868867798986,0.71338606911949],"aabb_xy":[[0.4674879603579185,0.018720459812041845],[0.5954879549626113,0.10745331374775535]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[0.21882637682444328,0.7867736264648779,0.71338606911949],"aabb_xy":[[0.20172429886607512,0.769666820933608],[0.23592845478281144,0.8038804319961476]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.029878404332610797,-0.8209139509590679,0.71338606911949],"aabb_xy":[[-0.03331908057266797,-0.8247753839334324],[-0.026437728092553625,-0.8170525179847035]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.32938951422825974,-1.007886571849334,0.71338606911949],"aabb_xy":[[-0.3368019697696482,-1.013737782270962],[-0.32197705868687126,-1.002035361427706]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.2939367444076207,-1.2494339983394844,0.71338606911949],"aabb_xy":[[-0.3579367467504222,-1.294374849583617],[-0.2299367420648191,-1.204493147095352]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.6237307002807901,-0.2116855848368555,0.71338606911949],"aabb_xy":[[0.6157044296501641,-0.22043707981420813],[0.6317569709114161,-0.2029340898595029]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[-0.14455764558720818,0.819958457146281,0.71338606911949],"aabb_xy":[[-0.23455764500557905,0.7865829603020911],[-0.054557646168837265,0.8533339539904705]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.2723474821428942,-0.6172321515043206,0.71338606911949],"aabb_xy":[[-0.3363474785384673,-0.6811954399230542],[-0.20834748574732115,-0.5532688630855871]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[-0.4454686182529959,-0.5099425819306749,0.71338606911949],"aabb_xy":[[-0.48296861943778857,-0.5143608046267352],[-0.407968617068203,-0.5055243592346141]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[-0.6383290787112912,-0.3912709187150063,0.71338606911949],"aabb_xy":[[-0.6534313801723091,-0.40637244034606806],[-0.6232267772502729,-0.3761693970839444]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_25","position":[-0.4991202557851837,1.7309256807221671,0.71338606911949],"aabb_xy":[[-0.524120255057146,1.7145803171260048],[-0.4741202565132214,1.7472710443183295]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_26","position":[-0.4487341080159182,-2.450245337776212,0.71338606911949],"aabb_xy":[[-0.493734109482147,-2.495245194637693],[-0.40373410654968933,-2.4052454809147314]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_27","position":[-0.06574834104430893,1.3543790248498744,0.71338606911949],"aabb_xy":[[-0.07017897039914911,1.348930653115192],[-0.06131771168946876,1.3598273965845569]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_28","position":[-0.4622606360513223,1.2554845506990167,0.71338606911949],"aabb_xy":[[-0.5093900150531578,1.1914845496546145],[-0.4151312570494865,1.3194845517434184]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_29","position":[-0.35512265119586955,1.4112111617128322,0.71338606911949],"aabb_xy":[[-0.3727009533848164,1.3936366721387272],[-0.3375443490069227,1.4287856512869372]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_30","position":[-0.5233290582711836,1.572363570256194,0.71338606911949],"aabb_xy":[[-0.5873247556662801,1.508363571955485],[-0.4593333608760869,1.6363635685569025]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_31","position":[0.4074548895748469,-0.9795078104270305,0.71338606911949],"aabb_xy":[[0.39189912016458167,-0.9950582436714379],[0.4230106589851122,-0.9639573771826235]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_32","position":[0.07763765949754553,-2.2075481406072806,0.71338606911949],"aabb_xy":[[0.04013765932567359,-2.2402488759901873],[0.11513765966941747,-2.174847405224373]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_33","position":[0.2451247241165576,1.4684584909993643,0.71338606911949],"aabb_xy":[[0.2371312343212756,1.460460359058889],[0.25311821391183964,1.4764566229398401]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6593975773823288,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/523.png","name":"523"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/523.png","name":"523"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7701.png","name":"7701"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8163.png","name":"8163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3770.png","name":"3770"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4946.png","name":"4946"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":554.2518198569032,"rotation_z_degrees":292.56261696862083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007760594648052215,0.0014559346997043837,-0.012593361509318148]},{"name":"camera_2","offset_m":[0.0025418394335969853,0.016200071267847758,0.01818574061088159]},{"name":"camera_3","offset_m":[-0.008867059936031993,-0.008943905677800852,-0.014570601131381759]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003164485655737831,0.00047772760512319575,0.0019456992854998143],"end_effector_yaw_offset_degrees":0.6890524717803372},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011340730226716694,-0.0012882506925606468,0.0017037368687430085],"end_effector_yaw_offset_degrees":-0.21408568752318957},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00039613819724535274,0.0016672429042323563,0.0017864411767595963],"end_effector_yaw_offset_degrees":0.05688324225680774}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-9.387192042086597e-05,0.004655740848002633],"position_m":[0.2233061280795791,-0.024744259151997367,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032549498319344233,0.004547925038494857],"position_m":[0.2640549498319344,-0.30015207496150514,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002556193130659405,0.0023365691607278487],"position_m":[0.1440561931306594,0.28753656916072784,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[6.537037351298826e-05,-0.00259223290477665],"position_m":[0.326765370373513,0.18090776709522335,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"67cfc400ffd2518df71c005f5ee96f605392f107b0b0ea4349b218216a668018","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_523/tex_ceiling_textures_4946/tex_floor_textures_3770/tex_table_textures_7701/tex_wall_textures_8163","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2012168771233136054,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2012168771233136054,"visual_seed":2012168771233136054,"scene_id":"lab_003","finished_at":"2026-09-03T20:37:30"} +{"episode_id":"ep_000043","started_at":"2026-09-03T20:37:33","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[-0.5200472709040169,-1.00730468770241,0.71338606911949],"aabb_xy":[[-0.5575472710096099,-1.014126849555391],[-0.482547270798424,-1.0004825258494288]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[-0.372050863967875,0.27199417843311124,0.71338606911949],"aabb_xy":[[-0.4360508653758656,0.2202052269091865],[-0.3080508625598843,0.3237831299570359]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[0.5022137315277484,-2.468362414232143,0.71338606911949],"aabb_xy":[[0.4522137328818271,-2.5182819578916056],[0.5522137301736695,-2.418442870572681]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.6830737884582394,-2.1935755641255033,0.71338606911949],"aabb_xy":[[-0.6911874431316165,-2.201681380579532],[-0.6749601337848623,-2.1854697476714744]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[-0.01828354181591174,-1.798375101080013,0.71338606911949],"aabb_xy":[[-0.0982835422861277,-1.8066858086943618],[0.06171645865430421,-1.7900643934656648]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.6086448450533781,-1.4220033650046247,0.71338606911949],"aabb_xy":[[-0.6257469230117462,-1.4391101705358946],[-0.5915427670950099,-1.4048965594733551]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[0.459074091883521,-0.8258327046917664,0.71338606911949],"aabb_xy":[[0.44120498412906545,-0.8396656126689773],[0.47694319963797643,-0.8119997967145555]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_7","position":[-0.18174941037964798,0.20436915443020975,0.71338606911949],"aabb_xy":[[-0.19763390364497313,0.1900162141313857],[-0.16586491711432283,0.2187220947290338]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.6513923739926193,1.6061524971699392,0.71338606911949],"aabb_xy":[[-0.6674543014511369,1.521152495357347],[-0.6353304465341016,1.6911524989825306]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[-0.013675028066683859,-2.152370387016189,0.71338606911949],"aabb_xy":[[-0.04958853249167354,-2.188283895232944],[0.022238476358305823,-2.1164568787994344]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[-0.3506925560392416,0.8771528760464342,0.71338606911949],"aabb_xy":[[-0.3705835959195819,0.8644970647617375],[-0.3308015161589014,0.8898086873311312]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[-0.5145354622667159,-1.625908864146913,0.71338606911949],"aabb_xy":[[-0.5219479178081042,-1.631760074568541],[-0.5071230067253273,-1.620057653725285]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.5699910775156426,1.67401109251989,0.71338606911949],"aabb_xy":[[-0.5828629810165827,1.5940110921060537],[-0.5571191740147025,1.754011092933726]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[0.5581476728191033,-0.5277401667950286,0.71338606911949],"aabb_xy":[[0.5246685055580624,-0.5612192801661355],[0.5916268400801443,-0.49426105342392157]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[-0.47223476825028,-0.35945128015055827,0.71338606911949],"aabb_xy":[[-0.4761952520200144,-0.3671191447360788],[-0.4682742844805457,-0.3517834155650376]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[0.6331269684377376,0.6041398998892897,0.71338606911949],"aabb_xy":[[0.6156270350037543,0.5866398999690551],[0.650626901871721,0.6216398998095242]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[0.3282865319841459,1.127772713889963,0.71338606911949],"aabb_xy":[[0.2782934198749541,1.0777727132157675],[0.3782796440933379,1.1777727145641588]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[0.21343427162089157,-1.2171983547999639,0.71338606911949],"aabb_xy":[[0.12343426928687251,-1.2946807093850767],[0.3034342739549106,-1.1397160002148514]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[0.11256772066538356,1.4586979954146275,0.71338606911949],"aabb_xy":[[0.04856771844497654,1.414324911289339],[0.1765677228857906,1.5030710795399156]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[-0.050771240779109994,-1.587475638323364,0.71338606911949],"aabb_xy":[[-0.07460745841971507,-1.6774756391318506],[-0.02693502313850494,-1.4974756375148774]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.5458747025013417,-2.0528375552332303,0.71338606911949],"aabb_xy":[[0.49806853488757297,-2.1178375579402893],[0.5936808701151103,-1.9878375525261713]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[-0.4787573425233601,0.003991175512410017,0.71338606911949],"aabb_xy":[[-0.49643297311195833,-0.01368904076699273],[-0.46108171193476166,0.021671391791812763]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[-0.21111724383752373,-0.34570269346971916,0.71338606911949],"aabb_xy":[[-0.27611724483802425,-0.3964890586243941],[-0.1461172428370232,-0.2949163283150442]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[0.14604611179782834,-0.9139975964671487,0.71338606911949],"aabb_xy":[[0.05604611207465412,-0.9370709490023285],[0.23604611152100247,-0.8909242439319688]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.3789861897507943,-0.9840484312180222,0.71338606911949],"aabb_xy":[[-0.39091892411262236,-0.9964305840258816],[-0.3670534553889662,-0.9716662784101628]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[-0.15293167494762305,-0.7380064287936232,0.71338606911949],"aabb_xy":[[-0.18793167629910476,-0.7583661647504439],[-0.1179316735961413,-0.7176466928368023]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_26","position":[0.47689598725486215,-1.3235282061970723,0.71338606911949],"aabb_xy":[[0.45439685152863524,-1.3460282069753353],[0.4993951229810892,-1.3010282054188094]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[-0.48684419355860725,0.12309115055627506,0.71338606911949],"aabb_xy":[[-0.5043908884747261,0.08559114899202379],[-0.4692974986424883,0.16059115212052633]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6535130510171365,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5374.png","name":"5374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5374.png","name":"5374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2765.png","name":"2765"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8896.png","name":"8896"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6942.png","name":"6942"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6467.png","name":"6467"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":754.993517841204,"rotation_z_degrees":182.873645678215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018617659842991085,-0.003300841014329304,0.0066795113918814986]},{"name":"camera_2","offset_m":[0.017517879966834526,0.013133371697347813,0.00243005740440342]},{"name":"camera_3","offset_m":[0.0006077512494736016,-0.009419073177346951,0.01358503468012193]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007304942902844206,-0.00028126833390803804,0.00027404891224101],"end_effector_yaw_offset_degrees":0.3698362209364441},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019340243832787478,0.001039080538225994,0.001019190039874678],"end_effector_yaw_offset_degrees":0.6412959718719751},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015404726754269446,0.00190512867255461,-0.0013721951453301512],"end_effector_yaw_offset_degrees":0.8281477537150876}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003375111571768746,0.0013884629156946209],"position_m":[0.22677511157176874,-0.028011537084305378,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004246463056535382,0.002843140991040812],"position_m":[0.2565535369434646,-0.3018568590089592,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003923657200512437,-0.003928123633926705],"position_m":[0.13757634279948755,0.2812718763660733,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002216110682045901,-0.0039044372570738585],"position_m":[0.3244838893179541,0.17959556274292615,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4831b7ca38344556eb0139e4c8e1c124d85006d89f3c5eb0cbd486bbf84e82db","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5374/tex_ceiling_textures_6467/tex_floor_textures_6942/tex_table_textures_2765/tex_wall_textures_8896","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2929375774719044827,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2929375774719044827,"visual_seed":2929375774719044827,"scene_id":"lab_003","finished_at":"2026-09-03T20:40:32"} +{"episode_id":"ep_000044","started_at":"2026-09-03T20:40:35","dimensions":{"distractor":{"count":23,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.505307333252383,-0.11923584391474806,0.71338606911949],"aabb_xy":[[-0.5166690679056689,-0.13060431032103614],[-0.4939455985990966,-0.10786737750845997]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[-0.14913140030578453,-0.9943601973346452,0.71338606911949],"aabb_xy":[[-0.2031469965876845,-1.0583602002269021],[-0.0951158040238845,-0.9303601944423879]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.3812501443199254,-1.8191279763240298,0.71338606911949],"aabb_xy":[[-0.3873447722080437,-1.8276973708756985],[-0.37515551643180706,-1.810558581772361]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[-0.12897258599094963,1.7116814361785386,0.71338606911949],"aabb_xy":[[-0.1889725862423508,1.657400111142074],[-0.06897258573954845,1.7659627612150033]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.634993226828986,-2.170431791389015,0.71338606911949],"aabb_xy":[[0.554993228848201,-2.178033332350867],[0.7149932248097711,-2.162830250427163]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.24237088038063348,-0.3452970154063606,0.71338606911949],"aabb_xy":[[-0.33237087979900437,-0.3786725122505503],[-0.15237088096226256,-0.3119215185621709]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[0.24700033335119242,-0.48115869072839335,0.71338606911949],"aabb_xy":[[0.20950033353415887,-0.48579690203953513],[0.284500333168226,-0.47652047941725145]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[0.43107276713981557,-1.052775518399078,0.71338606911949],"aabb_xy":[[0.3810727667792495,-1.1027555056086806],[0.48107276750038164,-1.0027955311894747]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.2436359287439585,0.6980319955645449,0.71338606911949],"aabb_xy":[[-0.30363592960477126,0.6466055655580584],[-0.1836359278831457,0.7494584255710312]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.6768371401157449,-0.12342549652584722,0.71338606911949],"aabb_xy":[[-0.6824188117498736,-0.13592549634362272],[-0.671255468481616,-0.11092549670807172]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[0.3928516100320414,-1.7273137556724032,0.71338606911949],"aabb_xy":[[0.3578516109020857,-1.733058976748067],[0.42785160916199705,-1.7215685345967389]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[-0.010976975972958103,-2.2559288582378394,0.71338606911949],"aabb_xy":[[-0.015407605327798281,-2.261377229972522],[-0.006546346618117928,-2.250480486503157]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[0.24940114237290734,-1.343457007908346,0.71338606911949],"aabb_xy":[[0.1854011391542695,-1.3901801198073547],[0.3134011455915452,-1.296733896009338]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[-0.23017805983178635,-1.5844036168274642,0.71338606911949],"aabb_xy":[[-0.24767806009112298,-1.5984951590162373],[-0.21267805957244973,-1.570312074638692]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[-0.6445866892626707,0.614346259373868,0.71338606911949],"aabb_xy":[[-0.6667592162393214,0.5921705922177448],[-0.6224141622860198,0.6365219265299912]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[0.5674598451885036,-2.335394496219771,0.71338606911949],"aabb_xy":[[0.5034598431387715,-2.3754889793090785],[0.6314598472382354,-2.2953000131304626]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[0.5663110575451535,-0.25427456425902273,0.71338606911949],"aabb_xy":[[0.5164942780803188,-0.3042745627433261],[0.6161278370099883,-0.20427456577471936]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[-0.06202529881505936,-1.835567286057027,0.71338606911949],"aabb_xy":[[-0.07210700589363284,-1.915567283949141],[-0.051943591736485877,-1.7555672881649118]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[0.32409103507848247,-2.0049139963794906,0.71338606911949],"aabb_xy":[[0.3122189520669813,-2.089913996073141],[0.3359631180899835,-1.9199139966858403]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.6261575180401553,0.7737829010613355,0.71338606911949],"aabb_xy":[[0.6185332499499772,0.7661496775247919],[0.6337817861303336,0.7814161245978793]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[0.2870629808426305,0.6562385228698835,0.71338606911949],"aabb_xy":[[0.2806491671994455,0.649828702622215],[0.2934767944858154,0.6626483431175517]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[-0.37286579573327633,-1.588881450771317,0.71338606911949],"aabb_xy":[[-0.4053274966152038,-1.6190142828862193],[-0.34040409485134887,-1.5587486186564141]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[-0.5612064774357907,1.3278719340475829,0.71338606911949],"aabb_xy":[[-0.6252064747381371,1.283505507079726],[-0.49720648013344426,1.3722383610154396]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6606941087079844,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1429.png","name":"1429"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1429.png","name":"1429"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8496.png","name":"8496"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/317.png","name":"317"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9319.png","name":"9319"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3478.png","name":"3478"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":739.8569483144951,"rotation_z_degrees":268.3417738343768,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018597865807475987,0.01082785859692418,-0.01711528224476039]},{"name":"camera_2","offset_m":[-0.0005534247634666582,-0.013454892096478623,0.006251151971024965]},{"name":"camera_3","offset_m":[0.008253043034272468,-0.010716993526561889,0.006568381717925047]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012029221919078225,0.0004775194233164674,-0.0019337778530294023],"end_effector_yaw_offset_degrees":0.6560589075236787},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006132549948768789,0.0015499678804396827,-0.00028945349454439964],"end_effector_yaw_offset_degrees":-0.9061161502957771},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003408863537159106,-0.00039195072730751246,0.0013207789471339527],"end_effector_yaw_offset_degrees":-0.6652923036402163}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003762840390737941,0.00023142608891451102],"position_m":[0.22716284039073792,-0.029168573911085488,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004677630349183463,0.004483050792593504],"position_m":[0.2654776303491834,-0.30021694920740655,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00219121248092895,0.0025476689878285398],"position_m":[0.14369121248092895,0.28774766898782855,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003948586309543252,-0.0028199838020576363],"position_m":[0.32275141369045673,0.18068001619794236,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e83a0ad9021bde5e4f9826e974cc61965ad967b11397b81cc42e9c4229324b1d","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1429/tex_ceiling_textures_3478/tex_floor_textures_9319/tex_table_textures_8496/tex_wall_textures_317","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1749930036428972115,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1749930036428972115,"visual_seed":1749930036428972115,"scene_id":"lab_003","finished_at":"2026-09-03T20:43:19"} +{"episode_id":"ep_000045","started_at":"2026-09-03T20:43:22","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.13843605213160926,1.2490656054441827,0.71338606911949],"aabb_xy":[[0.07443605008187729,1.2089711223548747],[0.20243605418134128,1.2891600885334906]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[0.46057898022354626,-1.8552691518875812,0.71338606911949],"aabb_xy":[[0.45265569998479793,-1.8777691521255846],[0.4685022604622946,-1.8327691516495779]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[0.3587480305432156,1.3473147898958873,0.71338606911949],"aabb_xy":[[0.2787480318863296,1.3328099309716244],[0.4387480292001016,1.3618196488201502]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.06031497543403708,-0.9533347223128845,0.71338606911949],"aabb_xy":[[0.047443071933096936,-1.0333347227267207],[0.07318687893497722,-0.8733347218990484]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.445524608545409,1.6006714304151157,0.71338606911949],"aabb_xy":[[0.43739692035209576,1.5917578220044077],[0.4536522967387222,1.6095850388258233]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.590826820955277,0.35732328564005744,0.71338606911949],"aabb_xy":[[-0.5949626772879772,0.31982328619570044],[-0.5866909646225769,0.39482328508441444]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[0.4307097694910469,0.23786350479871166,0.71338606911949],"aabb_xy":[[0.39385922155405934,0.20036350397567798],[0.46756031742803456,0.27536350562174544]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.331634353744313,-0.7918363087744771,0.71338606911949],"aabb_xy":[[-0.376805671592482,-0.8558363059190156],[-0.286463035896144,-0.7278363116299387]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[0.526234355203554,1.6631460036976837,0.71338606911949],"aabb_xy":[[0.48873435485532624,1.6513546081166],[0.5637343555517818,1.674937399278767]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[0.6560457321124868,-1.2413865825909465,0.71338606911949],"aabb_xy":[[0.630824895252647,-1.266610333443833],[0.6812665689723263,-1.2161628317380595]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.4968290709002592,-0.014506355440951246,0.71338606911949],"aabb_xy":[[-0.5768228944788174,-0.09450635803379281],[-0.416835247321701,0.06549364715189032]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.35607176236999644,-2.2517181802232997,0.71338606911949],"aabb_xy":[[-0.36570339859042605,-2.261355493003008],[-0.3464401261495668,-2.2420808674435904]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.22053234117190929,0.27995314309129204,0.71338606911949],"aabb_xy":[[-0.24303234098581167,0.27547852672081136],[-0.1980323413580069,0.28442775946177273]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.31601485647579386,-0.4678705284045872,0.71338606911949],"aabb_xy":[[-0.35703279986216474,-0.5178705290355445],[-0.274996913089423,-0.41787052777362993]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.2708452665771564,1.4522379286839375,0.71338606911949],"aabb_xy":[[-0.287855363867207,1.4361034401856634],[-0.2538351692871057,1.4683724171822112]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[-0.13486526008518174,-1.2632002544026313,0.71338606911949],"aabb_xy":[[-0.19886526230558876,-1.3075733385279193],[-0.07086525786477471,-1.2188271702773428]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.4665091208665473,-1.4580730850364287,0.71338606911949],"aabb_xy":[[-0.49650078360041766,-1.488073084373229],[-0.436517458132677,-1.428073085699628]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[-0.6411844104079448,-1.4913959238778425,0.71338606911949],"aabb_xy":[[-0.6588600409965429,-1.509076140157245],[-0.6235087798193463,-1.4737157075984395]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[-0.4674717951051598,-1.0072785131427515,0.71338606911949],"aabb_xy":[[-0.5274717956130126,-1.0641252468286728],[-0.40747179459730687,-0.9504317794568303]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[-0.6292825219445107,-1.8433554445209994,0.71338606911949],"aabb_xy":[[-0.6347404675815307,-1.9233554478286585],[-0.6238245763074906,-1.7633554412133403]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[-0.5869543266711404,1.73614483468261,0.71338606911949],"aabb_xy":[[-0.6070127382843807,1.7160797477734524],[-0.5668959150579002,1.7562099215917673]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[-0.19604621796239907,-0.2626576360360886,0.71338606911949],"aabb_xy":[[-0.25604621821380025,-0.31693896107255326],[-0.13604621771099787,-0.20837631099962395]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.5950803988246904,1.8156107434009257,0.71338606911949],"aabb_xy":[[0.5909644487126178,1.8114951883680799],[0.5991963489367631,1.819726298433771]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[0.37301763562226564,0.8581525075637937,0.71338606911949],"aabb_xy":[[0.35784546634063225,0.8429836506355904],[0.3881898049038989,0.8733213644919972]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6623140486373185,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1953.png","name":"1953"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1953.png","name":"1953"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6335.png","name":"6335"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7788.png","name":"7788"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3420.png","name":"3420"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4043.png","name":"4043"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":655.5948714519122,"rotation_z_degrees":345.2877265336369,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0020549023993053014,0.01742477440946556,-0.018608549885294496]},{"name":"camera_2","offset_m":[0.006971752149769958,-0.0012626650818638,-0.010692870150752806]},{"name":"camera_3","offset_m":[0.009864047182996737,-0.007260002051098726,0.005433112535368049]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001532901671838878,-0.000781196482041254,-0.001874425892132491],"end_effector_yaw_offset_degrees":0.21822873834864853},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012884112752505686,0.0003279183619610761,0.0008328617036212262],"end_effector_yaw_offset_degrees":-0.707312281704886},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001447034239808328,0.001929571451127922,0.00022485278247370236],"end_effector_yaw_offset_degrees":0.08857033937777747}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022230718194192044,-0.0042656104969622756],"position_m":[0.2211769281805808,-0.033665610496962275,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002034944876148616,-0.004131596822421545],"position_m":[0.2628349448761486,-0.30883159682242156,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014537624646771131,0.00198961343814617],"position_m":[0.1400462375353229,0.2871896134381462,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003672272791362943,-0.0014380650790555526],"position_m":[0.3263327727208637,0.18206193492094444,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b8cb99304b9b56281b1615ed3c2cc7243be20b79a2701b4b39179d10719ea54a","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1953/tex_ceiling_textures_4043/tex_floor_textures_3420/tex_table_textures_6335/tex_wall_textures_7788","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2142819358651652218,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2142819358651652218,"visual_seed":2142819358651652218,"scene_id":"lab_003","finished_at":"2026-09-03T20:46:01"} +{"episode_id":"ep_000046","started_at":"2026-09-03T20:46:05","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.48248522220298895,-0.09502303407026869,0.71338606911949],"aabb_xy":[[-0.5037632303464612,-0.16002303639634174],[-0.46120721405951665,-0.030023031744195613]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.43164158935396557,1.3632997575570514,0.71338606911949],"aabb_xy":[[0.3941415909305651,1.3501355435892206],[0.4691415877773658,1.376463971524882]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[0.6389807534854477,1.5333296312156697,0.71338606911949],"aabb_xy":[[0.5589869299068896,1.453329628622828],[0.718974577064006,1.6133296338085112]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.26007079200265815,0.5187593370425998,0.71338606911949],"aabb_xy":[[0.22507079210663924,0.5103851015306597],[0.29507079189867697,0.5271335725545396]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.4701555845573081,1.1741716345125823,0.71338606911949],"aabb_xy":[[-0.5601555842804822,1.1510982819774023],[-0.38015558483413386,1.197244987047762]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.06713653854108081,-1.3322658272485781,0.71338606911949],"aabb_xy":[[0.05989277249483549,-1.4122658254521805],[0.07438030458732614,-1.2522658290449757]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[0.17203539060500406,1.5089111111675906,0.71338606911949],"aabb_xy":[[0.12204227849581217,1.458911110493395],[0.22202850271419597,1.5589111118417864]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.2692760729136636,0.8401732030635292,0.71338606911949],"aabb_xy":[[0.23427607293716785,0.8307085870159127],[0.3042760728901595,0.8496378191111459]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[0.5493006240063907,-0.9323982519738212,0.71338606911949],"aabb_xy":[[0.5118006241893571,-0.9370364632849629],[0.5868006238234242,-0.9277600406626793]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[-0.31031119983732536,0.20820401042067482,0.71338606911949],"aabb_xy":[[-0.3381562366179325,0.17741951168236314],[-0.28246616305671823,0.2389885091589865]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[-0.024248712021320062,-2.2431980964623,0.71338606911949],"aabb_xy":[[-0.08583947124531288,-2.307198094571347],[0.03734204720267276,-2.179198098353253]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[0.027546742279168757,-0.8866973975710741,0.71338606911949],"aabb_xy":[[0.01950338235321358,-0.9716973986664406],[0.03559010220512393,-0.8016973964757077]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[-0.31188939735947735,-0.7675126330133653,0.71338606911949],"aabb_xy":[[-0.3718893978673302,-0.8243593666992863],[-0.25188939685162437,-0.7106658993274437]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.1378848489308101,-1.0503525732038834,0.71338606911949],"aabb_xy":[[-0.18786226579606363,-1.1003525746931317],[-0.08790743206555647,-1.0003525717146347]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.532609551370351,0.3220452318148488,0.71338606911949],"aabb_xy":[[0.495109551198479,0.28934449643194154],[0.5701095515422229,0.3547459671977559]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.1706160645975794,-0.32648679134341396,0.71338606911949],"aabb_xy":[[-0.23461606487155762,-0.37655289154070193],[-0.10661606432360116,-0.276420691146126]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.03804607074196953,-1.5153169644801763,0.71338606911949],"aabb_xy":[[-0.06304606990760264,-1.5222692101855329],[-0.013046071576336415,-1.5083647187748197]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.2271029154014118,0.3911250147952141,0.71338606911949],"aabb_xy":[[-0.23512918603203783,0.3823735198178615],[-0.21907664477078584,0.3998765097725667]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[-0.3154605436031025,-1.5294015712641045,0.71338606911949],"aabb_xy":[[-0.35400623642830353,-1.5679473423202932],[-0.27691485077790146,-1.4908558002079157]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.23903059815795136,1.5666891968053895,0.71338606911949],"aabb_xy":[[-0.256040695448002,1.5505547083071158],[-0.2220205008679007,1.5828236853036637]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6583504760805474,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/502.png","name":"502"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/502.png","name":"502"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/670.png","name":"670"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3010.png","name":"3010"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4653.png","name":"4653"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8261.png","name":"8261"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":741.5209865444181,"rotation_z_degrees":237.8680018717548,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014486550631619046,0.01094980066953407,0.016374711779183152]},{"name":"camera_2","offset_m":[-0.01645872382140348,0.013458644875267389,0.007288574751112928]},{"name":"camera_3","offset_m":[-0.005841313723115121,-0.01901356872125186,-0.0185264621571246]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019358974117853873,-0.0012171975170246383,0.0012187645502060329],"end_effector_yaw_offset_degrees":0.009194556180194713},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015479964627930069,-0.0015872161125038415,-0.0006098661248671654],"end_effector_yaw_offset_degrees":-0.37649342106438466},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002357022726510846,-0.000210644209633919,0.0015127142340400396],"end_effector_yaw_offset_degrees":-0.2645724002866541}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[6.644690298343754e-06,0.003591832892956513],"position_m":[0.22340664469029833,-0.025808167107043485,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016186058733951882,-0.002562604403764016],"position_m":[0.2591813941266048,-0.307262604403764,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013615157989747481,0.0028102794657577377],"position_m":[0.14286151579897474,0.28801027946575775,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001193977426758158,0.004581770249955107],"position_m":[0.32789397742675813,0.1880817702499551,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8267e3d3ed9999cd540bac1a59c085d603152cdee3a85af1d7e6bd8c288d9559","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_502/tex_ceiling_textures_8261/tex_floor_textures_4653/tex_table_textures_670/tex_wall_textures_3010","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6863736545225065261,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6863736545225065261,"visual_seed":6863736545225065261,"scene_id":"lab_003","finished_at":"2026-09-03T20:48:54"} +{"episode_id":"ep_000047","started_at":"2026-09-03T20:48:57","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.49291291226951595,-0.8931853955781439,0.71338606911949],"aabb_xy":[[-0.5350973264303468,-0.9571853958553552],[-0.4507284981086853,-0.8291853953009328]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.251147069126325,1.345906224158464,0.71338606911949],"aabb_xy":[[0.24198719018244846,1.339375006114927],[0.26030694807020166,1.3524374422020011]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.3131111727801305,-0.8265276220688673,0.71338606911949],"aabb_xy":[[-0.329788308773226,-0.8432275460427977],[-0.296434036787035,-0.8098276980949372]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.17343500443119553,-0.826076091134057,0.71338606911949],"aabb_xy":[[0.1094350011414874,-0.8694110101379746],[0.23743500772090362,-0.7827411721301394]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[0.6292520742523331,0.6711265977925374,0.71338606911949],"aabb_xy":[[0.6040312373924933,0.6459028469396504],[0.6544729111121727,0.6963503486454239]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[-0.3132831236528083,0.10323244630244988,0.71338606911949],"aabb_xy":[[-0.40328312224727825,0.08698185998902885],[-0.22328312505833836,0.1194830326158709]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.5529136487052431,-1.4403641449910722,0.71338606911949],"aabb_xy":[[0.5480143563986795,-1.4680410642936408],[0.5578129410118065,-1.4126872256885032]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[0.09109204661185755,1.4671147819588044,0.71338606911949],"aabb_xy":[[0.06817633372680766,1.4442104848223811],[0.11400775949690747,1.4900190790952281]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.40534417937515776,-2.0380305108111707,0.71338606911949],"aabb_xy":[[0.3878441802407906,-2.047910137848758],[0.42284417850952494,-2.0281508837735824]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[0.20768993947797543,-0.9836200969955085,0.71338606911949],"aabb_xy":[[0.1576906643095393,-1.0336200982714556],[0.2576892146464116,-0.9336200957195613]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[0.24946907481992942,1.8065115677463468,0.71338606911949],"aabb_xy":[[0.16946907155591626,1.7929515354374332],[0.32946907808394255,1.82007160005526]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[-0.32114156297343266,1.1147981626662675,0.71338606911949],"aabb_xy":[[-0.33631373225506606,1.0996293057380644],[-0.3059693936917994,1.129967019594471]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[0.516921433338347,-0.6864459032569528,0.71338606911949],"aabb_xy":[[0.5081193780293742,-0.6942572294118818],[0.5257234886473197,-0.6786345771020237]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[0.4514082538523254,-0.3916310693133731,0.71338606911949],"aabb_xy":[[0.40141324289287345,-0.4416310683489649],[0.5014032648117774,-0.3416310702777814]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[-0.4794211258650112,0.8692501323768842,0.71338606911949],"aabb_xy":[[-0.5294053615731884,0.8192501335633886],[-0.42943689015683395,0.9192501311903798]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.612416963226048,-2.015619454491064,0.71338606911949],"aabb_xy":[[-0.6206315083417318,-2.0242960447887044],[-0.6042024181103638,-2.0069428641934217]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[0.2914043273126796,-2.252575148740385,0.71338606911949],"aabb_xy":[[0.24612571243153036,-2.3165751480885683],[0.3366829421938289,-2.188575149392201]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.28625698078775474,0.7551421425204627,0.71338606911949],"aabb_xy":[[-0.37625697728862645,0.7092305001020044],[-0.19625698428688296,0.8010537849389209]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[0.5238406835363016,0.8618425378215724,0.71338606911949],"aabb_xy":[[0.44384068210617433,0.7823253828089628],[0.6038406849664287,0.9413596928341817]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.1910471940271562,1.2321235256098149,0.71338606911949],"aabb_xy":[[0.12104719139056982,1.2120186606139491],[0.26104719666374254,1.2522283906056801]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.517658761139857,1.2330185201104817,0.71338606911949],"aabb_xy":[[-0.5232404327739857,1.220518520292706],[-0.5120770895057283,1.245518519928257]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[-0.16359107422027663,0.8700167316951748,0.71338606911949],"aabb_xy":[[-0.17483612979089447,0.8587749339710794],[-0.1523460186496588,0.88125852941927]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[0.655850640718797,-0.9938679357411133,0.71338606911949],"aabb_xy":[[0.6488103307852601,-1.0738679351407847],[0.662890950652334,-0.913867936341442]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.49553465927412477,1.190643083612429,0.71338606911949],"aabb_xy":[[0.47302096745066746,1.1206430830114213],[0.5180483510975818,1.2606430842134364]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[-0.4432468144918461,-0.30661517916941605,0.71338606911949],"aabb_xy":[[-0.47323847722571644,-0.33661517850621653],[-0.4132551517579758,-0.27661517983261547]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_25","position":[0.6982947971191791,-1.955470347669741,0.71338606911949],"aabb_xy":[[0.6875218231978113,-1.9904703458887802],[0.7090677710405469,-1.9204703494507023]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[0.14429039832665946,-1.3201518467248294,0.71338606911949],"aabb_xy":[[0.1323576639648314,-1.3325339995326888],[0.15622313268848753,-1.30776969391697]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6614703976656194,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5314.png","name":"5314"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7362.png","name":"7362"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8267.png","name":"8267"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1523.png","name":"1523"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":791.7648369902276,"rotation_z_degrees":224.48729456954342,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004532972092446585,0.009530363608796062,0.01837809976143832]},{"name":"camera_2","offset_m":[-0.013266321512412884,0.013782201952550529,0.014143957572960424]},{"name":"camera_3","offset_m":[0.001786673896353022,-0.01666173251603846,0.007777266479656077]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008372554408128327,0.0017607863920411958,0.001600458541636391],"end_effector_yaw_offset_degrees":-0.13631154677805113},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00033859861719673194,-0.0011152075141610816,-0.0009188633002425459],"end_effector_yaw_offset_degrees":0.1353012424467519},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009191776774761134,-0.00042826363239896643,-0.001016252918405423],"end_effector_yaw_offset_degrees":0.1952504066006222}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032266759424838315,0.0008639686842051185],"position_m":[0.2266266759424838,-0.02853603131579488,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006392139884783769,-0.004967075813690415],"position_m":[0.26143921398847836,-0.30966707581369046,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-6.0040714720013995e-05,-0.004190099721709057],"position_m":[0.14143995928527997,0.2810099002782909,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005912737950268974,-0.004637487443547416],"position_m":[0.3261087262049731,0.17886251255645258,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c00e6de7cbb3f3621503dff8874debb0969cd34f9890a09bdcd1009df0e5443e","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0047.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4756/tex_ceiling_textures_1523/tex_floor_textures_8267/tex_table_textures_5314/tex_wall_textures_7362","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7851616606086198720,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7851616606086198720,"visual_seed":7851616606086198720,"scene_id":"lab_003","finished_at":"2026-09-03T20:51:43"} +{"episode_id":"ep_000048","started_at":"2026-09-03T20:51:47","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[0.18793182781504858,-2.361044031363775,0.71338606911949],"aabb_xy":[[0.17043182755571198,-2.3751355735525475],[0.20543182807438526,-2.346952489175002]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[-0.494769195116886,-1.751919830101711,0.71338606911949],"aabb_xy":[[-0.5447466119821395,-1.8019198315909593],[-0.44479177825163235,-1.7019198286124622]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.05401498393688242,-1.2053987533925394,0.71338606911949],"aabb_xy":[[-0.06594771829871049,-1.2177809062003988],[-0.042082249575054353,-1.19301660058468]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.5473528854062724,0.8080547530906501,0.71338606911949],"aabb_xy":[[0.5354808023947712,0.7230547533969998],[0.5592249684177735,0.8930547527843005]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.2423773854163619,1.7532339547950575,0.71338606911949],"aabb_xy":[[-0.2686662097368025,1.7269625211404063],[-0.2160885610959212,1.7795053884497087]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[-0.3897108629440476,1.4014343246756784,0.71338606911949],"aabb_xy":[[-0.3984920900912839,1.3926545773871484],[-0.38092963579681144,1.410214071964209]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[0.4748551703209878,0.014439511330066157,0.71338606911949],"aabb_xy":[[0.4198619589838511,-0.040560489008727454],[0.5298483816581245,0.06943951166885977]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[-0.6741442965811948,-0.3424709806697086,0.71338606911949],"aabb_xy":[[-0.6790435888877582,-0.37014789997227737],[-0.6692450042746312,-0.31479406136713983]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.31658557261690534,0.6266597835765473,0.71338606911949],"aabb_xy":[[0.3119504574646719,0.6227924484993986],[0.32122068776913865,0.6305271186536959]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.492744597514464,1.189421936715247,0.71338606911949],"aabb_xy":[[0.4327445969184478,1.1346094641700235],[0.5527445981104802,1.2442344092604705]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.0025273476842955223,1.347109680289205,0.71338606911949],"aabb_xy":[[-0.015399251185235661,1.267109679875369],[0.010344555816644617,1.4271096807030412]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[-0.6471529929596427,0.9841311941989082,0.71338606911949],"aabb_xy":[[-0.6662653003176215,0.9649964153216661],[-0.6280406856016638,1.0032659730761502]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.18560606602801966,-1.615683738213256,0.71338606911949],"aabb_xy":[[0.1761885914581569,-1.625099915350975],[0.1950235405978824,-1.606267561075537]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[-0.34248476050293014,-2.3919139390117583,0.71338606911949],"aabb_xy":[[-0.34845129944366593,-2.3978750836711225],[-0.33651822156219435,-2.385952794352394]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[-0.49289772991264613,1.1997266391371912,0.71338606911949],"aabb_xy":[[-0.5005219980028244,1.1920934156006475],[-0.4852734618224679,1.207359862673735]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[-0.36667844815469364,-0.1494523072923304,0.71338606911949],"aabb_xy":[[-0.44667844922781397,-0.1592303536297148],[-0.2866784470815733,-0.13967426095494592]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.37353940848824224,0.2565008633074757,0.71338606911949],"aabb_xy":[[-0.4235344194476944,0.20650086427188402],[-0.3235443975287903,0.30650086234306745]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.3169812967906851,-1.5358635137664325,0.71338606911949],"aabb_xy":[[0.3095688412492966,-1.5417147241880604],[0.32439375233207357,-1.5300123033448045]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.2477533819179542,0.4999179168411354,0.71338606911949],"aabb_xy":[[-0.2715895995585593,0.40991791603264904],[-0.2239171642773492,0.589917917649622]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[0.45790588051668224,-1.582060204413904,0.71338606911949],"aabb_xy":[[0.407905879155795,-1.6320381089893197],[0.5079058818775695,-1.5320822998384884]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.10633929488254501,0.30536073120020957,0.71338606911949],"aabb_xy":[[-0.1288357163164091,0.2828607313934622],[-0.08384287344868091,0.32786073100695706]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.4897748281919384,1.7529234243712843,0.71338606911949],"aabb_xy":[[-0.5056593214572636,1.7385704840724605],[-0.47389033492661325,1.7672763646701086]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[-0.11539082356641639,-0.8874153093127481,0.71338606911949],"aabb_xy":[[-0.13789082309012374,-0.9099112567633688],[-0.09289082404270896,-0.8649193618621273]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[-0.5099843305516826,-0.9442034117230498,0.71338606911949],"aabb_xy":[[-0.5598670274293788,-0.9942034109693245],[-0.4601016336739864,-0.894203412476775]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_24","position":[0.38439609168362177,1.751357527558866,0.71338606911949],"aabb_xy":[[0.37735578175008483,1.6713575281591948],[0.3914364016171588,1.8313575269585376]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[0.5522439148806033,-0.8173702337906459,0.71338606911949],"aabb_xy":[[0.5152098054525436,-0.8517474411243553],[0.589278024308663,-0.7829930264569365]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[-0.1615462351466983,0.8615896510132535,0.71338606911949],"aabb_xy":[[-0.2110266563606571,0.7975896531004016],[-0.11206581393273951,0.9255896489261053]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[0.12108158137442326,-2.063640204977893,0.71338606911949],"aabb_xy":[[0.10983652580380543,-2.074882002701988],[0.1323266369450411,-2.0523984072537975]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_28","position":[-0.5687333696976908,-0.6880828920708255,0.71338606911949],"aabb_xy":[[-0.6487333667119388,-0.7082174437442368],[-0.48873337268344286,-0.6679483403974142]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_29","position":[-0.5594792116999584,-0.06165337843829688,0.71338606911949],"aabb_xy":[[-0.5819792119434739,-0.07385801309806883],[-0.5369792114564431,-0.04944874377852493]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_30","position":[0.07032617958912446,-1.276798939404932,0.71338606911949],"aabb_xy":[[0.055991754462960994,-1.2888591549594708],[0.0846606047152879,-1.264738723850393]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_31","position":[-0.6425410509142472,-1.1254223705027413,0.71338606911949],"aabb_xy":[[-0.6638190590577194,-1.1904223728288141],[-0.6212630427707749,-1.060422368176668]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_32","position":[-0.6588188296393408,1.6835125546458944,0.71338606911949],"aabb_xy":[[-0.689303079766371,1.6335125548643985],[-0.6283345795123106,1.7335125544273904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6599160426568043,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8128.png","name":"8128"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8128.png","name":"8128"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8081.png","name":"8081"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4525.png","name":"4525"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1441.png","name":"1441"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/203.png","name":"203"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":504.0188420468715,"rotation_z_degrees":167.34798552255018,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0020852746479644024,0.009846696739831459,-0.0067114599541152585]},{"name":"camera_2","offset_m":[-0.007304006442667675,0.00853950846680063,0.010206131936276168]},{"name":"camera_3","offset_m":[0.0017942956857485669,-0.009609300701832692,-0.01809231661369872]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019217915121305005,0.0010902008786711757,0.0006784685257973854],"end_effector_yaw_offset_degrees":0.9536150901257776},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001904546039608549,0.000747158079220316,-0.0017286151753368127],"end_effector_yaw_offset_degrees":0.41545371583398305},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005116439727615397,-0.0013046422781936733,0.0016510766052549829],"end_effector_yaw_offset_degrees":-0.8970979509916035}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004670391626049324,-0.003418656865090045],"position_m":[0.2280703916260493,-0.03281865686509004,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006972702428825195,-0.004169519996274442],"position_m":[0.26010272975711746,-0.3088695199962745,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004942610507356913,-0.0037205877212240727],"position_m":[0.1464426105073569,0.28147941227877593,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0048774295832114,0.004673050811018793],"position_m":[0.3218225704167886,0.1881730508110188,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f1fa8351c4e033843ec806fe88f0b6facb3bdb4d63dfb608d74cc92721cc5846","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8128/tex_ceiling_textures_203/tex_floor_textures_1441/tex_table_textures_8081/tex_wall_textures_4525","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4128897463207367433,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4128897463207367433,"visual_seed":4128897463207367433,"scene_id":"lab_003","finished_at":"2026-09-03T20:54:24"} +{"episode_id":"ep_000049","started_at":"2026-09-03T20:54:28","dimensions":{"distractor":{"count":21,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.028070071933168128,-1.0060413244667052,0.71338606911949],"aabb_xy":[[0.011059974643117476,-1.022175812964979],[0.04508016922321878,-0.9899068359684311]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.3587116149538387,1.2955218016614918,0.71338606911949],"aabb_xy":[[-0.39556216289082624,1.258021800838458],[-0.321861067016851,1.3330218024845255]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.2896804827061724,0.37471766089868286,0.71338606911949],"aabb_xy":[[-0.3271804834981678,0.3683498199404927],[-0.2521804819141769,0.3810855018568729]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.3780474177487818,-1.6038067240162266,0.71338606911949],"aabb_xy":[[0.36647843700184524,-1.628806724133158],[0.3896163984957184,-1.5788067238992947]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.458000732895514,0.7461065695778819,0.71338606911949],"aabb_xy":[[0.40287552726592324,0.6861065681365947],[0.5131259385251048,0.8061065710191689]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_5","position":[-0.6436601683451164,1.3419291856955833,0.71338606911949],"aabb_xy":[[-0.6719898782936566,1.3374684435018664],[-0.6153304583965762,1.3463899278893006]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[0.09791733058829455,-2.2672729687857727,0.71338606911949],"aabb_xy":[[0.07291733103655605,-2.2774154526509074],[0.12291733014003302,-2.257130484920638]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[-0.20240414416453056,-2.3823768704889736,0.71338606911949],"aabb_xy":[[-0.25238295267484645,-2.432376870494692],[-0.15242533565421465,-2.3323768704832544]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.5610516804158905,-1.4578596114564104,0.71338606911949],"aabb_xy":[[0.49105167860714516,-1.479213380220598],[0.631051682224636,-1.4365058426922233]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[-0.23813511314467695,-0.5342885835194564,0.71338606911949],"aabb_xy":[[-0.3181351101077161,-0.6113642251632299],[-0.15813511618163775,-0.45721294187568295]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.20354544424997495,1.590282452586448,0.71338606911949],"aabb_xy":[[-0.23800779164811672,1.5557885701886252],[-0.16908309685183312,1.6247763349842705]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.6124760185531071,-1.0490485205662627,0.71338606911949],"aabb_xy":[[-0.6349760183670095,-1.0535231369367435],[-0.5899760187392047,-1.044573904195782]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.11320742079090818,1.1623848114442827,0.71338606911949],"aabb_xy":[[-0.11930204867902652,1.153815416892614],[-0.10711279290278988,1.1709542059959515]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.5132323538945665,0.8917589709321412,0.71338606911949],"aabb_xy":[[-0.5732323544905826,0.8369464983869178],[-0.4532323532985503,0.9465714434773648]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.6529635280860608,-0.058790505317241504,0.71338606911949],"aabb_xy":[[-0.6676069336400937,-0.07344922497402578],[-0.6383201225320277,-0.04413178566045722]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.6695233288975836,0.6843877673899081,0.71338606911949],"aabb_xy":[[-0.6870232623315669,0.6668877674696735],[-0.6520233954636001,0.7018877673101426]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[-0.1453821235536782,1.4568436173254526,0.71338606911949],"aabb_xy":[[-0.20035584559001107,1.4018436177612195],[-0.0904084015173453,1.5118436168896858]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[0.37499519052067387,1.263752815558567,0.71338606911949],"aabb_xy":[[0.34067891334605593,1.2137528155853892],[0.4093114676952918,1.3137528155317446]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[0.5689901234499593,-0.2588787976160196,0.71338606911949],"aabb_xy":[[0.5385920123508157,-0.2892856996176891],[0.5993882345491028,-0.22847189561435008]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[-0.26334532806585326,-0.15890675482112426,0.71338606911949],"aabb_xy":[[-0.2745903836364711,-0.17014855254521954],[-0.2521002724952354,-0.14766495709702898]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.5442126924121042,-2.404756887982191,0.71338606911949],"aabb_xy":[[-0.6082126888394263,-2.4519265118042872],[-0.48021269598478245,-2.3575872641600943]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625620180750027,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6211.png","name":"6211"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6211.png","name":"6211"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2568.png","name":"2568"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1611.png","name":"1611"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1792.png","name":"1792"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3602.png","name":"3602"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":764.1599386405402,"rotation_z_degrees":203.60280691520012,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015602319097734855,-0.01878531074249645,0.017792529977512007]},{"name":"camera_2","offset_m":[-0.009697917611329734,-0.00829883510089788,0.01579114827020311]},{"name":"camera_3","offset_m":[-0.01371497197736853,0.0074897344357611716,-0.014837543934079815]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006515306959112067,-0.00026511224879808507,-0.0004793198817783079],"end_effector_yaw_offset_degrees":-0.5580940016256992},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010706470832182319,0.0013575078617333678,-0.0007618365875257634],"end_effector_yaw_offset_degrees":-0.7142101628284891},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012277730944363734,-0.0014314861868480531,-0.00018528434404574542],"end_effector_yaw_offset_degrees":0.2848651116426013}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00458791154115966,0.0010973998598052814],"position_m":[0.21881208845884031,-0.028302600140194718,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004553715351547547,0.00015490565091809232],"position_m":[0.2653537153515475,-0.30454509434908195,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004773275851009859,0.0004296829631220741],"position_m":[0.14627327585100985,0.2856296829631221,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021251938016959952,0.0010186203870329895],"position_m":[0.328825193801696,0.18451862038703298,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1eaebe82538cff02dc26742618d0618afc9c8bc68ce6b2c84870915be195f13d","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0049.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6211/tex_ceiling_textures_3602/tex_floor_textures_1792/tex_table_textures_2568/tex_wall_textures_1611","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6058754044270897849,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6058754044270897849,"visual_seed":6058754044270897849,"scene_id":"lab_003","finished_at":"2026-09-03T20:57:12"} +{"episode_id":"ep_000050","started_at":"2026-09-03T20:57:16","dimensions":{"distractor":{"count":21,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[0.2275119726630811,1.4450774475358465,0.71338606911949],"aabb_xy":[[0.14251197424565787,1.3602031520735618],[0.3125119710805043,1.5299517429981317]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[-0.11390717619661928,-0.5077162819916876,0.71338606911949],"aabb_xy":[[-0.14953633209657902,-0.5433489487485405],[-0.07827802029665953,-0.47208361523483455]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[-0.46742759424713687,-0.19392465965067096,0.71338606911949],"aabb_xy":[[-0.48207099980116985,-0.2085833793074552],[-0.4527841886931039,-0.17926593999388665]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.2065004448687675,-1.0753412816836996,0.71338606911949],"aabb_xy":[[-0.252585536123499,-1.1393412789362547],[-0.16041535361403603,-1.0113412844311445]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[-0.6666042643216948,-0.9320593784603739,0.71338606911949],"aabb_xy":[[-0.6706824222287445,-0.9361403587086373],[-0.6625261064146449,-0.9279783982121107]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.2069627436555883,-1.3456042647293984,0.71338606911949],"aabb_xy":[[0.14296274506901585,-1.392611228128907],[0.27096274224216077,-1.2985973013298895]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[-0.5292724920310399,1.509961071792318,0.71338606911949],"aabb_xy":[[-0.5374001802243532,1.5010474633816102],[-0.5211448038377268,1.5188746802030257]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[0.055308331986009374,-0.7946688033746607,0.71338606911949],"aabb_xy":[[-0.004691668874803426,-0.846095233381147],[0.11530833284682218,-0.7432423733681742]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.2478261104719936,1.3565094997851324,0.71338606911949],"aabb_xy":[[-0.26292841193301164,1.34140797815407],[-0.23272380901097545,1.3716110214161938]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[0.010669554429453276,1.7073446229139422,0.71338606911949],"aabb_xy":[[0.00103791820902366,1.6977073101342335],[0.020301190649882894,1.7169819356936513]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[-0.315575295283036,-1.0837477107885476,0.71338606911949],"aabb_xy":[[-0.33378111894428375,-1.0947731113705395],[-0.2973694716217884,-1.0727223102065562]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[0.6114742258796253,-1.143472010272207,0.71338606911949],"aabb_xy":[[0.5214742235456062,-1.2209543648573196],[0.7014742282136444,-1.0659896556870943]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.39345787096221446,-1.7245471252724809,0.71338606911949],"aabb_xy":[[-0.45745787237020513,-1.7763360767964054],[-0.3294578695542238,-1.672758173748556]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.08493239062331837,-1.1505322455939133,0.71338606911949],"aabb_xy":[[0.07306030761181725,-1.2355322452875634],[0.09680447363481948,-1.0655322459002627]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.6442158655881669,-1.4416586954498398,0.71338606911949],"aabb_xy":[[0.6196696499654162,-1.4719075919988767],[0.6687620812109176,-1.4114097989008025]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[0.4080068779819326,-0.931788949255052,0.71338606911949],"aabb_xy":[[0.4019698649812679,-0.9378156503240004],[0.41404389098259736,-0.925762248186104]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[0.4052429240007649,-0.6550917278639286,0.71338606911949],"aabb_xy":[[0.3552429226398776,-0.7050696324393442],[0.45524292536165206,-0.6051138232885129]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.319236464996387,-2.371524152630045,0.71338606911949],"aabb_xy":[[0.28190518847114443,-2.4061772074248977],[0.3565677415216296,-2.336871097835193]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[-0.1950829077053976,1.6616075732255458,0.71338606911949],"aabb_xy":[[-0.20386413485263388,1.6528278259370157],[-0.1863016805581614,1.6703873205140762]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.16471620348804716,-2.1453400970049685,0.71338606911949],"aabb_xy":[[0.1272162033161752,-2.1780408323878753],[0.20221620365991907,-2.112639361622061]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.234509520949864,-1.7214965299258953,0.71338606911949],"aabb_xy":[[0.2142252182264652,-1.7417791550686037],[0.2547938236732627,-1.701213904783186]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6612797149538223,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7196.png","name":"7196"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7196.png","name":"7196"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2793.png","name":"2793"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8614.png","name":"8614"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1159.png","name":"1159"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1700.png","name":"1700"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":509.8531849714912,"rotation_z_degrees":298.1188450119138,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01246593773874002,0.006461199193997579,1.1831390732231634e-05]},{"name":"camera_2","offset_m":[-0.00487887135711155,-0.005484319975632954,0.006793537183702843]},{"name":"camera_3","offset_m":[0.011406127690558415,0.00024139226833504862,0.002774439305901124]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001837158784042381,0.0005796951875894946,-0.0019874365259254768],"end_effector_yaw_offset_degrees":0.09111030722567648},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001099588152775231,-0.0007140137810460224,-0.0007687408123867542],"end_effector_yaw_offset_degrees":0.16393680694653412},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00063191909118756,-0.0005675830341679098,-0.000557099642349903],"end_effector_yaw_offset_degrees":0.8662426002776853}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004220927012675222,0.004877647236232806],"position_m":[0.22762092701267522,-0.024522352763767193,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007073310741727134,-0.0044307921118772065],"position_m":[0.2615073310741727,-0.3091307921118772,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031874582204555815,0.0013781107000757553],"position_m":[0.1383125417795444,0.28657811070007577,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00496025070802733,0.002909067761449919],"position_m":[0.3316602507080273,0.18640906776144991,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a5641ef1722610a8c388989f016b23c488c0931e94c07e9592f6fe7bee158f90","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7196/tex_ceiling_textures_1700/tex_floor_textures_1159/tex_table_textures_2793/tex_wall_textures_8614","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4984191904335627204,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4984191904335627204,"visual_seed":4984191904335627204,"scene_id":"lab_003","finished_at":"2026-09-03T21:00:04"} +{"episode_id":"ep_000051","started_at":"2026-09-03T21:00:07","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.46712770254529223,-0.3284801425378707,0.71338606911949],"aabb_xy":[[0.4519648295683552,-0.34364559983298953],[0.48229057552222937,-0.313314685242752]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[-0.33272842440516526,1.1141938135345586,0.71338606911949],"aabb_xy":[[-0.3677284243816611,1.104729197486942],[-0.2977284244286694,1.1236584295821752]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.3276532673963204,-0.5841333661787025,0.71338606911949],"aabb_xy":[[-0.33958600175814846,-0.5965155189865619],[-0.3157205330344923,-0.5717512133708431]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.5680403076697987,0.5177053417179147,0.71338606911949],"aabb_xy":[[-0.6330403086702993,0.4669189765632398],[-0.5030403066692982,0.5684917068725897]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.13889693975745232,1.1803951607628602,0.71338606911949],"aabb_xy":[[-0.1734880226114975,1.115395160477829],[-0.10430585690340709,1.245395161047891]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[0.28283423780301775,0.6107213883190257,0.71338606911949],"aabb_xy":[[0.23283922684356578,0.560721389283434],[0.33282924876246983,0.6607213873546174]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[0.34866154668039706,1.3352912742333256,0.71338606911949],"aabb_xy":[[0.29368782464406423,1.2802912746690924],[0.40363526871673,1.3902912737975588]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.22740960477813488,1.0792782213007186,0.71338606911949],"aabb_xy":[[0.13740960827726306,1.0333665788822604],[0.3174096012790065,1.1251898637191768]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[0.11748750856950108,-1.27163892530608,0.71338606911949],"aabb_xy":[[0.112029562932481,-1.3516389286137391],[0.12294545420652113,-1.191638921998421]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[-0.35619374117644287,1.018270461098663,0.71338606911949],"aabb_xy":[[-0.4361937398333289,1.0037656021744001],[-0.27619374251955686,1.032775320022926]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.10335599311456001,-0.2860071630591192,0.71338606911949],"aabb_xy":[[-0.11098026120473828,-0.293640386595663],[-0.09573172502438179,-0.27837393952257555]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.1994650414050233,0.810062024246684,0.71338606911949],"aabb_xy":[[0.1494820912175439,0.7600620246041236],[0.24944799159250258,0.8600620238892445]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[-0.21915781615090196,-1.0268976603933926,0.71338606911949],"aabb_xy":[[-0.25415781442102187,-1.0339717880883805],[-0.18415781788078206,-1.0198235326984042]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.13059976335011203,1.5897112782375662,0.71338606911949],"aabb_xy":[[0.08059976168861725,1.5397128359818633],[0.18059976501160677,1.6397097204932687]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.15254561089435448,-1.11079095943851,0.71338606911949],"aabb_xy":[[-0.17033911782927091,-1.1285907050343076],[-0.13475210395943804,-1.0929912138427123]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.6841789978730453,0.14394367834050703,0.71338606911949],"aabb_xy":[[0.6748853796358947,0.10644367985237313],[0.6934726161101958,0.18144367682864093]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.5913819845426105,-1.3117911102273363,0.71338606911949],"aabb_xy":[[-0.6713819850128265,-1.320101817841685],[-0.5113819840723947,-1.303480402612988]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.16652928279111767,1.6229411690860869,0.71338606911949],"aabb_xy":[[-0.23052928208528592,1.5589550287172327],[-0.10252928349694948,1.686927309454941]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.3290160846954893,-0.4015200541642461,0.71338606911949],"aabb_xy":[[-0.34651608494053865,-0.4190198420038129],[-0.3115160844504399,-0.3840202663246792]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[0.6018894846880032,-0.5255804798059116,0.71338606911949],"aabb_xy":[[0.5959229457472675,-0.5315416244652756],[0.6078560236287389,-0.5196193351465476]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.07117580547257962,-0.6997220720626383,0.71338606911949],"aabb_xy":[[-0.12117580411850082,-0.7496416157221006],[-0.021175806826658428,-0.6498025284031759]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[0.6454323369996158,1.7346175900945808,0.71338606911949],"aabb_xy":[[0.5904368591789563,1.6796175886606737],[0.700427814820275,1.7896175915284875]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[-0.24580149434643422,0.5176550282742638,0.71338606911949],"aabb_xy":[[-0.26343432993996174,0.5000320822586407],[-0.22816865875290662,0.5352779742898867]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.2630466153274528,0.6560022949276059,0.71338606911949],"aabb_xy":[[-0.29736289250207076,0.606002294954428],[-0.2287303381528349,0.7060022949007835]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[0.2554488499509905,-1.5213005952897314,0.71338606911949],"aabb_xy":[[0.2329351581275333,-1.5913005958907387],[0.2779625417744477,-1.4513005946887236]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[-0.06431737519193148,-1.5015734406826544,0.71338606911949],"aabb_xy":[[-0.07243102986530858,-1.5096792571366835],[-0.05620372051855438,-1.4934676242286253]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[-0.5860749577489643,-0.6082659786228042,0.71338606911949],"aabb_xy":[[-0.5902108140816646,-0.6457659780671612],[-0.5819391014162643,-0.5707659791784472]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[-0.22692466734014954,-1.8066927846355127,0.71338606911949],"aabb_xy":[[-0.26192466653296775,-1.817659830633175],[-0.19192466814733122,-1.7957257386378496]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_28","position":[0.6210762197866107,-0.2894670220749296,0.71338606911949],"aabb_xy":[[0.5974910963227158,-0.3544670243203613],[0.6446613432505055,-0.22446701982949774]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[0.19700877163864128,-1.725936870428383,0.71338606911949],"aabb_xy":[[0.14299317535674125,-1.7899368733206402],[0.2510243679205413,-1.661936867536126]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_30","position":[-0.418144606308483,-1.0822814693963254,0.71338606911949],"aabb_xy":[[-0.42158528254854016,-1.0861429023706899],[-0.4147039300684258,-1.078420036421961]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_31","position":[-0.5114874634576752,-2.16153245171078,0.71338606911949],"aabb_xy":[[-0.5291630940462734,-2.179212667990183],[-0.49381183286907676,-2.1438522354313774]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_32","position":[0.5926810771766753,0.18695329808734673,0.71338606911949],"aabb_xy":[[0.5755789992183071,0.16984649255607698],[0.6097831551350434,0.20406010361861648]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_33","position":[-0.1400271965301908,-2.5390394147860875,0.71338606911949],"aabb_xy":[[-0.15262989566726726,-2.551634811010953],[-0.12742449739311434,-2.526444018561222]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6598397461323612,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1535.png","name":"1535"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1535.png","name":"1535"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3731.png","name":"3731"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2313.png","name":"2313"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2944.png","name":"2944"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3326.png","name":"3326"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":709.3735916711945,"rotation_z_degrees":84.54628852482467,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010039411401091027,0.007325361884691604,-0.008443114376807581]},{"name":"camera_2","offset_m":[-0.010915382781124295,0.011285447780783314,-0.003700585303157658]},{"name":"camera_3","offset_m":[0.00745965195226643,0.007206416666881189,-0.007200957501341247]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015978915713836484,-0.0006422746929988091,0.00119954294959004],"end_effector_yaw_offset_degrees":0.9933623900535025},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00198190478637249,-0.00189280433709789,0.0015060704118694495],"end_effector_yaw_offset_degrees":-0.7265895228951083},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000713284262160851,-0.0010388847419755347,0.0009568415011633048],"end_effector_yaw_offset_degrees":0.18310700950620062}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002287759569733567,-0.00199289077892566],"position_m":[0.22568775956973355,-0.03139289077892566,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003181210212412091,0.0034340731166629833],"position_m":[0.26398121021241205,-0.30126592688333703,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005883374303574697,0.004461520470298447],"position_m":[0.14208833743035745,0.2896615204702985,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004617494385428317,-0.00041132885235508915],"position_m":[0.3313174943854283,0.1830886711476449,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e052a5ec96c8b38def0729139aaf7622909c3ee178e94694b83d81728358e56b","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0051.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1535/tex_ceiling_textures_3326/tex_floor_textures_2944/tex_table_textures_3731/tex_wall_textures_2313","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":504298426758359770,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":504298426758359770,"visual_seed":504298426758359770,"scene_id":"lab_003","finished_at":"2026-09-03T21:02:47"} +{"episode_id":"ep_000052","started_at":"2026-09-03T21:02:50","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[0.17248066712706667,-2.2267708922484397,0.71338606911949],"aabb_xy":[[0.16306319255720392,-2.2361870693861583],[0.18189814169692942,-2.2173547151107202]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.2199101364058994,1.0109939481820414,0.71338606911949],"aabb_xy":[[0.1749101349396706,0.9659940913205609],[0.2649101378721283,1.0559938050435222]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[0.5690055357872295,-2.0516189767967417,0.71338606911949],"aabb_xy":[[0.5346892586126115,-2.1016189767699194],[0.6033218129618474,-2.001618976823564]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[0.08715389862965872,-0.7123327573348581,0.71338606911949],"aabb_xy":[[0.007153897556538391,-0.7221108036722426],[0.16715389970277905,-0.7025547109974737]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.6536592297601052,-1.3240908408177667,0.71338606911949],"aabb_xy":[[0.6366491324700544,-1.3402253293160407],[0.6706693270501557,-1.3079563523194928]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.49284923208953235,0.2621106185540265,0.71338606911949],"aabb_xy":[[0.4761720960964368,0.24541069458009623],[0.5095263680826279,0.2788105425279568]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.2621352445656993,-0.6780500598236749,0.71338606911949],"aabb_xy":[[-0.299635246081331,-0.68927683283982],[-0.2246352430500676,-0.6668232868075299]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[0.5171109762771187,0.5227583944175009,0.71338606911949],"aabb_xy":[[0.4925647606543679,0.49250949786846393],[0.5416571918998693,0.553007290966538]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.3986811290387033,1.0167422721864656,0.71338606911949],"aabb_xy":[[-0.43297804005644386,0.9824453859765241],[-0.3643842180209626,1.0510391583964067]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[-0.1069357819811304,1.6370890433068745,0.71338606911949],"aabb_xy":[[-0.12443578111549757,1.6272094162692865],[-0.08943578284676322,1.6469686703444621]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.273985073670853,1.240362879804366,0.71338606911949],"aabb_xy":[[0.24152337278892547,1.210230047689463],[0.30644677455278035,1.2704957119192681]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[0.26900471697566664,0.7558847988192929,0.71338606911949],"aabb_xy":[[0.2277001739119307,0.6918847992511757],[0.3103092600394027,0.8198847983874099]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[-0.2586374330753542,-1.522802469693604,0.71338606911949],"aabb_xy":[[-0.32263743224512414,-1.5695691568125665],[-0.19463743390558427,-1.4760357825746415]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[0.03187300769774115,-2.394197885225271,0.71338606911949],"aabb_xy":[[0.027912523928006777,-2.4018657498107916],[0.035833491467475526,-2.3865300206397504]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.18650283885008756,-0.1516511923397994,0.71338606911949],"aabb_xy":[[-0.19735444509896316,-0.16251048306745042],[-0.17565123260121196,-0.14079190161214838]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[0.4644260593749505,-2.2352190113405648,0.71338606911949],"aabb_xy":[[0.45958246461372054,-2.240070663819549],[0.4692696541361805,-2.2303673588615807]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.2792963533341745,-1.9658544305665768,0.71338606911949],"aabb_xy":[[-0.29122908769600264,-1.9782365833744364],[-0.2673636189723465,-1.9534722777587177]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.43653149948281733,1.6362262006959605,0.71338606911949],"aabb_xy":[[0.39044640822808585,1.5722262034434054],[0.4826165907375488,1.7002261979485156]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[-0.6256257731289233,1.5073833932590053,0.71338606911949],"aabb_xy":[[-0.6629570496541659,1.472730338464153],[-0.5882944966036807,1.5420364480538575]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.21883502571500013,1.7465196329550756,0.71338606911949],"aabb_xy":[[0.20706683892034264,1.6615196330498547],[0.23060321250965768,1.8315196328602978]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[-0.050107744685557565,-0.9461582514050988,0.71338606911949],"aabb_xy":[[-0.07462136878256342,-0.9704228447071354],[-0.025594120588551712,-0.9218936581030625]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[0.6401885872113002,1.0695209720833678,0.71338606911949],"aabb_xy":[[0.5901885855498054,1.019522529827665],[0.6901885888727949,1.1195194143390703]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[-0.08576352176374546,-1.9245902400065598,0.71338606911949],"aabb_xy":[[-0.12326352294853825,-1.9290084627026198],[-0.04826352057895266,-1.9201720173104988]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[-0.651609689794132,-1.6493141106887004,0.71338606911949],"aabb_xy":[[-0.6891096882175324,-1.6624783246565311],[-0.6141096913707317,-1.6361498967208696]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[-0.2938909873164002,1.783548214075973,0.71338606911949],"aabb_xy":[[-0.3288909865092184,1.7725811680783103],[-0.25889098812358186,1.7945152600736354]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[0.46269846885082444,-1.992842887304919,0.71338606911949],"aabb_xy":[[0.4457877364144826,-2.0063150928975335],[0.47960920128716616,-1.979370681712305]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[0.28464938591436106,-0.9273671006062751,0.71338606911949],"aabb_xy":[[0.26459097430112083,-0.9474321875154327],[0.3047077975276014,-0.9073020136971176]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_27","position":[-0.13366195498772637,-0.8504743714998186,0.71338606911949],"aabb_xy":[[-0.17116195493149278,-0.8587674615346551],[-0.09616195504395997,-0.842181281464982]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[0.15893013427651692,-2.3945241195963822,0.71338606911949],"aabb_xy":[[0.15090386364589095,-2.403275614573735],[0.16695640490714295,-2.3857726246190296]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_29","position":[-0.48760672959181584,0.26909861529464596,0.71338606911949],"aabb_xy":[[-0.5210469047878353,0.2356549894637158],[-0.4541665543957962,0.30254224112557593]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[0.5549686142862578,-0.8668529621687211,0.71338606911949],"aabb_xy":[[0.5461873871390216,-0.8756327094572515],[0.5637498414334942,-0.8580732148801912]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_31","position":[-0.410460612122305,-2.5196563048514435,0.71338606911949],"aabb_xy":[[-0.43674943644274566,-2.5459277385060943],[-0.38417178780186434,-2.493384871196792]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_32","position":[0.690695568934405,1.7643776556298714,0.71338606911949],"aabb_xy":[[0.6681955689242567,1.750281435990268],[0.7131955689445533,1.7784738752694746]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_33","position":[0.48800905618610524,-2.531737580864654,0.71338606911949],"aabb_xy":[[0.47554169807636965,-2.544202905497978],[0.5004764142958409,-2.5192722562313308]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_34","position":[-0.6049316014647513,-0.08601428238824171,0.71338606911949],"aabb_xy":[[-0.6181625469994325,-0.0992417014102411],[-0.5917006559300699,-0.07278686336624227]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555092909721456,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6000.png","name":"6000"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6000.png","name":"6000"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5811.png","name":"5811"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9400.png","name":"9400"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3163.png","name":"3163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6758.png","name":"6758"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":579.179439660099,"rotation_z_degrees":319.85212263246365,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004942515080381026,0.008876015949935225,0.0017101421595301543]},{"name":"camera_2","offset_m":[0.005703183190617463,-0.01980238958541777,-0.005316195014264622]},{"name":"camera_3","offset_m":[0.015477667151211117,0.009479962046186296,-0.016846401903357767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007004971385631115,-0.0014123955365180842,0.0013385703418813755],"end_effector_yaw_offset_degrees":-0.42434754393606533},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003635989025501543,0.0008627750857072179,0.0006685747358460624],"end_effector_yaw_offset_degrees":0.9988099470423768},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005802885757451503,-2.5541471643901904e-05,0.0006323278978007307],"end_effector_yaw_offset_degrees":-0.4395340745141969}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002774405994668622,-0.0019128121504955308],"position_m":[0.22062559400533135,-0.03131281215049553,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0048933578941474844,-0.002676129660801968],"position_m":[0.2559066421058525,-0.30737612966080197,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001960118945710517,0.0022899572108890385],"position_m":[0.13953988105428947,0.28748995721088905,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029627520477680377,-0.004413748263752183],"position_m":[0.329662752047768,0.17908625173624781,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b4e32abf0090bafc1ea2d2e8dc4d28b10845e7168c7cc8819b0275b08d3b2e19","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6000/tex_ceiling_textures_6758/tex_floor_textures_3163/tex_table_textures_5811/tex_wall_textures_9400","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":908406215057750988,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":908406215057750988,"visual_seed":908406215057750988,"scene_id":"lab_003","finished_at":"2026-09-03T21:05:31"} +{"episode_id":"ep_000053","started_at":"2026-09-03T21:05:33","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.5271881374448075,-0.04273311846093231,0.71338606911949],"aabb_xy":[[-0.5380286156713224,-0.05991939975158111],[-0.5163476592182926,-0.02554683717028349]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[-0.39597976596193407,-1.9946519512618135,0.71338606911949],"aabb_xy":[[-0.4609797638435819,-2.045775614968355],[-0.3309797680802863,-1.943528287555273]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.3208585028167719,-2.3545445200468267,0.71338606911949],"aabb_xy":[[-0.33641427222703724,-2.3700949532912343],[-0.3053027334065067,-2.33899408680242]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.6996649346354453,-2.0577340800189154,0.71338606911949],"aabb_xy":[[0.6933528350991071,-2.063501019272134],[0.7059770341717838,-2.0519671407656968]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[0.6106524767227199,-0.7218231991591721,0.71338606911949],"aabb_xy":[[0.5994074211521021,-0.7330649968832675],[0.6218975322933378,-0.710581401435077]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.4364621310014607,-2.4268881785491856,0.71338606911949],"aabb_xy":[[0.4021458538268427,-2.476888178522363],[0.4707784081760786,-2.3768881785760074]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[-0.10986332609375238,0.8408217387320764,0.71338606911949],"aabb_xy":[[-0.15088126948012326,0.790821738101119],[-0.0688453827073815,0.8908217393630337]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[-0.6146109656302758,0.314751488804339,0.71338606911949],"aabb_xy":[[-0.6646040777394678,0.2647514881301434],[-0.5646178535210841,0.36475148947853464]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.48176210953240706,0.938371793852443,0.71338606911949],"aabb_xy":[[-0.5417621103932198,0.8869453638459565],[-0.4217621086715942,0.9897982238589292]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[0.0370161346186173,0.7738181870401055,0.71338606911949],"aabb_xy":[[-0.0269838656418535,0.7288093876871774],[0.10101613487908812,0.8188269863930334]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[-0.05600589577382742,0.408227000196987,0.71338606911949],"aabb_xy":[[-0.10599013148200465,0.3582270013834914],[-0.006021660065650185,0.4582269990104826]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[0.6275067038607423,0.20614288434707495,0.71338606911949],"aabb_xy":[[0.5575067074507802,0.18570494869539317],[0.6975067002707038,0.22658081999875662]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.5085593193652131,-2.3424017352389472,0.71338606911949],"aabb_xy":[[-0.5985593179596831,-2.358652321552368],[-0.4185593207707432,-2.3261511489255264]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[0.003333122449975634,-0.8982055716913369,0.71338606911949],"aabb_xy":[[-0.04166687901625322,-0.9432054285528177],[0.04833312391620449,-0.8532057148298564]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[-0.4647992499089611,-0.37188146875260353,0.71338606911949],"aabb_xy":[[-0.47742603719615745,-0.38142754245417637],[-0.45217246262176475,-0.3623353950510306]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[0.5018884637483996,-0.9827762799123678,0.71338606911949],"aabb_xy":[[0.46485435432033984,-1.0171534872460772],[0.5389225731764593,-0.9483990725786583]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.5147290436411105,-0.4684735264187525,0.71338606911949],"aabb_xy":[[-0.5186895274108448,-0.4761413910042731],[-0.5107685598713761,-0.4608056618332319]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.1762275498278031,-1.1921322067644835,0.71338606911949],"aabb_xy":[[-0.24122754838487592,-1.221884740178366],[-0.11122755127073025,-1.1623796733506007]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[0.4202457477214334,-1.1268385532332617,0.71338606911949],"aabb_xy":[[0.4165424863922945,-1.1305405715419792],[0.4239490090505723,-1.1231365349245437]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.21717466465743251,1.0839925860764463,0.71338606911949],"aabb_xy":[[0.21233106989620257,1.0791409335974622],[0.22201825941866252,1.0888442385554304]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[0.08300116408464964,-2.3518585730305586,0.71338606911949],"aabb_xy":[[0.023001163833248447,-2.406139898067023],[0.1430011643360508,-2.297577247994094]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.25762937937886055,-0.7497508215764235,0.71338606911949],"aabb_xy":[[0.22012937888150225,-0.753719505124542],[0.29512937987621873,-0.7457821380283052]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_22","position":[-0.5435876150171763,0.7161556967034612,0.71338606911949],"aabb_xy":[[-0.561087615276513,0.7020641545146887],[-0.5260876147578397,0.730247238892234]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[0.6271051532220049,1.5247502382067837,0.71338606911949],"aabb_xy":[[0.619111663426723,1.5167521062663083],[0.635098643017287,1.5327483701472595]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[0.021116252285895976,1.0555866864472385,0.71338606911949],"aabb_xy":[[-0.026689915327872675,0.9905866837401796],[0.06892241989966462,1.1205866891542975]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[-0.4358152964235585,-1.6133368804989523,0.71338606911949],"aabb_xy":[[-0.5255023727316739,-1.7033368807534026],[-0.346128220115443,-1.5233368802445015]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[0.24388784608358072,-1.1529636911021506,0.71338606911949],"aabb_xy":[[0.19388784479974075,-1.2029425454927725],[0.2938878473674207,-1.1029848367115282]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_27","position":[0.2463974214188791,1.3167384664731885,0.71338606911949],"aabb_xy":[[0.20889742062688366,1.3103706255149983],[0.28389742221087455,1.3231063074313787]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_28","position":[0.4853136752638927,0.34207086709096535,0.71338606911949],"aabb_xy":[[0.47271097612681623,0.3294754708660999],[0.49791637440096914,0.3546662633158309]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_29","position":[-0.10637226469563721,-0.7347337660262885,0.71338606911949],"aabb_xy":[[-0.14137226300633265,-0.7424487809498341],[-0.07137226638494175,-0.7270187511027428]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_30","position":[0.3886035415121065,1.028173986391768,0.71338606911949],"aabb_xy":[[0.3661071200782424,1.0056739865850204],[0.4110999629459706,1.0506739861985153]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6568200757325497,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4000.png","name":"4000"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4000.png","name":"4000"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8356.png","name":"8356"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3456.png","name":"3456"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7195.png","name":"7195"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4372.png","name":"4372"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":826.8336537057721,"rotation_z_degrees":23.009501458833874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015064399062154026,-0.0035351658201352165,0.007690074317353499]},{"name":"camera_2","offset_m":[-0.008593853354813828,0.00538730184925286,-0.0086705151761899]},{"name":"camera_3","offset_m":[0.014369794818570033,-0.011281797064056617,-0.010672108189347242]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006652344445732749,-0.0009364192438560028,-0.0010486159139950022],"end_effector_yaw_offset_degrees":-0.6596151097167124},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015129978298923886,0.0019280629254864812,0.0009393123093261084],"end_effector_yaw_offset_degrees":0.9412870423777397},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013551659845395265,0.0011913167495771581,0.00013882263382873454],"end_effector_yaw_offset_degrees":-0.6564432133126565}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003449036745378882,0.003893148823617126],"position_m":[0.2199509632546211,-0.025506851176382874,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028638650683759314,-0.0016431545030401672],"position_m":[0.25793613493162404,-0.30634315450304017,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001871154814014498,-0.0005949766026715443],"position_m":[0.14131288451859852,0.28460502339732846,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00290914002472623,-0.0018028054018807858],"position_m":[0.32960914002472624,0.1816971945981192,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e1d26e3c249e9f53a7df5fb5ca772214bfa93effd29013ef459e5f79f084169b","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4000/tex_ceiling_textures_4372/tex_floor_textures_7195/tex_table_textures_8356/tex_wall_textures_3456","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1742900200532212947,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1742900200532212947,"visual_seed":1742900200532212947,"scene_id":"lab_003","finished_at":"2026-09-03T21:08:11"} +{"episode_id":"ep_000054","started_at":"2026-09-03T21:08:18","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[0.4978764682739272,-0.41749356031078877,0.71338606911949],"aabb_xy":[[0.4846455227392459,-0.43072097933278813],[0.5111074138086085,-0.4042661412887893]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[-0.2048470454725826,-2.4689349871997615,0.71338606911949],"aabb_xy":[[-0.2359939643161657,-2.538934985886568],[-0.17370012662899947,-2.398934988512954]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[-0.21983516408811538,-0.8952389043480504,0.71338606911949],"aabb_xy":[[-0.22912878232526596,-0.9327389028361843],[-0.2105415458509648,-0.8577389058599165]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.00654464048082215,-2.0110132077559006,0.71338606911949],"aabb_xy":[[-0.05745535979315608,-2.0610793079531886],[0.07054464075480038,-1.9609471075586127]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[-0.2889622776359709,1.3471117498380552,0.71338606911949],"aabb_xy":[[-0.3389622792974656,1.2971133075823522],[-0.23896227597447608,1.3971101920937576]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.33940267621320275,1.5091973649138786,0.71338606911949],"aabb_xy":[[0.28940267663686803,1.4592167859617726],[0.38940267578953747,1.5591779438659845]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[-0.4904770082655582,-2.0069006512429826,0.71338606911949],"aabb_xy":[[-0.5188067182140983,-2.0113613934367],[-0.4621472983170179,-2.002439909049266]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[-0.5545639136491252,-2.1965550172207653,0.71338606911949],"aabb_xy":[[-0.5720639127834922,-2.2064346442583527],[-0.5370639145147579,-2.186675390183177]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.07841651146825379,-1.038119629719411,0.71338606911949],"aabb_xy":[[-0.09591651172759043,-1.0522111719081837],[-0.06091651120891717,-1.0240280875306385]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[0.0021763397931313655,1.236857131287731,0.71338606911949],"aabb_xy":[[-0.005817648784572027,1.2288570511926407],[0.010170328370834758,1.2448572113828213]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[-0.3765732125158167,-0.5091458657608618,0.71338606911949],"aabb_xy":[[-0.4565732139459439,-0.5886630207734713],[-0.2965732110856895,-0.4296287107482524]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[-0.3904779212957909,-0.19139944792722874,0.71338606911949],"aabb_xy":[[-0.3965149342964557,-0.19742614899617694],[-0.3844409082951262,-0.1853727468582805]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.4283308233978549,-0.7571628127344334,0.71338606911949],"aabb_xy":[[0.3908308218822232,-0.7683895857505784],[0.4658308249134866,-0.7459360397182883]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[0.4361970448119763,0.8362101990813544,0.71338606911949],"aabb_xy":[[0.3721970476998706,0.7871778292869437],[0.500197041924082,0.8852425688757649]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.16596716615603702,1.7835691542046903,0.71338606911949],"aabb_xy":[[-0.17396065595131904,1.775571022264215],[-0.157973676360755,1.7915672861451661]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[-0.6359972301458294,1.2121072079148951,0.71338606911949],"aabb_xy":[[-0.6584963658720563,1.189607207136632],[-0.6134980944196023,1.2346072086931579]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[0.580530451788577,-0.12946067708215336,0.71338606911949],"aabb_xy":[[0.5616460680200669,-0.14834660186250617],[0.5994148355570873,-0.11057475230180061]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.4880791677295766,-1.9181283161689637,0.71338606911949],"aabb_xy":[[-0.5780791674527507,-1.9412016687041436],[-0.39807916800640236,-1.895054963633784]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[0.3139322731870191,-1.6723663080649598,0.71338606911949],"aabb_xy":[[0.29175974621036826,-1.6945419752210829],[0.33610480016366995,-1.6501906409088363]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.2688831429248112,1.1170133671175324,0.71338606911949],"aabb_xy":[[0.2402338105643949,1.0883678078404562],[0.29753247528522736,1.1456589263946078]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.42757820577547123,-1.2937971636323848,0.71338606911949],"aabb_xy":[[-0.47739498524030605,-1.3437971621166882],[-0.37776142631063653,-1.2437971651480815]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[-0.5516621276105496,-2.2893046230888463,0.71338606911949],"aabb_xy":[[-0.5598766727262333,-2.297981213386487],[-0.5434475824948654,-2.2806280327912045]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[-0.2726633537770373,-0.6682103003223483,0.71338606911949],"aabb_xy":[[-0.3526633542472533,-0.6765210079366968],[-0.19266335330682144,-0.659899592708]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[-0.28208633495695995,-1.675345743454523,0.71338606911949],"aabb_xy":[[-0.2924978936374436,-1.6806914767904209],[-0.2716747762764762,-1.670000010118624]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[-0.6548002108377509,1.035367351731309,0.71338606911949],"aabb_xy":[[-0.6750845135611495,1.0150847265885998],[-0.634515908114352,1.0556499768740175]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_25","position":[-0.19604043150276618,1.6879391685173784,0.71338606911949],"aabb_xy":[[-0.2860404280036379,1.6420275260989199],[-0.1060404350018944,1.7338508109358364]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[-0.15546060161871045,0.16973133827890274,0.71338606911949],"aabb_xy":[[-0.1799742257157163,0.1454667449768663],[-0.1309469775217046,0.1939959315809392]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[0.4772726555804021,0.6087165036592008,0.71338606911949],"aabb_xy":[[0.4522726563084398,0.5923711400630384],[0.5022726548523644,0.6250618672553631]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6610427588671008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5989.png","name":"5989"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5989.png","name":"5989"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6679.png","name":"6679"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7385.png","name":"7385"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5204.png","name":"5204"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9734.png","name":"9734"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":717.5012385381267,"rotation_z_degrees":81.162536543754,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026500233423920883,-0.019555981137346242,0.004893429025056472]},{"name":"camera_2","offset_m":[-0.017612729384745843,0.019860987212851625,-0.016396433754927657]},{"name":"camera_3","offset_m":[-0.00013244929011678105,-0.0037254361781120376,-0.002049133099065334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019384472382025324,0.0015129614809633114,0.0005341392655546697],"end_effector_yaw_offset_degrees":-0.6001859268097856},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010198129729375642,0.0007612094196252418,0.0005965656921697224],"end_effector_yaw_offset_degrees":0.027199016652916352},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006877538896521832,0.0014397513027478584,0.0008647218363838517],"end_effector_yaw_offset_degrees":0.9445795375711787}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00029784554390516627,0.0036836055015144866],"position_m":[0.22310215445609483,-0.025716394498485513,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018941718652512544,-0.0016650789550262334],"position_m":[0.26269417186525124,-0.30636507895502624,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025509121351136874,-0.002230439760609042],"position_m":[0.14405091213511367,0.28296956023939096,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004392026368322398,0.0020914333976288016],"position_m":[0.32230797363167757,0.1855914333976288,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1547a058a4a5f162eea9e8d77c0c7be547e5d9e9f8f3749f519983fe2bf02eef","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5989/tex_ceiling_textures_9734/tex_floor_textures_5204/tex_table_textures_6679/tex_wall_textures_7385","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5487595296067545462,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5487595296067545462,"visual_seed":5487595296067545462,"scene_id":"lab_003","finished_at":"2026-09-03T21:10:59"} +{"episode_id":"ep_000055","started_at":"2026-09-03T21:11:01","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[-0.145502067903026,0.5265326447660836,0.71338606911949],"aabb_xy":[[-0.19078068278417526,0.46253264541789996],[-0.10022345302187674,0.5905326441142673]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[-0.4199372670838989,-1.0966281779588172,0.71338606911949],"aabb_xy":[[-0.4699146839491524,-1.1466281794480655],[-0.36995985021864525,-1.0466281764695684]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[-0.6080275255424447,-1.3612322000136063,0.71338606911949],"aabb_xy":[[-0.6680275260502976,-1.4180789336995274],[-0.5480275250345917,-1.3043854663276848]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[-0.6322108696538775,-1.8259597802756342,0.71338606911949],"aabb_xy":[[-0.6567244937508834,-1.8502243735776707],[-0.6076972455568717,-1.8016951869735978]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[0.05311987953360764,-1.1224186076630276,0.71338606911949],"aabb_xy":[[0.029534756069712786,-1.1874186099084594],[0.07670500299750249,-1.0574186054175958]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.32153271045131343,1.7375972954918102,0.71338606911949],"aabb_xy":[[-0.33708847986157875,1.7220468622474032],[-0.3059769410410482,1.7531477287362176]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[0.5920769694491723,1.6011718542141629,0.71338606911949],"aabb_xy":[[0.5320769678062504,1.549171704922219],[0.6520769710920941,1.6531720035061073]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[0.388902389205513,0.7157703673361553,0.71338606911949],"aabb_xy":[[0.3602530568450968,0.6871248080590795],[0.41755172156592923,0.7444159266132311]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.24135973561236002,0.6689464090095889,0.71338606911949],"aabb_xy":[[0.20635973730166457,0.6612313940860433],[0.27635973392305546,0.6766614239331346]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.49462335718607076,-1.3316602752878153,0.71338606911949],"aabb_xy":[[0.4306233568085371,-1.3814055421386273],[0.5586233575636044,-1.2819150084370028]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.2230763627408861,1.6314039365045354,0.71338606911949],"aabb_xy":[[-0.28707636603059417,1.5880690175006178],[-0.15907635945117798,1.674738855508453]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[0.5780783091561816,-0.714047638658915,0.71338606911949],"aabb_xy":[[0.5693643401062469,-0.7365476393181031],[0.5867922782061159,-0.6915476379997266]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[0.5900628988452055,-0.368766159570034,0.71338606911949],"aabb_xy":[[0.5448915809970366,-0.43276615671457247],[0.6352342166933745,-0.3047661624254956]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[0.14997884829061026,1.6905986708937344,0.71338606911949],"aabb_xy":[[0.11883192944702711,1.6205986722069274],[0.18112576713419334,1.7605986695805418]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[0.15903604304608232,-0.7044560830495386,0.71338606911949],"aabb_xy":[[0.11626933616666213,-0.7684560864713411],[0.2018027499255025,-0.6404560796277362]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.48439214617614446,1.3933167306225096,0.71338606911949],"aabb_xy":[[0.47463615666697057,1.3835541965632747],[0.49414813568531835,1.4030792646817436]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[0.12053028796367193,-1.8755928756382407,0.71338606911949],"aabb_xy":[[0.03053028562965289,-1.9530752302233532],[0.210530290297691,-1.7981105210531279]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.0809394029891306,0.3343236296227845,0.71338606911949],"aabb_xy":[[-0.1449394001012363,0.28529125982837394],[-0.016939405877024916,0.38335599941719517]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[0.44478006697547445,-2.056140778450929,0.71338606911949],"aabb_xy":[[0.37978006586953117,-2.081106151519058],[0.5097800680814177,-2.0311754053828013]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[-0.455259904102463,-2.0804344989694403,0.71338606911949],"aabb_xy":[[-0.47275990436179977,-2.0945260411582134],[-0.4377599038431265,-2.066342956780668]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.39155646999585825,0.9009970820341411,0.71338606911949],"aabb_xy":[[0.3836331897571099,0.8784970817961377],[0.3994797502346066,0.9234970822721444]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[-0.18824390540159397,-1.2468153312701677,0.71338606911949],"aabb_xy":[[-0.22574390606617267,-1.2625023892703897],[-0.15074390473701527,-1.2311282732699453]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[-0.1513690286928635,-1.0719923943861889,0.71338606911949],"aabb_xy":[[-0.20636902831460935,-1.1269760871736616],[-0.09636902907111766,-1.0170087015987161]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[0.278510744402485,-1.0397118945496762,0.71338606911949],"aabb_xy":[[0.2414766349744253,-1.0740891018833856],[0.31554485383054476,-1.0053346872159667]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[0.2897108101956475,0.5959518516308373,0.71338606911949],"aabb_xy":[[0.2772434520859119,0.5834865269975139],[0.3021781683053832,0.6084171762641609]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_25","position":[0.5952233195632581,0.2661486040739196,0.71338606911949],"aabb_xy":[[0.5312233222776095,0.22464188512107564],[0.6592233168489068,0.30765532302676357]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.16731291930184955,0.9475580104080392,0.71338606911949],"aabb_xy":[[-0.18498854989044786,0.9298777941286364],[-0.1496372887132512,0.9652382266874419]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[0.6599819540586067,-2.1017391940054946,0.71338606911949],"aabb_xy":[[0.6430712216222648,-2.1152113995981088],[0.6768926864949484,-2.0882669884128795]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_28","position":[-0.586558888629993,0.781885838217752,0.71338606911949],"aabb_xy":[[-0.6240588870533933,0.7687216242499214],[-0.5490588902065926,0.7950500521855827]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_29","position":[-0.5022338210181907,-2.2961025174735785,0.71338606911949],"aabb_xy":[[-0.5662338217216601,-2.3421208999464995],[-0.43823382031472147,-2.2500841350006575]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6588763667023206,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9534.png","name":"9534"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9534.png","name":"9534"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7767.png","name":"7767"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9716.png","name":"9716"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/734.png","name":"734"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/687.png","name":"687"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":804.7265156876689,"rotation_z_degrees":139.61297224680698,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005304248001885874,0.014247311735888734,-0.01936185415987593]},{"name":"camera_2","offset_m":[0.018240641524789974,0.005014147576320703,0.009220275931617311]},{"name":"camera_3","offset_m":[0.018717653722827545,0.018228093135516963,-0.008525148844599255]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007844159065289516,0.001759072311404446,-0.0019861430259877724],"end_effector_yaw_offset_degrees":-0.40265521440295915},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015710238446315118,0.0019357902326883137,0.0006638374022824617],"end_effector_yaw_offset_degrees":-0.753567810357392},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018103466978980367,-0.000197928659042783,0.0016989086092963701],"end_effector_yaw_offset_degrees":-0.67093563004504}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035931321891832235,0.002398921057685921],"position_m":[0.21980686781081676,-0.02700107894231408,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020780137145846524,-0.004553552545968613],"position_m":[0.2587219862854153,-0.30925355254596865,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002070463644267483,-0.004753639773019314],"position_m":[0.1394295363557325,0.2804463602269807,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035337922522759926,-0.0039053386324808207],"position_m":[0.323166207747724,0.17959466136751917,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5a9eb26fb76ad90371f087a388d952cd9c9777113274dcc9396ec36aa695f37e","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9534/tex_ceiling_textures_687/tex_floor_textures_734/tex_table_textures_7767/tex_wall_textures_9716","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3197410526089919775,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3197410526089919775,"visual_seed":3197410526089919775,"scene_id":"lab_003","finished_at":"2026-09-03T21:13:47"} +{"episode_id":"ep_000056","started_at":"2026-09-03T21:13:50","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[-0.4822839587262446,-0.9228502402245873,0.71338606911949],"aabb_xy":[[-0.5157631259872855,-0.9563293535956943],[-0.4488047914652037,-0.8893711268534803]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[-0.15456847137567253,-2.2049770375246083,0.71338606911949],"aabb_xy":[[-0.2145684712222393,-2.2617956597176465],[-0.09456847152910572,-2.148158415331569]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[-0.27810058257666187,-1.3095127816260916,0.71338606911949],"aabb_xy":[[-0.2983848853000606,-1.3297954067688],[-0.25781627985326305,-1.2892301564833824]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.20691271828702096,0.8137099671264747,0.71338606911949],"aabb_xy":[[0.1719127199763255,0.8059949522029289],[0.2419127165977164,0.8214249820500202]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.014583706387971573,-2.441691451569262,0.71338606911949],"aabb_xy":[[-0.06066879764270305,-2.5056914488218167],[0.0315013848667599,-2.3776914543167065]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.40369045453354024,-2.347315665097948,0.71338606911949],"aabb_xy":[[0.32369045310341304,-2.426832820110557],[0.48369045596366744,-2.267798510085338]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[-0.2932320611284222,0.4086893263434437,0.71338606911949],"aabb_xy":[[-0.3432108696387381,0.3586893263377248],[-0.24325325261810632,0.45868932634916243]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[0.6968685892648125,-1.5288646137066415,0.71338606911949],"aabb_xy":[[0.6798584919747619,-1.5449991022049154],[0.7138786865548632,-1.5127301252083676]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[0.39761873682283544,1.5245291628142073,0.71338606911949],"aabb_xy":[[0.3872071781423516,1.5191834294783086],[0.40803029550331904,1.5298748961501054]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.4334581857795088,1.6397029536218182,0.71338606911949],"aabb_xy":[[0.42704437213632385,1.6332931333741494],[0.4398719994226937,1.646112773869486]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[0.21556110239895232,1.128785611439858,0.71338606911949],"aabb_xy":[[0.1255611026757781,1.105712258904678],[0.30556110212212645,1.1518589639750376]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[0.3844375060852345,1.4393458085140494,0.71338606911949],"aabb_xy":[[0.37793586957723,1.4295779864877396],[0.39093914259323925,1.4491136305403591]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.2330052466425876,-1.7147767636513456,0.71338606911949],"aabb_xy":[[0.16900524626505395,-1.7645220305021576],[0.2970052470201212,-1.665031496800533]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[0.6149279413807966,-1.0057205456473284,0.71338606911949],"aabb_xy":[[0.5509279427942242,-1.0527275090468369],[0.6789279399673691,-0.9587135822478194]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.24082617105002446,-1.5197612282016137,0.71338606911949],"aabb_xy":[[-0.3208261743078674,-1.599757735993598],[-0.1608261677921815,-1.43976472040963]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[-0.06687211641971502,1.5429721113204695,0.71338606911949],"aabb_xy":[[-0.1268721172805278,1.491545681313983],[-0.006872115558902213,1.5943985413269557]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.47357797285856096,0.30359416155665064,0.71338606911949],"aabb_xy":[[0.4085779717526176,0.27862878848852235],[0.5385779739645042,0.32855953462477894]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.37832383419810844,-0.41994919029084654,0.71338606911949],"aabb_xy":[[-0.4333238323998533,-0.46047115691728413],[-0.3233238359963636,-0.37942722366440895]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.07363066105011151,0.6835274548907684,0.71338606911949],"aabb_xy":[[-0.006369335912927654,0.6064518132469949],[0.15363065801315068,0.7606030965345418]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[0.45809403091151113,-1.4608406515329713,0.71338606911949],"aabb_xy":[[0.3780940323241917,-1.5401562534711322],[0.5380940294988306,-1.3815250495948104]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.6335170320594044,-1.9286857971703326,0.71338606911949],"aabb_xy":[[-0.6710170335750361,-1.9399125701864774],[-0.5960170305437726,-1.9174590241541873]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.14862579346825477,1.015948391633109,0.71338606911949],"aabb_xy":[[0.14100152537807653,1.0083151680965654],[0.15625006155843302,1.0235816151696528]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.2490555887361714,-1.2666507646904404,0.71338606911949],"aabb_xy":[[0.1990555883756053,-1.3166307519000433],[0.2990555890967374,-1.2166707774808374]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_23","position":[0.11589303051714872,-1.8585771647464453,0.71338606911949],"aabb_xy":[[0.0658930310769531,-1.9085450892307614],[0.16589302995734434,-1.8086092402621288]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[-0.5959505605750259,-2.422260849647082,0.71338606911949],"aabb_xy":[[-0.6859505591694959,-2.4385114359605033],[-0.505950561980556,-2.406010263333661]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[-0.27703979547494556,0.9217368379838189,0.71338606911949],"aabb_xy":[[-0.3115022734880333,0.915073160800896],[-0.24257731746185773,0.9284005151667416]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[0.32267309728741855,1.0028431817205168,0.71338606911949],"aabb_xy":[[0.30017309704390316,0.9906385470607448],[0.34517309753093395,1.0150478163802887]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6595244752314183,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7713.png","name":"7713"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7713.png","name":"7713"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3529.png","name":"3529"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2122.png","name":"2122"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9218.png","name":"9218"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3322.png","name":"3322"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":682.720425821119,"rotation_z_degrees":253.91180423164676,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019447530313087054,0.0003185782787619648,-0.00666634747144137]},{"name":"camera_2","offset_m":[0.0033867550689226436,-0.000787012986006766,-0.007117185090683717]},{"name":"camera_3","offset_m":[0.00480294056903002,-0.01762571162773358,0.00637528649137727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008687907302354276,-4.536620480401687e-05,0.0016994585052812071],"end_effector_yaw_offset_degrees":-0.7838258936330653},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00189450100060528,-0.0007625378845803703,-0.0013584579206302196],"end_effector_yaw_offset_degrees":0.5195523310105603},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001567298363924132,0.0005702287709244878,-0.0005733794668490474],"end_effector_yaw_offset_degrees":0.5204728431608121}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020219047373141417,-0.0032431070114792406],"position_m":[0.22137809526268584,-0.03264310701147924,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010040608739761633,-0.003912152743080531],"position_m":[0.25979593912602383,-0.30861215274308057,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00021837464938866732,7.8192118991364e-05],"position_m":[0.14171837464938866,0.28527819211899136,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026375402891819144,-0.0020302845345549704],"position_m":[0.3240624597108181,0.18146971546544502,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"630b4af3d01a5bbcd7d82a6fe464310e0cc1e205a60353d3752ac3066198a3b6","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7713/tex_ceiling_textures_3322/tex_floor_textures_9218/tex_table_textures_3529/tex_wall_textures_2122","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4675597378479860984,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4675597378479860984,"visual_seed":4675597378479860984,"scene_id":"lab_003","finished_at":"2026-09-03T21:16:31"} +{"episode_id":"ep_000057","started_at":"2026-09-03T21:16:33","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.6466764350984793,-0.6923490093761417,0.71338606911949],"aabb_xy":[[0.6110472791985195,-0.7279816761329947],[0.682305590998439,-0.6567163426192888]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[0.08474372673973574,-1.28577198469902,0.71338606911949],"aabb_xy":[[0.04789317880274811,-1.3232719855220538],[0.12159427467672333,-1.2482719838759864]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.6274843385583552,-0.5243237922976363,0.71338606911949],"aabb_xy":[[-0.6524843384908731,-0.5312064605185596],[-0.6024843386258373,-0.5174411240767129]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[-0.3147320595930669,1.2076404943997212,0.71338606911949],"aabb_xy":[[-0.37473206045387963,1.1562140643932344],[-0.254732058732254,1.2590669244062072]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[0.6076856115871909,-0.8912386967400794,0.71338606911949],"aabb_xy":[[0.6032549822323509,-0.8966870684747622],[0.6121162409420312,-0.885790325005397]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[0.37868385129869275,-1.8585963945275532,0.71338606911949],"aabb_xy":[[0.34368385216873704,-1.864341615603217],[0.41368385042864836,-1.8528511734518889]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[0.43207991353692665,-0.13620023044998142,0.71338606911949],"aabb_xy":[[0.3820849025774747,-0.18620022948557313],[0.48207492449637873,-0.08620023141438969]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.4770215046639408,-0.7328208767367517,0.71338606911949],"aabb_xy":[[0.4420215046874449,-0.7422854927843683],[0.5120215046404366,-0.723356260689135]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.2603330439095392,-0.23288694757991735,0.71338606911949],"aabb_xy":[[-0.3081392115233079,-0.2978869502869763],[-0.2125268762957706,-0.16788694487285838]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[-0.5849443848338423,0.8197015945704318,0.71338606911949],"aabb_xy":[[-0.6087806024744474,0.7297015937619454],[-0.5611081671932373,0.9097015953789185]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.14328878168672388,1.2762168072333302,0.71338606911949],"aabb_xy":[[0.1352454217607687,1.191216806137964],[0.15133214161267905,1.3612168083286968]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.09008703052412126,0.560598274314799,0.71338606911949],"aabb_xy":[[-0.12758703087234902,0.5488068787337154],[-0.0525870301758935,0.5723896698958825]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.38563787923038917,0.9548230723216573,0.71338606911949],"aabb_xy":[[0.34860376980232943,0.9204458649879478],[0.4226719886584489,0.9892002796553666]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[0.22683612060050318,-2.037459340684813,0.71338606911949],"aabb_xy":[[0.19237377320236132,-2.0719532230826347],[0.26129846799864487,-2.0029654582869894]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.48469706641033383,1.3821798375150545,0.71338606911949],"aabb_xy":[[0.45604773404991755,1.3535342782379787],[0.5133463987707501,1.4108253967921303]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.4377461292649986,0.6334067306049644,0.71338606911949],"aabb_xy":[[-0.45238953481903155,0.6187480109481802],[-0.4231027237109656,0.6480654502617487]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[-0.33588126975175486,-0.7531755014817696,0.71338606911949],"aabb_xy":[[-0.3438045499905032,-0.7756755017197731],[-0.32795798951300653,-0.7306755012437663]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[-0.16135047169408545,0.7980192109632904,0.71338606911949],"aabb_xy":[[-0.20634305841253583,0.7530192116888416],[-0.11635788497563501,0.8430192102377391]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.15669818960427095,1.5751037022460914,0.71338606911949],"aabb_xy":[[0.0926981872614694,1.5301628510019587],[0.22069819194707252,1.6200445534902237]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[-0.5757225023760378,-0.9197776515431586,0.71338606911949],"aabb_xy":[[-0.6100194133937783,-0.9540745377530999],[-0.5414255913582972,-0.8854807653332173]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.05543196319906529,1.7718325128672565,0.71338606911949],"aabb_xy":[[-0.1154319637069182,1.7149857791813352],[0.0045680373087876305,1.8286792465531778]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.5909561321859648,-1.4825590316718562,0.71338606911949],"aabb_xy":[[-0.6459483828214758,-1.5375590334151692],[-0.5359638815504539,-1.4275590299285434]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[0.44389772651166526,0.45380652511879305,0.71338606911949],"aabb_xy":[[0.4357840718382881,0.44570070866476397],[0.4520113811850423,0.4619123415728221]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_23","position":[-0.051417759927497975,1.2375582730958654,0.71338606911949],"aabb_xy":[[-0.11541345732259456,1.1735582747951565],[0.012577937467598617,1.3015582713965739]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[-0.18522932120997415,-1.177593538549813,0.71338606911949],"aabb_xy":[[-0.2237750140351752,-1.216139309606002],[-0.1466836283847731,-1.1390477674936246]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[0.4267053630569573,-1.1184387554756952,0.71338606911949],"aabb_xy":[[0.38920536154132557,-1.12966552849184],[0.464205364572589,-1.1072119824595499]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[-0.6892327612842855,-2.3759019015627083,0.71338606911949],"aabb_xy":[[-0.6933686176169856,-2.4134019010070653],[-0.6850969049515853,-2.3384019021183513]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_27","position":[-0.6156456884504085,1.4726459725621672,0.71338606911949],"aabb_xy":[[-0.6531456889477667,1.4686772890140487],[-0.5781456879530502,1.4766146561102858]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_28","position":[-0.3435387818078503,1.6729420016321153,0.71338606911949],"aabb_xy":[[-0.43353877854346046,1.6197585383148203],[-0.25353878507224004,1.7261254649494093]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_29","position":[-0.11979790105750443,-0.26451230615004384,0.71338606911949],"aabb_xy":[[-0.12513041571211742,-0.26983663439527944],[-0.11446538640289144,-0.25918797790480824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6560157772262434,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4090.png","name":"4090"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4090.png","name":"4090"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/350.png","name":"350"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2000.png","name":"2000"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7422.png","name":"7422"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8515.png","name":"8515"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":719.0928873745393,"rotation_z_degrees":280.76989068042576,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010877992802161987,-0.00310612758117855,0.009337881372598299]},{"name":"camera_2","offset_m":[-0.006394594610421436,-0.01051582558408378,0.015029793859209186]},{"name":"camera_3","offset_m":[-0.00690279577313822,0.004498882057534303,-0.010637442367784963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001832929511895458,-0.0010272655437863834,-0.0002588265673114107],"end_effector_yaw_offset_degrees":-0.7810940363017176},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001741385743244488,0.0003561805157437322,-0.0018872561269789037],"end_effector_yaw_offset_degrees":0.3080671319821766},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.5289052743605036e-05,-0.0013134515825956115,-0.0015846381623708754],"end_effector_yaw_offset_degrees":0.5582597469283395}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007666102126160333,0.003347261486286197],"position_m":[0.22416661021261602,-0.026052738513713803,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030399452708687914,-0.0002505083819266153],"position_m":[0.25776005472913116,-0.30495050838192667,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004045738010038835,0.004760298167001472],"position_m":[0.1455457380100388,0.2899602981670015,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019318344395547926,-0.0046363397934023765],"position_m":[0.3247681655604452,0.1788636602065976,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e00c277218471d5b33ff15b1a93fc20aae6db6762a97059a520661688178e717","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4090/tex_ceiling_textures_8515/tex_floor_textures_7422/tex_table_textures_350/tex_wall_textures_2000","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4604908428746462661,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4604908428746462661,"visual_seed":4604908428746462661,"scene_id":"lab_003","finished_at":"2026-09-03T21:19:11"} +{"episode_id":"ep_000058","started_at":"2026-09-03T21:19:14","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[0.6693990112986565,-2.219143931326182,0.71338606911949],"aabb_xy":[[0.6511931876374089,-2.2301693319081735],[0.6876048349599042,-2.20811853074419]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[-0.4879420366526698,1.7704666581703168,0.71338606911949],"aabb_xy":[[-0.4959683072832958,1.7617151631929644],[-0.4799157660220438,1.7792181531476696]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[0.5496866038204924,-0.6275431190581358,0.71338606911949],"aabb_xy":[[0.5277968562315515,-0.7175431163473848],[0.5715763514094331,-0.5375431217688865]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.4242050523310912,1.636101681926395,0.71338606911949],"aabb_xy":[[0.40670505319672395,1.626222054888807],[0.4417050514654583,1.6459813089639825]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.0791790123934254,1.242823990840257,0.71338606911949],"aabb_xy":[[0.04184773586818277,1.208170936045405],[0.11651028891866802,1.2774770456351094]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[0.4324471526907989,-1.3501685193121078,0.71338606911949],"aabb_xy":[[0.3524471540339129,-1.3646733782363705],[0.5124471513476849,-1.3356636603878451]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.4717453253483159,-0.530271716657714,0.71338606911949],"aabb_xy":[[-0.5517453267784431,-0.6097888716703235],[-0.3917453239181887,-0.4507545616451045]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[-0.18364675090483473,-0.9264194674073072,0.71338606911949],"aabb_xy":[[-0.191271018995013,-0.9340526909438509],[-0.1760224828146565,-0.9187862438707635]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.4526162020757696,-1.7271652521964715,0.71338606911949],"aabb_xy":[[-0.5326162053397827,-1.7407252845053849],[-0.3726161988117564,-1.7136052198875582]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.6995835229274276,-0.507353963574114,0.71338606911949],"aabb_xy":[[0.6770843872012007,-0.5298539643523769],[0.7220826586536546,-0.4848539627958509]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.4465110236262382,1.0724375010873652,0.71338606911949],"aabb_xy":[[0.4290110233669017,1.0583459588985928],[0.46401102388557497,1.086529043276138]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.622680556852071,1.2946685999856924,0.71338606911949],"aabb_xy":[[0.6133869386149203,1.2571686014975583],[0.6319741750892215,1.332168598473826]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.308389038614627,0.8651262067832688,0.71338606911949],"aabb_xy":[[-0.3980761149227425,0.7751262065288183],[-0.21870196230651157,0.9551262070377193]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[-0.24123471915052275,-0.8221340098653445,0.71338606911949],"aabb_xy":[[-0.2525964538038089,-0.8335024762716324],[-0.2298729844972366,-0.8107655434590563]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.3182030427071241,-0.5085916355072233,0.71338606911949],"aabb_xy":[[0.2682030440612029,-0.5585111791666857],[0.36820304135304527,-0.4586720918477609]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.14220088254870156,-0.5101811586552016,0.71338606911949],"aabb_xy":[[-0.19983135143597233,-0.570181157581912],[-0.08457041366143066,-0.4501811597284908]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_16","position":[0.45449026440425744,0.43144415721123774,0.71338606911949],"aabb_xy":[[0.449855149252024,0.427576822134089],[0.45912537955649074,0.4353114922883863]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.6545616126516987,-1.2852744981572852,0.71338606911949],"aabb_xy":[[-0.6610632491597033,-1.295042320183595],[-0.648059976143694,-1.2755066761309755]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.4807378994379432,-1.0997023790629867,0.71338606911949],"aabb_xy":[[-0.5707378961735534,-1.152885842380281],[-0.390737902702333,-1.046518915745692]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[-0.42329946436545446,-0.2012260197181006,0.71338606911949],"aabb_xy":[[-0.4312934529431578,-0.20922609981319096],[-0.415305475787751,-0.19322593962301027]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.49179598168961436,1.3603103755914718,0.71338606911949],"aabb_xy":[[-0.529295982874407,1.355892152895411],[-0.45429598050482145,1.3647285982875321]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[0.2668092209568331,1.585218147472665,0.71338606911949],"aabb_xy":[[0.26185320077195195,1.5627181472705436],[0.2717652411417143,1.6077181476747868]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[-0.46156268111066745,0.434299482423361,0.71338606911949],"aabb_xy":[[-0.49906268160802575,0.4303307988752426],[-0.42406268061330926,0.43826816597147944]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[0.3216718091658488,-1.0200267731275032,0.71338606911949],"aabb_xy":[[0.31563479616518414,-1.0260534741964518],[0.3277088221665136,-1.0140000720585551]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[0.2791763765238078,1.7885125000010267,0.71338606911949],"aabb_xy":[[0.24167637810040743,1.7753482860331957],[0.31667637494720813,1.8016767139688572]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[0.030983560189665638,-0.8726523294942274,0.71338606911949],"aabb_xy":[[0.022855871996352417,-0.8815659379049351],[0.03911124838297886,-0.8637387210835198]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[-0.4933852435858076,-0.3920251552227674,0.71338606911949],"aabb_xy":[[-0.5833852421802775,-0.4082757415361885],[-0.40338524499133765,-0.37577456890934646]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[-0.22992033216103835,-0.3577704155305632,0.71338606911949],"aabb_xy":[[-0.2799196073294745,-0.4077704168065104],[-0.1799210569926022,-0.30777041425461604]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_28","position":[-0.31715242751596073,0.2952048458790473,0.71338606911949],"aabb_xy":[[-0.3671472604439023,0.24520484698380374],[-0.2671575945880191,0.3452048447742908]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[0.46784062299661877,0.5456134457910697,0.71338606911949],"aabb_xy":[[0.4265360799328828,0.48161344622295255],[0.5091451660603548,0.6096134453591867]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[0.635514984411397,-2.313402376828019,0.71338606911949],"aabb_xy":[[0.555514983941181,-2.3217130844423677],[0.7155149848816129,-2.305091669213671]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_31","position":[0.010231203196218952,-1.8203823887311739,0.71338606911949],"aabb_xy":[[-0.013605014444386113,-1.9103823895396608],[0.03406742083682402,-1.7303823879226878]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_32","position":[0.31951239338920345,-2.117107811284642,0.71338606911949],"aabb_xy":[[0.30860661730164074,-2.197107807683471],[0.33041816947676617,-2.037107814885813]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_33","position":[0.5543651036886095,0.12858965745799233,0.71338606911949],"aabb_xy":[[0.4943651020456876,0.07658950816604815],[0.6143651053315313,0.18058980674993652]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_34","position":[0.444314800275309,1.3197103108071637,0.71338606911949],"aabb_xy":[[0.36431480331226973,1.2426346691633903],[0.5243147972383481,1.3967859524509372]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6618982785087203,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4591.png","name":"4591"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4163.png","name":"4163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4838.png","name":"4838"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2558.png","name":"2558"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":696.0567632756145,"rotation_z_degrees":110.05516996854645,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019636144806774537,0.018456622047032117,-0.012134318227037616]},{"name":"camera_2","offset_m":[0.01725342686054734,-0.0062804291086543534,0.01255685955913222]},{"name":"camera_3","offset_m":[0.0003965716507254684,-0.0032874500905358817,-0.010308949239468812]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009634092941278195,-0.0015023893957768317,0.0012185965962791733],"end_effector_yaw_offset_degrees":-0.40608093529663014},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006875501051143785,-0.0006908719875560183,0.0009233776926482868],"end_effector_yaw_offset_degrees":-0.7381612080378381},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001791099816827447,-0.0006615564194490319,0.0013562745816649885],"end_effector_yaw_offset_degrees":0.5328532712351342}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002165522812295081,0.0011952306211375028],"position_m":[0.22123447718770492,-0.028204769378862495,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001353238661033953,-0.004532499608527528],"position_m":[0.2621532386610339,-0.30923249960852756,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004970683962949203,-0.002554515854446969],"position_m":[0.1365293160370508,0.282645484145553,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024551953861510776,-0.0047315668965934666],"position_m":[0.32915519538615107,0.17876843310340654,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"82bb806e444dc323ccb6c957b387c802fdd5653cd346cdb871570e90a5ea6a0a","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9281/tex_ceiling_textures_2558/tex_floor_textures_4838/tex_table_textures_4591/tex_wall_textures_4163","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8291905089075952975,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8291905089075952975,"visual_seed":8291905089075952975,"scene_id":"lab_003","finished_at":"2026-09-03T21:21:49"} +{"episode_id":"ep_000059","started_at":"2026-09-03T21:21:52","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.3414074078304279,-0.5676307979213631,0.71338606911949],"aabb_xy":[[0.31890740830672043,-0.5901267453719837],[0.36390740735413524,-0.5451348504707422]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.27064376547639457,1.3714269137677628,0.71338606911949],"aabb_xy":[[-0.33223452470038745,1.3074269156587162],[-0.2090530062524018,1.43542691187681]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.20934963366460307,1.7233120808256692,0.71338606911949],"aabb_xy":[[-0.2154442615527214,1.7147426862740005],[-0.20325500577648475,1.731881475377338]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.365651773592174,0.5933159248326083,0.71338606911949],"aabb_xy":[[-0.42565177410002686,0.536469191146687],[-0.305651773084321,0.6501626585185296]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[-0.6008613297741185,-1.894054982322234,0.71338606911949],"aabb_xy":[[-0.6109430368526919,-1.9740549802143483],[-0.590779622695545,-1.814054984430119]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.5246445409360767,-0.15753315888650654,0.71338606911949],"aabb_xy":[[-0.544702952549317,-0.17759824579566405],[-0.5045861293228364,-0.13746807197734898]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[0.49423661829255816,1.2344007439490041,0.71338606911949],"aabb_xy":[[0.4441391543114846,1.1704007434391923],[0.5443340822736318,1.298400744458816]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.13645981695448672,0.5495032758925009,0.71338606911949],"aabb_xy":[[-0.18645482791393875,0.4995032768569093],[-0.08646480599503469,0.5995032749280927]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[-0.4287885259354847,-0.08516154230730333,0.71338606911949],"aabb_xy":[[-0.44569925837182645,-0.09863374789991784],[-0.4118777934991429,-0.07168933671468879]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.23333563254783923,0.19706236634014385,0.71338606911949],"aabb_xy":[[-0.2833356339087265,0.1470844617647282],[-0.18333563118695206,0.24704027091555944]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[0.04500370232417361,1.8204555332249828,0.71338606911949],"aabb_xy":[[0.010003702428154742,1.8120812977130427],[0.08000370222019249,1.8288297687369228]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.24167588494481967,-2.3680315535771377,0.71338606911949],"aabb_xy":[[-0.27758938936980937,-2.4039450617938924],[-0.20576238051983,-2.332118045360383]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[-0.2492026020265642,-0.8131495860232392,0.71338606911949],"aabb_xy":[[-0.2667492969426831,-0.8506495875874904],[-0.23165590711044523,-0.7756495844589879]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.20681455445511415,0.6476201019871239,0.71338606911949],"aabb_xy":[[-0.2109305045671868,0.6435045469542783],[-0.20269860434304146,0.6517356570199694]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.26548878033615,-1.990380145375882,0.71338606911949],"aabb_xy":[[-0.3454887817662772,-2.069897300388491],[-0.18548877890602278,-1.9108629903632723]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.5609471853017811,-2.0664751536799097,0.71338606911949],"aabb_xy":[[0.5234471848044229,-2.0704438372280283],[0.5984471857991394,-2.0625064701317912]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.6318011511406445,0.20081068486460696,0.71338606911949],"aabb_xy":[[-0.6668011511171402,0.19134606881699034],[-0.5968011511641486,0.21027530091222357]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[-0.4360815238018626,1.8088275902078288,0.71338606911949],"aabb_xy":[[-0.5160815248749828,1.799049543870444],[-0.3560815227287422,1.8186056365452128]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.08492265680368971,-2.330911270605556,0.71338606911949],"aabb_xy":[[-0.13490560699116902,-2.380911270248116],[-0.03493970661621037,-2.2809112709629953]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.22597101928026375,1.5744388618302936,0.71338606911949],"aabb_xy":[[-0.23130353393487674,1.569114533585058],[-0.22063850462565077,1.5797631900755291]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[0.4852673774518441,1.4025341063996262,0.71338606911949],"aabb_xy":[[0.4352673778755094,1.3525535274475202],[0.5352673770281788,1.4525146853517321]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[0.13427353862100222,-1.404725314265823,0.71338606911949],"aabb_xy":[[0.07027353533129409,-1.4480602332697403],[0.1982735419107103,-1.361390395261905]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[0.4430569389020076,0.6048240282841588,0.71338606911949],"aabb_xy":[[0.35805694048458436,0.519949732821874],[0.5280569373194308,0.6896983237464439]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.43121151397726726,0.18356984270543197,0.71338606911949],"aabb_xy":[[-0.43990947626798255,0.17144486839795725],[-0.42251355168655197,0.19569481701290672]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[-0.2208043828098848,-0.051880929188007574,0.71338606911949],"aabb_xy":[[-0.2390102064711325,-0.06290632976999921],[-0.20259855914863714,-0.040855528606015934]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[-0.011052760899869396,1.5170460254212785,0.71338606911949],"aabb_xy":[[-0.07505275801197508,1.468013655626868],[0.05294723621223629,1.5660783952156891]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6568563054994002,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6459.png","name":"6459"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6459.png","name":"6459"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2095.png","name":"2095"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8117.png","name":"8117"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2654.png","name":"2654"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6882.png","name":"6882"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":841.1926113095612,"rotation_z_degrees":73.48270548913325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007262291767317124,-0.014301066578075998,-0.01916609406229873]},{"name":"camera_2","offset_m":[-0.012516187623337408,0.017008434864050844,-0.01649166846869385]},{"name":"camera_3","offset_m":[-0.009845275443203003,0.0067489591153849955,-0.005412455679600407]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015058365978470793,-0.00021332879479800046,0.001494348217607969],"end_effector_yaw_offset_degrees":0.5284666997204901},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011986555826632537,0.00043908428792238186,0.00029590617158115886],"end_effector_yaw_offset_degrees":-0.556909131433611},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007812154119372409,0.0011785457665437781,-0.0005298037657355836],"end_effector_yaw_offset_degrees":-0.9606856976463145}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00035946565751903206,0.0010043183991089808],"position_m":[0.22304053434248095,-0.028395681600891017,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026046558025982114,-0.001228848440648587],"position_m":[0.25819534419740175,-0.3059288484406486,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014169003925042813,-0.002534527552214866],"position_m":[0.14291690039250426,0.28266547244778517,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028810301351198603,-0.003243331433099508],"position_m":[0.32958103013511986,0.18025666856690048,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c5e87005f2d07e2ef85f8bc6c86ba8239639a9221b58247211afccbdfdcd6cab","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0059.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6459/tex_ceiling_textures_6882/tex_floor_textures_2654/tex_table_textures_2095/tex_wall_textures_8117","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":32811730489062860,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":32811730489062860,"visual_seed":32811730489062860,"scene_id":"lab_003","finished_at":"2026-09-03T21:24:30"} +{"episode_id":"ep_000060","started_at":"2026-09-03T21:24:33","dimensions":{"distractor":{"count":22,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[0.4583707079158874,-2.1115979227701698,0.71338606911949],"aabb_xy":[[0.3746484824158049,-2.2015979263048653],[0.5420929334159699,-2.0215979192354734]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.6616015841335343,0.6932118915601628,0.71338606911949],"aabb_xy":[[0.6506958080459716,0.6132118951613337],[0.672507360221097,0.773211887958992]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.15112222718796253,0.44580545434686547,0.71338606911949],"aabb_xy":[[-0.18612222545808244,0.4387313266518772],[-0.11612222891784263,0.4528795820418535]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.2336031962679067,-2.070319739573339,0.71338606911949],"aabb_xy":[[0.16960319898225806,-2.111826458526183],[0.29760319355355536,-2.028813020620495]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[-0.4231365128134364,-0.5649926267139356,0.71338606911949],"aabb_xy":[[-0.4514662227619767,-0.5694533689076527],[-0.3948068028648962,-0.5605318845202186]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[-0.3442856880315804,-1.1839554014039333,0.71338606911949],"aabb_xy":[[-0.3481995612270029,-1.19270441681049],[-0.34037181483615786,-1.1752063859973765]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.015823356105149178,-1.4090782687721917,0.71338606911949],"aabb_xy":[[-0.05332335604891558,-1.4173713588070282],[0.021676643838617227,-1.400785178737355]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[-0.5799429713163473,-1.9333432133566713,0.71338606911949],"aabb_xy":[[-0.5862550708526857,-1.93911015260989],[-0.5736308717800089,-1.9275762741034521]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.6305839252210392,1.4791482336943242,0.71338606911949],"aabb_xy":[[0.6102996224976402,1.458865608551615],[0.6508682279444378,1.4994308588370326]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.5619959368558141,0.2648873313575688,0.71338606911949],"aabb_xy":[[-0.5924801869828442,0.21488733157607287],[-0.5315116867287839,0.31488733113906475]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[-0.009314296175674808,1.758696401094673,0.71338606911949],"aabb_xy":[[-0.013949411327908194,1.754829066017524],[-0.004679181023441419,1.7625637361718216]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[-0.2664676713274075,0.48710839945075923,0.71338606911949],"aabb_xy":[[-0.283144807320503,0.47040847547682896],[-0.249790535334312,0.5038083234246895]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.5487202203437531,0.16966609245312192,0.71338606911949],"aabb_xy":[[0.48472022117398333,0.12289940533415943],[0.6127202195135232,0.21643277957208437]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.42447116522835704,-1.674461504293561,0.71338606911949],"aabb_xy":[[0.3744711635668623,-1.7244599465492634],[0.4744711668898518,-1.624463062037858]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.5376836488947525,-0.07630970046098495,0.71338606911949],"aabb_xy":[[0.5187992651262423,-0.09519562524133773],[0.5565680326632627,-0.05742377568063217]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.48008668285139233,-0.7079234327823751,0.71338606911949],"aabb_xy":[[-0.5300696330388716,-0.7579234324249354],[-0.43010373266391294,-0.6579234331398146]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[0.5595980952257178,1.7455928997366557,0.71338606911949],"aabb_xy":[[0.5095988200572816,1.6955928984607083],[0.609597370394154,1.7955929010126026]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[-0.2336713445225831,0.2987433767269567,0.71338606911949],"aabb_xy":[[-0.27046597764748936,0.26183750163037445],[-0.19687671139767682,0.335649251823539]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[0.2919182780620919,-0.7422470213637782,0.71338606911949],"aabb_xy":[[0.22791828163477007,-0.7894166451858747],[0.3559182744894139,-0.6950773975416819]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[0.05979157188504858,-0.7235833504218996,0.71338606911949],"aabb_xy":[[0.04224487696892965,-0.7610833519861508],[0.07733826680116751,-0.6860833488576483]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[0.026106414574005532,1.012076530992322,0.71338606911949],"aabb_xy":[[0.020139875633269744,1.006115386332958],[0.03207295351474132,1.0180376756516862]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[0.48811051361600977,0.980027228718872,0.71338606911949],"aabb_xy":[[0.4231105154600906,0.9537309841689598],[0.5531105117719287,1.0063234732687842]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6618306071953726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6187.png","name":"6187"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6187.png","name":"6187"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7512.png","name":"7512"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1524.png","name":"1524"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3992.png","name":"3992"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3796.png","name":"3796"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":661.4302817768938,"rotation_z_degrees":163.23576740785794,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01354352599177391,0.00406940587994729,0.006625624375263223]},{"name":"camera_2","offset_m":[-0.013805596706418819,0.007679714049362237,-0.0016939595418325182]},{"name":"camera_3","offset_m":[0.0034654278742979605,0.01691054261454591,0.0063094390320739754]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017015391795232198,-0.0006063627626373665,-0.0016677948345583205],"end_effector_yaw_offset_degrees":-0.47208004243012636},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009916499143181805,0.0005735096474972314,-0.0015616952907274238],"end_effector_yaw_offset_degrees":-0.6339097348934069},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014369432685869955,-0.0019937657413137107,0.0012571900465432736],"end_effector_yaw_offset_degrees":0.023682554847351378}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004991411573792166,-0.004283892668210597],"position_m":[0.21840858842620783,-0.0336838926682106,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015121282207578267,-0.004086612563511984],"position_m":[0.2623121282207578,-0.30878661256351203,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005748765559229155,0.0010355747944591643],"position_m":[0.14092512344407707,0.28623557479445916,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00018050885338869588,0.004087861555591383],"position_m":[0.3265194911466113,0.18758786155559137,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5105d2c283710216b70ffa0f77ac5b2c0767e2096727fd2a3dea00dfc43566d4","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0060.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6187/tex_ceiling_textures_3796/tex_floor_textures_3992/tex_table_textures_7512/tex_wall_textures_1524","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7378565339243375482,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7378565339243375482,"visual_seed":7378565339243375482,"scene_id":"lab_003","finished_at":"2026-09-03T21:27:14"} +{"episode_id":"ep_000061","started_at":"2026-09-03T21:27:17","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.5005870401917062,-2.1306462923034584,0.71338606911949],"aabb_xy":[[-0.5180870404367555,-2.148146080143025],[-0.48308703994665675,-2.1131465044638915]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.552252356154205,0.37269473825206934,0.71338606911949],"aabb_xy":[[0.5340465324929574,0.36166933767007775],[0.5704581798154528,0.38372013883406103]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.6261326975465403,1.192055336149778,0.71338606911949],"aabb_xy":[[-0.6611326958166602,1.18498120845479],[-0.5911326992764204,1.1991294638447663]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.1842063949488162,1.7408329273746825,0.71338606911949],"aabb_xy":[[-0.2642063971115787,1.660877743748539],[-0.1042063927860537,1.8207881110008262]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[-0.2898278891338149,-0.7328593824922343,0.71338606911949],"aabb_xy":[[-0.3376340567475835,-0.7978593851992931],[-0.2420217215200462,-0.6678593797851753]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.2827369683464357,-2.2689517803643007,0.71338606911949],"aabb_xy":[[-0.3477369662280835,-2.320075444070842],[-0.2177369704647879,-2.2178281166577603]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.33942058632307304,-2.504533774312877,0.71338606911949],"aabb_xy":[[0.28942058496218576,-2.554511678888292],[0.3894205876839602,-2.4545558697374608]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.44240811558115317,1.5553517595539845,0.71338606911949],"aabb_xy":[[-0.4550349028683496,1.5458056858524116],[-0.4297813282939569,1.5648978332555574]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.5687925619335961,-0.4199926777402796,0.71338606911949],"aabb_xy":[[0.5138188398972633,-0.47499267730451283],[0.6237662839699291,-0.36499267817604647]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.6648371684279969,-1.641191709344802,0.71338606911949],"aabb_xy":[[-0.6818472657180474,-1.657326197843076],[-0.6478270711379461,-1.6250572208465281]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[0.30358915043864665,-1.21035034906873,0.71338606911949],"aabb_xy":[[0.2860108482496998,-1.227924838642835],[0.3211674526275935,-1.192775859494625]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.3979242805867036,1.548805654885855,0.71338606911949],"aabb_xy":[[0.3614284599594248,1.5123217124590973],[0.4344201012139823,1.5852895973126124]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.3392737260555785,-1.9335508632713183,0.71338606911949],"aabb_xy":[[0.32985625148571573,-1.9429670404090373],[0.34869120062544123,-1.9241346861335993]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.36041227256926045,0.4942279561879608,0.71338606911949],"aabb_xy":[[0.31042803686108317,0.44422795737446513],[0.4103965082774376,0.5442279550014564]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.565522395045696,1.497963213542341,0.71338606911949],"aabb_xy":[[0.5368730626852797,1.469317654265265],[0.5941717274061121,1.5266087728194166]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[-0.12803946990379989,1.4492730631877913,0.71338606911949],"aabb_xy":[[-0.192039466299373,1.3853097747690575],[-0.06403947350822684,1.5132363516065246]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[0.5157646217850931,-1.1522098409891586,0.71338606911949],"aabb_xy":[[0.4357646246255178,-1.1637574419469756],[0.5957646189446684,-1.1406622400313415]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[-0.44715785666490127,-1.7081142602298665,0.71338606911949],"aabb_xy":[[-0.49715785794874123,-1.7580931146204881],[-0.3971578553810613,-1.658135405839244]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[0.25768448459413296,0.6581888390975634,0.71338606911949],"aabb_xy":[[0.19768448399811678,0.60337636655234],[0.31768448519014914,0.7130013116427869]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[0.35773480153884685,0.8458105670641247,0.71338606911949],"aabb_xy":[[0.33523480102680625,0.8233187086987263],[0.38023480205088744,0.868302425429523]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[-0.40390723937238066,1.4473681307727744,0.71338606911949],"aabb_xy":[[-0.45388030490489617,1.3973681309602415],[-0.3539341738398652,1.4973681305853073]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[-0.11193372942108015,1.223537072728187,0.71338606911949],"aabb_xy":[[-0.17593373164148718,1.1791639886028986],[-0.047933727200673126,1.2679101568534752]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.6613269506521439,-0.9766425690629952,0.71338606911949],"aabb_xy":[[-0.6834994776287947,-0.9988182362191181],[-0.639154423675493,-0.9544669019068718]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[0.33597396970971793,-1.3664097066358454,0.71338606911949],"aabb_xy":[[0.2719739732823961,-1.4135793304579418],[0.3999739661370399,-1.319240082813749]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6608801343908326,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8731.png","name":"8731"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8731.png","name":"8731"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6675.png","name":"6675"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8443.png","name":"8443"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5098.png","name":"5098"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4407.png","name":"4407"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":809.1676873958813,"rotation_z_degrees":300.14856673708385,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0008357304782607294,0.008240577855185064,0.005172939472292654]},{"name":"camera_2","offset_m":[0.006664157691840037,0.019434826720535103,-0.006608683330696516]},{"name":"camera_3","offset_m":[-0.002207300221610406,-0.00531423566346584,-0.009846899494854018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018184019919077214,-0.0015790327393927616,0.001730211434109999],"end_effector_yaw_offset_degrees":-0.9208465321397299},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001013079963907476,-0.0006003225543401061,-0.0012333267503786285],"end_effector_yaw_offset_degrees":-0.14345063993694995},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005922765413376107,-0.0010688487865203023,0.00010252425049753341],"end_effector_yaw_offset_degrees":-0.3580168753511652}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0040430931009931385,-0.001711801085632686],"position_m":[0.21935690689900686,-0.031111801085632686,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037835475388528625,0.0023299600693890456],"position_m":[0.2645835475388528,-0.30237003993061096,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005387909449012639,0.000393655333036245],"position_m":[0.14203879094490124,0.28559365533303627,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002073797266916878,0.0034221926462790686],"position_m":[0.3246262027330831,0.18692219264627907,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b1792b4001e1dcd79a2ed9a9610a2401eeca2bd7416ea820eca01388d40720b9","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8731/tex_ceiling_textures_4407/tex_floor_textures_5098/tex_table_textures_6675/tex_wall_textures_8443","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7160512852096502634,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7160512852096502634,"visual_seed":7160512852096502634,"scene_id":"lab_003","finished_at":"2026-09-03T21:29:53"} +{"episode_id":"ep_000062","started_at":"2026-09-03T21:29:56","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[0.5001374380621193,1.198623401300452,0.71338606911949],"aabb_xy":[[0.4351374370616188,1.1478370361457768],[0.5651374390626198,1.2494097664551267]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[0.022011782806193758,1.270813959424593,0.71338606911949],"aabb_xy":[[-0.03798821744520742,1.2165326343881284],[0.08201178305759493,1.3250952844610577]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.6382278591972499,1.5152238386350327,0.71338606911949],"aabb_xy":[[0.6250766132259606,1.4902238388783462],[0.6513791051685394,1.5402238383917195]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[-0.044468691322849696,0.3602835115567249,0.71338606911949],"aabb_xy":[[-0.08196869167107745,0.3484921159756413],[-0.006968690974621931,0.3720749071378084]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[-0.21313308677391424,-1.81237973001953,0.71338606911949],"aabb_xy":[[-0.2558997936533345,-1.8763797334413324],[-0.17036637989449407,-1.7483797265977274]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.021086960728818882,-1.6853886580211421,0.71338606911949],"aabb_xy":[[-0.03368965986589534,-1.6979840542460078],[-0.008484261591742426,-1.6727932617962769]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[-0.4662392093011586,-0.29131706241265043,0.71338606911949],"aabb_xy":[[-0.5157196305151174,-0.35531706032550225],[-0.4167587880871998,-0.2273170644997986]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[0.13517337270873375,-2.250518980636402,0.71338606911949],"aabb_xy":[[0.09767337260314078,-2.2573411424893832],[0.17267337281432668,-2.2436968187834205]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[0.39549017668228914,-2.523315078420912,0.71338606911949],"aabb_xy":[[0.31549017966804105,-2.5434496300943232],[0.475490173696537,-2.503180526747501]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.30574933075464167,-1.1353968268781847,0.71338606911949],"aabb_xy":[[-0.37574933235692115,-1.1488296200798422],[-0.23574932915236219,-1.121964033676527]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.6029943668605539,0.6857621649904861,0.71338606911949],"aabb_xy":[[-0.6142394224311717,0.6745203672663909],[-0.591749311289936,0.6970039627145814]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[0.45189018902436273,0.5998666730352884,0.71338606911949],"aabb_xy":[[0.415976684599373,0.5639531648185336],[0.48780369344935237,0.6357801812520429]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.22652275035363922,1.6363440267171696,0.71338606911949],"aabb_xy":[[0.18902275018176729,1.6036432913342622],[0.26402275052551116,1.6690447621000766]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.25046967889892163,0.6096310227108752,0.71338606911949],"aabb_xy":[[-0.3341919043990041,0.5196310191761793],[-0.16674745339883917,0.6996310262455712]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[0.1697690229480876,-2.4953735263103325,0.71338606911949],"aabb_xy":[[0.13226902143245586,-2.5066002993264775],[0.20726902446371928,-2.4841467532941874]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[0.6695592982384226,-1.3998680272320772,0.71338606911949],"aabb_xy":[[0.652549200948372,-1.416002515730351],[0.6865693955284733,-1.3837335387338032]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.6308451358999867,1.3941233734581169,0.71338606911949],"aabb_xy":[[0.5708451350391738,1.34269694345163],[0.6908451367607994,1.4455498034646028]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[0.3864014536544256,-1.1730358103987517,0.71338606911949],"aabb_xy":[[0.34509691059068953,-1.2370358099668688],[0.4277059967181615,-1.1090358108306346]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.20749388185590179,-2.421431886359685,0.71338606911949],"aabb_xy":[[-0.22094040848994514,-2.4349017380127758],[-0.19404735522185848,-2.407962034706593]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.4941881753600068,-1.9862535821807366,0.71338606911949],"aabb_xy":[[0.4892888830534432,-2.013930501483305],[0.4990874676665702,-1.9585766628781676]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.2315124798474124,0.1568892577001022,0.71338606911949],"aabb_xy":[[-0.26499164710845335,0.12341014432899522],[-0.19803331258637144,0.19036837107120924]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[0.5935233963338624,0.6632014815618272,0.71338606911949],"aabb_xy":[[0.5833703807797128,0.6271319399890867],[0.6036764118880116,0.6992710231345673]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[0.432847778471221,-0.3203187965312395,0.71338606911949],"aabb_xy":[[0.37784778026947613,-0.36084076315767705],[0.4878477766729658,-0.27979682990480187]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[-0.5857435569174667,-1.2765477482457104,0.71338606911949],"aabb_xy":[[-0.6407367682546036,-1.331547748584504],[-0.5307503455803301,-1.2215477479069168]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[0.0892924566854506,-1.2390783614185807,0.71338606911949],"aabb_xy":[[0.0663767438004007,-1.2619826585550042],[0.11220816957050052,-1.2161740642821572]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[0.3568009322077863,-1.3745027747665532,0.71338606911949],"aabb_xy":[[0.27680093504821096,-1.3860503757243703],[0.43680092936736153,-1.3629551738087362]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659237966633309,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7142.png","name":"7142"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7142.png","name":"7142"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8876.png","name":"8876"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2735.png","name":"2735"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4417.png","name":"4417"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/665.png","name":"665"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":608.8174126362359,"rotation_z_degrees":60.33868118436811,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01908291991136259,-0.016059492648240636,-0.0013918799660061383]},{"name":"camera_2","offset_m":[-0.012929669984285548,0.005386838809495573,0.019396751594772808]},{"name":"camera_3","offset_m":[0.00922083420994619,0.01906359143462291,-0.00799362755869721]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015464268268359053,0.0017591020608261967,0.0014587713939611903],"end_effector_yaw_offset_degrees":-0.05113100543326676},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006880255870736383,-0.0003202754168139905,0.0009697187139024025],"end_effector_yaw_offset_degrees":0.305562475380474},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.6462655692864714e-05,-0.001724707175147262,-0.0019352089507517936],"end_effector_yaw_offset_degrees":0.7609204713682671}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028181222370771953,0.003295574370312548],"position_m":[0.2205818777629228,-0.026104425629687452,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011246751914416875,0.0007630761644677117],"position_m":[0.2619246751914417,-0.30393692383553234,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002570476847164385,-0.0024579140001245994],"position_m":[0.14407047684716437,0.28274208599987544,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004111996906585672,0.0016571682605321216],"position_m":[0.33081199690658564,0.1851571682605321,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e06393c1cd9bd0ed7807764eaa136b51966301c7e9141ac62aaed1974e01a3b7","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7142/tex_ceiling_textures_665/tex_floor_textures_4417/tex_table_textures_8876/tex_wall_textures_2735","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8258116774362278152,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8258116774362278152,"visual_seed":8258116774362278152,"scene_id":"lab_003","finished_at":"2026-09-03T21:32:33"} +{"episode_id":"ep_000063","started_at":"2026-09-03T21:32:36","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.33063231166765994,0.232724294050493,0.71338606911949],"aabb_xy":[[-0.38072977564873356,0.1687242935406812],[-0.2805348476865863,0.2967242945603048]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[-0.2666459562144434,-1.8179822263212695,0.71338606911949],"aabb_xy":[[-0.2977928750580265,-1.8879822250080767],[-0.23549903737086025,-1.7479822276344623]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.31621332260791446,-1.0840165476910901,0.71338606911949],"aabb_xy":[[-0.32155089827391903,-1.10901654862023],[-0.3108757469419099,-1.0590165467619503]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[0.447851968898453,-1.972721554011211,0.71338606911949],"aabb_xy":[[0.4153902680165255,-2.0028543861261134],[0.4803136697803804,-1.9425887218963083]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.11535551999171378,1.6065469869696574,0.71338606911949],"aabb_xy":[[0.0853879630818881,1.5765469866717716],[0.14532307690153945,1.636546987267543]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[0.3594389484015732,-0.9356874633658736,0.71338606911949],"aabb_xy":[[0.34189225348545427,-0.9731874649301248],[0.37698564331769213,-0.8981874618016222]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[-0.6124195736990274,0.9115562567822564,0.71338606911949],"aabb_xy":[[-0.6165355238110999,0.9074407017494106],[-0.6083036235869546,0.9156718118151017]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.46627958185801655,-1.2161913491722127,0.71338606911949],"aabb_xy":[[-0.5162745928174686,-1.2661913482078047],[-0.4162845708985646,-1.1661913501366212]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.5121160062978203,1.6579396573378369,0.71338606911949],"aabb_xy":[[0.5033139509888475,1.6501283311829078],[0.5209180616067929,1.665750983492766]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.6227960388206047,-0.9066552223729862,0.71338606911949],"aabb_xy":[[-0.672796040181492,-0.956633126948402],[-0.5727960374597175,-0.8566773177975707]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.44791920666728247,-1.4697315403100009,0.71338606911949],"aabb_xy":[[-0.49791920610747814,-1.5196994647943172],[-0.3979192072270869,-1.4197636158256846]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.025443436426238808,1.1568894218333976,0.71338606911949],"aabb_xy":[[-0.04794343624014119,1.1524148054629169],[-0.0029434366123364253,1.1613640382038783]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[-0.6668094857730145,-1.5410182197290339,0.71338606911949],"aabb_xy":[[-0.6887181679123655,-1.5629188865491244],[-0.6449008036336634,-1.519117552908943]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[-0.17504349695672816,-0.33836368380201387,0.71338606911949],"aabb_xy":[[-0.23904349886907053,-0.39427483306002437],[-0.11104349504438585,-0.2824525345440035]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[0.2547844749770457,0.6737870524438465,0.71338606911949],"aabb_xy":[[0.16978447628497106,0.6418011890489677],[0.33978447366912035,0.7057729158387254]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[-0.4468815298197928,-0.4230852711264741,0.71338606911949],"aabb_xy":[[-0.5108815271054414,-0.46459199007931806],[-0.3828815325341441,-0.3815785521736301]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[0.6284046179025222,1.4002385239241448,0.71338606911949],"aabb_xy":[[0.5484046146446793,1.3202420161321606],[0.7084046211603652,1.4802350317161286]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.15965125082809084,-1.3113497484265488,0.71338606911949],"aabb_xy":[[0.15314961432008622,-1.3211175704528586],[0.16615288733609546,-1.301581926400239]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.41368481750452,-1.2828006018788736,0.71338606911949],"aabb_xy":[[0.3586848193027752,-1.323322568505311],[0.46868481570626486,-1.2422786352524358]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[-0.4861961230705003,-0.7722451019848626,0.71338606911949],"aabb_xy":[[-0.49345737064090767,-0.785032112248372],[-0.47893487550009284,-0.759458091721353]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_20","position":[-0.060181583329677046,-1.8384544217753263,0.71338606911949],"aabb_xy":[[-0.12018158317624383,-1.895273043968365],[-0.00018158348311025224,-1.7816357995822876]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[0.25716241477586965,-1.4561866751105235,0.71338606911949],"aabb_xy":[[0.22036778165096338,-1.4930925502071057],[0.2939570479007759,-1.4192808000139412]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[-0.3202922193471778,-2.00513480449637,0.71338606911949],"aabb_xy":[[-0.36637731060190926,-2.0691348017489246],[-0.2742071280924463,-1.9411348072438146]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[-0.19737744471089674,-1.6759247253293112,0.71338606911949],"aabb_xy":[[-0.20615867185813305,-1.6847044726178417],[-0.1885962175636606,-1.6671449780407817]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[-0.22737301535193738,1.1794989025266744,0.71338606911949],"aabb_xy":[[-0.26081319054795693,1.1460552766957441],[-0.19393284015591777,1.2129425283576043]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[-0.6084137400426339,-0.2758470324532709,0.71338606911949],"aabb_xy":[[-0.6449095606699127,-0.3123309748800285],[-0.5719179194153552,-0.23936309002651335]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_26","position":[0.20104906748257345,-1.7633724539431834,0.71338606911949],"aabb_xy":[[0.16673279030795551,-1.8133724539163611],[0.2353653446571914,-1.7133724539700057]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[-0.237833003523634,-1.0070617298749043,0.71338606911949],"aabb_xy":[[-0.25216742864979746,-1.0191219454294431],[-0.22349857839747056,-0.9950015143203654]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6587422534978049,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8557.png","name":"8557"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8557.png","name":"8557"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1429.png","name":"1429"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1538.png","name":"1538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2856.png","name":"2856"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3705.png","name":"3705"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":835.6261843288138,"rotation_z_degrees":61.43597863233145,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007247152003726401,-0.01286928035193267,-0.012725281779796482]},{"name":"camera_2","offset_m":[0.017542379365392793,-0.017754604167312133,-0.0028691061191347712]},{"name":"camera_3","offset_m":[-0.004613517449029013,-0.003336964296563317,-0.0022707140805953326]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007956208646217626,-0.0007853996538457499,-0.0010871934572765465],"end_effector_yaw_offset_degrees":0.9732856136535939},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010499250032944092,0.0007092069703141094,-0.001893063074877228],"end_effector_yaw_offset_degrees":0.028127892947634958},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018763704350289582,-0.0011405813048517848,8.265510332252984e-05],"end_effector_yaw_offset_degrees":0.05330205534262}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004975654043285275,-0.0033837703838172865],"position_m":[0.2184243459567147,-0.03278377038381729,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001008598249073408,-0.00224559660103997],"position_m":[0.2597914017509266,-0.30694559660104,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004902481893210638,0.003584835795050309],"position_m":[0.13659751810678936,0.2887848357950503,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00040363062279470067,0.004355355589350821],"position_m":[0.3271036306227947,0.18785535558935082,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e6032f4040792be2f69b227c7d720060083ccfcf95345326dd4e76d626801025","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8557/tex_ceiling_textures_3705/tex_floor_textures_2856/tex_table_textures_1429/tex_wall_textures_1538","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":947445077035840790,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":947445077035840790,"visual_seed":947445077035840790,"scene_id":"lab_003","finished_at":"2026-09-03T21:35:21"} +{"episode_id":"ep_000064","started_at":"2026-09-03T21:35:23","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.39979861731374616,-2.0276230789539498,0.71338606911949],"aabb_xy":[[-0.43479861720976504,-2.0359973144658894],[-0.3647986174177273,-2.0192488434420093]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.47751742210432346,-0.8668223511116131,0.71338606911949],"aabb_xy":[[-0.5375174229651362,-0.9182487811180994],[-0.4175174212435106,-0.8153959211051266]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[0.09509323788896906,-2.501738878782354,0.71338606911949],"aabb_xy":[[0.031093236480978417,-2.5535278303062787],[0.15909323929695973,-2.4499499272584293]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.19146652429819022,-1.8847460165530971,0.71338606911949],"aabb_xy":[[0.10146652062127198,-1.9461784231302008],[0.2814665279751083,-1.8233136099759921]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.2854168466091782,-2.4498603357718403,0.71338606911949],"aabb_xy":[[0.2629204251753141,-2.4723603355785873],[0.3079132680430423,-2.4273603359650924]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.04771153062057687,-1.0407203845994963,0.71338606911949],"aabb_xy":[[-0.11771153275200641,-1.0634823502251918],[0.022288471510852677,-1.0179584189738005]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.2712004602210708,1.7831019975684899,0.71338606911949],"aabb_xy":[[0.25340695328615437,1.7653022519726924],[0.28899396715598724,1.8009017431642877]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.3800555435750012,0.18941924943483412,0.71338606911949],"aabb_xy":[[-0.4440555408773476,0.14505282246697734],[-0.3160555462726548,0.23378567640269085]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[-0.2142763134361646,-2.4965114486418605,0.71338606911949],"aabb_xy":[[-0.2203709413242829,-2.505080843193529],[-0.20818168554804625,-2.4879420540901918]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[-0.6726806731437034,0.6683477558907676,0.71338606911949],"aabb_xy":[[-0.6915650569122137,0.6494618311104149],[-0.6537962893751933,0.6872336806711205]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.3662090869195742,0.7074294019481382,0.71338606911949],"aabb_xy":[[0.35444090012491664,0.6224294020429166],[0.37797727371423173,0.7924294018533599]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[-0.282473487384737,-0.9295481145366258,0.71338606911949],"aabb_xy":[[-0.34747348594180977,-0.9593006479505084],[-0.2174734888276641,-0.8997955811227432]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[-0.15290481713032844,-0.13736094646703956,0.71338606911949],"aabb_xy":[[-0.16060800780440546,-0.14507031716577753],[-0.14520162645625137,-0.12965157576830152]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.35871015372451387,0.35394359900358374,0.71338606911949],"aabb_xy":[[-0.40871015500835384,0.3039647446129616],[-0.3087101524406739,0.4039224533942058]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[-0.034244812731814234,-0.7008134941804975,0.71338606911949],"aabb_xy":[[-0.047691339365857566,-0.7142833458335889],[-0.0207982860977709,-0.6873436425274064]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[-0.4854266869508246,-1.6473456291586737,0.71338606911949],"aabb_xy":[[-0.5204266852209445,-1.6544197568536616],[-0.4504266886807046,-1.6402715014636853]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[0.2301361089842774,0.8467333452697385,0.71338606911949],"aabb_xy":[[0.16614041158918078,0.7827333469690297],[0.294131806379374,0.9107333435704471]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[0.5433933811458287,-1.2749570233374259,0.71338606911949],"aabb_xy":[[0.507479876720839,-1.3108705315541804],[0.5793068855708183,-1.2390435151206713]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.24869670885809003,-0.8404412004013615,0.71338606911949],"aabb_xy":[[0.23168661156803935,-0.8565756888996354],[0.2657068061481407,-0.8243067119030876]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.6062941880165496,-1.035258625018936,0.71338606911949],"aabb_xy":[[0.5712941880400537,-1.0447232410665523],[0.6412941879930454,-1.0257940089713191]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.41205426940790363,1.2747698638983693,0.71338606911949],"aabb_xy":[[-0.4620535445763398,1.2247698626224222],[-0.36205499423946746,1.3247698651743165]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[-0.36948845405499187,0.8844544308016791,0.71338606911949],"aabb_xy":[[-0.38195581216472757,0.8719891061683557],[-0.3570210959452563,0.8969197554350027]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[-0.32173305352504317,-0.404878188138742,0.71338606911949],"aabb_xy":[[-0.3436228011139839,-0.4948781854279911],[-0.2998433059361023,-0.31487819084949287]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[0.3817994609179407,1.2033696804761687,0.71338606911949],"aabb_xy":[[0.3177994576993029,1.1566465685771603],[0.4457994641365786,1.250092792375177]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[-0.3193459191037859,-0.7222924060238196,0.71338606911949],"aabb_xy":[[-0.3743459187255318,-0.7772760988112923],[-0.2643459194820401,-0.6673087132363469]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_25","position":[0.12526697870516112,-1.3822859724740608,0.71338606911949],"aabb_xy":[[0.11597336046801052,-1.4197859709621945],[0.13456059694231168,-1.3447859739859267]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[0.3457718803999199,-1.6772093514836666,0.71338606911949],"aabb_xy":[[0.2986425013980841,-1.7412093525280685],[0.39290125940175546,-1.6132093504392646]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_27","position":[-0.5216518649561854,-1.2926620274040872,0.71338606911949],"aabb_xy":[[-0.5856518653337189,-1.3424072942548995],[-0.4576518645786517,-1.242916760553275]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_28","position":[-0.3413229247120937,-1.1408114029655845,0.71338606911949],"aabb_xy":[[-0.34528340848182804,-1.148479267551105],[-0.33736244094235934,-1.1331435383800639]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_29","position":[0.031927589304398984,-1.5578714503251678,0.71338606911949],"aabb_xy":[[0.02708399454316901,-1.562723102804152],[0.03677118406562896,-1.5530197978461837]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_30","position":[0.03153549418542789,-0.8727438336738453,0.71338606911949],"aabb_xy":[[-0.005964504390192907,-0.8854801293374032],[0.0690354927610487,-0.8600075380102873]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_31","position":[-0.2804990959805426,1.0161058956309592,0.71338606911949],"aabb_xy":[[-0.2971762319736382,0.9994059716570289],[-0.2638219599874472,1.0328058196048895]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_32","position":[-0.05868623276689533,1.7057828453894905,0.71338606911949],"aabb_xy":[[-0.14868623218526622,1.6724073485453008],[0.03131376665147556,1.7391583422336803]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_33","position":[-0.027084473786452068,-1.9148912625367598,0.71338606911949],"aabb_xy":[[-0.050920691427057144,-2.0048912633452467],[-0.0032482561458470104,-1.8248912617282735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6520977204560128,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3620.png","name":"3620"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3620.png","name":"3620"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7594.png","name":"7594"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6133.png","name":"6133"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5277.png","name":"5277"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4901.png","name":"4901"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":692.5731448303634,"rotation_z_degrees":31.017367553700996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009158198719620115,-0.014769197939549717,0.005403296823308989]},{"name":"camera_2","offset_m":[0.015811071315316925,-0.01623110796648915,0.007787811748403494]},{"name":"camera_3","offset_m":[0.0005048678595256199,-0.009853010144528409,-0.014303919300152713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011833729372355193,0.0019774090484795098,-0.0007388675801445462],"end_effector_yaw_offset_degrees":0.8281925216498622},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016290698726411541,0.0014131271587091007,0.0002669949129831925],"end_effector_yaw_offset_degrees":0.16641389063470458},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.453751232368733e-05,0.0019612762054483377,0.0007566730021527817],"end_effector_yaw_offset_degrees":0.7617383105859061}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017975303190977334,-0.0015556255515218344],"position_m":[0.22160246968090225,-0.030955625551521832,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004742185103554151,0.004959881413823786],"position_m":[0.2560578148964458,-0.2997401185861762,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002989561953258138,-0.0012442350403878933],"position_m":[0.14448956195325813,0.2839557649596121,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001365248365503564,-0.001502840415752452],"position_m":[0.32533475163449643,0.18199715958424753,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"42ec352eb3980a4566eb4e40c91f55c7293dd7e43005632d6fec715aeb6de485","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3620/tex_ceiling_textures_4901/tex_floor_textures_5277/tex_table_textures_7594/tex_wall_textures_6133","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5804438666408066671,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5804438666408066671,"visual_seed":5804438666408066671,"scene_id":"lab_003","finished_at":"2026-09-03T21:38:07"} +{"episode_id":"ep_000065","started_at":"2026-09-03T21:38:13","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[-0.3578477702026667,1.6734707166273863,0.71338606911949],"aabb_xy":[[-0.4378477716327939,1.5939535616147766],[-0.2778477687725395,1.7529878716399956]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[-0.4623379391224106,-1.8507985330068344,0.71338606911949],"aabb_xy":[[-0.48222897900275097,-1.8634543442915315],[-0.4424468992420705,-1.8381427217221378]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.6158007847993336,-0.8548959900571882,0.71338606911949],"aabb_xy":[[-0.6657738503318491,-0.9048959898697212],[-0.5658277192668182,-0.8048959902446554]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.6819454243543868,0.9357972242379269,0.71338606911949],"aabb_xy":[[0.6469454260436913,0.9280822093143813],[0.7169454226650822,0.9435122391614726]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.6009145111023693,-1.8466199652930069,0.71338606911949],"aabb_xy":[[-0.664914508214475,-1.8956523350874175],[-0.5369145139902636,-1.7975875954985963]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.298742694344238,-1.3731164080228286,0.71338606911949],"aabb_xy":[[-0.30244595567337684,-1.3768184263315466],[-0.29503943301509916,-1.3694143897141107]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.10185604124276615,-0.8211721243804386,0.71338606911949],"aabb_xy":[[0.07556721692232546,-0.8474435580350899],[0.12814486556320676,-0.7949006907257874]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.41755180278560755,0.18814057479232194,0.71338606911949],"aabb_xy":[[-0.46254438950405796,0.14314057551787315],[-0.37255921606715714,0.23314057406677066]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[0.27330774806143643,-0.5376780297377155,0.71338606911949],"aabb_xy":[[0.25551424112652,-0.5554777753335132],[0.29110125499635287,-0.5198782841419178]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.3051856900458858,-1.0601434642561602,0.71338606911949],"aabb_xy":[[0.28760738785693896,-1.0777179538302653],[0.32276399223483265,-1.0425689746820552]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[-0.36128565835516835,-1.5485599676549662,0.71338606911949],"aabb_xy":[[-0.3912773210890386,-1.5785599669917665],[-0.33129399562129797,-1.5185599683181654]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[-0.5199602277177693,1.611594674933619,0.71338606911949],"aabb_xy":[[-0.5328321312187094,1.5315946745197828],[-0.5070883242168291,1.6915946753474551]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.6113271192552805,-0.40158948187900734,0.71338606911949],"aabb_xy":[[-0.6481217523801867,-0.4384953569755896],[-0.5745324861303741,-0.36468360678242506]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.021562548547007787,1.6759634678096726,0.71338606911949],"aabb_xy":[[-0.026895063201620776,1.670639139564437],[-0.016230033892394805,1.6812877960549082]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.26600353210361427,1.7792044684463915,0.71338606911949],"aabb_xy":[[0.2516691069774508,1.7671442528918526],[0.2803379572297777,1.7912646840009303]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[-0.6770481211617377,0.10886255528712097,0.71338606911949],"aabb_xy":[[-0.6945481214067871,0.09136276744755412],[-0.6595481209166884,0.12636234312668781]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[0.328556432644576,1.5545421083358595,0.71338606911949],"aabb_xy":[[0.3060564331208686,1.5320461608852383],[0.3510564321682834,1.5770380557864798]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[0.5333433595742945,-0.7655657838786496,0.71338606911949],"aabb_xy":[[0.4633433631643325,-0.7860037195303311],[0.603343355984256,-0.7451278482269676]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[0.6168013028062449,0.5681221786070476,0.71338606911949],"aabb_xy":[[0.5552105435822522,0.5041221804980008],[0.6783920620302378,0.6321221767160946]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[0.21382658077814143,-1.4690953659284876,0.71338606911949],"aabb_xy":[[0.14982658051767062,-1.5141041652814153],[0.27782658103861224,-1.4240865665755593]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.4063255586209866,-0.5843134640762306,0.71338606911949],"aabb_xy":[[0.33632555701870714,-0.5977462572778882],[0.4763255602232661,-0.5708806708745731]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[-0.6655869449812157,-1.6027821158152828,0.71338606911949],"aabb_xy":[[-0.6726283959319633,-1.6098088675530775],[-0.6585454940304681,-1.5957553640774882]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[0.5400758614212036,-1.5776674486270743,0.71338606911949],"aabb_xy":[[0.476080164026107,-1.641667446927783],[0.6040715588163001,-1.5136674503263656]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[0.45482183859614067,-1.2138983334280233,0.71338606911949],"aabb_xy":[[0.4177877291680809,-1.2482755407617327],[0.49185594802420035,-1.179521126094314]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[-0.6387540130804475,0.3989039194816755,0.71338606911949],"aabb_xy":[[-0.6674033454408638,0.3702583602045996],[-0.6101046807200313,0.4275494787587512]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[0.2755909670549358,-2.4963920615045536,0.71338606911949],"aabb_xy":[[0.2380909686315354,-2.509556275472384],[0.3130909654783361,-2.4832278475367224]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_26","position":[0.6517268774295777,1.482657907284198,0.71338606911949],"aabb_xy":[[0.6017268779893821,1.4326899827998816],[0.7017268768697733,1.5326258317685142]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_27","position":[-0.37247107441666677,-2.3444039160337047,0.71338606911949],"aabb_xy":[[-0.45247107548978716,-2.354181962371089],[-0.2924710733435465,-2.3346258696963202]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[-0.6322651574400846,1.624098798859054,0.71338606911949],"aabb_xy":[[-0.652323569053325,1.6040337119498964],[-0.6122067458268444,1.6441638857682113]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664713112338251,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2512.png","name":"2512"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2512.png","name":"2512"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8458.png","name":"8458"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9227.png","name":"9227"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7295.png","name":"7295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9705.png","name":"9705"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":766.5115856474301,"rotation_z_degrees":175.9716158688696,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01048762046284573,0.005231575245762069,0.006558236818786624]},{"name":"camera_2","offset_m":[-0.017642738172862077,0.010949885663839875,0.0008010125861134046]},{"name":"camera_3","offset_m":[0.00741045680362137,0.01352306860530213,-0.004941642953474141]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007639875824541802,-0.0006237337433603076,-0.0001481332926402965],"end_effector_yaw_offset_degrees":0.6970485147936136},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010611173694193318,0.001668002397457549,-0.0005170085794493772],"end_effector_yaw_offset_degrees":0.6673178072928339},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013899760530923385,0.0014825127711664966,-0.00016444133971197598],"end_effector_yaw_offset_degrees":-0.43006043237536873}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002095771837280921,-0.0021834406274564835],"position_m":[0.22130422816271908,-0.03158344062745648,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048102547271056785,-0.0040082322675415215],"position_m":[0.26561025472710564,-0.30870823226754157,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018126854967106323,-0.0027351477697206052],"position_m":[0.1433126854967106,0.2824648522302794,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004815863883131383,0.0012604227629969354],"position_m":[0.33151586388313137,0.18476042276299692,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9935309157a26defb3f277cf2d630be788eb729340e7c6abb3ddfb2a57840847","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0065.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2512/tex_ceiling_textures_9705/tex_floor_textures_7295/tex_table_textures_8458/tex_wall_textures_9227","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":9104340737018735519,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":9104340737018735519,"visual_seed":9104340737018735519,"scene_id":"lab_003","finished_at":"2026-09-03T21:40:52"} +{"episode_id":"ep_000066","started_at":"2026-09-03T21:40:55","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[0.1687074488937652,0.55857207193664,0.71338606911949],"aabb_xy":[[0.1607134603160618,0.5505719918415496],[0.17670143747146858,0.5665721520317303]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[-0.20638346018302817,0.33855757252217167,0.71338606911949],"aabb_xy":[[-0.29638345877749817,0.32230698620875065],[-0.11638346158855825,0.3548081588355927]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.05244577408950102,1.62496661261603,0.71338606911949],"aabb_xy":[[-0.0564062578592354,1.6172987480305094],[-0.04848529031976665,1.6326344772015506]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[-0.6102193183609704,-0.16304612287032372,0.71338606911949],"aabb_xy":[[-0.6602035540691477,-0.2130461216838193],[-0.5602350826527932,-0.11304612405682812]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[-0.2172276863432891,1.435945288405604,0.71338606911949],"aabb_xy":[[-0.25169003374143084,1.401451406007781],[-0.18276533894514727,1.4704391708034263]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[-0.34328750088451426,1.548324618787745,0.71338606911949],"aabb_xy":[[-0.38547191504534506,1.4843246185105343],[-0.3011030867236836,1.6123246190649567]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[-0.19900254667463335,-0.01978005174338282,0.71338606911949],"aabb_xy":[[-0.2167960536095498,-0.03757979733918049],[-0.18120903973971692,-0.001980306147585157]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.6078562460592294,0.216958306353757,0.71338606911949],"aabb_xy":[[-0.6112969222992866,0.21309687337939254],[-0.6044155698191722,0.2208197393281215]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.25906299714651876,1.16584543700045,0.71338606911949],"aabb_xy":[[-0.30904180565683464,1.1158454369947313],[-0.20908418863620287,1.2158454370061689]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.5663081644999017,-2.064626016287803,0.71338606911949],"aabb_xy":[[-0.6038081646717736,-2.09732675167071],[-0.5288081643280297,-2.0319252809048955]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.4781385411660991,-1.8893956035130208,0.71338606911949],"aabb_xy":[[-0.5421385428440965,-1.9379129949923348],[-0.41413853948810175,-1.8408782120337064]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[-0.6274967761724823,0.10623922758402182,0.71338606911949],"aabb_xy":[[-0.6316326325051826,0.06873922813966483],[-0.6233609198397823,0.14373922702837882]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.5508727522907577,-0.4329942006538574,0.71338606911949],"aabb_xy":[[-0.5854638351448028,-0.4979942009388884],[-0.5162816694367124,-0.3679942003688263]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.4368929908682817,-2.1371123000331487,0.71338606911949],"aabb_xy":[[0.4242902917312053,-2.1497076962580146],[0.4494956900053582,-2.1245169038082836]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.5256979078172217,-0.021023816045331323,0.71338606911949],"aabb_xy":[[-0.563197906240622,-0.03418803001316195],[-0.48819790939382135,-0.00785960207750069]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[0.49402720487952423,1.728148311468248,0.71338606911949],"aabb_xy":[[0.46569749493098406,1.723687569274531],[0.5223569148280645,1.7326090536619652]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[0.025985265218026354,-1.8983896033872252,0.71338606911949],"aabb_xy":[[-0.009014733092669095,-1.9061046183107706],[0.0609852635287218,-1.8906745884636793]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[0.04618765095356614,1.410596641631693,0.71338606911949],"aabb_xy":[[0.037027772009689534,1.404065423588156],[0.05534752989744273,1.4171278596752301]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.2641630506914808,-2.4757128153533965,0.71338606911949],"aabb_xy":[[0.17416305395587056,-2.5288962786706906],[0.354163047427091,-2.4225293520361015]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.5557302050408568,-0.192947475939389,0.71338606911949],"aabb_xy":[[0.5469281497318841,-0.20075880209431807],[0.5645322603498295,-0.1851361497844599]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[0.26843583516727043,-2.108133833128937,0.71338606911949],"aabb_xy":[[0.2184427230580786,-2.158133833803133],[0.31842894727646237,-2.058133832454742]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[-0.6282825938588341,-1.3433781884810811,0.71338606911949],"aabb_xy":[[-0.6457825941181707,-1.357469730669854],[-0.6107825935994975,-1.3292866462923087]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.057380459124422356,-0.7376893991585722,0.71338606911949],"aabb_xy":[[0.04934412442313751,-0.7457275184629889],[0.0654167938257072,-0.7296512798541553]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_23","position":[-0.02640370212776344,-1.1477658608343455,0.71338606911949],"aabb_xy":[[-0.06017926131845641,-1.1618043560475106],[0.007371857062929532,-1.1337273656211804]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[-0.5639025050916369,1.7043958251442972,0.71338606911949],"aabb_xy":[[-0.6279025083102747,1.6576727132452889],[-0.499902501872999,1.7511189370433056]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[-0.29121650376048747,-2.2968309817129313,0.71338606911949],"aabb_xy":[[-0.3137165040040029,-2.3090356163727033],[-0.2687165035169721,-2.2846263470531594]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[-0.46440114096700236,0.6589105472774315,0.71338606911949],"aabb_xy":[[-0.4882373586076075,0.5689105464689451],[-0.44056492332639735,0.7489105480859181]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[-0.21782188643522687,0.5036834806438732,0.71338606911949],"aabb_xy":[[-0.23473261887156863,0.49021127505125867],[-0.20091115399888507,0.5171556862364877]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[-0.3526213181731641,0.9396739329986503,0.71338606911949],"aabb_xy":[[-0.40262131983465876,0.8896754907429475],[-0.30262131651166924,0.9896723752543529]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_29","position":[0.33733256776947607,-2.2901151359972807,0.71338606911949],"aabb_xy":[[0.2963146243831052,-2.340115136628238],[0.37835051115584695,-2.2401151353663233]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_30","position":[0.6392042348615898,-2.2386258552382787,0.71338606911949],"aabb_xy":[[0.5752042375592433,-2.2829922822061355],[0.7032042321639361,-2.194259428270422]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_31","position":[-0.020707944758386665,1.2483198192036546,0.71338606911949],"aabb_xy":[[-0.040598984638726916,1.2356640079189578],[-0.0008169048780464208,1.2609756304883515]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_32","position":[0.3393872867433314,0.8142930922162486,0.71338606911949],"aabb_xy":[[0.32781830599639483,0.789293092099317],[0.350956267490268,0.8392930923331804]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_33","position":[-0.42030965737723913,-1.4103934854179305,0.71338606911949],"aabb_xy":[[-0.48430965667140735,-1.4743796257867847],[-0.3563096580830709,-1.3464073450490763]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_34","position":[-0.5454152996805199,0.4440168029317202,0.71338606911949],"aabb_xy":[[-0.6154153012827995,0.4305840097300626],[-0.47541529807824057,0.45744959613337777]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6598389514103304,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3528.png","name":"3528"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3528.png","name":"3528"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5267.png","name":"5267"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2808.png","name":"2808"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7672.png","name":"7672"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2024.png","name":"2024"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":798.4352700057127,"rotation_z_degrees":174.64585611597792,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01734030877016474,-0.006692459023332025,0.006468968522261077]},{"name":"camera_2","offset_m":[-0.012673200219800448,0.010222294810341731,-0.00023108037060353553]},{"name":"camera_3","offset_m":[0.010547107989607844,0.015408834739301668,0.010827608449329711]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002393602992828848,0.0006930209368936971,-0.0015983669793325768],"end_effector_yaw_offset_degrees":-0.176990595138393},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018904359629113778,-0.0011354534454286313,0.0011437450758758436],"end_effector_yaw_offset_degrees":-0.5311034775735282},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004352817064579668,-0.00012041810932823934,0.0010538047664536286],"end_effector_yaw_offset_degrees":0.5939665649005419}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009151845690666309,-0.00047208736181839073],"position_m":[0.22248481543093335,-0.02987208736181839,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006835471509104348,-0.003978855613128761],"position_m":[0.2601164528490895,-0.3086788556131288,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00031337783111519066,0.0012436372478885818],"position_m":[0.14181337783111517,0.28644363724788857,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014875620663203594,-0.0035093357545752037],"position_m":[0.32521243793367965,0.1799906642454248,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7cfac01a41fdb13dc039ce9214d7a900f641a36ce0c000f7f5ea68935047ba92","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3528/tex_ceiling_textures_2024/tex_floor_textures_7672/tex_table_textures_5267/tex_wall_textures_2808","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7112090409371209820,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7112090409371209820,"visual_seed":7112090409371209820,"scene_id":"lab_003","finished_at":"2026-09-03T21:43:32"} +{"episode_id":"ep_000067","started_at":"2026-09-03T21:43:36","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.027440377313539543,-2.0781510119449615,0.71338606911949],"aabb_xy":[[-0.03277289196815253,-2.0834753401901973],[-0.02210786265892656,-2.072826683699726]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.48840330971675405,-0.8506455164942706,0.71338606911949],"aabb_xy":[[-0.5061968166516704,-0.8684452620900682],[-0.47060980278183756,-0.8328457708984729]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.19728120649447412,-1.4244700285594794,0.71338606911949],"aabb_xy":[[0.18924487179318927,-1.432508147863896],[0.20531754119575896,-1.4164319092550623]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[-0.4151890570671777,-0.4480947864566174,0.71338606911949],"aabb_xy":[[-0.42128368495529606,-0.4566641810082861],[-0.4090944291790594,-0.43952539190494866]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.38874200515391344,-1.1742189941260597,0.71338606911949],"aabb_xy":[[0.37551105961923215,-1.1874464131480589],[0.40197295068859473,-1.16099157510406]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.4962092542217834,0.8846973898419357,0.71338606911949],"aabb_xy":[[-0.5194910964199148,0.7996973885447076],[-0.4729274120236521,0.9696973911391638]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.2576915394179413,0.6500049143800988,0.71338606911949],"aabb_xy":[[0.24760983233936779,0.570004916487984],[0.26777324649651474,0.7300049122722133]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.3424887250452533,0.8236842526580541,0.71338606911949],"aabb_xy":[[-0.38748872651148225,0.7786843957965734],[-0.2974887235790245,0.8686841095195348]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[-0.2578820964976735,1.765605306954226,0.71338606911949],"aabb_xy":[[-0.3078820975168088,1.7291390912163982],[-0.20788209547853825,1.802071522692054]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.526066277190998,-1.8550306265769128,0.71338606911949],"aabb_xy":[[-0.5412384464726313,-1.8701994835051163],[-0.5108941079093646,-1.8398617696487096]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[0.6410884558141194,1.2437466838607163,0.71338606911949],"aabb_xy":[[0.5610884525501062,1.230186651551803],[0.7210884590781325,1.2573067161696296]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.5960539607932165,-2.358128475272932,0.71338606911949],"aabb_xy":[[-0.6025555973012212,-2.3678962972992417],[-0.589552324285212,-2.348360653246622]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[-0.4068411891383787,-1.608035391357436,0.71338606911949],"aabb_xy":[[-0.42441949132732554,-1.625609880931541],[-0.38926288694943184,-1.5904609017833309]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[0.3644821255979993,1.193585829115503,0.71338606911949],"aabb_xy":[[0.32698212524977155,1.1817944335344195],[0.40198212594622706,1.2053772246965866]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.0873184210157647,1.4197819089545232,0.71338606911949],"aabb_xy":[[0.07675094135766568,1.4092368788415146],[0.0978859006738637,1.4303269390675317]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.011999520686145404,-1.7971753076901156,0.71338606911949],"aabb_xy":[[-0.061816300150980164,-1.8471753061744192],[0.037817258778689355,-1.7471753092058124]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.49472662531634615,-0.9638194505399622,0.71338606911949],"aabb_xy":[[-0.5847266239108161,-0.9800700368533832],[-0.4047266267218762,-0.9475688642265412]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[0.5926366541098163,1.5457344292641868,0.71338606911949],"aabb_xy":[[0.5276366559538972,1.5194381847142746],[0.6576366522657353,1.572030673814099]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[0.2338688220500713,-1.1148950558088497,0.71338606911949],"aabb_xy":[[0.2088688224983328,-1.1250375396739845],[0.2588688216018098,-1.104752571943715]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[0.41131991554472713,0.6609209378432648,0.71338606911949],"aabb_xy":[[0.3738199147527317,0.6545530968850746],[0.4488199163367226,0.6672887788014548]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.3229687338774262,1.2103988243348014,0.71338606911949],"aabb_xy":[[-0.3309622236727083,1.202400692394326],[-0.3149752440821442,1.2183969562752772]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.3126148486539606,0.5112842403697835,0.71338606911949],"aabb_xy":[[0.3039168863632453,0.49915926606230876],[0.3213128109446759,0.5234092146772582]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.29738170560892363,-1.592418409756199,0.71338606911949],"aabb_xy":[[-0.30479416115031205,-1.5982696201778268],[-0.2899692500675351,-1.586567199334571]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[-0.09201778738338029,-0.33315150142171346,0.71338606911949],"aabb_xy":[[-0.12701778735987612,-0.3426161174693301],[-0.05701778740688446,-0.32368688537409684]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.17703395378068687,0.5283571793183905,0.71338606911949],"aabb_xy":[[-0.1867899432898607,0.518594645259156],[-0.16727796427151292,0.5381197133776249]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[0.1344399906629209,1.141419032419738,0.71338606911949],"aabb_xy":[[0.06443998727135893,1.1061032587163069],[0.20443999405448288,1.1767348061231686]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_26","position":[-0.07838873327922169,-1.2868903319667977,0.71338606911949],"aabb_xy":[[-0.08302384843145506,-1.2907576670439462],[-0.07375361812698829,-1.2830229968896487]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_27","position":[-0.584444451810241,-0.1452692799850266,0.71338606911949],"aabb_xy":[[-0.6219444517540075,-0.15356237001986317],[-0.5469444518664747,-0.13697618995019]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_28","position":[0.10442213157531155,-0.8186316605623765,0.71338606911949],"aabb_xy":[[0.07327521273172842,-0.8886316592491837],[0.13556905041889467,-0.7486316618755694]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6608902233606039,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2397.png","name":"2397"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2397.png","name":"2397"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9292.png","name":"9292"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9261.png","name":"9261"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6421.png","name":"6421"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1003.png","name":"1003"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":681.4254559005356,"rotation_z_degrees":87.58553578772927,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008560711895665039,-0.0026099864830966407,-0.003919601412394742]},{"name":"camera_2","offset_m":[-0.00040110999362198696,0.009223048063195058,0.004612945888922276]},{"name":"camera_3","offset_m":[0.003972996992939216,-0.010112730486493629,0.0011692247469465254]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010896007946987654,0.001215568326629327,0.0019887559431147365],"end_effector_yaw_offset_degrees":0.30469434972244347},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00044367705746932917,-0.00024825095060765096,0.0019634825759531228],"end_effector_yaw_offset_degrees":0.2793066045063035},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016720618356583505,-7.257418092103981e-05,0.0017384186987272577],"end_effector_yaw_offset_degrees":-0.5331956944605298}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[3.547668287906536e-05,-0.00011517885447302582],"position_m":[0.22343547668287905,-0.029515178854473023,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020547207918042666,-0.0010283405593031992],"position_m":[0.2628547207918042,-0.3057283405593032,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003367681787617121,0.0013206441474848283],"position_m":[0.1448676817876171,0.28652064414748485,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0044382382230316,-8.463219166677041e-05],"position_m":[0.33113823822303157,0.18341536780833323,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"32bf418670f9902fae77baf9dd58898b23b34d2deab42dc73c6747ce99ffb17c","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0067.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2397/tex_ceiling_textures_1003/tex_floor_textures_6421/tex_table_textures_9292/tex_wall_textures_9261","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5051947373377140952,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5051947373377140952,"visual_seed":5051947373377140952,"scene_id":"lab_003","finished_at":"2026-09-03T21:46:15"} +{"episode_id":"ep_000068","started_at":"2026-09-03T21:46:17","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.33448059237063393,-0.21061796100492902,0.71338606911949],"aabb_xy":[[-0.398480595660342,-0.2539528800088466],[-0.27048058908092576,-0.16728304200101138]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[0.4605205859448487,0.45754989195287665,0.71338606911949],"aabb_xy":[[0.40552058774310384,0.41702792532643906],[0.5155205841465935,0.49807185857931424]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.38620783323337377,-2.1255799899532875,0.71338606911949],"aabb_xy":[[-0.4502078339368432,-2.1715983724262085],[-0.3222078325299045,-2.0795616074803664]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[-0.5336886792546849,-0.7385897267554489,0.71338606911949],"aabb_xy":[[-0.5836674877650008,-0.7885897267611677],[-0.483709870744369,-0.6885897267497301]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.35422156320881193,-2.38587645015222,0.71338606911949],"aabb_xy":[[-0.4182215648868093,-2.4343938416315347],[-0.2902215615308146,-2.3373590586729063]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.3677872671398321,-1.383537726999589,0.71338606911949],"aabb_xy":[[0.3583697925699693,-1.392953904137308],[0.3772047417096948,-1.37412154986187]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[0.028513821956704932,-1.3802428022125568,0.71338606911949],"aabb_xy":[[-0.035486180263702094,-1.424615886337845],[0.09251382417711196,-1.3358697180872685]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.6214700737225745,-0.21523163272577417,0.71338606911949],"aabb_xy":[[-0.6453062913631796,-0.3052316335342607],[-0.5976338560819695,-0.12523163191728773]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[0.17053285059066203,1.2321056672095128,0.71338606911949],"aabb_xy":[[0.1546483573253369,1.2177527269106887],[0.1864173438559872,1.2464586075083368]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.0018867779864950585,1.258264090108645,0.71338606911949],"aabb_xy":[[-0.0383825986137738,1.2217801476818873],[0.03460904264078368,1.2947480325354024]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[-0.18204877215494508,0.19802890740167545,0.71338606911949],"aabb_xy":[[-0.19246033083542877,0.19268317406577698],[-0.17163721347446134,0.20337464073757391]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.3894685217991314,-1.7401618369714926,0.71338606911949],"aabb_xy":[[0.3681905136556591,-1.8051618392975657],[0.4107465299426036,-1.6751618346454196]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.04053360780652482,-1.1610967141098527,0.71338606911949],"aabb_xy":[[0.03250733717589882,-1.1698482090872055],[0.048559878437150816,-1.1523452191325003]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[0.4444933399070592,1.2597145262101286,0.71338606911949],"aabb_xy":[[0.43473735039788525,1.2499519921508937],[0.454249329416233,1.2694770602693626]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[0.06488907649184905,0.7049074199857781,0.71338606911949],"aabb_xy":[[0.030572799317231128,0.6549074200126005],[0.099205353666467,0.7549074199589559]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[-0.3521247783484303,1.2045518708385852,0.71338606911949],"aabb_xy":[[-0.3948914852278505,1.1405518674167827],[-0.3093580714690101,1.2685518742603876]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[-0.3267501951375441,-1.0343971224531174,0.71338606911949],"aabb_xy":[[-0.3444258257261424,-1.05207733873252],[-0.3090745645489457,-1.0167169061737145]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.324847772402,1.0654718305560849,0.71338606911949],"aabb_xy":[[-0.3335617414519344,1.0429718298968962],[-0.3161338033520654,1.0879718312152726]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.42060080416068923,1.6083912830260183,0.71338606911949],"aabb_xy":[[0.3831008029758964,1.6039730603299573],[0.458100805345482,1.6128095057220784]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.11894940770985285,0.9200034102633139,0.71338606911949],"aabb_xy":[[-0.16883210458754905,0.8700034110170392],[-0.06906671083215665,0.9700034095095886]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.08807991196576626,-2.2928760792675718,0.71338606911949],"aabb_xy":[[-0.09885288588713403,-2.3278760774866107],[-0.07730693804439848,-2.2578760810485328]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[0.6138260703568648,-2.0576810534581584,0.71338606911949],"aabb_xy":[[0.5947137629988859,-2.0768158323354005],[0.6329383777148436,-2.0385462745809164]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[-0.5257542757038358,0.8486058233129494,0.71338606911949],"aabb_xy":[[-0.556238525830866,0.7986058235314535],[-0.49527002557680566,0.8986058230944454]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.6131544630395829,-1.2172987983315313,0.71338606911949],"aabb_xy":[[0.5331606394610248,-1.2972988009243729],[0.6931482866181412,-1.1372987957386897]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6551476535888086,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/932.png","name":"932"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/932.png","name":"932"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/172.png","name":"172"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8995.png","name":"8995"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/24.png","name":"24"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/237.png","name":"237"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":792.2608712393926,"rotation_z_degrees":219.5064939343336,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008183915823947733,0.015040937451105647,-0.012247208630727022]},{"name":"camera_2","offset_m":[0.01633673526242509,-0.01048893838697726,0.00021527387301847195]},{"name":"camera_3","offset_m":[-0.013310919171791107,-0.006688227129895027,-0.01566158741513807]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000342968951399357,-0.001881649894316923,-0.0009448898843253644],"end_effector_yaw_offset_degrees":0.3918533038740122},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013401611652378484,0.0016895556030096918,-0.0006695450428012299],"end_effector_yaw_offset_degrees":-0.8303343137566099},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009600399342159296,-0.000457146952867304,-0.001841185468863284],"end_effector_yaw_offset_degrees":-0.06626542846720218}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005702816333751524,-0.003287396747400941],"position_m":[0.22397028163337515,-0.03268739674740094,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020769754368172265,0.0034740739673169404],"position_m":[0.25872302456318275,-0.3012259260326831,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004947973210459857,-0.00285133057124893],"position_m":[0.13655202678954012,0.2823486694287511,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011416910290184966,0.00038638665274421877],"position_m":[0.3255583089709815,0.1838863866527442,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"665a8965c09a887c344e30c4b6fe106aa25b97531724acfd318d4dcaa4283a30","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_932/tex_ceiling_textures_237/tex_floor_textures_24/tex_table_textures_172/tex_wall_textures_8995","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1138398498180962659,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1138398498180962659,"visual_seed":1138398498180962659,"scene_id":"lab_003","finished_at":"2026-09-03T21:48:52"} +{"episode_id":"ep_000069","started_at":"2026-09-03T21:48:55","dimensions":{"distractor":{"count":35,"items":[{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_0","position":[-0.47881873442798706,-1.8300038725046548,0.71338606911949],"aabb_xy":[[-0.5588187355011074,-1.8397819188420392],[-0.39881873335486673,-1.8202258261672704]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[-0.5776484825075728,-1.5930470594578727,0.71338606911949],"aabb_xy":[[-0.5882159621656718,-1.603592089570881],[-0.5670810028494738,-1.582502029344864]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[0.5244543361781591,0.04877382829730914,0.71338606911949],"aabb_xy":[[0.4594543335403656,-0.002705770402137826],[0.5894543388159525,0.1002534269967561]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[0.4850724215819795,0.39358173025842014,0.71338606911949],"aabb_xy":[[0.4250724199390577,0.34158158096647595],[0.5450724232249013,0.4455818795503643]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.6540422565910249,1.2019602719759224,0.71338606911949],"aabb_xy":[[0.6315422570673174,1.1794643245253014],[0.6765422561147322,1.224456219426543]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.21394636010648316,-1.6225637890321931,0.71338606911949],"aabb_xy":[[-0.3036334364145986,-1.7125637892866437],[-0.12425928379836773,-1.5325637887777426]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[0.4236320034006418,-2.2512674676828235,0.71338606911949],"aabb_xy":[[0.4149180343507072,-2.273767468342011],[0.43234597245057615,-2.2287674670236344]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[-0.6016845592752671,-2.121400484238951,0.71338606911949],"aabb_xy":[[-0.6566777706124037,-2.1764004845777447],[-0.5466913479381302,-2.0664004839001575]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[-0.5553041710466013,0.6504682739105863,0.71338606911949],"aabb_xy":[[-0.5627166265879898,0.6446170634889583],[-0.5478917155052129,0.6563194843322142]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[-0.24519849560474977,-1.1311960616845522,0.71338606911949],"aabb_xy":[[-0.2506564412417698,-1.2111960649922113],[-0.23974054996772967,-1.0511960583768931]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.17324985464482345,-0.9657154412885693,0.71338606911949],"aabb_xy":[[-0.2082498546213193,-0.975180057336186],[-0.13824985466832765,-0.9562508252409527]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[0.27288962460132304,1.501144408237773,0.71338606911949],"aabb_xy":[[0.20888962255159105,1.4610499251484648],[0.33688962665105504,1.5412388913270807]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[-0.308446447534184,-1.0921986866821436,0.71338606911949],"aabb_xy":[[-0.3253571799705257,-1.1056708922747578],[-0.29153571509784215,-1.078726481089529]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.2857112774493725,0.7965813419828289,0.71338606911949],"aabb_xy":[[-0.29392582256505645,0.7879047516851875],[-0.2774967323336885,0.8052579322804702]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[0.06818977327171227,-1.7859034646520175,0.71338606911949],"aabb_xy":[[0.053017603990078946,-1.8010723215802211],[0.08336194255334563,-1.7707346077238144]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[0.6449962755555187,-0.4175456202978487,0.71338606911949],"aabb_xy":[[0.5749962737467733,-0.438899389062036],[0.7149962773642642,-0.39619185153366127]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[0.4404481047687492,-0.5484442595142784,0.71338606911949],"aabb_xy":[[0.37644810336075846,-0.600233211038203],[0.5044481061767397,-0.4966553079903537]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[-0.48441129535645366,-0.10141284702679831,0.71338606911949],"aabb_xy":[[-0.5200404512564134,-0.13704551378365126],[-0.4487821394564939,-0.06578018026994537]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.5309670542948663,0.3683872301919311,0.71338606911949],"aabb_xy":[[-0.5483977693738727,0.3511151155280802],[-0.5135363392158597,0.38565934485578185]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.22511143771038694,0.9634133959949978,0.71338606911949],"aabb_xy":[[-0.26261143752742044,0.9587751846838559],[-0.18761143789335336,0.9680516073061396]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.4938628632194496,0.14402329998634977,0.71338606911949],"aabb_xy":[[-0.5313628633250425,0.13720113813336862],[-0.4563628631138566,0.15084546183933087]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[0.23457244138794808,-0.6697448420823768,0.71338606911949],"aabb_xy":[[0.19707244144418168,-0.6780379321172134],[0.2720724413317145,-0.6614517520475403]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_22","position":[0.6161841765535094,0.6040197821275006,0.71338606911949],"aabb_xy":[[0.5511841755963821,0.552071570193795],[0.6811841775106365,0.6559679940612062]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[-0.1701341929959136,-0.2730049400942751,0.71338606911949],"aabb_xy":[[-0.23013419359192977,-0.3278174126394986],[-0.11013419239989741,-0.21819246754905164]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[0.24662420200569946,0.8119703464459556,0.71338606911949],"aabb_xy":[[0.2291242028713323,0.8020907194083676],[0.26412420114006663,0.8218499734835433]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_25","position":[-0.5563983389236419,0.5382765398865623,0.71338606911949],"aabb_xy":[[-0.5938983374992626,0.5255402442230044],[-0.518898340348021,0.5510128355501203]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[-0.11521991135998033,0.5797306009983645,0.71338606911949],"aabb_xy":[[-0.18021991139428306,0.5330299243180372],[-0.0502199113256776,0.6264312776786918]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_27","position":[-0.32302690997803624,-1.3694594417875985,0.71338606911949],"aabb_xy":[[-0.33647343661207957,-1.3829292934406898],[-0.3095803833439929,-1.3559895901345072]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_28","position":[-0.4672316384682329,-1.1302014007021233,0.71338606911949],"aabb_xy":[[-0.5047316368916331,-1.1433656146699536],[-0.42973164004483244,-1.1170371867342925]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_29","position":[0.5440932316317633,-0.3291661410543063,0.71338606911949],"aabb_xy":[[0.5265149294428163,-0.34674063062841126],[0.56167153382071,-0.31159165148020146]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_30","position":[0.22276923985182095,-1.581188087655663,0.71338606911949],"aabb_xy":[[0.2114075051985348,-1.592556554061951],[0.23413097450510711,-1.569819621249375]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_31","position":[0.2014535272961252,-1.1349313819840263,0.71338606911949],"aabb_xy":[[0.18017551915265298,-1.1999313843100994],[0.22273153543959748,-1.0699313796579533]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_32","position":[0.45466199141942587,-2.386264987713677,0.71338606911949],"aabb_xy":[[0.4507015076496915,-2.393932852299198],[0.4586224751891602,-2.3785971231281566]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_33","position":[0.560430881824943,1.7320563051657971,0.71338606911949],"aabb_xy":[[0.5229308803093113,1.7208295321496518],[0.5979308833405748,1.743283078181942]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_34","position":[0.5422806186933609,0.9282042339823033,0.71338606911949],"aabb_xy":[[0.4572806200012862,0.8962183705874246],[0.6272806173854355,0.9601900973771823]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582897853701299,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4819.png","name":"4819"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4819.png","name":"4819"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4192.png","name":"4192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8499.png","name":"8499"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/294.png","name":"294"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5953.png","name":"5953"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":558.709350614485,"rotation_z_degrees":143.83327242927592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005541243024972258,0.014827203914998272,0.014386251445453312]},{"name":"camera_2","offset_m":[-0.003014185938969363,0.006388297506724795,-0.016301769745154446]},{"name":"camera_3","offset_m":[0.0052719520774509344,0.005537529422901272,-0.019650747064522394]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016679164841794188,-0.0007328846903929796,-0.0003495027152294599],"end_effector_yaw_offset_degrees":-0.9046045409644121},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00037812924521429944,0.0017923510685441983,0.0010170838400029264],"end_effector_yaw_offset_degrees":-0.2469606376409723},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017725671213648147,0.0005760949483223535,0.0005159376313990443],"end_effector_yaw_offset_degrees":0.9981984317258072}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004181980453122677,0.0017280235611944854],"position_m":[0.2192180195468773,-0.027671976438805514,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00018944815480594155,0.00029211568745229986],"position_m":[0.26061055184519405,-0.3044078843125477,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027784816533287806,-0.0027695285447606756],"position_m":[0.1387215183466712,0.2824304714552393,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020594209747374415,0.0021855395594110394],"position_m":[0.32464057902526255,0.18568553955941103,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"df7cf4c3216c04859d6e373abc3f21605761976d02df944f6a4d6383c248868e","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0069.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4819/tex_ceiling_textures_5953/tex_floor_textures_294/tex_table_textures_4192/tex_wall_textures_8499","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8969347563242829200,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8969347563242829200,"visual_seed":8969347563242829200,"scene_id":"lab_003","finished_at":"2026-09-03T21:51:40"} +{"episode_id":"ep_000070","started_at":"2026-09-03T21:51:43","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.6882598270598597,-2.0193853301851794,0.71338606911949],"aabb_xy":[[0.6637136114371088,-2.049634226734216],[0.7128060426826103,-1.9891364336361421]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.45870229613866353,-2.010428168099669,0.71338606911949],"aabb_xy":[[-0.4757123934287142,-2.026562656597943],[-0.4416921988486129,-1.994293679601395]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[0.40453212483038925,1.492394265917214,0.71338606911949],"aabb_xy":[[0.3405321244528556,1.4426489990664015],[0.4685321252079228,1.542139532768026]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.38668150967790016,-1.0134593296390368,0.71338606911949],"aabb_xy":[[0.34140289479675084,-1.0774593289872205],[0.43196012455904936,-0.9494593302908532]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.17150582516093427,1.4180564263245024,0.71338606911949],"aabb_xy":[[-0.22150582611146707,1.3865072793209807],[-0.12150582421040146,1.4496055733280235]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.38150307080118073,1.1238507818208392,0.71338606911949],"aabb_xy":[[-0.47150307447809886,1.0624183752437344],[-0.29150306712426255,1.185283188397943]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.5161793075265841,-1.5913375485198331,0.71338606911949],"aabb_xy":[[0.4983858005916677,-1.6091372941156306],[0.5339728144615006,-1.5735378029240352]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.4275960050913499,1.3011787484308037,0.71338606911949],"aabb_xy":[[-0.44427314108444543,1.2844788244568734],[-0.4109188690982544,1.317878672404734]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.14551290430175312,0.025522947663651596,0.71338606911949],"aabb_xy":[[-0.1955079152612052,-0.024477051371940128],[-0.09551789334230112,0.07552294669924332]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.49411980752063145,-2.453899948685973,0.71338606911949],"aabb_xy":[[0.4469904285187957,-2.5178999497303742],[0.5412491865224671,-2.3898999476415703]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[0.6388814555848483,0.049962239568385414,0.71338606911949],"aabb_xy":[[0.5978635121984776,-3.776106257191714e-05],[0.6798993989712193,0.09996224019934274]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.259029616913952,-1.1942451687844373,0.71338606911949],"aabb_xy":[[-0.3240296179144525,-1.2450315339391123],[-0.19402961591345147,-1.1434588036297624]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[0.2108583370125401,-1.7714878867696664,0.71338606911949],"aabb_xy":[[0.14685833379390223,-1.818210998668675],[0.27485834023117794,-1.7247647748706583]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.6781662853405195,-1.9070354396517812,0.71338606911949],"aabb_xy":[[-0.6868802543904537,-1.9295354403109692],[-0.6694523162905848,-1.8845354389925928]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[-0.2961511760926049,-0.5054567312963476,0.71338606911949],"aabb_xy":[[-0.36115117704973204,-0.5574049432300532],[-0.23115117513547764,-0.4535085193626421]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.1299142723508765,-1.6163744651075236,0.71338606911949],"aabb_xy":[[0.11834529160393994,-1.6413744652244555],[0.1414832530978131,-1.591374464990592]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.5622781650845328,-1.1409470726811874,0.71338606911949],"aabb_xy":[[0.4725910887764173,-1.230947072935638],[0.6519652413926482,-1.050947072426737]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.3426960925531706,0.978464615807944,0.71338606911949],"aabb_xy":[[0.33185561432665567,0.961278334517295],[0.3535365707796855,0.9956508970985927]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.16018073847032444,-1.4834555773886833,0.71338606911949],"aabb_xy":[[-0.1681747270480278,-1.4914556574837736],[-0.15218674989262101,-1.475455497293593]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.5918475204625772,-2.473252298886493,0.71338606911949],"aabb_xy":[[-0.626847520358596,-2.4816265343984325],[-0.5568475205665583,-2.4648780633745524]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[0.23925992109863436,0.8913832673411224,0.71338606911949],"aabb_xy":[[0.22996630286148378,0.8538832688529885],[0.24855353933578495,0.9288832658292563]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[0.0920029656527327,-1.9073976058238595,0.71338606911949],"aabb_xy":[[0.0860364267119969,-1.9133587504832237],[0.09796950459346848,-1.9014364611644954]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[-0.11312983446041114,0.14622187308068524,0.71338606911949],"aabb_xy":[[-0.13133565812165884,0.1351964724986936],[-0.09492401079916349,0.15724727366267688]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[0.23437863130224346,-0.5760667855058923,0.71338606911949],"aabb_xy":[[0.2271348652559981,-0.6560667837094947],[0.24162239734848875,-0.4960667873022899]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[0.21653031890238295,-1.3763599015365822,0.71338606911949],"aabb_xy":[[0.12653031656836392,-1.4538422561216948],[0.306530321236402,-1.2988775469514695]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.5959725718208894,-1.3146740952164984,0.71338606911949],"aabb_xy":[[-0.633006681248949,-1.3490513025502078],[-0.5589384623928295,-1.280296887882789]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[0.04120576958742317,-1.9938108851907912,0.71338606911949],"aabb_xy":[[0.01870934815355907,-2.0163108849975386],[0.06370219102128727,-1.9713108853840438]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_27","position":[-0.1463023836751497,0.6465514367492098,0.71338606911949],"aabb_xy":[[-0.1749517160355659,0.617905877472134],[-0.11765305131473344,0.6751969960262856]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_28","position":[-0.5163945590907744,0.32486838306767574,0.71338606911949],"aabb_xy":[[-0.5388593290621795,0.30236838218881523],[-0.49392978911936924,0.34736838394653624]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_29","position":[0.11170899482596341,1.0119803687813969,0.71338606911949],"aabb_xy":[[0.07741208380822277,0.9776834825714555],[0.14600590584370404,1.0462772549913382]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6598167308654412,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1435.png","name":"1435"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1435.png","name":"1435"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1187.png","name":"1187"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/484.png","name":"484"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9974.png","name":"9974"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1032.png","name":"1032"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":843.6909869521292,"rotation_z_degrees":61.89241917990446,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005795546296697981,0.008744597023524973,-0.012784894166606593]},{"name":"camera_2","offset_m":[-0.00413320983423434,-0.0019316939685847141,0.005446924664314318]},{"name":"camera_3","offset_m":[0.004681098208762512,0.001896714156993936,0.012944031081331676]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000286168779471204,-0.0014675235478165175,-0.0004674847622882323],"end_effector_yaw_offset_degrees":0.15296718197274828},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008880840977389761,0.0002852393150665341,0.0007546855480555746],"end_effector_yaw_offset_degrees":-0.11687055295680082},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001760825785723901,-0.0014598115113462025,-0.0017342970487202762],"end_effector_yaw_offset_degrees":0.11736064588809247}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027994809917726094,-0.003951775837685223],"position_m":[0.2261994809917726,-0.03335177583768522,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024308032759287742,0.002026499941761924],"position_m":[0.26323080327592874,-0.3026735000582381,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013172065857557681,-0.0002203488750068018],"position_m":[0.14018279341424422,0.2849796511249932,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002544110900435061,0.0006154530699145292],"position_m":[0.32924411090043504,0.18411545306991453,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e0533bbc7ca94dabc4bc8ae6470a1ad0fec50af5635faf22eb084fa42686e139","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1435/tex_ceiling_textures_1032/tex_floor_textures_9974/tex_table_textures_1187/tex_wall_textures_484","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8239232892057928242,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8239232892057928242,"visual_seed":8239232892057928242,"scene_id":"lab_003","finished_at":"2026-09-03T21:54:21"} +{"episode_id":"ep_000071","started_at":"2026-09-03T21:54:24","dimensions":{"distractor":{"count":21,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.12221466066911213,1.7531867794180838,0.71338606911949],"aabb_xy":[[0.03221465833509306,1.675704424832971],[0.2122146630031312,1.8306691340031964]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.6023478857690263,0.2459131518259432,0.71338606911949],"aabb_xy":[[-0.6111291129162626,0.23713340453741313],[-0.59356665862179,0.25469289911447346]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[0.3476162905868292,0.9724042738449423,0.71338606911949],"aabb_xy":[[0.29262307924969244,0.9174042735061488],[0.402609501923966,1.027404274183736]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[-0.46625233256360477,1.108025361399477,0.71338606911949],"aabb_xy":[[-0.47115162487016826,1.0803484420969083],[-0.46135304025704127,1.1357022807020458]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[0.0064433748900283305,-1.0191288297063275,0.71338606911949],"aabb_xy":[[-0.004801680680589505,-1.0303706274304225],[0.017688430460646165,-1.007887031982232]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.19552641669641868,1.6064823810585227,0.71338606911949],"aabb_xy":[[0.17335388971976784,1.5843067139023994],[0.2176989436730695,1.6286580482146455]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.571894293106644,-1.0857446042474779,0.71338606911949],"aabb_xy":[[0.48689429441456933,-1.1177304676423567],[0.6568942917987186,-1.053758740852599]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.44900976300644047,0.6838193632178982,0.71338606911949],"aabb_xy":[[0.3990149300784989,0.6338193643226546],[0.4990045959343821,0.7338193621131417]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[0.443180116803517,-1.9739752915497286,0.71338606911949],"aabb_xy":[[0.4056801152878852,-1.9852020645658734],[0.48068011831914864,-1.9627485185335833]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[-0.09191608504900284,-0.6007216344073973,0.71338606911949],"aabb_xy":[[-0.13691608651523168,-0.645721491268878],[-0.04691608358277399,-0.5557217775459167]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.3178201686507573,-2.2676799182670275,0.71338606911949],"aabb_xy":[[-0.3878201704595028,-2.2890336870312153],[-0.2478201668420119,-2.2463261495028406]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[-0.4381182431590418,1.2814531553087432,0.71338606911949],"aabb_xy":[[-0.474912876283948,1.2445472802121609],[-0.40132361003413547,1.3183590304053254]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[-0.06150053576426784,0.9027147115000398,0.71338606911949],"aabb_xy":[[-0.12150053561083463,0.845896089307001],[-0.0015005359177010513,0.9595333336930784]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[0.6621852705337921,-0.3049657744855159,0.71338606911949],"aabb_xy":[[0.655771456890607,-0.3113755947331842],[0.6685990841769769,-0.29855595423784753]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.4715776996656348,0.9771525284609268,0.71338606911949],"aabb_xy":[[-0.49609132376264065,0.9528879351588904],[-0.4470640755686289,1.0014171217629633]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[-0.14198256565059164,1.4444306087599625,0.71338606911949],"aabb_xy":[[-0.17847838627787035,1.407946666333205],[-0.10548674502331287,1.48091455118672]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.587534697626965,1.1695474187265509,0.71338606911949],"aabb_xy":[[-0.6475346984877777,1.1181209887200643],[-0.5275346967661521,1.220973848733037]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.5130322846438227,-1.0102982549092074,0.71338606911949],"aabb_xy":[[-0.5770322850213564,-1.0600435217600197],[-0.44903228426628916,-0.9605529880583952]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.10123021092975282,-2.203442464880204,0.71338606911949],"aabb_xy":[[-0.1250664285703579,-2.293442465688691],[-0.07739399328914777,-2.113442464071718]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.14211257083824014,-1.412457009032796,0.71338606911949],"aabb_xy":[[-0.15032711595392406,-1.4211335993304373],[-0.1338980257225561,-1.4037804187351546]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[-0.39404825552417744,-1.6125137525977242,0.71338606911949],"aabb_xy":[[-0.46404825891573936,-1.6478295263011549],[-0.3240482521326154,-1.5771979788942931]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6570370189256398,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5891.png","name":"5891"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5891.png","name":"5891"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7919.png","name":"7919"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/169.png","name":"169"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3580.png","name":"3580"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5934.png","name":"5934"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":801.9514695314281,"rotation_z_degrees":35.39519165189422,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008692301708909458,-0.0071528891767145535,0.010249844323737736]},{"name":"camera_2","offset_m":[-0.019285982895469025,-0.00535454202143062,0.008314785002170259]},{"name":"camera_3","offset_m":[0.005862294165936154,-0.010205139342038358,0.015382027424838959]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00021371681550303345,-0.0008209986099138335,-0.00183603352904237],"end_effector_yaw_offset_degrees":-0.6986102554629163},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009511481457343352,-0.0012372203951752736,-0.0012490955711431356],"end_effector_yaw_offset_degrees":0.4593868493621227},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004526314866514017,-0.0016150916120357462,-0.00010455830389570985],"end_effector_yaw_offset_degrees":0.07741636835584687}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000497120316975087,0.0016576832660984064],"position_m":[0.22389712031697506,-0.027742316733901592,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038822321666995107,-0.004028732218442013],"position_m":[0.25691776783330045,-0.30872873221844205,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033010851220205426,0.002149794172470924],"position_m":[0.14480108512202053,0.2873497941724709,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-6.307977521207916e-05,0.0014749464079463004],"position_m":[0.3266369202247879,0.1849749464079463,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b14ea6412ac09edcb4dace6ae690521d7ba6284959b1964a2f7434138dcced56","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5891/tex_ceiling_textures_5934/tex_floor_textures_3580/tex_table_textures_7919/tex_wall_textures_169","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6157876189857828510,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6157876189857828510,"visual_seed":6157876189857828510,"scene_id":"lab_003","finished_at":"2026-09-03T21:56:58"} +{"episode_id":"ep_000072","started_at":"2026-09-03T21:57:01","dimensions":{"distractor":{"count":31,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.5310154281534651,0.8046943096310262,0.71338606911949],"aabb_xy":[[0.4410154316525933,0.7587826672125677],[0.6210154246543368,0.8506059520494842]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.512673191222462,-0.41703715063554414,0.71338606911949],"aabb_xy":[[0.5032557166525993,-0.42645332777326317],[0.5220906657923248,-0.4076209734978251]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.6525184799776267,-2.174144955997338,0.71338606911949],"aabb_xy":[[-0.6900184800832195,-2.1809671178503183],[-0.6150184798720336,-2.1673227941443565]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[-0.6399010247917511,-0.7302510723737192,0.71338606911949],"aabb_xy":[[-0.6574010239261182,-0.7401306994113069],[-0.6224010256573839,-0.7203714453361313]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.5626269419433789,-2.42916928701097,0.71338606911949],"aabb_xy":[[-0.5801268753773623,-2.4466692869312046],[-0.5451270085093955,-2.4116692870907355]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[0.5968052810484468,-1.7597389805074357,0.71338606911949],"aabb_xy":[[0.5328052806709132,-1.8094842473582478],[0.6608052814259804,-1.7099937136566232]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[-0.5353587108917763,0.6290657191801747,0.71338606911949],"aabb_xy":[[-0.583164878505545,0.5640657164731157],[-0.4875525432780077,0.6940657218872336]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.10144923528572469,-1.7428734521821505,0.71338606911949],"aabb_xy":[[0.06411795876048207,-1.777526506977003],[0.13878051181096732,-1.7082203973872985]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.6189542616381212,-0.042879294233069576,0.71338606911949],"aabb_xy":[[0.5844919142399791,-0.07737317663089226],[0.6534166090362628,-0.00838541183524688]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[0.2591345243556218,-0.5999331427053562,0.71338606911949],"aabb_xy":[[0.20916123035236128,-0.6499331432599035],[0.3091078183588822,-0.5499331421508088]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.19835515467982734,-0.734541290030299,0.71338606911949],"aabb_xy":[[-0.23585515497200213,-0.7385827654309025],[-0.1608551543876525,-0.7304998146296953]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[-0.10279558220876528,-1.624195098026243,0.71338606911949],"aabb_xy":[[-0.12468532979770607,-1.7141950953154919],[-0.08090583461982447,-1.5341951007369936]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[0.06106276368278951,1.0864230441065583,0.71338606911949],"aabb_xy":[[0.04859540557305387,1.073957719473235],[0.07353012179252516,1.098888368739882]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.6651010637187549,-1.4144783744181062,0.71338606911949],"aabb_xy":[[0.6606704343639148,-1.419926746152789],[0.6695316930735952,-1.409030002683424]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[-0.034212879542703356,1.0355339949757667,0.71338606911949],"aabb_xy":[[-0.055490887686175605,0.9705339926496934],[-0.012934871399231107,1.1005339973018395]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.26787694193286515,-0.896888270059484,0.71338606911949],"aabb_xy":[[0.23356066475824716,-0.9468882700326618],[0.30219321910748304,-0.8468882700863064]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.40793624247807564,-0.030191130745463646,0.71338606911949],"aabb_xy":[[-0.43043624299011624,-0.052682989110862],[-0.38543624196603504,-0.007699272380065288]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.45735752009004416,0.18266644301862422,0.71338606911949],"aabb_xy":[[-0.46332405903077994,0.17670529835926022],[-0.45139098114930837,0.1886275876779883]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.1179233957065644,-2.1867866413469716,0.71338606911949],"aabb_xy":[[-0.18192339761890675,-2.242697790604982],[-0.05392339379422206,-2.130875492088961]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.24246841215226322,0.8376485698356757,0.71338606911949],"aabb_xy":[[0.2245993043978077,0.8238156618584647],[0.2603375199067187,0.8514814778128865]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.3791756412989087,0.8146723653035624,0.71338606911949],"aabb_xy":[[0.3674074545042511,0.7296723653983409],[0.3909438280935662,0.8996723652087841]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[-0.04497713025458561,0.5196322577386807,0.71338606911949],"aabb_xy":[[-0.05310481844789883,0.5107186493279731],[-0.036849442061272386,0.5285458661493884]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[-0.24661756344143948,0.6742742663881063,0.71338606911949],"aabb_xy":[[-0.25855029780326755,0.6618921135802469],[-0.2346848290796114,0.6866564191959657]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[0.0626788598761433,-1.4513841434457353,0.71338606911949],"aabb_xy":[[-0.02732114245787577,-1.528866498030848],[0.15267886221016236,-1.3739017888606226]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_24","position":[-0.07904015580885093,-1.1429115982060385,0.71338606911949],"aabb_xy":[[-0.11150185669077836,-1.1730444303209406],[-0.04657845492692345,-1.1127787660911355]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[-0.0989375844764796,1.4421611709391686,0.71338606911949],"aabb_xy":[[-0.18393758289390283,1.3572868754768836],[-0.013937586059056373,1.5270354664014536]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[-0.18924879458930255,-1.944796658286629,0.71338606911949],"aabb_xy":[[-0.25424879554642976,-1.996744870220335],[-0.12424879363217535,-1.8928484463529238]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_27","position":[-0.008898650241968342,-2.5679499190332256,0.71338606911949],"aabb_xy":[[-0.019466129900067353,-2.578494949146234],[0.0016688294161306683,-2.557404888920217]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_28","position":[-0.42499941444083467,-1.497202053014701,0.71338606911949],"aabb_xy":[[-0.4749782229511505,-1.5472020530204198],[-0.3750206059305187,-1.4472020530089822]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[-0.5151068115970109,-0.8631130193632448,0.71338606911949],"aabb_xy":[[-0.5801068097529299,-0.889409263913157],[-0.4501068134410918,-0.8368167748133326]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_30","position":[0.07382449375347444,-2.2174103419917257,0.71338606911949],"aabb_xy":[[0.04004893456278147,-2.2314488372048906],[0.10760005294416741,-2.203371846778561]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6571258050638019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2376.png","name":"2376"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2376.png","name":"2376"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5503.png","name":"5503"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7391.png","name":"7391"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1428.png","name":"1428"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7758.png","name":"7758"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":676.4582004436064,"rotation_z_degrees":253.13735971745677,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00015790531458119428,0.0002782543021895498,-0.00967953899318962]},{"name":"camera_2","offset_m":[0.01659945348546463,-0.0037848974234847843,-0.0006225392568593516]},{"name":"camera_3","offset_m":[-0.0045735065914721765,-0.017097392981287717,-0.00686144828964471]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-1.5806200060105788e-05,-0.0002740910292403705,-0.00018397147879507803],"end_effector_yaw_offset_degrees":0.027801802961242128},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005906253193027774,-0.00020424111377474654,0.0003253821210331682],"end_effector_yaw_offset_degrees":0.2734528977388544},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008486199143944843,-0.0005421380326096222,-0.0003525670281797986],"end_effector_yaw_offset_degrees":0.9531731989708891}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00418261121421842,-0.0030340225377098982],"position_m":[0.21921738878578156,-0.0324340225377099,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006972196604202461,0.001837728337332453],"position_m":[0.26010278033957973,-0.30286227166266755,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031854807809782145,-0.00030405490200132845],"position_m":[0.1446854807809782,0.2848959450979987,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006049109062232494,-0.000256221945405111],"position_m":[0.3260950890937767,0.18324377805459488,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"85cd6383b8a3afa1d038a8dadb586f0c3ddd6b525a36ad4fe7b9619f6e4866cf","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2376/tex_ceiling_textures_7758/tex_floor_textures_1428/tex_table_textures_5503/tex_wall_textures_7391","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6891646909449942913,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6891646909449942913,"visual_seed":6891646909449942913,"scene_id":"lab_003","finished_at":"2026-09-03T21:59:37"} +{"episode_id":"ep_000073","started_at":"2026-09-03T21:59:41","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.0836642564789265,-1.267023028999432,0.71338606911949],"aabb_xy":[[0.07275848039136378,-1.3470230253982611],[0.0945700325664892,-1.1870230326006028]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.18247274254532075,1.0614631711549984,0.71338606911949],"aabb_xy":[[0.17162113629644515,1.0506038804273474],[0.19332434879419635,1.0723224618826495]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[0.3999812953190012,-0.7245238722730987,0.71338606911949],"aabb_xy":[[0.3946487806643882,-0.7298482005183342],[0.40531380997361416,-0.7191995440278631]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.2300182756581246,1.5914469167226994,0.71338606911949],"aabb_xy":[[0.22060080108826183,1.5820307395849804],[0.23943575022798733,1.6008630938604185]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[-0.4422951858920316,-0.02880619351806679,0.71338606911949],"aabb_xy":[[-0.4922951862525976,-0.07878618072766973],[-0.3922951855314655,0.02117379369153615]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.2870990224309506,0.5257864013057811,0.71338606911949],"aabb_xy":[[-0.3092715494076014,0.503610734149658],[-0.2649264954542997,0.5479620684619043]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.22071027161941048,-1.5901198827134808,0.71338606911949],"aabb_xy":[[0.14071026835539732,-1.6036799150223942],[0.3007102748834236,-1.5765598504045675]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.4088238190931988,-2.3762400307135585,0.71338606911949],"aabb_xy":[[-0.4313238191033471,-2.3903362503531618],[-0.3863238190830505,-2.362143811073955]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.5605340843178921,-1.0773560351164624,0.71338606911949],"aabb_xy":[[0.47084700800977664,-1.167356035370913],[0.6502211606260075,-0.9873560348620118]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.0005199535436128944,-1.5602955049409102,0.71338606911949],"aabb_xy":[[-0.036980047972018815,-1.5715222779570552],[0.0380199550592446,-1.5490687319247651]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.6374358292109961,-2.1729694569691427,0.71338606911949],"aabb_xy":[[0.614939407777132,-2.19546945677589],[0.6599322506448602,-2.1504694571623952]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.2790443138310791,-0.8569624815060377,0.71338606911949],"aabb_xy":[[0.26154431358602964,-0.8744622693456044],[0.2965443140761284,-0.8394626936664707]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.46746928751330474,-1.7786933749345337,0.71338606911949],"aabb_xy":[[-0.5314692889212953,-1.8304823264584584],[-0.4034692861053141,-1.726904423410609]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[0.10842364628725198,-1.407236830223715,0.71338606911949],"aabb_xy":[[0.09084534409830514,-1.42481131979782],[0.12600194847619883,-1.3896623406496105]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.15775415269261728,-1.6444118964698269,0.71338606911949],"aabb_xy":[[-0.16183231059966702,-1.64849287671809],[-0.15367599478556754,-1.6403309162215634]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.12298825846541328,-1.2238360482441806,0.71338606911949],"aabb_xy":[[-0.15890176289040298,-1.259749556460935],[-0.08707475404042359,-1.1879225400274258]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.28439152826194136,0.9453867191291963,0.71338606911949],"aabb_xy":[[-0.31939152745475957,0.9344196731315335],[-0.24939152906912304,0.9563537651268588]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.5407031296558921,1.7005586754163882,0.71338606911949],"aabb_xy":[[-0.600703130163745,1.6437119417304666],[-0.4807031291480392,1.7574054091023092]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.4390250143011966,0.5990588216555075,0.71338606911949],"aabb_xy":[[-0.5030250114133024,0.5500264518610969],[-0.375025017189091,0.6480911914499181]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[0.07224625627451509,1.5174005072150254,0.71338606911949],"aabb_xy":[[0.012246255678498921,1.462588034669802],[0.13224625687053126,1.5722129797602489]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[-0.5698438825598253,-2.4181749359887483,0.71338606911949],"aabb_xy":[[-0.5998355452936954,-2.4481749353255484],[-0.5398522198259548,-2.3881749366519474]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625470945756528,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7861.png","name":"7861"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7861.png","name":"7861"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5715.png","name":"5715"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3959.png","name":"3959"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4680.png","name":"4680"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8698.png","name":"8698"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":704.06258365326,"rotation_z_degrees":297.73421969976613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005392673395531584,0.00959361272271228,0.007761001019208017]},{"name":"camera_2","offset_m":[0.009199947456128905,-0.016862173373049516,-0.01672967033071602]},{"name":"camera_3","offset_m":[0.0008394030170919102,-0.0034092948525895964,0.012962562161478033]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.475325051498706e-05,0.001957810762781051,-0.0011738204756802672],"end_effector_yaw_offset_degrees":0.43274550127752054},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00045191728284712336,-0.00032730092116957463,0.001609863423792388],"end_effector_yaw_offset_degrees":0.29754975280005613},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017737346333938238,-0.0001579181957314026,0.00018351486294016948],"end_effector_yaw_offset_degrees":-0.6223007623263732}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003859457786453695,0.004242656497197819],"position_m":[0.2195405422135463,-0.02515734350280218,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032752707527452874,-0.002270335683100836],"position_m":[0.2640752707527453,-0.30697033568310084,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00014726586117132408,8.613922916910106e-05],"position_m":[0.14135273413882865,0.2852861392291691,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037727152363777995,0.0016684487749313616],"position_m":[0.3229272847636222,0.18516844877493135,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8b2b5109878b849b9bf7543306fa14d9f5c5d488d8f1a940a03b79ac88451b06","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7861/tex_ceiling_textures_8698/tex_floor_textures_4680/tex_table_textures_5715/tex_wall_textures_3959","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2281481208651449591,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2281481208651449591,"visual_seed":2281481208651449591,"scene_id":"lab_003","finished_at":"2026-09-03T22:02:16"} +{"episode_id":"ep_000074","started_at":"2026-09-03T22:02:19","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.1858143817646084,0.08537699813506316,0.71338606911949],"aabb_xy":[[-0.19844116905180476,0.07583092443349024],[-0.17318759447741205,0.09492307183663604]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.6107442751674259,0.9581043061955858,0.71338606911949],"aabb_xy":[[0.6013972675851307,0.9438006839779418],[0.6200912827497211,0.9724079284132299]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[-0.44444802980910614,-0.6935293656203836,0.71338606911949],"aabb_xy":[[-0.5244418533876645,-0.7735293682132253],[-0.364454206230548,-0.6135293630275421]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[0.4625123273397318,0.5076447527746568,0.71338606911949],"aabb_xy":[[0.3825123303766926,0.43056911113088325],[0.542512324302771,0.5847203944184302]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[-0.4270737180862267,-2.361002249864881,0.71338606911949],"aabb_xy":[[-0.4319173128474567,-2.3658539023438654],[-0.42223012332499676,-2.356150597385897]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[-0.22793911299958736,0.9357267147509263,0.71338606911949],"aabb_xy":[[-0.265439113664166,0.920039656750704],[-0.19043911233500863,0.9514137727511484]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.25604182747765036,-0.13272386186567653,0.71338606911949],"aabb_xy":[[-0.3060148930101659,-0.18272386167820942],[-0.20606876194513496,-0.08272386205314362]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.23841139414972073,1.4621513479808228,0.71338606911949],"aabb_xy":[[-0.2984113947457369,1.4073388754355993],[-0.17841139355370456,1.5169638205260463]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[-0.6219841969088826,1.0032144442951885,0.71338606911949],"aabb_xy":[[-0.6306821591995979,0.9910894699877137],[-0.6132862346181673,1.0153394186026632]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.13916787511746853,1.7118665954456396,0.71338606911949],"aabb_xy":[[-0.18916787376338973,1.6619470517861772],[-0.08916787647154734,1.761786139105102]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.027468239260873384,-1.702593251217503,0.71338606911949],"aabb_xy":[[-0.022531761099692675,-1.752573238427106],[0.07746823962143944,-1.6526132640079]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.04471558817228449,-2.0975783402391794,0.71338606911949],"aabb_xy":[[0.010399310997666548,-2.147578340212357],[0.07903186534690243,-2.0475783402660017]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.42639968918131155,1.4231080016845543,0.71338606911949],"aabb_xy":[[0.33639968976294066,1.3897325048403644],[0.5163996885996824,1.4564834985287438]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.4542808394748252,-1.3601208941019354,0.71338606911949],"aabb_xy":[[-0.47214994722928066,-1.3739538020791464],[-0.4364117317203697,-1.3462879861247243]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.5466835050013328,0.06776038819601826,0.71338606911949],"aabb_xy":[[0.5245109780246818,0.04558472103989509],[0.5688560319779835,0.08993605535214144]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.20836841407828993,-0.2951931210571255,0.71338606911949],"aabb_xy":[[-0.25825111095598613,-0.3451931203034002],[-0.1584857172005937,-0.24519312181085073]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[0.38585849137612915,-0.9694290502388019,0.71338606911949],"aabb_xy":[[0.3218584949805561,-1.0333923386575354],[0.44985848777170223,-0.9054657618200682]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.08700894255461866,-0.5676611022971896,0.71338606911949],"aabb_xy":[[-0.09988084605555879,-0.6476611027110256],[-0.07413703905367851,-0.4876611018833534]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[-0.13681389000550426,0.4698639386964527,0.71338606911949],"aabb_xy":[[-0.18198520785367328,0.40586394155191435],[-0.09164257215733533,0.5338639358409911]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[-0.2478769945789162,-1.9964450826375786,0.71338606911949],"aabb_xy":[[-0.27146211804281106,-2.06144508488301],[-0.22429187111502136,-1.9314450803921466]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.15972746617020028,0.708651930757572,0.71338606911949],"aabb_xy":[[-0.19722746627579324,0.7018297689045908],[-0.12222746606460734,0.7154740926105531]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[0.3781388247125379,1.2054286757295865,0.71338606911949],"aabb_xy":[[0.3141388244385596,1.1553625755322985],[0.4421388249865161,1.2554947759268744]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.12214236212807406,1.2933369391588379,0.71338606911949],"aabb_xy":[[-0.13350409678136022,1.2819684727525493],[-0.1107806274747879,1.3047054055651255]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[0.05593466301662997,-1.3642854220004934,0.71338606911949],"aabb_xy":[[0.0009346638400404839,-1.4192750967754508],[0.11093466219321946,-1.3092957472255355]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.5863779853914006,1.098883429420193,0.71338606911949],"aabb_xy":[[-0.6213779867428822,1.0785236934633722],[-0.5513779840399188,1.1192431653770138]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[0.4470680906670843,-0.00854140579139262,0.71338606911949],"aabb_xy":[[0.42700967905384407,-0.028606492700550157],[0.46712650228032465,0.011523681117764917]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_26","position":[-0.6081386526860098,-2.2785073193447025,0.71338606911949],"aabb_xy":[[-0.6174322709231603,-2.316007317832836],[-0.5988450344488592,-2.241007320856568]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_27","position":[-0.5156769547561616,0.3751698824037115,0.71338606911949],"aabb_xy":[[-0.6056769584330797,0.3137374758266071],[-0.4256769510792433,0.43660228898081577]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_28","position":[-0.07874292165240726,0.3060734194525421,0.71338606911949],"aabb_xy":[[-0.09637575724593483,0.288450473436919],[-0.061110086058879694,0.32369636546816494]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_29","position":[0.10965968660452563,0.9524034888088528,0.71338606911949],"aabb_xy":[[0.07465968670850677,0.9440292532969128],[0.1446596865005445,0.9607777243207927]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_30","position":[-0.6419384671140734,-1.388480055817441,0.71338606911949],"aabb_xy":[[-0.6880235583688048,-1.4524800530699962],[-0.5958533758593418,-1.324480058564886]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_31","position":[0.49079100262379294,-0.5629767194644906,0.71338606911949],"aabb_xy":[[0.42679100532144654,-0.6073431464323472],[0.5547909999261393,-0.5186102924966337]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_32","position":[0.5594888266706102,-1.888456048181053,0.71338606911949],"aabb_xy":[[0.5043636210410194,-1.94845604962234],[0.614614032300201,-1.8284560467397657]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_33","position":[-0.6044147750839174,1.357362079576728,0.71338606911949],"aabb_xy":[[-0.6543880690871778,1.3073620790221805],[-0.5544414810806569,1.4073620801312752]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_34","position":[-0.5060923861316651,-1.7862019328469487,0.71338606911949],"aabb_xy":[[-0.5434236626569078,-1.820854987641801],[-0.4687611096064226,-1.7515488780520965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6611128807994388,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6726.png","name":"6726"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6726.png","name":"6726"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5441.png","name":"5441"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9069.png","name":"9069"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5277.png","name":"5277"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1188.png","name":"1188"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":848.6271626995767,"rotation_z_degrees":159.85253301741142,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013747530376529355,-0.013737859474552524,-0.010689991701070838]},{"name":"camera_2","offset_m":[-0.006152954815928147,-0.009161400256087235,-0.01224476068647022]},{"name":"camera_3","offset_m":[-0.019060635073161677,-0.015263860960505356,0.0018512245411588038]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005702618872086261,0.0007886560954123187,0.0013776877760874962],"end_effector_yaw_offset_degrees":-0.1718064421104084},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002887053544313792,0.0008148018464765741,0.0011027920349003096],"end_effector_yaw_offset_degrees":0.89189061739906},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010939159242842477,-0.0009808159496897972,0.0016188338114271192],"end_effector_yaw_offset_degrees":-0.21785816798287905}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001625897361237688,0.003967040512637027],"position_m":[0.2217741026387623,-0.02543295948736297,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019750061635819115,-0.0016618260349358315],"position_m":[0.2627750061635819,-0.30636182603493584,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025640977903223974,0.00016490211189017136],"position_m":[0.13893590220967758,0.2853649021118902,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019188449321894153,-0.004348002035724011],"position_m":[0.3247811550678106,0.179151997964276,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f24a514b464a39e3d8e5bd24c5960b7c55c1281b99a7a0aa4625c29cfd6ab1e8","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0074.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6726/tex_ceiling_textures_1188/tex_floor_textures_5277/tex_table_textures_5441/tex_wall_textures_9069","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4234808526777744057,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4234808526777744057,"visual_seed":4234808526777744057,"scene_id":"lab_003","finished_at":"2026-09-03T22:04:56"} +{"episode_id":"ep_000075","started_at":"2026-09-03T22:04:59","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[-0.34860201599491486,0.09534269986422128,0.71338606911949],"aabb_xy":[[-0.41260201804464686,0.05524821677491332],[-0.28460201394518286,0.13543718295352924]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.3217739091601717,-2.4799186912320903,0.71338606911949],"aabb_xy":[[-0.33927384259415505,-2.497418691152325],[-0.3042739757261883,-2.4624186913118558]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.6013841708830749,0.6658799443495509,0.71338606911949],"aabb_xy":[[-0.6238841713951155,0.6433880859841524],[-0.5788841703710343,0.6883718027149491]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[0.15726438987928448,-1.2704383181278167,0.71338606911949],"aabb_xy":[[0.07726438880616415,-1.280216364465201],[0.2372643909524048,-1.260660271790432]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[0.6556308595830038,0.9879211339454552,0.71338606911949],"aabb_xy":[[0.6146129161966328,0.937921133314498],[0.6966488029693746,1.0379211345764126]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.2456139717713003,1.1066906485372185,0.71338606911949],"aabb_xy":[[0.2280356695823534,1.0891161589631135],[0.26319227396024714,1.1242651381113236]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.4973085495728231,-1.0284999646550619,0.71338606911949],"aabb_xy":[[-0.5472914997603023,-1.078499964297622],[-0.4473255993853437,-0.9784999650125014]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[-0.4682829437302686,0.6930161371615582,0.71338606911949],"aabb_xy":[[-0.4729180588825019,0.6891488020844094],[-0.46364782857803516,0.6968834722387067]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.6138188016111694,0.07443835188906434,0.71338606911949],"aabb_xy":[[0.5677337103564379,0.010438354636509243],[0.6599038928659009,0.13843834914161945]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[0.6367776920456738,-1.3466862196471499,0.71338606911949],"aabb_xy":[[0.6189841851107574,-1.3644859652429475],[0.6545711989805902,-1.3288864740513522]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[0.19036912029676445,1.7014018164062663,0.71338606911949],"aabb_xy":[[0.13537364247610506,1.646401814972359],[0.24536459811742384,1.7564018178401728]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[0.4924706822768665,1.5861963058070905,0.71338606911949],"aabb_xy":[[0.4424918737665506,1.5361963058013717],[0.5424494907871824,1.6361963058128093]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.3366936565165788,-1.865058364714395,0.71338606911949],"aabb_xy":[[-0.34395490408698626,-1.8778453749779045],[-0.32943240894617143,-1.8522713544508855]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[0.3850688850613704,-2.5081115299267314,0.71338606911949],"aabb_xy":[[0.3050688864044844,-2.5226163888509943],[0.4650688837182564,-2.4936066710024685]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.5983601696883094,-0.8758509944719179,0.71338606911949],"aabb_xy":[[0.5483827528230556,-0.9258509959611665],[0.6483375865535628,-0.8258509929826694]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[0.6000076462448833,-2.4659089334312827,0.71338606911949],"aabb_xy":[[0.5774939544214261,-2.53590893403229],[0.6225213380683405,-2.3959089328302747]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.21885563701186905,0.8224685700689274,0.71338606911949],"aabb_xy":[[0.2108193023105842,0.8144304507645105],[0.2268919717131539,0.830506689373344]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[0.5672878705702007,-2.2105096983895596,0.71338606911949],"aabb_xy":[[0.5593645903314525,-2.233009698627563],[0.5752111508089491,-2.188009698151556]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[-0.31766047971190176,1.382302578941974,0.71338606911949],"aabb_xy":[[-0.33516047898998863,1.364964478875628],[-0.3001604804338149,1.39964067900832]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[0.10745825768242723,-1.9899307895424498,0.71338606911949],"aabb_xy":[[0.08495912195620024,-2.012430790320713],[0.1299573934086542,-1.9674307887641869]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.11032855457521118,1.3574049615521786,0.71338606911949],"aabb_xy":[[-0.19032855153825035,1.280329319908405],[-0.030328557612172014,1.4344806031959518]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.2203934579741561,-0.5404273018756451,0.71338606911949],"aabb_xy":[[0.2025243502197006,-0.554260209852856],[0.2382625657286116,-0.5265943938984341]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.22438013169396331,-2.3798159348150163,0.71338606911949],"aabb_xy":[[0.2019153617225582,-2.402315935693877],[0.24684490166536843,-2.357315933936156]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[0.4708760669063812,-0.008564130319190344,0.71338606911949],"aabb_xy":[[0.42087606595584837,-0.04011327732271175],[0.520876067856914,0.02298501668433106]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_24","position":[0.5144365256517061,1.7908107493750696,0.71338606911949],"aabb_xy":[[0.5064102550210801,1.782059254397717],[0.522462796282332,1.7995622443524222]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[0.3401160171245732,-2.2763520079615733,0.71338606911949],"aabb_xy":[[0.3058191061068325,-2.310648894171514],[0.37441292814231375,-2.2420551217516316]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_26","position":[-0.6351688487800201,-1.1052278502636406,0.71338606911949],"aabb_xy":[[-0.6525995638590266,-1.1224999649274912],[-0.6177381337010136,-1.0879557355997895]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_27","position":[-0.36655019525527593,0.29567718521525643,0.71338606911949],"aabb_xy":[[-0.3868344979786747,0.27539456007254753],[-0.3462658925318772,0.3159598103579652]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_28","position":[0.3858508840591406,-1.545803647014592,0.71338606911949],"aabb_xy":[[0.37643340948927784,-1.555219824152311],[0.39526835862900334,-1.536387469876873]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_29","position":[-0.30215001401280367,-2.3828621463561372,0.71338606911949],"aabb_xy":[[-0.332141676746674,-2.4128621456929378],[-0.27215835127893334,-2.3528621470193367]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_30","position":[0.3170894193297342,-1.1536587860582204,0.71338606911949],"aabb_xy":[[0.22708941565281598,-1.2150911926353245],[0.4070894230066523,-1.0922263794811158]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_31","position":[-0.1567332432986973,-2.153609225524409,0.71338606911949],"aabb_xy":[[-0.22073324357267554,-2.2036753257216963],[-0.09273324302471908,-2.1035431253271204]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_32","position":[0.05022537615612033,-1.6211495986400166,0.71338606911949],"aabb_xy":[[-0.013774626064286699,-1.665522682765305],[0.11422537837652735,-1.5767765145147283]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6640812007720024,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1502.png","name":"1502"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1502.png","name":"1502"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9393.png","name":"9393"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/617.png","name":"617"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7194.png","name":"7194"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3885.png","name":"3885"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":651.8964928867359,"rotation_z_degrees":129.95100860349245,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0015871106930894809,0.0049269979884223325,0.014760284686556224]},{"name":"camera_2","offset_m":[0.003971920652650614,0.009335280684432248,0.010665423564828354]},{"name":"camera_3","offset_m":[-0.014055719411757588,0.016403620439455455,0.0001493401054813298]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015617685119307643,0.0010162479635755007,-0.000741176112237413],"end_effector_yaw_offset_degrees":0.5584550860051465},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001050266066736328,-0.0019529416424679447,-0.0001158162719106853],"end_effector_yaw_offset_degrees":0.8408550315840684},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009997529815123376,-1.7944724082427036e-05,0.0008910681242489992],"end_effector_yaw_offset_degrees":0.6648840157520686}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004237761385979234,-0.0041828047531837585],"position_m":[0.21916223861402076,-0.03358280475318376,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004966465206205057,-0.002345891411829286],"position_m":[0.26576646520620506,-0.3070458914118293,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037386421731103415,-0.0031610054717863367],"position_m":[0.14523864217311033,0.2820389945282137,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017416770365509503,-0.0006139709645313586],"position_m":[0.3284416770365509,0.18288602903546863,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b3a063fa5574f95f20150759d200167c06c036e32922577bc4e884bd708ba729","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0075.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1502/tex_ceiling_textures_3885/tex_floor_textures_7194/tex_table_textures_9393/tex_wall_textures_617","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":9368403512944852,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":9368403512944852,"visual_seed":9368403512944852,"scene_id":"lab_003","finished_at":"2026-09-03T22:07:36"} +{"episode_id":"ep_000076","started_at":"2026-09-03T22:07:40","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[0.01941632114341829,-1.3172234569081733,0.71338606911949],"aabb_xy":[[-0.03055697285984216,-1.3672234574627207],[0.06938961514667874,-1.267223456353626]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.4287973049776286,-1.993714458371254,0.71338606911949],"aabb_xy":[[0.36479730275722155,-2.0380875424965423],[0.4927973071980356,-1.9493413742459658]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.589721609175349,0.4580460773992101,0.71338606911949],"aabb_xy":[[-0.653721612465057,0.4147111583952925],[-0.5257216058856408,0.5013809964031277]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[0.6347851917940361,-0.25229423521746996,0.71338606911949],"aabb_xy":[[0.5796599861644454,-0.31229423665875705],[0.6899103974236269,-0.1922942337761828]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.5313870556115701,1.4601787858732487,0.71338606911949],"aabb_xy":[[-0.6213870521124418,1.4142671434547902],[-0.44138705911069837,1.5060904282917067]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.44152683768210865,-0.8590609238140317,0.71338606911949],"aabb_xy":[[0.37753114028701196,-0.9230609221147402],[0.5055225350772051,-0.7950609255133229]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[0.5432331446547991,-0.0255587629269014,0.71338606911949],"aabb_xy":[[0.5253640369003435,-0.03939167090411233],[0.5611022524092545,-0.011725854949690473]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.34782526931604696,-0.5883755542910349,0.71338606911949],"aabb_xy":[[-0.37411409363648757,-0.6146469879456862],[-0.32153644499560624,-0.5621041206363837]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.4332187031711694,-0.6874272212683443,0.71338606911949],"aabb_xy":[[0.40322704043729907,-0.7174272206051447],[0.4632103659050397,-0.6574272219315437]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.6975820128086148,-2.3482081506754184,0.71338606911949],"aabb_xy":[[0.6895386528826596,-2.433208151770785],[0.7056253727345699,-2.263208149580052]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.4851225113742712,-1.7650458669838227,0.71338606911949],"aabb_xy":[[0.46732900443935477,-1.7828456125796206],[0.5029160183091876,-1.7472461213880253]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.3176168295956813,-1.4569529473741711,0.71338606911949],"aabb_xy":[[-0.33524966518920885,-1.4745758933897941],[-0.2999839940021537,-1.4393300013585482]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[0.717584856948746,-0.7114785955839171,0.71338606911949],"aabb_xy":[[0.7135066990416962,-0.7155595758321804],[0.7216630148557955,-0.7073976153356538]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[0.40257760858667724,-0.22358246625373912,0.71338606911949],"aabb_xy":[[0.38651568112815954,-0.3085824680663309],[0.4186395360451948,-0.13858246444114727]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.5692664317950449,-0.24213397930220504,0.71338606911949],"aabb_xy":[[-0.6492664303823642,-0.32144958124036593],[-0.4892664332077254,-0.16281837736404414]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.5298380957460012,0.8543743687578464,0.71338606911949],"aabb_xy":[[0.5073416743121371,0.8318743689510989],[0.5523345171798653,0.8768743685645938]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.153312470998755,-0.8516233483189428,0.71338606911949],"aabb_xy":[[-0.17085916591487393,-0.8891233498831942],[-0.13576577608263607,-0.8141233467546917]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[-0.4124431993012042,-1.6861930382974615,0.71338606911949],"aabb_xy":[[-0.47244320094412606,-1.7381931875894059],[-0.35244319765828236,-1.6341928890055175]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.35429603880020877,1.505026982597451,0.71338606911949],"aabb_xy":[[0.30432297326769336,1.455026982784918],[0.40426910433272434,1.555026982409984]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.2328862220030422,0.6562002843873249,0.71338606911949],"aabb_xy":[[0.19538622171086736,0.6521588089867214],[0.270386222295217,0.6602417597879287]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.29213183686224364,-1.7521691628387033,0.71338606911949],"aabb_xy":[[0.2860948238615789,-1.7581958639076518],[0.29816884986290837,-1.7461424617697556]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[0.6982400006011824,-0.40971387175246043,0.71338606911949],"aabb_xy":[[0.6823555073358571,-0.4240668120512845],[0.7141244938665074,-0.3953609314536364]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.34599305673098235,-1.855937577657476,0.71338606911949],"aabb_xy":[[0.3277872330697347,-1.866962978239468],[0.36419888039223003,-1.8449121770754848]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[-0.34103536393774153,0.3045742157473663,0.71338606911949],"aabb_xy":[[-0.4210353650108619,0.2947961694099819],[-0.26103536286462126,0.31435226208475076]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[-0.38838117539256906,0.6210374487209727,0.71338606911949],"aabb_xy":[[-0.4383811740384902,0.5711179050615102],[-0.3383811767466478,0.6709569923804349]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_25","position":[0.07464583485852194,-1.5695278065575724,0.71338606911949],"aabb_xy":[[0.02063023857662194,-1.6335278094498293],[0.12866143114042194,-1.505527803665315]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_26","position":[0.623997648140304,0.05631818545588496,0.71338606911949],"aabb_xy":[[0.5864976477920762,0.04452678987480141],[0.6614976484885318,0.06810958103696851]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_27","position":[0.39089838719275427,-2.341271280759039,0.71338606911949],"aabb_xy":[[0.3544025665654755,-2.3777552231857966],[0.42739420782003296,-2.3047873383322814]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_28","position":[-0.5581626639727113,1.0436802497946194,0.71338606911949],"aabb_xy":[[-0.6081626643332774,0.9937002625850165],[-0.5081626636121452,1.0936602370042223]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[0.04679465095262059,1.3806396960403382,0.71338606911949],"aabb_xy":[[0.038080681902686084,1.3581396953811498],[0.05550862000255506,1.4031396966995262]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_30","position":[0.024611907935514155,-1.8434149013173635,0.71338606911949],"aabb_xy":[[-0.035388092660502024,-1.898227373862587],[0.08461190853153033,-1.78860242877214]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_31","position":[-0.36882024592351526,0.7667060550160296,0.71338606911949],"aabb_xy":[[-0.40632024602910816,0.7598838931630483],[-0.33132024581792224,0.7735282168690105]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615777271185219,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/590.png","name":"590"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/590.png","name":"590"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2260.png","name":"2260"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7905.png","name":"7905"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1269.png","name":"1269"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/442.png","name":"442"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":536.7483595152352,"rotation_z_degrees":138.38663032029615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017916153732552016,-0.005619116060707396,-0.009123410326218022]},{"name":"camera_2","offset_m":[-0.003000775072497488,-0.014264287391184207,0.004713236959146411]},{"name":"camera_3","offset_m":[-0.01181511619824462,-0.01459317095717152,-0.0005551779115472097]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00042075613922385466,-0.00015947966297302188,0.0016595930405953647],"end_effector_yaw_offset_degrees":-0.3454730672397348},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017637358675559119,0.00042425282001930156,0.0010846538155964637],"end_effector_yaw_offset_degrees":-0.6556332678589094},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.918726844191424e-05,0.00030506236304602167,-0.001884804682327677],"end_effector_yaw_offset_degrees":0.6514622622149706}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015147682846022173,0.004733493072660646],"position_m":[0.22491476828460222,-0.024666506927339352,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019290610917304715,-0.002751183196310093],"position_m":[0.26272906109173044,-0.3074511831963101,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00032129340521930803,-0.004107420275722287],"position_m":[0.14117870659478068,0.2810925797242777,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026022660266251853,-0.0008190857817124766],"position_m":[0.3240977339733748,0.18268091421828753,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4f62ff097f8ebbbd93c7744229c2e1a4d2a0c384ba68134f78941c3174a796b7","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0076.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_590/tex_ceiling_textures_442/tex_floor_textures_1269/tex_table_textures_2260/tex_wall_textures_7905","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4390618288835953973,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4390618288835953973,"visual_seed":4390618288835953973,"scene_id":"lab_003","finished_at":"2026-09-03T22:10:20"} +{"episode_id":"ep_000077","started_at":"2026-09-03T22:10:23","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[-0.02273932684918989,-1.1007534938337242,0.71338606911949],"aabb_xy":[[-0.060239327513768585,-1.1164405518339462],[0.014760673815388812,-1.0850664358335018]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.5964421745058661,0.7031506777698096,0.71338606911949],"aabb_xy":[[0.516442171241853,0.6895906454608961],[0.6764421777698792,0.7167107100787228]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.566115462373596,0.19464874452711367,0.71338606911949],"aabb_xy":[[-0.6311154624078988,0.14794806784678638],[-0.5011154623392934,0.24134942120744096]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.030016744952011565,-2.107306620968636,0.71338606911949],"aabb_xy":[[-0.06501674414482983,-2.118273666966298],[0.004983254240806704,-2.096339574970973]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[0.13197224416649378,-2.409292168203387,0.71338606911949],"aabb_xy":[[0.11410313641203829,-2.423125076180598],[0.14984135192094927,-2.395459260226176]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[0.5621981281821944,-0.35110709599969203,0.71338606911949],"aabb_xy":[[0.49819812780466066,-0.40085236285050424],[0.6261981285597279,-0.3013618291488797]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[0.5835396559789048,0.5503850328994262,0.71338606911949],"aabb_xy":[[0.5800989797388476,0.5465235999250617],[0.586980332218962,0.5542464658737907]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.6216771092880382,1.7438219676627384,0.71338606911949],"aabb_xy":[[-0.6393099448815657,1.7261990216471153],[-0.6040442736945105,1.7614449136783612]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.6393953336417968,-0.03102062063896316,0.71338606911949],"aabb_xy":[[-0.6943953318435416,-0.07154258726540073],[-0.584395335440052,0.009501345987474425]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.43803890509357735,-2.049735537476278,0.71338606911949],"aabb_xy":[[0.38855848387961855,-2.1137355353891296],[0.48751932630753614,-1.985735539563426]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[0.4178499078107547,-0.3277691102131177,0.71338606911949],"aabb_xy":[[0.38193640338576496,-0.36368261842987226],[0.45376341223574435,-0.29185560199636307]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.13598853992849547,1.5038793202064524,0.71338606911949],"aabb_xy":[[-0.16647279005552562,1.4538793204249563],[-0.10550428980146531,1.5538793199879481]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[0.363995873570947,0.533368852473691,0.71338606911949],"aabb_xy":[[0.35423988406177304,0.5236063184144565],[0.3737518630801208,0.5431313865329254]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.5390035026906479,-1.9773844008911112,0.71338606911949],"aabb_xy":[[-0.5890035036411806,-2.0089335478946326],[-0.489003501740115,-1.9458352538875896]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[0.5009067023313065,1.137110100299,0.71338606911949],"aabb_xy":[[0.44327623344403555,1.0771101013722892],[0.5585371712185773,1.1971100992257104]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.030399195387544542,-0.7375312988314151,0.71338606911949],"aabb_xy":[[-0.05289919539769283,-0.7516275184710183],[-0.007899195377396247,-0.7234350791918117]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.4966965156010962,-0.12391808649571612,0.71338606911949],"aabb_xy":[[-0.511339921155129,-0.1385768061525004],[-0.48205311004706314,-0.10925936683893182]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.5551960935620498,-0.7782385144997004,0.71338606911949],"aabb_xy":[[-0.6151960940699026,-0.8350852481856217],[-0.4951960930541968,-0.7213917808137791]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.4040726831459228,1.4318022418591947,0.71338606911949],"aabb_xy":[[-0.44157268172154357,1.4190659461956368],[-0.36657268457030195,1.4445385375227526]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.19998302830705617,-1.5264825766227479,0.71338606911949],"aabb_xy":[[0.11998302723393586,-1.5362606229601323],[0.2799830293801765,-1.5167045302853635]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[-0.3098524789397564,-0.6609320949616773,0.71338606911949],"aabb_xy":[[-0.31713479531641997,-0.750932098571186],[-0.30257016256309266,-0.570932091352168]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[0.25555219006571095,1.3157867095514733,0.71338606911949],"aabb_xy":[[0.23305218982219555,1.3035820748917015],[0.27805219030922634,1.3279913442112454]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[-0.5492239905842864,1.4157167705811413,0.71338606911949],"aabb_xy":[[-0.5902419339706573,1.3657167699501842],[-0.5082060471979155,1.4657167712120989]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[-0.16553375962154748,0.32152977258979965,0.71338606911949],"aabb_xy":[[-0.17495123419141023,0.31211359545208056],[-0.15611628505168473,0.3309459497275186]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[0.3455544861231554,-2.348620797732309,0.71338606911949],"aabb_xy":[[0.26555448286531247,-2.428617305524293],[0.4255544893809984,-2.268624289940325]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[0.3156891242599287,1.6128177636776244,0.71338606911949],"aabb_xy":[[0.2657061740724493,1.5628177640350638],[0.36567207444740796,1.6628177633201846]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_26","position":[-0.11036696962626069,1.1710217964737368,0.71338606911949],"aabb_xy":[[-0.1643825659081607,1.1070217935814797],[-0.05635137334436069,1.235021799365994]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_27","position":[0.06807205582846942,-1.8370840798973291,0.71338606911949],"aabb_xy":[[0.05057212239448604,-1.8545840798175635],[0.08557198926245278,-1.8195840799770944]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[0.39735062035543245,-0.5828953285166674,0.71338606911949],"aabb_xy":[[0.3173506231958571,-0.5944429294744843],[0.4773506175150077,-0.5713477275588502]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_29","position":[-0.40094083390564744,-1.1682724230366186,0.71338606911949],"aabb_xy":[[-0.43340253478757484,-1.1984052551515207],[-0.36847913302371993,-1.1381395909217156]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_30","position":[-0.20081188054259036,0.9463243050281154,0.71338606911949],"aabb_xy":[[-0.2648118812460597,0.9003059225551945],[-0.13681187983912102,0.9923426875010365]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[0.06158953714947257,-2.24353671201753,0.71338606911949],"aabb_xy":[[-0.0024104642585180895,-2.2953256635414543],[0.12558953855746322,-2.191747760493605]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.658673912407575,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/997.png","name":"997"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/997.png","name":"997"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2624.png","name":"2624"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1276.png","name":"1276"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3395.png","name":"3395"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8619.png","name":"8619"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":572.7511115109132,"rotation_z_degrees":169.24577695084747,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-6.78437220893724e-05,-0.0018962872691930567,0.01618156533355657]},{"name":"camera_2","offset_m":[0.019316781349056695,0.006191707320283433,0.01056794100982237]},{"name":"camera_3","offset_m":[-0.01339844622107933,0.013074698933247624,0.00753623146560304]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00046649150658694695,-0.0015888976891598214,-1.7989738981931576e-05],"end_effector_yaw_offset_degrees":0.42512037174555695},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013564180201968209,0.0013501441634523243,-1.2826134862887854e-05],"end_effector_yaw_offset_degrees":-0.1654786481452284},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003432152020745188,-0.0016509770716160532,-0.0012766750010136758],"end_effector_yaw_offset_degrees":0.9316532002221412}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003833658684161973,-0.003905607556739711],"position_m":[0.22723365868416195,-0.03330560755673971,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002360567641651391,0.004388758419544009],"position_m":[0.26316056764165136,-0.300311241580456,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004059189455986551,3.831621375830017e-05],"position_m":[0.14555918945598653,0.28523831621375834,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001221989323936642,0.002658545242463133],"position_m":[0.3279219893239366,0.18615854524246314,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0062ad5db35579167234a0cc1d41ba8c16cbe37768a3e80a3fed2ad8ad8766fb","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_997/tex_ceiling_textures_8619/tex_floor_textures_3395/tex_table_textures_2624/tex_wall_textures_1276","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4574602207846325297,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4574602207846325297,"visual_seed":4574602207846325297,"scene_id":"lab_003","finished_at":"2026-09-03T22:13:03"} +{"episode_id":"ep_000078","started_at":"2026-09-03T22:13:07","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.6336367081261884,-2.242194535630738,0.71338606911949],"aabb_xy":[[0.6123586999827162,-2.3071945379568106],[0.6549147162696607,-2.1771945333046645]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[-0.1956601294020433,1.7411649979160644,0.71338606911949],"aabb_xy":[[-0.20175475729016162,1.7325956033643959],[-0.18956550151392498,1.7497343924677333]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[0.3472792517318668,-1.4822573352545392,0.71338606911949],"aabb_xy":[[0.34243565697063677,-1.4871089877335233],[0.3521228464930967,-1.477405682775555]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.002145777834198781,1.320289598001891,0.71338606911949],"aabb_xy":[[-0.0637365370581916,1.2562895998928443],[0.05944498138979404,1.384289596110938]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[0.4027209229591633,-0.8874294830976381,0.71338606911949],"aabb_xy":[[0.3127209262235531,-0.9406129464149325],[0.4927209196947735,-0.8342460197803435]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.6848996635484097,1.2643461890497734,0.71338606911949],"aabb_xy":[[0.6657873561904307,1.2452114101725313],[0.7040119709063885,1.2834809679270154]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[-0.41895943447805456,-1.715987548962536,0.71338606911949],"aabb_xy":[[-0.4434730585750604,-1.7402521422645723],[-0.3944458103810487,-1.6917229556604994]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.2507568405058635,-1.684629097975455,0.71338606911949],"aabb_xy":[[-0.3002372617198223,-1.748629095888307],[-0.2012764192919047,-1.6206291000626034]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[0.46272012316815214,1.4142686768848942,0.71338606911949],"aabb_xy":[[0.3927201197765901,1.3789529031814631],[0.532720126559714,1.4495844505883249]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.49474913876139437,1.5917162256370436,0.71338606911949],"aabb_xy":[[-0.5547491396222071,1.5402897956305568],[-0.43474913790058145,1.6431426556435296]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.6268753367713943,-0.763283646571931,0.71338606911949],"aabb_xy":[[-0.6365069729918239,-0.77292095935164],[-0.6172437005509647,-0.7536463337922221]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[0.48762089833771394,0.8802183713726373,0.71338606911949],"aabb_xy":[[0.46262089906575166,0.8638730077764748],[0.5126208976096762,0.8965637349687995]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[-0.1455964231692659,-0.739005495190971,0.71338606911949],"aabb_xy":[[-0.1505524433541471,-0.7615054953930928],[-0.1406404029843847,-0.7165054949888494]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.5825039395453777,-1.0866643252195105,0.71338606911949],"aabb_xy":[[-0.6136508583889608,-1.1566643239063175],[-0.5513570207017946,-1.016664326532703]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[0.2865526962717161,-1.8321974674240615,0.71338606911949],"aabb_xy":[[0.22255269305307823,-1.87892057932307],[0.35055269949035395,-1.7854743555250534]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.09902624211573186,1.5174928096044558,0.71338606911949],"aabb_xy":[[0.049031409187790254,1.4674928107092122],[0.14902107504367346,1.5674928084996993]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[0.19958607540024165,0.9445872155166666,0.71338606911949],"aabb_xy":[[0.19400440376611292,0.9320872156988911],[0.20516774703437043,0.9570872153344421]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.32551335886368327,-0.42766008674378897,0.71338606911949],"aabb_xy":[[-0.38551335871025005,-0.4844787089368276],[-0.2655133590171165,-0.37084146455075023]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.6179289745144734,-1.5324447924707538,0.71338606911949],"aabb_xy":[[0.6125964598598604,-1.5377691207159896],[0.6232614891690865,-1.5271204642255185]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.7082345676433544,-0.25949534467999635,0.71338606911949],"aabb_xy":[[0.694788041009311,-0.2729651963330875],[0.7216810942773977,-0.24602549302690507]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.4802953030333712,0.7922277057032208,0.71338606911949],"aabb_xy":[[0.46945482480685624,0.7750414244125718],[0.49113578125988605,0.8094139869938695]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[-0.3630158752861638,-0.15101724278812778,0.71338606911949],"aabb_xy":[[-0.4270158755466346,-0.1960260421410558],[-0.299015875025693,-0.10600844343519979]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.42493103942087335,1.38879859996853,0.71338606911949],"aabb_xy":[[-0.4342780470031686,1.374494977750886],[-0.4155840318385781,1.403102222186174]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[0.3410612930254018,0.5855323030282169,0.71338606911949],"aabb_xy":[[0.2770612937312336,0.5215461626593626],[0.40506129231957005,0.649518443397071]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[0.45494329803982714,-2.505234007531857,0.71338606911949],"aabb_xy":[[0.41902979361483744,-2.5411475157486123],[0.49085680246481683,-2.469320499315103]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_25","position":[0.44123292676165904,-2.316508947103934,0.71338606911949],"aabb_xy":[[0.43066544710356,-2.3270539772169427],[0.451800406419758,-2.3059639169909256]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[0.5686423170162835,-0.8578530224682517,0.71338606911949],"aabb_xy":[[0.5609391263422064,-0.8655623931669896],[0.5763455076903604,-0.8501436517695136]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_27","position":[0.6906683756502536,0.022434469484520658,0.71338606911949],"aabb_xy":[[0.6825406874569404,0.013520861073813013],[0.6987960638435669,0.03134807789522832]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66020024203338,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4282.png","name":"4282"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4282.png","name":"4282"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7730.png","name":"7730"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4866.png","name":"4866"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9964.png","name":"9964"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/38.png","name":"38"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":735.8955991473485,"rotation_z_degrees":184.10324170023904,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0019710936294572573,-0.002286697519456777,-0.003980060806396003]},{"name":"camera_2","offset_m":[-0.0017545350996241993,0.01499806419250833,-0.007792284989361957]},{"name":"camera_3","offset_m":[-0.00580564896342017,0.010898901712867452,0.009902635128101585]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004989509667478005,0.00033222171710844744,0.0012323744593120615],"end_effector_yaw_offset_degrees":0.16625147453420253},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001756143748999594,-0.001062722787488653,-0.0015771584736201882],"end_effector_yaw_offset_degrees":0.4189582071899616},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005079649310787966,0.0018611865336975553,0.0002027055906729299],"end_effector_yaw_offset_degrees":0.8680948982404333}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003773489741313464,0.004225179776460533],"position_m":[0.2196265102586865,-0.025174820223539465,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037122582992469714,0.003679650907832346],"position_m":[0.26451225829924696,-0.3010203490921677,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002939425224904385,0.004833825342974379],"position_m":[0.14443942522490438,0.2900338253429744,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003525040369686789,-9.531571975851354e-06],"position_m":[0.3231749596303132,0.18349046842802413,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f87d7bb1bd5459859c991583dfe96e5d33431121c1c3f1e48c510567f4f51e9c","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0078.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4282/tex_ceiling_textures_38/tex_floor_textures_9964/tex_table_textures_7730/tex_wall_textures_4866","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3425007222320178919,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3425007222320178919,"visual_seed":3425007222320178919,"scene_id":"lab_003","finished_at":"2026-09-03T22:15:54"} +{"episode_id":"ep_000079","started_at":"2026-09-03T22:15:57","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[0.04280664198347239,1.1423344755554448,0.71338606911949],"aabb_xy":[[0.034780371352846395,1.1335829805780921],[0.05083291261409839,1.1510859705327974]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.0912917545598827,0.9620598165614012,0.71338606911949],"aabb_xy":[[-0.09613534932111269,0.957208164082417],[-0.08644815979865274,0.9669114690403853]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[-0.11981098675531654,1.5703387700447196,0.71338606911949],"aabb_xy":[[-0.1502952368823467,1.5203387702632236],[-0.08932673662828637,1.6203387698262155]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.4476279562297496,1.509843943183697,0.71338606911949],"aabb_xy":[[0.36762795921550157,1.4897093915102855],[0.5276279532439976,1.529978494857108]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.4695328352358994,0.23057359917396747,0.71338606911949],"aabb_xy":[[0.4563018897012181,0.217346180151968],[0.4827637807705807,0.24380101819596683]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.5627457379060783,-0.8425849490649122,0.71338606911949],"aabb_xy":[[-0.609875116907914,-0.9065849501093141],[-0.5156163589042426,-0.7785849480205101]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.18499259457448602,1.1077270274552933,0.71338606911949],"aabb_xy":[[-0.23499186974292222,1.057727026179346],[-0.1349933194060499,1.1577270287312404]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.04829915299795673,-1.5012617352520494,0.71338606911949],"aabb_xy":[[-0.07458797731839736,-1.5275331689067002],[-0.022010328677516056,-1.4749903015973977]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_8","position":[0.3156324879969139,-1.3558763834073186,0.71338606911949],"aabb_xy":[[0.22563249149604211,-1.4017880258257767],[0.4056324844977856,-1.3099647409888602]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.6095363324873249,0.5052599406975595,0.71338606911949],"aabb_xy":[[-0.63200110245873,0.4827599398186989],[-0.5870715625159197,0.5277599415764199]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[-0.33813886517472574,0.24513041571865735,0.71338606911949],"aabb_xy":[[-0.346920092321962,0.23635066843012725],[-0.3293576380274896,0.25391016300718755]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.0840813634433667,-0.8820555615140497,0.71338606911949],"aabb_xy":[[-0.10158136272145356,-0.8993936615803957],[-0.06658136416527981,-0.8647174614477038]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.626124909044921,-1.00886756607237,0.71338606911949],"aabb_xy":[[0.6100629815864033,-1.0938675678849619],[0.6421868365034386,-0.9238675642597783]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.6035683680892614,1.740115126224977,0.71338606911949],"aabb_xy":[[0.5916962850777603,1.6551151265313266],[0.6154404511007625,1.8251151259186273]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[-0.6052306032753201,-2.035226276657308,0.71338606911949],"aabb_xy":[[-0.6427306036235477,-2.0470176722383915],[-0.5677306029270922,-2.0234348810762244]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.5286065985370048,-0.7331900833950125,0.71338606911949],"aabb_xy":[[0.5170376177900682,-0.7581900835119442],[0.5401755792839413,-0.7081900832780808]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.6679948458889284,-2.1524244208218395,0.71338606911949],"aabb_xy":[[-0.6929948451608906,-2.1687697844180014],[-0.642994846616966,-2.1360790572256767]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[-0.16859355130387277,-2.0910884833467764,0.71338606911949],"aabb_xy":[[-0.2185668453071332,-2.1410884839013233],[-0.11862025730061229,-2.0410884827922287]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.11262581930344928,0.260968035762708,0.71338606911949],"aabb_xy":[[-0.13621094276734413,0.1959680335172762],[-0.08904069583955444,0.3259680380081398]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.27073507157807064,-1.105323513438793,0.71338606911949],"aabb_xy":[[0.206739374182974,-1.1693235117395016],[0.33473076897316717,-1.0413235151380842]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.224307203326161,0.7070060058665368,0.71338606911949],"aabb_xy":[[-0.24121793576250278,0.6935338002739223],[-0.20739647088981922,0.7204782114591514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6613333031274858,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9819.png","name":"9819"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9819.png","name":"9819"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/640.png","name":"640"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1078.png","name":"1078"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2298.png","name":"2298"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4435.png","name":"4435"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":751.3231118479803,"rotation_z_degrees":315.96804419549306,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0076783115129738025,2.0150839785744445e-05,0.017967461451943858]},{"name":"camera_2","offset_m":[-0.0053158653641443235,0.01580324848404033,-0.018723954002729498]},{"name":"camera_3","offset_m":[0.019915243989259073,0.015929878557806195,-0.011719335753892205]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012062652512142146,-0.0007629852529790174,0.0016548323404256644],"end_effector_yaw_offset_degrees":0.3479637308234804},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009729514706189649,-0.0015235597000262478,0.0012049610769145885],"end_effector_yaw_offset_degrees":-0.562879099807087},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005747329961353436,-0.0007897268692236134,-0.0009426819244223697],"end_effector_yaw_offset_degrees":0.012651703179138662}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003781642367235205,0.0027038122138326173],"position_m":[0.2271816423672352,-0.02669618778616738,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018906373030550495,-0.002298210534179128],"position_m":[0.26269063730305503,-0.30699821053417914,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031728799701534905,-0.001181266629465363],"position_m":[0.13832712002984648,0.2840187333705346,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005284311738388385,-0.0015715185081034031],"position_m":[0.32617156882616116,0.18192848149189658,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"71309299f48483846152a4c3366ae846cdd79c227ee43dd70fc7ac33d04d1275","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9819/tex_ceiling_textures_4435/tex_floor_textures_2298/tex_table_textures_640/tex_wall_textures_1078","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6375995764272851436,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6375995764272851436,"visual_seed":6375995764272851436,"scene_id":"lab_003","finished_at":"2026-09-03T22:18:43"} +{"episode_id":"ep_000080","started_at":"2026-09-03T22:18:47","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[0.34168736644019626,-1.6035081301864416,0.71338606911949],"aabb_xy":[[0.32162895482695597,-1.6235732170955992],[0.36174577805343655,-1.583443043277284]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.18754338113023516,0.5732538445648916,0.71338606911949],"aabb_xy":[[-0.23764084511130878,0.5092538440550798],[-0.13744591714916155,0.6372538450747034]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[0.2654367803213472,-1.2778309881586707,0.71338606911949],"aabb_xy":[[0.21543678074501255,-1.3278115671107766],[0.315436779897682,-1.2278504092065647]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.06632275937689536,-1.4315900666013879,0.71338606911949],"aabb_xy":[[-0.10382275919392892,-1.4362282779125295],[-0.0288227595598618,-1.4269518552902458]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.11548224744394942,-1.9055713299644834,0.71338606911949],"aabb_xy":[[0.09298582601008532,-1.9280713297712309],[0.13797866887781352,-1.883071330157736]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.13787293410488155,0.8891785096164662,0.71338606911949],"aabb_xy":[[-0.15537286753886492,0.8716785096962315],[-0.12037300067089818,0.9066785095367006]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[-0.40708496432731367,-2.043512526215096,0.71338606911949],"aabb_xy":[[-0.46207817566445053,-2.0985125265538898],[-0.352091752990177,-1.9885125258763026]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.012233513983488375,-2.1394995561254486,0.71338606911949],"aabb_xy":[[0.0013819077346127733,-2.1503588468530994],[0.023085120232363976,-2.128640265397798]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.5592930161828336,-0.11344378334821759,0.71338606911949],"aabb_xy":[[0.4692930164596593,-0.1365171358833974],[0.6492930159060076,-0.09037043081303774]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.35153672372883915,-2.5163846635505656,0.71338606911949],"aabb_xy":[[0.30156365819632375,-2.566384663363099],[0.4015097892613547,-2.466384663738033]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.53800844102018,1.0649207912381704,0.71338606911949],"aabb_xy":[[-0.6180084442841931,1.051360758929257],[-0.45800843775616684,1.0784808235470837]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[0.3684078333301253,-1.821346154564798,0.71338606911949],"aabb_xy":[[0.3495234495616151,-1.840232079345151],[0.3872922170986355,-1.8024602297844454]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.5628508374098227,0.2980393320703163,0.71338606911949],"aabb_xy":[[0.5548568488321193,0.29003925197522584],[0.5708448259875261,0.30603941216540653]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[-0.1129308760068527,1.1302286277911797,0.71338606911949],"aabb_xy":[[-0.12234835057671545,1.1208124506534607],[-0.10351340143698995,1.1396448049288987]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.2655326109358812,0.7510443582201485,0.71338606911949],"aabb_xy":[[0.21555380242556532,0.7010443582144296],[0.3155114194461971,0.8010443582258672]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.522145278457814,1.079123781790015,0.71338606911949],"aabb_xy":[[0.48464527988219325,1.066387486126457],[0.5596452770334348,1.091860077453573]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[0.3980140232690572,-0.6570539213238378,0.71338606911949],"aabb_xy":[[0.30801402676818546,-0.7029655637422958],[0.488014019769929,-0.6111422789053793]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[0.04242889094573188,1.0073354227373579,0.71338606911949],"aabb_xy":[[0.030496156583903804,0.9949532699294985],[0.05436162530755994,1.0197175755452172]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.5974346598544393,-1.660844282010272,0.71338606911949],"aabb_xy":[[0.5848319607173629,-1.6734396782351375],[0.6100373589915158,-1.6482488857854065]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.4430602974972982,0.703775990330755,0.71338606911949],"aabb_xy":[[-0.46073592808589653,0.6860957740513521],[-0.42538466690869986,0.7214562066101576]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[0.23110212110572603,-0.983176913995742,0.71338606911949],"aabb_xy":[[0.1671021219359561,-1.0299436011147045],[0.295102120275496,-0.9364102268767796]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.4664323099191614,-1.1955118041814121,0.71338606911949],"aabb_xy":[[0.4442597829425105,-1.2176874713375354],[0.4886048368958122,-1.1733361370252888]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[0.30001924496292287,1.3173363489808407,0.71338606911949],"aabb_xy":[[0.2906722373806276,1.3030327267631967],[0.30936625254521805,1.3316399711984848]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.04143068006080408,-1.2764902238578146,0.71338606911949],"aabb_xy":[[-0.04784449370398902,-1.2829000441054828],[-0.03501686641761914,-1.270080403610146]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[-0.5573659569837086,-1.8116072595688308,0.71338606911949],"aabb_xy":[[-0.5948659571555805,-1.844307994951738],[-0.5198659568118367,-1.7789065241859237]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[-0.28513674057970056,0.14628991873857,0.71338606911949],"aabb_xy":[[-0.3210502450046902,0.11037641052181538],[-0.24922323615471081,0.18220342695532463]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_26","position":[-0.5197283107665072,-1.429208448399898,0.71338606911949],"aabb_xy":[[-0.5797283124094291,-1.4812085976918419],[-0.4597283091235854,-1.3772082991079535]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[-0.3887316043149863,1.3251572846102513,0.71338606911949],"aabb_xy":[[-0.4687316075728292,1.2451607768182673],[-0.3087316010571433,1.4051537924022353]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582657705430848,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2215.png","name":"2215"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2215.png","name":"2215"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1734.png","name":"1734"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6504.png","name":"6504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8828.png","name":"8828"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7665.png","name":"7665"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":671.1829735605797,"rotation_z_degrees":173.3995211302994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008880418972335935,-0.015185607934860328,-0.012558772371689706]},{"name":"camera_2","offset_m":[0.005611630730598827,0.011148743482059745,0.01478185267942268]},{"name":"camera_3","offset_m":[0.004650564255689962,0.0173313312606851,-0.014219391411018956]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011292312817525341,-0.0007732079764750633,-0.001875023053331931],"end_effector_yaw_offset_degrees":-0.1515941146920219},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014135853473838762,0.00040312511331117755,0.0002701318230120542],"end_effector_yaw_offset_degrees":0.22435568594010147},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001500085978401454,-0.0019920430385955913,-0.001964124100439162],"end_effector_yaw_offset_degrees":-0.26484607256376735}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005508557584296145,-0.0019196146509188518],"position_m":[0.22284914424157037,-0.03131961465091885,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022817751281690724,-0.003635177891411059],"position_m":[0.2585182248718309,-0.30833517789141107,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037100372784674932,0.0027905305295395123],"position_m":[0.1377899627215325,0.28799053052953955,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004780535876060688,-0.004476870977863777],"position_m":[0.32622194641239394,0.1790231290221362,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a6608dd109eca4ddcce0321e2957d41bc80eccdc5d12464c61cfd9c6bdfc386b","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0080.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2215/tex_ceiling_textures_7665/tex_floor_textures_8828/tex_table_textures_1734/tex_wall_textures_6504","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7022679349557295,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7022679349557295,"visual_seed":7022679349557295,"scene_id":"lab_003","finished_at":"2026-09-03T22:21:28"} +{"episode_id":"ep_000081","started_at":"2026-09-03T22:21:31","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[0.5893625424264057,-2.2028695121576023,0.71338606911949],"aabb_xy":[[0.5785220641998908,-2.220055793448251],[0.6002030206529206,-2.1856832308669536]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[0.5650008276538918,0.33581692359771154,0.71338606911949],"aabb_xy":[[0.48127860215380935,0.24581692006301564],[0.6487230531539743,0.42581692713240754]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.2936469076877271,0.6436433963364885,0.71338606911949],"aabb_xy":[[-0.3008906737339724,0.5636433981328861],[-0.28640314164148173,0.7236433945400909]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[-0.46081456266501186,-1.701392996277102,0.71338606911949],"aabb_xy":[[-0.49766511060199947,-1.7388929971001357],[-0.42396401472802425,-1.6638929954540682]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.38181149908270773,-2.41556795809213,0.71338606911949],"aabb_xy":[[0.30181150167911425,-2.4955605292903122],[0.4618114964863011,-2.3355753868939466]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[0.035965528918603606,1.0999455596166792,0.71338606911949],"aabb_xy":[[-0.013514892295355185,1.0359455617038273],[0.0854459501325624,1.163945557529531]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[0.5312694445695021,-1.590506343882413,0.71338606911949],"aabb_xy":[[0.5271335882368019,-1.62800634332677],[0.5354053009022023,-1.553006344438056]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[-0.25929050180108826,0.9736219023522872,0.71338606911949],"aabb_xy":[[-0.293752979814176,0.9669582251693644],[-0.22482802378800043,0.98028557953521]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.4963458249599544,-1.2008719896151105,0.71338606911949],"aabb_xy":[[0.4772335176019756,-1.2200067684923526],[0.5154581323179332,-1.1817372107378685]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[-0.03386819814224784,0.5511203846903072,0.71338606911949],"aabb_xy":[[-0.05136819742033471,0.5337822846239613],[-0.01636819886416096,0.5684584847566532]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.37912056703860375,1.7429472859875577,0.71338606911949],"aabb_xy":[[0.319120567192037,1.6861286637945188],[0.4391205668851706,1.7997659081805961]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.20661614036738918,0.3194544560947272,0.71338606911949],"aabb_xy":[[-0.251616141833618,0.27445459923324655],[-0.16161613890116033,0.3644543129562079]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.05923437030667722,1.4738888057031772,0.71338606911949],"aabb_xy":[[0.051191010380722046,1.3888888046078107],[0.0672777302326324,1.5588888067985436]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[0.5311261194080332,1.4401845714747954,0.71338606911949],"aabb_xy":[[0.46112612299807126,1.4197466358231134],[0.6011261158179948,1.460622507126477]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[0.051183457591984505,-1.887098747880367,0.71338606911949],"aabb_xy":[[-0.012816544457747485,-1.9271932309696749],[0.1151834596417165,-1.847004264791059]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.23472758866116195,0.9213038857680123,0.71338606911949],"aabb_xy":[[0.15472759150158666,0.9097562848101951],[0.31472758582073723,0.9328514867258292]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.627389857885922,-1.7168661341969493,0.71338606911949],"aabb_xy":[[-0.6329715295200508,-1.7293661340147248],[-0.6218081862517931,-1.7043661343791738]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[-0.42931324641174784,0.2540607303474447,0.71338606911949],"aabb_xy":[[-0.5093132496695908,0.17406422255546072],[-0.3493132431539049,0.33405723813942867]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.024157750539918754,-1.530867728629509,0.71338606911949],"aabb_xy":[[-0.07404044741761497,-1.580867727875784],[0.025724946337777454,-1.4808677293832342]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[0.09849099524865779,-2.211850768040997,0.71338606911949],"aabb_xy":[[0.03849099438784497,-2.2632771980474833],[0.15849099610947057,-2.16042433803451]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[0.31080149397938506,0.5247566947091946,0.71338606911949],"aabb_xy":[[0.29994988773050946,0.5138974039815436],[0.32165310022826066,0.5356159854368456]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[-0.4813335373192654,1.3113350230536391,0.71338606911949],"aabb_xy":[[-0.5613335377894815,1.3030243154392909],[-0.4013335368490496,1.3196457306679874]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[-0.2554508048410849,-0.9139579695660953,0.71338606911949],"aabb_xy":[[-0.267383539202913,-0.9263401223739547],[-0.2435180704792569,-0.901575816758236]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[-0.3901813450565276,1.3895523921203048,0.71338606911949],"aabb_xy":[[-0.407974851991444,1.3717526465245071],[-0.37238783812161114,1.4073521377161025]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_24","position":[0.2965857867307594,0.7377895445257754,0.71338606911949],"aabb_xy":[[0.2628102275400664,0.7237510493126104],[0.33036134592145233,0.7518280397389404]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[0.4198495814639771,-1.8000846633697172,0.71338606911949],"aabb_xy":[[0.39734958122046177,-1.8122892980294893],[0.44234958170749256,-1.7878800287099454]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[0.108150264540822,-0.8974396915918414,0.71338606911949],"aabb_xy":[[0.07065026472378842,-0.9020779029029833],[0.14565026435785555,-0.8928014802806996]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[0.022285077314674773,-2.525063585085028,0.71338606911949],"aabb_xy":[[-0.01626061551052626,-2.5636093561412165],[0.060830770139875805,-2.486517814028839]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_28","position":[-0.46953754836752915,-1.1958983075137868,0.71338606911949],"aabb_xy":[[-0.5592246246756446,-1.2858983077682373],[-0.3798504720594137,-1.1058983072593362]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_29","position":[-0.25461023604010463,0.8341078707630869,0.71338606911949],"aabb_xy":[[-0.34461023971702276,0.7726754641859824],[-0.16461023236318642,0.8955402773401911]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_30","position":[-0.4542452686256166,0.40558214732108366,0.71338606911949],"aabb_xy":[[-0.4711560010619583,0.3921099417284691],[-0.43733453618927476,0.41905435291369814]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_31","position":[-0.6025176230618575,-0.9723183337791697,0.71338606911949],"aabb_xy":[[-0.667517625699651,-1.0237979324786166],[-0.537517620424064,-0.9208387350797226]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6610312063825977,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1517.png","name":"1517"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1517.png","name":"1517"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3822.png","name":"3822"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1905.png","name":"1905"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7852.png","name":"7852"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9302.png","name":"9302"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":656.1443470160851,"rotation_z_degrees":137.0360259568138,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005781645329987635,-0.004466419059252722,0.0024169990350702206]},{"name":"camera_2","offset_m":[0.010365296723889746,0.017540138224873856,-0.0013009223477614268]},{"name":"camera_3","offset_m":[-0.01689579626452823,0.011909744711394842,0.017540973876640224]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00013376643150314117,0.0019442134638884235,0.001971728467156349],"end_effector_yaw_offset_degrees":0.584881772157273},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.714301130344863e-05,-0.0006576746889056535,0.001788211222316456],"end_effector_yaw_offset_degrees":0.7970033093594053},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.376829289231009e-05,-0.001530447976792254,0.0011231445614681107],"end_effector_yaw_offset_degrees":-0.37347004123188343}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018024153081333373,0.004728878545489938],"position_m":[0.22159758469186666,-0.024671121454510062,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00063557864755431,-0.004034725881526402],"position_m":[0.2614355786475543,-0.30873472588152645,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014058994034606446,-0.0026774727689813926],"position_m":[0.14290589940346063,0.2825225272310186,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029175570580977977,0.002031601391340716],"position_m":[0.3296175570580978,0.1855316013913407,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"95323c8242010158559f195e9818c367dfc2413dce177e9d9687d9c2ca220911","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0081.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1517/tex_ceiling_textures_9302/tex_floor_textures_7852/tex_table_textures_3822/tex_wall_textures_1905","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7284659119125840258,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7284659119125840258,"visual_seed":7284659119125840258,"scene_id":"lab_003","finished_at":"2026-09-03T22:24:13"} +{"episode_id":"ep_000082","started_at":"2026-09-03T22:24:17","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.24863734849785557,1.048724575997264,0.71338606911949],"aabb_xy":[[-0.2987348124789292,0.9847245754874523],[-0.19853988451678195,1.112724576507076]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.4653767875751036,0.4333738277265411,0.71338606911949],"aabb_xy":[[0.4013767843564658,0.3866507158275328],[0.5293767907937414,0.4800969396255495]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.41845452218577006,-0.18623679101800805,0.71338606911949],"aabb_xy":[[-0.4359545224451068,-0.20032833320678073],[-0.40095452192643355,-0.17214524882923546]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.1793773192232445,0.6839554017318186,0.71338606911949],"aabb_xy":[[0.10937731658665814,0.6638505367359531],[0.24937732185983083,0.7040602667276841]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.6196591450497213,-1.430939679019632,0.71338606911949],"aabb_xy":[[0.5696591437658812,-1.480918533410254],[0.6696591463335612,-1.3809608246290097]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[0.010521883839448298,-1.5120311200067191,0.71338606911949],"aabb_xy":[[-0.006388848596893479,-1.5255033255993335],[0.027432616275790078,-1.4985589144141043]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[0.4657473510584831,1.7771190451626082,0.71338606911949],"aabb_xy":[[0.443250929624619,1.7546190453558608],[0.4882437724923472,1.7996190449693557]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.23633423028137446,-0.9247961577778401,0.71338606911949],"aabb_xy":[[0.22870996219119627,-0.932429381314384],[0.24395849837155276,-0.9171629342412966]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[0.1783863711536715,-1.7597060497385444,0.71338606911949],"aabb_xy":[[0.12838637013453627,-1.7961722654763728],[0.22838637217280683,-1.723239834000717]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.5880422514640699,-1.0182751829696373,0.71338606911949],"aabb_xy":[[-0.6420578477459697,-1.0822751858618944],[-0.5340266551821697,-0.9542751800773801]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.29332110323784893,-2.4614073397439498,0.71338606911949],"aabb_xy":[[-0.35732109966517084,-2.5085769635660466],[-0.22932110681052703,-2.4142377159218538]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[-0.5332650065304031,-1.8933351024360205,0.71338606911949],"aabb_xy":[[-0.5832598394583447,-1.9433351013312639],[-0.4832701736024615,-1.8433351035407768]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[0.0025838077052950936,-2.2787067827075904,0.71338606911949],"aabb_xy":[[-0.07741619445746739,-2.3586619663337336],[0.08258380986805758,-2.1987515990814464]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[0.6158080634094705,0.522414911986683,0.71338606911949],"aabb_xy":[[0.5787739539814107,0.4880377046529734],[0.6528421728375302,0.5567921193203923]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[-0.16630396124814506,1.3451362661909463,0.71338606911949],"aabb_xy":[[-0.2084883754089758,1.2811362659137353],[-0.12411954708731432,1.4091362664681577]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[-0.05200432170150959,0.7178524144743497,0.71338606911949],"aabb_xy":[[-0.10199933266096164,0.667852415438758],[-0.002009310742057562,0.7678524135099415]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.09123983258730672,0.20869277624255345,0.71338606911949],"aabb_xy":[[-0.11035213994528559,0.18955799736531143],[-0.07212752522932786,0.22782755511979547]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[0.2595027034153482,1.1335644028642498,0.71338606911949],"aabb_xy":[[0.1955027063032425,1.0845320330698391],[0.3235027005274539,1.1825967726586604]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.12358550567716187,-1.812938328781411,0.71338606911949],"aabb_xy":[[-0.18758550497133009,-1.8769244691502651],[-0.05958550638299363,-1.7489521884125567]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[-0.2924850458669852,-1.0345745823571657,0.71338606911949],"aabb_xy":[[-0.33857013712171674,-1.0985745796097208],[-0.2463999546122538,-0.9705745851046107]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[0.3912305873888351,-2.4080197295960875,0.71338606911949],"aabb_xy":[[0.3838181318474467,-2.4138709400177154],[0.3986430429302236,-2.4021685191744595]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[0.5163168250232613,-0.5387920802352375,0.71338606911949],"aabb_xy":[[0.45231682297352926,-0.5788865633245455],[0.5803168270729933,-0.49869759714592954]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[-0.37916872544736174,-1.2128141973470565,0.71338606911949],"aabb_xy":[[-0.3917955127345581,-1.2223602710486292],[-0.3665419381601654,-1.2032681236454834]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[0.6021051124649195,-1.7416452499765374,0.71338606911949],"aabb_xy":[[0.5939914577915424,-1.7497510664305667],[0.6102187671382966,-1.7335394335225085]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[-0.5767315640479487,-2.2525618286291955,0.71338606911949],"aabb_xy":[[-0.5828261919360671,-2.2611312231808642],[-0.5706369361598305,-2.243992434077527]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660618755494711,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3141.png","name":"3141"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3141.png","name":"3141"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/917.png","name":"917"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3677.png","name":"3677"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4010.png","name":"4010"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8681.png","name":"8681"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":778.5483265701562,"rotation_z_degrees":294.3827574408958,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00892000477846238,-0.019897844784742897,0.013871491043138343]},{"name":"camera_2","offset_m":[0.008660175047413662,0.00946764882530228,0.003152626345478922]},{"name":"camera_3","offset_m":[-0.006231512652320883,0.002121795962323522,-0.007649121781377426]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00022303861140218198,0.0001657363033499802,-0.0010577615835214455],"end_effector_yaw_offset_degrees":0.3231748411666535},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-9.021398148620114e-05,0.000924192626234535,0.0005076558882772908],"end_effector_yaw_offset_degrees":0.5477082034354754},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002519830378556196,0.0019964756337049064,0.0019914367035704077],"end_effector_yaw_offset_degrees":0.3439428866190908}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004703754844982351,-0.003994438895798593],"position_m":[0.21869624515501765,-0.033394438895798594,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00403568251273763,0.003393098423024846],"position_m":[0.2648356825127376,-0.3013069015769752,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015906448095198977,-0.0032547909618685067],"position_m":[0.14309064480951988,0.28194520903813153,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[1.387907068521859e-05,0.003649447683011917],"position_m":[0.3267138790706852,0.18714944768301192,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"02d33a14aa1edc5eee5484fe23f8e11592678a4d00b797851a1afa12198902e2","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3141/tex_ceiling_textures_8681/tex_floor_textures_4010/tex_table_textures_917/tex_wall_textures_3677","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8867574440313302269,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8867574440313302269,"visual_seed":8867574440313302269,"scene_id":"lab_003","finished_at":"2026-09-03T22:27:00"} +{"episode_id":"ep_000083","started_at":"2026-09-03T22:27:03","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.10522812162972717,1.60163560997939,0.71338606911949],"aabb_xy":[[0.02522812115951121,1.5933249023650422],[0.1852281220999431,1.6099463175937387]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[0.32906647060022176,-2.391868124354472,0.71338606911949],"aabb_xy":[[0.31119736284576627,-2.405701032331683],[0.34693557835467725,-2.378035216377261]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[0.3398931485208594,-2.5007566028941026,0.71338606911949],"aabb_xy":[[0.3358149906138096,-2.5048375831423657],[0.3439713064279091,-2.4966756226458395]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.3312728246039024,0.9692567524372704,0.71338606911949],"aabb_xy":[[-0.3537719603301294,0.9467567516590074],[-0.3087736888776755,0.9917567532155334]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.35916445045069406,0.5398535037524583,0.71338606911949],"aabb_xy":[[-0.37684008103929234,0.5221732874730556],[-0.34148881986209567,0.5575337200318611]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[-0.059505498537806956,0.5122272341966205,0.71338606911949],"aabb_xy":[[-0.07265674450909632,0.487227234439934],[-0.046354252566517595,0.5372272339533071]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[0.17033620177413966,1.2255656651253513,0.71338606911949],"aabb_xy":[[0.13787450089221215,1.1954328330104484],[0.20279790265606706,1.2556984972402536]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.4703867390367653,-0.3760367841127792,0.71338606911949],"aabb_xy":[[-0.5319774982607582,-0.44003678222182613],[-0.4087959798127726,-0.31203678600373236]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[0.03888071155842043,-0.8559371184497584,0.71338606911949],"aabb_xy":[[0.031840401624883455,-0.93593711784943],[0.04592102149195744,-0.7759371190500872]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.06019682740704413,-1.0478040991084876,0.71338606911949],"aabb_xy":[[-0.07774352232316306,-1.0853041006727389],[-0.04265013249092519,-1.0103040975442363]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.5485132303794915,-2.484200014673187,0.71338606911949],"aabb_xy":[[0.49852011827029963,-2.5342000153473827],[0.5985063424886834,-2.4342000139989914]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.15564418714402106,-1.3060279585809795,0.71338606911949],"aabb_xy":[[-0.21964418353959414,-1.369991246999713],[-0.09164419074844798,-1.242064670162246]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[0.4985683196424824,-1.7069901333459563,0.71338606911949],"aabb_xy":[[0.475286477444351,-1.7919901346431844],[0.5218501618406136,-1.6219901320487282]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[0.7134718445023804,-0.22565205403999622,0.71338606911949],"aabb_xy":[[0.7054284845764253,-0.31065205513536265],[0.7215152044283356,-0.1406520529446298]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[0.21600378065553605,1.8173451970119472,0.71338606911949],"aabb_xy":[[0.2113686655033026,1.813477861934798],[0.22063889580776938,1.8212125320890955]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[0.04526191426157766,0.8232268299758223,0.71338606911949],"aabb_xy":[[0.03239001076063752,0.7432268295619862],[0.0581338177625178,0.9032268303896585]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.34164918385939996,0.1755229788696151,0.71338606911949],"aabb_xy":[[-0.3607614912173788,0.15638819999237305],[-0.3225368765014211,0.1946577577468571]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.3894169435054153,-0.7652956284130805,0.71338606911949],"aabb_xy":[[-0.45341694518341263,-0.8138130198923947],[-0.3254169418274179,-0.7167782369337663]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[-0.4939415004679224,-2.096448058341662,0.71338606911949],"aabb_xy":[[-0.5839414990623923,-2.112698644655083],[-0.40394150187345246,-2.0801974720282406]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[-0.26039005870741405,0.5569564056953653,0.71338606911949],"aabb_xy":[[-0.2849362743301648,0.5267075091463281],[-0.23584384308466336,0.5872053022444023]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[0.5568114868404441,-0.7206711194623328,0.71338606911949],"aabb_xy":[[0.4928114904131222,-0.7678407432844293],[0.620811483267766,-0.6735014956402364]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[0.6124525545321589,1.2324123124737838,0.71338606911949],"aabb_xy":[[0.5786769953414659,1.2183738172606189],[0.6462281137228518,1.2464508076869487]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.15255966917841923,0.2336936732834709,0.71338606911949],"aabb_xy":[[-0.17755966873015772,0.2235511894183362],[-0.12755966962668075,0.24383615714860565]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[0.33604401658254246,0.8669434973689834,0.71338606911949],"aabb_xy":[[0.28656359536858367,0.8029434994561315],[0.38552443779650125,0.9309434952818352]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[0.1731246108429112,-1.3512330494246207,0.71338606911949],"aabb_xy":[[0.10812460973696791,-1.376198422492749],[0.23812461194885448,-1.3262676763564925]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[-0.4047290023255823,-2.3980948818837047,0.71338606911949],"aabb_xy":[[-0.43337833468599846,-2.4267404411607805],[-0.376079669965166,-2.369449322606629]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_26","position":[-0.4717666182077773,1.5717063093372405,0.71338606911949],"aabb_xy":[[-0.4778612460958957,1.5631369147855718],[-0.46567199031965906,1.5802757038889093]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638076495275711,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7558.png","name":"7558"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7558.png","name":"7558"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7597.png","name":"7597"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9304.png","name":"9304"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7237.png","name":"7237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4464.png","name":"4464"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":689.6407398150906,"rotation_z_degrees":106.42174476818158,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012470388093499606,0.006794148933031284,0.004423756819666325]},{"name":"camera_2","offset_m":[-0.012249593393934909,0.003208455915607717,0.0016859505003297658]},{"name":"camera_3","offset_m":[-0.01086885439121748,-0.017563526807595323,-0.007706974323967684]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001379691702171231,0.00183556876107719,0.0019437104168403179],"end_effector_yaw_offset_degrees":0.37065272738650457},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007232822949887524,0.0011311695837113102,-0.0017052752631148485],"end_effector_yaw_offset_degrees":-0.15166103745099369},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011830745285833257,-0.0006324452754214432,0.001720435989478007],"end_effector_yaw_offset_degrees":-0.24203057275601036}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017457339000889792,-0.003794650978551528],"position_m":[0.221654266099911,-0.033194650978551524,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004437075786989558,-0.0027688417534833133],"position_m":[0.2652370757869895,-0.3074688417534833,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004886663185180822,-0.002352913029950572],"position_m":[0.14638666318518082,0.28284708697004945,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015589746578453913,0.0034496819608541484],"position_m":[0.3251410253421546,0.18694968196085415,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2cd8aa4dd81616c6116556669c68eac599ca0da8059775abd1157f08a9194d55","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0083.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7558/tex_ceiling_textures_4464/tex_floor_textures_7237/tex_table_textures_7597/tex_wall_textures_9304","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6802170850220059674,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6802170850220059674,"visual_seed":6802170850220059674,"scene_id":"lab_003","finished_at":"2026-09-03T22:29:46"} +{"episode_id":"ep_000084","started_at":"2026-09-03T22:29:49","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.060489543740230856,-1.5500837624138628,0.71338606911949],"aabb_xy":[[-0.076374037005556,-1.5644367027126869],[-0.0446050504749057,-1.5357308221150388]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[0.6004254775836646,1.0228544765183019,0.71338606911949],"aabb_xy":[[0.5388347183596718,0.9588544784092552],[0.6620162368076574,1.086854474627349]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[0.7013337801040691,0.17470293668770998,0.71338606911949],"aabb_xy":[[0.6964344877975055,0.14702601738514115],[0.7062330724106325,0.2023798559902787]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.3175066830600135,0.4138647297054292,0.71338606911949],"aabb_xy":[[0.30775069355083956,0.4041021956461947],[0.32726267256918734,0.4236272637646636]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[-0.6532892023396438,0.17726377250766578,0.71338606911949],"aabb_xy":[[-0.691834895164845,0.1387180014514771],[-0.6147435095144429,0.21580954356385446]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.4210921812376174,-1.0808972716027547,0.71338606911949],"aabb_xy":[[0.39324714445701026,-1.1116817703410664],[0.4489372180182245,-1.050112772864443]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[0.2000529791350204,-1.1909997943988833,0.71338606911949],"aabb_xy":[[0.19201664443373553,-1.1990379137032998],[0.20808931383630522,-1.1829616750944663]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.6621535810300354,-0.48357593012781264,0.71338606911949],"aabb_xy":[[0.6287134058340157,-0.5170195559587427],[0.6955937562260549,-0.4501323042968826]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[0.019929316687608223,-2.3406779343716435,0.71338606911949],"aabb_xy":[[0.008057233676107112,-2.425677934065294],[0.031801399699109334,-2.255677934677993]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[0.4914405842682681,-2.258204071681903,0.71338606911949],"aabb_xy":[[0.4064405855761934,-2.290189935076782],[0.5764405829603427,-2.2262182082870243]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[-0.12422816509981671,-1.3941564225830774,0.71338606911949],"aabb_xy":[[-0.13558989975310282,-1.4055248889893652],[-0.11286643044653051,-1.382787956176789]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[0.12188491426112069,-1.446683574882572,0.71338606911949],"aabb_xy":[[0.11308285895214797,-1.4544949010375008],[0.13068696957009338,-1.4388722487276426]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.2270150331600328,-1.5474973000318366,0.71338606911949],"aabb_xy":[[0.1859970897736619,-1.597497300662794],[0.2680329765464037,-1.4974972994008793]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[0.4204026280398867,1.7520610410938882,0.71338606911949],"aabb_xy":[[0.35640263164431357,1.6880977526751548],[0.4844026244354597,1.816024329512622]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.40312688442732314,-2.5449972713175413,0.71338606911949],"aabb_xy":[[-0.42062688370540996,-2.5623353713838872],[-0.3856268851492362,-2.5276591712511953]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[-0.3055899114775936,-2.170203059457471,0.71338606911949],"aabb_xy":[[-0.34308991299322533,-2.181429832473616],[-0.2680899099619619,-2.1589762864413258]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[-0.2761000147763247,-0.10809186199910581,0.71338606911949],"aabb_xy":[[-0.3361000152841776,-0.1649385956850271],[-0.21610001426847178,-0.051245128313184514]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_17","position":[0.5943673709871589,0.8660602045016983,0.71338606911949],"aabb_xy":[[0.5243673688557293,0.8432982388760025],[0.6643673731185884,0.8888221701273938]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.5160462356717348,0.5427049454407946,0.71338606911949],"aabb_xy":[[0.47854623448694195,0.538286722744734],[0.5535462368565275,0.547123168136855]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[-0.10851121245142104,-0.9308141406184489,0.71338606911949],"aabb_xy":[[-0.1735112106073401,-0.9571103851683611],[-0.043511214295501977,-0.9045178960685367]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[0.047921064737246444,1.778248648900195,0.71338606911949],"aabb_xy":[[0.03706945848837084,1.7673893581725435],[0.058772670986122044,1.7891079396278455]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[0.4014289326901028,-2.355742276425343,0.71338606911949],"aabb_xy":[[0.36696645467701505,-2.362405953608265],[0.4358914107031906,-2.3490785992424197]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[0.3171883849597339,1.6241717962449047,0.71338606911949],"aabb_xy":[[0.29468838444769324,1.6016799378795064],[0.33968838547177443,1.646663654610303]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[0.5250163093729547,-1.2075522650728248,0.71338606911949],"aabb_xy":[[0.4450163061089416,-1.221112297381738],[0.6050163126369679,-1.1939922327639114]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6602612685640425,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8189.png","name":"8189"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8189.png","name":"8189"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8390.png","name":"8390"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7790.png","name":"7790"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9693.png","name":"9693"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":630.6584797120391,"rotation_z_degrees":32.95489778714813,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011358780866571248,0.006391942442728532,-0.004864553001691783]},{"name":"camera_2","offset_m":[-0.019433562630233676,-0.01778633667909957,0.006853898148999841]},{"name":"camera_3","offset_m":[0.0012063235078408445,0.012411732425687657,-0.009065260278708971]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008677082709085239,0.0010163522896814133,0.0014358065128299165],"end_effector_yaw_offset_degrees":-0.6470653584748012},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015938163725081522,0.0007156254106785269,0.00010119666203400402],"end_effector_yaw_offset_degrees":0.7314275711305191},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001363181707107392,-0.0018566408588108834,0.00026251358789476566],"end_effector_yaw_offset_degrees":0.3585592168961056}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010759162456454472,0.004509983358132341],"position_m":[0.22232408375435453,-0.024890016641867657,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002719397721927732,0.0016165473603446832],"position_m":[0.26351939772192773,-0.30308345263965536,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002313258229355594,0.00479395428742103],"position_m":[0.1438132582293556,0.28999395428742103,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036239299833009334,0.004665677761867981],"position_m":[0.3230760700166991,0.188165677761868,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f5281edd2e8e4b9d6c87b9f5457b3b35dbff359f0ddab60fe30e30c2dcfc8ed1","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0084.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8189/tex_ceiling_textures_9650/tex_floor_textures_9693/tex_table_textures_8390/tex_wall_textures_7790","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1461337911775699371,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1461337911775699371,"visual_seed":1461337911775699371,"scene_id":"lab_003","finished_at":"2026-09-03T22:32:27"} +{"episode_id":"ep_000085","started_at":"2026-09-03T22:32:30","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[-0.3356137028791512,-1.7593079059530585,0.71338606911949],"aabb_xy":[[-0.39961370325668477,-1.8090531728038703],[-0.27161370250161754,-1.7095626391022458]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[-0.022013031534567573,-2.268922249924212,0.71338606911949],"aabb_xy":[[-0.039559726450686505,-2.3064222514884634],[-0.004466336618448641,-2.2314222483599604]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[0.620839153788195,-0.3604502952755362,0.71338606911949],"aabb_xy":[[0.5758465670697446,-0.4054502945499849],[0.6658317405066454,-0.31545029600108737]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.5017063605187122,-1.951827867285938,0.71338606911949],"aabb_xy":[[0.4840735249251846,-1.969450813301561],[0.5193391961122397,-1.934204921270315]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.2874420637021078,1.6515128574358875,0.71338606911949],"aabb_xy":[[0.25244206539141234,1.6437978425123418],[0.32244206201280323,1.6592278723594331]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[0.3270246627956086,-1.5547956459133585,0.71338606911949],"aabb_xy":[[0.3151525797841075,-1.6397956456070089],[0.3388967458071097,-1.4697956462197082]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.21929030030928798,-2.1369522773912677,0.71338606911949],"aabb_xy":[[-0.24793963266970417,-2.165597836668343],[-0.19064096794887173,-2.1083067181141915]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.5371111604375185,0.44380911984155125,0.71338606911949],"aabb_xy":[[0.5059642415939354,0.373809121154744],[0.5682580792811016,0.5138091185283584]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.13610675029215102,1.7080191181540774,0.71338606911949],"aabb_xy":[[-0.16395178707275815,1.677234619415766],[-0.1082617135115439,1.7388036168923893]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[-0.2906560879762161,-2.348834641243758,0.71338606911949],"aabb_xy":[[-0.34065608755255083,-2.3988152201958646],[-0.2406560883998814,-2.2988540622916527]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[0.16383900506752402,-0.8066525086519714,0.71338606911949],"aabb_xy":[[0.14873670360650587,-0.821754030283033],[0.17894130652854207,-0.7915509870209093]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[0.6270525848143818,-0.055807938194735396,0.71338606911949],"aabb_xy":[[0.5885068919891807,-0.09435370925092405],[0.6655982776395828,-0.01726216713854674]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.6703900681004089,-0.6864906237291148,0.71338606911949],"aabb_xy":[[0.6203900668165687,-0.736469478119737],[0.7203900693842487,-0.6365117693384927]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[0.6445534760274831,-0.9718716765637858,0.71338606911949],"aabb_xy":[[0.5845534754314671,-1.026684149109009],[0.7045534766234994,-0.9170592040185622]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.2057450218556547,0.7413964219247782,0.71338606911949],"aabb_xy":[[0.15172942557375468,0.6773964190325209],[0.2597606181375547,0.8053964248170352]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[0.5780389252338791,-0.8047435861808374,0.71338606911949],"aabb_xy":[[0.5558663982572282,-0.8269192533369604],[0.6002114522105298,-0.782567919024714]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[-0.1624642091299744,1.2875886905008525,0.71338606911949],"aabb_xy":[[-0.2524642088531485,1.2645153379656726],[-0.07246420940680019,1.3106620430360323]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.41877726684387917,0.9286497498629789,0.71338606911949],"aabb_xy":[[0.3387772657707589,0.9188717035255943],[0.49877726791699956,0.9384277962003632]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.5203383400205617,0.10273906486213003,0.71338606911949],"aabb_xy":[[0.43033834142609173,0.08648847854870902],[0.6103383386150316,0.11898965117555106]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[-0.2077104614492501,1.5463721619582498,0.71338606911949],"aabb_xy":[[-0.21115113768930732,1.5425107289838855],[-0.20426978520919298,1.5502335949326145]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[0.48094774074976043,-1.7863841223008632,0.71338606911949],"aabb_xy":[[0.4756101650837558,-1.8113841232300028],[0.48628531641576495,-1.7613841213717232]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.22544379573210221,0.4146108755399611,0.71338606911949],"aabb_xy":[[-0.23314698640617926,0.40690150484122306],[-0.21774060505802517,0.42232024623869907]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[0.1433080935739287,0.9724322637027036,0.71338606911949],"aabb_xy":[[0.12002625137579738,0.8874322624054756],[0.16658993577206005,1.0574322649999317]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.5764642944266276,1.4143932103441599,0.71338606911949],"aabb_xy":[[-0.6314642936032171,1.3594035355692022],[-0.5214642952500381,1.4693828851191175]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[0.09658148246556564,1.1934239481107407,0.71338606911949],"aabb_xy":[[0.0465972467573884,1.143423949297245],[0.14656571817374286,1.243423946924236]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6588472415882405,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9445.png","name":"9445"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9445.png","name":"9445"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1335.png","name":"1335"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6728.png","name":"6728"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9292.png","name":"9292"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3206.png","name":"3206"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":720.1710700670837,"rotation_z_degrees":306.3606275452724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00037218916928381807,-0.00965818058509822,-0.010199609318177538]},{"name":"camera_2","offset_m":[0.013303027286683745,0.0074696494120342835,-0.013760015297229814]},{"name":"camera_3","offset_m":[0.0059543757332454865,-0.01661055374416911,0.0053280741188842205]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00013715820699256465,0.0004264249864299554,0.0016065278082375125],"end_effector_yaw_offset_degrees":0.08086725983571608},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00033073282266706536,-0.0012925058805380355,0.0017248001846346117],"end_effector_yaw_offset_degrees":-0.49532450131941763},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008452096246778112,0.0007443851892044067,0.0014247699108742968],"end_effector_yaw_offset_degrees":0.2255309780708814}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00406336117990033,0.004439276984599886],"position_m":[0.22746336117990032,-0.024960723015400112,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018728060008203619,-0.004105070677560493],"position_m":[0.25892719399917963,-0.3088050706775605,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005484395776550136,0.0011056353731505354],"position_m":[0.14095156042234497,0.28630563537315057,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016336972918006877,-0.0041680559818760895],"position_m":[0.3283336972918007,0.1793319440181239,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a3eeaa246e4635548ebbf4ebc5bc2a0e915df3216cd51c624234b9f45cc8112c","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9445/tex_ceiling_textures_3206/tex_floor_textures_9292/tex_table_textures_1335/tex_wall_textures_6728","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5096375252889061646,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5096375252889061646,"visual_seed":5096375252889061646,"scene_id":"lab_003","finished_at":"2026-09-03T22:35:15"} +{"episode_id":"ep_000086","started_at":"2026-09-03T22:35:17","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.048649150295903,0.907597575047582,0.71338606911949],"aabb_xy":[[-0.06127593758309934,0.898051501346009],[-0.03602236300870664,0.9171436487491548]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.24313729564665865,-0.7920469415751494,0.71338606911949],"aabb_xy":[[-0.2853217098074894,-0.8560469418523606],[-0.20095288148582793,-0.7280469412979382]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.3229813368094883,-0.4720884331572379,0.71338606911949],"aabb_xy":[[-0.3869813341118347,-0.5164548601250947],[-0.2589813395071419,-0.4277220061893811]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[-0.46561785214316015,-1.0958081613761077,0.71338606911949],"aabb_xy":[[-0.4825285845795019,-1.109280366968722],[-0.4487071197068183,-1.082335955783493]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.5076283139272422,0.5682109008212426,0.71338606911949],"aabb_xy":[[0.5002158583858537,0.5623596903996146],[0.5150407694686306,0.5740621112428705]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[0.49932468977719546,-0.8944342898768494,0.71338606911949],"aabb_xy":[[0.48855171585582763,-0.9294342880958884],[0.5100976636985632,-0.8594342916578104]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.24659437421101726,1.2752077758771159,0.71338606911949],"aabb_xy":[[-0.2641726763999641,1.2576332863030109],[-0.22901607202207042,1.2927822654512209]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[0.21606214266762858,0.652174440419607,0.71338606911949],"aabb_xy":[[0.18258297540658763,0.6186953270485],[0.24954130992866952,0.685653553790714]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[-0.6411874648572241,1.4057942689189717,0.71338606911949],"aabb_xy":[[-0.6484697812338875,1.3157942653094625],[-0.6339051484805602,1.4957942725284805]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.11190278839011181,-1.1004399297399217,0.71338606911949],"aabb_xy":[[0.07335709556491078,-1.1389857007961104],[0.15044848121531285,-1.061894158683733]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.03049797413936417,1.6477596081590309,0.71338606911949],"aabb_xy":[[-0.07174678516927889,1.5927596086468132],[0.010750836890550562,1.7027596076712481]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[-0.2762149703643015,-0.26227419555367604,0.71338606911949],"aabb_xy":[[-0.30486430272471765,-0.2909197548307518],[-0.2475656380038852,-0.2336286362766002]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[0.5896054557607864,0.8406717395614867,0.71338606911949],"aabb_xy":[[0.519605454158507,0.8272389463598292],[0.659605457363066,0.8541045327631444]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[-0.13111547280463254,-2.2363650041126895,0.71338606911949],"aabb_xy":[[-0.16611547199745078,-2.247332050110351],[-0.09611547361181424,-2.225397958115026]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.4827816760409347,1.7388852223926459,0.71338606911949],"aabb_xy":[[-0.5327547415734503,1.6888852225801134],[-0.43280861050841934,1.7888852222051792]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.4882993365773125,1.5132090818849462,0.71338606911949],"aabb_xy":[[0.45079933607995415,1.5092403983368277],[0.5257993370746706,1.5171777654330647]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[0.437877540457291,-0.4148617924932001,0.71338606911949],"aabb_xy":[[0.41596885831794,-0.43676245931329083],[0.4597862225966421,-0.39296112567310937]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[0.5962416570905194,-0.08715963955107586,0.71338606911949],"aabb_xy":[[0.5923277838950969,-0.09590865495763261],[0.6001555302859418,-0.07841062414451909]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.6461873290937722,-1.0617890618325192,0.71338606911949],"aabb_xy":[[-0.6818164849937319,-1.0974217285893721],[-0.6105581731938124,-1.0261563950756662]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[0.35464005834124523,0.4668027807820825,0.71338606911949],"aabb_xy":[[0.30454259436017156,0.4028027802722707],[0.4047375223223188,0.5308027812918943]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[0.23081042563897813,-1.768448996825679,0.71338606911949],"aabb_xy":[[0.16581042748305908,-1.7947452413755909],[0.2958104237948972,-1.7421527522757665]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[0.4950952398045807,1.6251616410563723,0.71338606911949],"aabb_xy":[[0.44901014854984916,1.5611616438038172],[0.5411803310593121,1.6891616383089274]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[-0.10214181332821226,0.18817293566114968,0.71338606911949],"aabb_xy":[[-0.12464181285191964,0.16567698821052887],[-0.07964181380450483,0.21066888311177043]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[-0.1844928288206774,1.729865673665,0.71338606911949],"aabb_xy":[[-0.2484928274072499,1.6828587102654913],[-0.12049283023410498,1.7768726370645087]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[-0.24614687840917998,0.8654885520660858,0.71338606911949],"aabb_xy":[[-0.25224150629729836,0.856919157514417],[-0.24005225052106172,0.8740579466177545]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.03493734357768097,-2.4334644492830564,0.71338606911949],"aabb_xy":[[-0.03864060490681983,-2.4371664675917737],[-0.031234082248542096,-2.429762430974338]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_26","position":[0.31813773148753177,-0.42397747019483667,0.71338606911949],"aabb_xy":[[0.29359151586478105,-0.45422636674387373],[0.3426839471102825,-0.3937285736457996]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_27","position":[0.11298105823058224,-1.4583977434164213,0.71338606911949],"aabb_xy":[[0.03298105957369625,-1.472902602340684],[0.19298105688746825,-1.4438928844921586]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[-0.5233914385612417,0.5716533850380734,0.71338606911949],"aabb_xy":[[-0.5346364941318595,0.5604115873139781],[-0.5121463829906239,0.5828951827621687]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_29","position":[0.11426132096711417,-2.394497143569565,0.71338606911949],"aabb_xy":[[0.05026132368146552,-2.436003862522409],[0.1782613182527628,-2.352990424616721]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_30","position":[0.01797819495146291,-2.1232198455631006,0.71338606911949],"aabb_xy":[[-0.01952180486557065,-2.1278580568742425],[0.05547819476849647,-2.118581634251959]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_31","position":[0.00816276437037966,-2.2548862616511434,0.71338606911949],"aabb_xy":[[-0.04682948626513129,-2.3098862633944566],[0.06315501500589062,-2.199886259907831]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_32","position":[-0.2862186798940416,-1.715508387169832,0.71338606911949],"aabb_xy":[[-0.3462186797406084,-1.772327009362871],[-0.2262186800474748,-1.6586897649767935]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_33","position":[-0.5776591629283793,-2.4773120793743346,0.71338606911949],"aabb_xy":[[-0.6254653305421478,-2.5423120820813936],[-0.5298529953146105,-2.4123120766672757]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_34","position":[0.43787417669586626,-1.0851437492049694,0.71338606911949],"aabb_xy":[[0.347874176972692,-1.108217101740149],[0.5278741764190403,-1.0620703966697893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662055705011611,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8517.png","name":"8517"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8517.png","name":"8517"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9159.png","name":"9159"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8344.png","name":"8344"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/29.png","name":"29"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7866.png","name":"7866"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":553.7261856573352,"rotation_z_degrees":269.03973308055225,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01639929325393159,0.01632807973521905,0.003936927998343817]},{"name":"camera_2","offset_m":[0.004059359571114335,0.007473408504035946,7.524378490080669e-05]},{"name":"camera_3","offset_m":[-0.013666044696826557,0.003019357912255948,-0.015288676789676107]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006345542865204275,0.0012930158674896355,-0.0006038245769858256],"end_effector_yaw_offset_degrees":-0.02683983338067475},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005343994319985854,0.0018517309225237343,0.0016280157429849258],"end_effector_yaw_offset_degrees":0.5934061592836364},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015172857260848573,-0.0018258869793335668,-2.2849760836259145e-05],"end_effector_yaw_offset_degrees":0.015459728128916161}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004161445712253923,-0.0026895124075388957],"position_m":[0.22756144571225392,-0.03208951240753889,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004766099818775397,0.0016701664090004557],"position_m":[0.2655660998187754,-0.30302983359099955,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020826421171223795,-0.004088938341753158],"position_m":[0.14358264211712238,0.28111106165824684,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004001752642147038,-0.0007598759268730524],"position_m":[0.32269824735785296,0.18274012407312695,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"744be4cdffe0427a8f3e1742ad3ea2d8a6cd4f3caf1b02874afaa23af6a35b7d","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8517/tex_ceiling_textures_7866/tex_floor_textures_29/tex_table_textures_9159/tex_wall_textures_8344","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4042111611844652821,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4042111611844652821,"visual_seed":4042111611844652821,"scene_id":"lab_003","finished_at":"2026-09-03T22:37:53"} +{"episode_id":"ep_000087","started_at":"2026-09-03T22:37:56","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.558544998532193,1.2900950482622249,0.71338606911949],"aabb_xy":[[-0.6225449992356623,1.2440766657893039],[-0.49454499782872363,1.3361134307351459]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[0.4248540614299592,1.037541357669507,0.71338606911949],"aabb_xy":[[0.402389291458554,1.0150413567906464],[0.44731883140136425,1.0600413585483675]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[0.048253841432269184,-1.357840564681461,0.71338606911949],"aabb_xy":[[-0.011746159163746994,-1.4126530372266846],[0.10825384202828536,-1.3030280921362376]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[-0.4080137653124174,-1.1503042623357682,0.71338606911949],"aabb_xy":[[-0.4720137676552189,-1.1952451135799005],[-0.3440137629696158,-1.1053634110916355]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.6070874159543858,0.2606577330035731,0.71338606911949],"aabb_xy":[[0.5983894536636705,0.24853275869609842],[0.615785378245101,0.27278270731104787]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.3211367987780429,-1.5064591011900563,0.71338606911949],"aabb_xy":[[0.3134336081039658,-1.5141684718887942],[0.3288399894521199,-1.498749730491318]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[-0.45140006569838775,-0.6244573457547649,0.71338606911949],"aabb_xy":[[-0.4595137203717648,-0.6325631622087939],[-0.4432864110250106,-0.6163515293007358]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[-0.3084176576866625,0.6766686330543696,0.71338606911949],"aabb_xy":[[-0.31451228557478084,0.6680992385027009],[-0.3023230297985442,0.6852380276060384]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[-0.35614420741411507,1.3718050219917322,0.71338606911949],"aabb_xy":[[-0.40562462862807386,1.3078050240788803],[-0.3066637862001563,1.435805019904584]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.10819004179303426,0.7670520102395835,0.71338606911949],"aabb_xy":[[-0.11469167830103888,0.7572841882132739],[-0.10168840528502965,0.7768198322658935]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.39699834644025667,0.07570886619866135,0.71338606911949],"aabb_xy":[[-0.43199834641675255,0.06624425015104474],[-0.3619983464637609,0.08517348224627797]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[-0.4765458809263492,1.1234193982843252,0.71338606911949],"aabb_xy":[[-0.4978238890698214,1.0584193959582522],[-0.4552678727828769,1.1884194006103983]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[0.29426364414746253,1.5837712156811858,0.71338606911949],"aabb_xy":[[0.2557179513222615,1.5452254446249971],[0.33280933697266357,1.6223169867373746]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[0.3685920268188767,-2.0160713978478384,0.71338606911949],"aabb_xy":[[0.32359944010042624,-2.061071397122287],[0.41358461353732706,-1.9710713985733896]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.5694841316480137,0.8602884997592146,0.71338606911949],"aabb_xy":[[-0.6146554494961827,0.7962885026146763],[-0.5243128137998447,0.9242884969037531]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[0.22160090856561976,-1.7479644461644885,0.71338606911949],"aabb_xy":[[0.13160090488870155,-1.8093968527415925],[0.3116009122425379,-1.6865320395873837]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[-0.017388293300367175,1.3117917235652006,0.71338606911949],"aabb_xy":[[-0.05238829161106262,1.3040767086416551],[0.01761170501032827,1.3195067384887464]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.328143334633166,-0.6518195539781368,0.71338606911949],"aabb_xy":[[-0.36939214566308065,-0.7068195534903542],[-0.2868945236032512,-0.5968195544659193]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.09103748308345383,1.7016135869038407,0.71338606911949],"aabb_xy":[[-0.14603296090411322,1.6466135854699335],[-0.03604200526279443,1.7566135883377474]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.1708565988722397,0.16653486027749498,0.71338606911949],"aabb_xy":[[-0.18400784484352908,0.1415348605208084],[-0.15770535290095036,0.19153486003418152]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.17986031955446646,1.381945111347758,0.71338606911949],"aabb_xy":[[0.1298610443860303,1.331945110071811],[0.22985959472290263,1.4319451126237053]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.6429202546403938,-2.056406301211002,0.71338606911949],"aabb_xy":[[0.6054202541430355,-2.0603749847591204],[0.680420255137752,-2.0524376176628834]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.20267567936907604,0.2551012390829275,0.71338606911949],"aabb_xy":[[-0.2276756789208145,0.24495875521779276],[-0.17767567981733753,0.2652437229480622]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.19527445514085995,0.49889068725307784,0.71338606911949],"aabb_xy":[[0.18724818451023395,0.4901391922757252],[0.20330072577148595,0.5076421822304304]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[-0.008737265313544684,0.8697187122429422,0.71338606911949],"aabb_xy":[[-0.07273726672153534,0.8179297607190175],[0.05526273609444598,0.9215076637668669]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[-0.2643651514526585,1.1608791670527103,0.71338606911949],"aabb_xy":[[-0.3283651478482315,1.0969158786339768],[-0.20036515505708535,1.2248424554714439]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[0.002684061221190026,-1.0413615036859016,0.71338606911949],"aabb_xy":[[-0.04340103003354145,-1.1053615009384565],[0.0487691524759215,-0.9773615064333464]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_27","position":[-0.056283146811789364,-2.2967230746468292,0.71338606911949],"aabb_xy":[[-0.06499711586172383,-2.3192230753060166],[-0.04756917776185486,-2.27422307398764]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_28","position":[0.18715788670917,-0.8605399927082782,0.71338606911949],"aabb_xy":[[0.14002850770733433,-0.92453999375268],[0.23428726571100567,-0.7965399916638761]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_29","position":[0.31966342478211085,0.7955087585066454,0.71338606911949],"aabb_xy":[[0.3116699349868289,0.7875106265661699],[0.32765691457739293,0.8035068904471211]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_30","position":[0.24271866414396726,-2.197251766589745,0.71338606911949],"aabb_xy":[[0.15303158783585183,-2.2872517668441956],[0.3324057404520827,-2.1072517663352945]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_31","position":[-0.43869718345330244,-0.3338390425145503,0.71338606911949],"aabb_xy":[[-0.46058693104224324,-0.42383903980379944],[-0.41680743586436164,-0.24383904522530123]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_32","position":[-0.3532938456689729,-1.4026094489212553,0.71338606911949],"aabb_xy":[[-0.41729384425554533,-1.449616412320764],[-0.2892938470824004,-1.3556024855217466]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_33","position":[-0.46765066902457003,0.6350490922829253,0.71338606911949],"aabb_xy":[[-0.4828228383062034,0.6198802353547219],[-0.4524784997429367,0.6502179492111286]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6612545334979375,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7994.png","name":"7994"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7994.png","name":"7994"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8453.png","name":"8453"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8762.png","name":"8762"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6233.png","name":"6233"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9684.png","name":"9684"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":685.6812127760734,"rotation_z_degrees":32.74284585945719,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012081189144273924,0.0018103987764750314,-0.009169499889532768]},{"name":"camera_2","offset_m":[-0.01730294093844027,-0.01996146345989161,-0.014540874453365129]},{"name":"camera_3","offset_m":[0.017658207981848185,-0.019960728417926826,0.018987752240043027]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018531922075124083,-0.0005619719344041418,-0.0004541932957785875],"end_effector_yaw_offset_degrees":0.9656123960171084},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007270051960296046,-0.0014132942687336443,-0.0009324200011900222],"end_effector_yaw_offset_degrees":-0.6543237513921292},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004751992184142415,0.00017368561990859302,0.00015412977126994225],"end_effector_yaw_offset_degrees":-0.9854541591275594}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013626941693571826,0.003916306651821377],"position_m":[0.2220373058306428,-0.025483693348178623,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010098309642684556,-0.003804126024590535],"position_m":[0.2618098309642684,-0.30850412602459054,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027313862441940727,0.002216479569885109],"position_m":[0.14423138624419407,0.28741647956988514,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041804464525057455,0.00012127452236667703],"position_m":[0.32251955354749423,0.18362127452236668,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d1d956d5cd89e51062cbd594c26897edf9f418f0c44566995360515be0b6357","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0087.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7994/tex_ceiling_textures_9684/tex_floor_textures_6233/tex_table_textures_8453/tex_wall_textures_8762","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1673932797177625113,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1673932797177625113,"visual_seed":1673932797177625113,"scene_id":"lab_003","finished_at":"2026-09-03T22:40:31"} +{"episode_id":"ep_000088","started_at":"2026-09-03T22:40:34","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[0.03372992180864742,-2.0520035631357745,0.71338606911949],"aabb_xy":[[-0.030270081409990435,-2.0987266750347824],[0.09772992502728528,-2.0052804512367657]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[0.45049723474299896,0.7977875357647979,0.71338606911949],"aabb_xy":[[0.41549723561304325,0.7920423146891338],[0.48549723387295457,0.803532756840462]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[-0.17809455161089793,-2.2337827782740027,0.71338606911949],"aabb_xy":[[-0.2080621085207236,-2.2637827785718887],[-0.14812699470107227,-2.2037827779761168]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.6222469375953759,-1.1863341840978263,0.71338606911949],"aabb_xy":[[0.6023558977150356,-1.1989899953825232],[0.6421379774757161,-1.1736783728131295]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.1712274038202296,-1.4590788074838508,0.71338606911949],"aabb_xy":[[0.10122740042866761,-1.4943945811872816],[0.24122740721179156,-1.42376303378042]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[0.46007813648519846,-1.6112090241531,0.71338606911949],"aabb_xy":[[0.40998067250412484,-1.6752090246629119],[0.5101756004662721,-1.5472090236432883]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.05267225119113417,-1.0904987193063131,0.71338606911949],"aabb_xy":[[0.015877618066227894,-1.1274045944028954],[0.08946688431604044,-1.0535928442097309]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[-0.04900730879471793,1.730958645128696,0.71338606911949],"aabb_xy":[[-0.08248647605575887,1.6974795317575895],[-0.015528141533677,1.7644377584998034]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.21929854300748663,-0.13532037812245568,0.71338606911949],"aabb_xy":[[-0.23679854325253602,-0.15282016596202253],[-0.20179854276243725,-0.11782059028288884]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[-0.3527186005543942,1.0960728824904447,0.71338606911949],"aabb_xy":[[-0.40784380618398497,1.0360728810491573],[-0.2975933949248034,1.1560728839317316]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.27323607624727236,1.608436023919689,0.71338606911949],"aabb_xy":[[-0.2781920964321536,1.5859360237175677],[-0.26828005606239114,1.630936024121811]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.3596831836878524,-2.4286031591002617,0.71338606911949],"aabb_xy":[[-0.40968245885628857,-2.478603160376209],[-0.30968390851941624,-2.3786031578243145]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[0.15402841708657944,1.6585104079716628,0.71338606911949],"aabb_xy":[[0.11902841881645954,1.6514362802766744],[0.18902841535669934,1.6655845356666508]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[0.09281688807992605,-1.7927459802169237,0.71338606911949],"aabb_xy":[[0.02781688697398277,-1.817711353285052],[0.15781688918586934,-1.7677806071487954]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.4266858831965066,0.12247337540603231,0.71338606911949],"aabb_xy":[[-0.4766589487290221,0.07247337559349942],[-0.3767128176639912,0.1724733752185652]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.7066038580753942,1.507707506770592,0.71338606911949],"aabb_xy":[[0.6964508425212446,1.4716379651978515],[0.7167568736295433,1.543777048343332]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.6432043017420637,-2.153916064721972,0.71338606911949],"aabb_xy":[[0.6327927430615798,-2.15926179805787],[0.6536158604225473,-2.148570331386073]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.2405434815049705,1.7128573915239955,0.71338606911949],"aabb_xy":[[-0.27500582890311226,1.6783635091261726],[-0.20608113410682868,1.747351273921818]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.5373855562249666,1.8058475973077424,0.71338606911949],"aabb_xy":[[-0.5748855548005873,1.7931113016441842],[-0.4998855576493458,1.8185838929713]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.3333951317234807,1.4518017693670182,0.71338606911949],"aabb_xy":[[0.3216269449288232,1.3668017694617967],[0.34516331851813825,1.53680176927224]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.2606263606375988,0.6112033517575552,0.71338606911949],"aabb_xy":[[0.19662635922960817,0.5594144002336305],[0.3246263620455895,0.66299230328148]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[0.22649462365859396,-2.3530956051923217,0.71338606911949],"aabb_xy":[[0.20149462372607607,-2.359978273413245],[0.25149462359111185,-2.3462129369713987]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[-0.548834817136259,-2.264201636635208,0.71338606911949],"aabb_xy":[[-0.5938274038547096,-2.3092016359096563],[-0.5038422304178087,-2.219201637360759]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_23","position":[-0.15989171514873612,0.6503990342993466,0.71338606911949],"aabb_xy":[[-0.2238917122608418,0.6013666645049359],[-0.09589171803663044,0.6994314040937571]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_24","position":[-0.5292606216860584,-1.7306175902821697,0.71338606911949],"aabb_xy":[[-0.5792606227051937,-1.7670838060199978],[-0.4792606206669232,-1.694151374544342]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_25","position":[0.6250471157702973,-0.14950241679496212,0.71338606911949],"aabb_xy":[[0.6075471823363139,-0.16700241671519664],[0.6425470492042806,-0.13200241687472755]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.18901076865901567,0.1431691679787721,0.71338606911949],"aabb_xy":[[-0.20906918027225593,0.12310408106961457],[-0.16895235704577535,0.16323425488792964]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_27","position":[-0.12132339746993903,0.8467181825864531,0.71338606911949],"aabb_xy":[[-0.20132339545072409,0.8391166416246013],[-0.041323399489154,0.8543197235483052]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_28","position":[-0.11434025760788724,1.2125749727260264,0.71338606911949],"aabb_xy":[[-0.16835585388978724,1.148574969833769],[-0.060324661325987225,1.2765749756182834]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_29","position":[0.4377842226622628,-2.038314923152986,0.71338606911949],"aabb_xy":[[0.40215506676230306,-2.073947589909839],[0.47341337856222254,-2.0026822563961333]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_30","position":[-0.3329032077563331,0.7670252987604718,0.71338606911949],"aabb_xy":[[-0.3679032060670285,0.7593102838369262],[-0.2979032094456376,0.7747403136840175]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_31","position":[-0.6216927330556143,1.2735554194968124,0.71338606911949],"aabb_xy":[[-0.631324369276044,1.2639181067171035],[-0.6120610968351847,1.2831927322765213]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_32","position":[-0.444291690259092,1.283308746531354,0.71338606911949],"aabb_xy":[[-0.5082916921714343,1.2273975972733435],[-0.38029168834674965,1.3392198957893644]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_33","position":[0.6415090795334952,1.157568870806331,0.71338606911949],"aabb_xy":[[0.6245983470971535,1.144096665213716],[0.658419811969837,1.1710410763989452]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6600425531487171,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2082.png","name":"2082"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2082.png","name":"2082"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4052.png","name":"4052"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3303.png","name":"3303"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2811.png","name":"2811"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9196.png","name":"9196"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":715.9534062732698,"rotation_z_degrees":236.72597378711694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010239816798969063,0.013963875085337082,-0.011921579039209375]},{"name":"camera_2","offset_m":[0.012032419425887942,0.0017652833988986982,-0.015519763216956726]},{"name":"camera_3","offset_m":[-0.016579137925969784,-0.007139952888000898,-0.007599113150637908]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014463384111661193,0.0017504609181437044,-0.001738335186429625],"end_effector_yaw_offset_degrees":0.5133183718643659},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00035872878171643984,0.001192549197582144,0.000492803147756995],"end_effector_yaw_offset_degrees":-0.32342272158088914},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009309245893983564,0.0001272499975309648,6.208673213662806e-05],"end_effector_yaw_offset_degrees":0.171939049645359}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004483608770117362,-0.003924564264242869],"position_m":[0.21891639122988263,-0.033324564264242865,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004161179681223979,-0.0023302511954076044],"position_m":[0.2612161179681224,-0.3070302511954076,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003365551742355505,-0.004828689450218956],"position_m":[0.13813444825764448,0.28037131054978104,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031684416786048643,-0.00024052477279879608],"position_m":[0.32353155832139513,0.1832594752272012,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2441b01600a792aab62e02bd2cb6e6e273e9185c632d1ae0a70aa48c5ca74289","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2082/tex_ceiling_textures_9196/tex_floor_textures_2811/tex_table_textures_4052/tex_wall_textures_3303","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5317173078675310387,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5317173078675310387,"visual_seed":5317173078675310387,"scene_id":"lab_003","finished_at":"2026-09-03T22:43:15"} +{"episode_id":"ep_000089","started_at":"2026-09-03T22:43:18","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.4195464455557574,-1.1466588071128156,0.71338606911949],"aabb_xy":[[0.3849553627017121,-1.2116588073978467],[0.45413752840980254,-1.0816588068277846]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.6495840891462805,-2.4971384382860218,0.71338606911949],"aabb_xy":[[0.5995909770370886,-2.547138438960218],[0.6995772012554724,-2.4471384376118266]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[0.555502816031592,0.6878406395929813,0.71338606911949],"aabb_xy":[[0.5468048537408767,0.6757156652855064],[0.5642007783223073,0.6999656139004559]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[0.6359632675395539,1.7303733236015062,0.71338606911949],"aabb_xy":[[0.5719632653191468,1.686000239476218],[0.6999632697599608,1.7747464077267945]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.006279570173694848,0.7846625704869474,0.71338606911949],"aabb_xy":[[-0.04371526275424675,0.734662571591704],[0.05627440310163645,0.8346625693821911]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.4541158370716568,-0.9736363567512136,0.71338606911949],"aabb_xy":[[-0.475393845215129,-1.0386363590772865],[-0.4328378289281845,-0.9086363544251405]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.24292692688162587,-1.2180516376695552,0.71338606911949],"aabb_xy":[[-0.2572613520077893,-1.230111853224094],[-0.22859250175546245,-1.2059914221150163]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[-0.6330309791487326,-0.6544284365182589,0.71338606911949],"aabb_xy":[[-0.6410572497793586,-0.6631799314956115],[-0.6250047085181066,-0.6456769415409063]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.5476129938117087,-1.6314410552285432,0.71338606911949],"aabb_xy":[[-0.6373000701198241,-1.721441055482994],[-0.45792591750359324,-1.541441054974093]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.41446706199059014,-0.2134420238767536,0.71338606911949],"aabb_xy":[[-0.42911046754462306,-0.22810074353353788],[-0.3998236564365571,-0.19878330421996931]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[0.2590261193792994,1.1001611733555863,0.71338606911949],"aabb_xy":[[0.22525056018860645,1.0861226781424214],[0.2928016785699924,1.1141996685687512]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.6289126330226263,1.0717769991399169,0.71338606911949],"aabb_xy":[[-0.6369061228179085,1.0637788671994415],[-0.6209191432273444,1.0797751310803927]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.387840290076186,1.7742880472026372,0.71338606911949],"aabb_xy":[[-0.4378402895163816,1.7243201227183205],[-0.33784029063599036,1.824255971686953]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[0.13706738797792184,1.049246793730275,0.71338606911949],"aabb_xy":[[0.11956738869983494,1.031908693663929],[0.1545673872560087,1.066584893796621]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[0.3809030606803001,1.4284323240568297,0.71338606911949],"aabb_xy":[[0.3459030614874818,1.4174652780591668],[0.4159030598731183,1.4393993700544918]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[0.019711975519253522,-1.841526463759296,0.71338606911949],"aabb_xy":[[0.014254029882233454,-1.921526467066955],[0.02516992115627359,-1.7615264604516367]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.47280930288130846,0.7244633515967656,0.71338606911949],"aabb_xy":[[-0.4772399322361487,0.719014979862083],[-0.46837867352646834,0.7299117233314482]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[0.5172437748643779,-1.7484387245454602,0.71338606911949],"aabb_xy":[[0.4596133059771069,-1.8084387234721704],[0.5748742437516486,-1.6884387256187492]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.36079522288304017,1.1403003744832225,0.71338606911949],"aabb_xy":[[-0.4257952229173429,1.0935996978028952],[-0.29579522284873744,1.1870010511635498]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.29717117208893445,-0.15996978583697397,0.71338606911949],"aabb_xy":[[-0.31484680267753273,-0.1776500021163767],[-0.27949554150033606,-0.1422895695575712]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[-0.16685540591320203,-0.06166873133617523,0.71338606911949],"aabb_xy":[[-0.17945810505027848,-0.07426412756104073],[-0.15425270677612557,-0.049073335111309735]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[-0.21622489807432949,-0.2722002233410361,0.71338606911949],"aabb_xy":[[-0.22706537630084436,-0.2893865046316849],[-0.20538441984781455,-0.2550139420503873]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.5439608781784044,-0.9268615176804915,0.71338606911949],"aabb_xy":[[0.4899452818965043,-0.9908615205727487],[0.5979764744603043,-0.8628615147882344]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[-0.6226127844147007,-0.3129815928169548,0.71338606911949],"aabb_xy":[[-0.631959791996996,-0.32728521503459884],[-0.6132657768324056,-0.2986779705993108]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[-0.5967172280488913,-2.1667345209274127,0.71338606911949],"aabb_xy":[[-0.6567172286449076,-2.2215469934726366],[-0.5367172274528752,-2.1119220483821897]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_25","position":[-0.3845486141663936,-1.8461445920508393,0.71338606911949],"aabb_xy":[[-0.47454861066726534,-1.8920562344692973],[-0.2945486176655218,-1.8002329496323808]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6550545887526031,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1463.png","name":"1463"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1463.png","name":"1463"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7735.png","name":"7735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1533.png","name":"1533"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6109.png","name":"6109"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/543.png","name":"543"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":835.6541495160529,"rotation_z_degrees":14.812337158836684,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019229280750673025,-0.01989011763083905,0.019250141196839234]},{"name":"camera_2","offset_m":[-0.017646748325664503,0.0008886698599748673,-0.014732155431199906]},{"name":"camera_3","offset_m":[-0.010942541376453984,-0.009097985021776753,0.012858115471203569]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013076732017060092,0.001396971198118099,-0.00014365065343788707],"end_effector_yaw_offset_degrees":-0.5234401611800825},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00027611196724079386,-0.0003698563225708936,-0.0006013612385121392],"end_effector_yaw_offset_degrees":0.8989184435498605},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011380915520571829,0.001254823043492274,9.361523397644804e-05],"end_effector_yaw_offset_degrees":0.44227852515050814}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027923745940489283,0.004911836152158375],"position_m":[0.22619237459404892,-0.024488163847841624,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027630834480872803,0.002354213483310658],"position_m":[0.2580369165519127,-0.30234578651668936,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003712072794869613,0.00041117822820161895],"position_m":[0.13778792720513036,0.28561117822820165,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002677654638198043,0.002592925072029034],"position_m":[0.329377654638198,0.18609292507202904,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eb53f3bfde2d868542fe5f112850bd8d7fcb31c95a27920bcbd3aff5c8278283","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1463/tex_ceiling_textures_543/tex_floor_textures_6109/tex_table_textures_7735/tex_wall_textures_1533","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4710929174628526201,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4710929174628526201,"visual_seed":4710929174628526201,"scene_id":"lab_003","finished_at":"2026-09-03T22:45:57"} +{"episode_id":"ep_000090","started_at":"2026-09-03T22:45:59","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[-0.08567833006930348,-0.03842151493345147,0.71338606911949],"aabb_xy":[[-0.10573674168254377,-0.05848660184260901],[-0.06561991845606319,-0.018356428024293936]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[-0.26487678514183893,0.7425882362539142,0.71338606911949],"aabb_xy":[[-0.3348767867441184,0.7291554430522565],[-0.19487678353955945,0.7560210294555717]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[-0.5833103957404815,-1.1809267408686706,0.71338606911949],"aabb_xy":[[-0.617607306758222,-1.2152236270786116],[-0.5490134847227408,-1.146629854658729]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.5813648046899893,-2.087828034073092,0.71338606911949],"aabb_xy":[[-0.6181594378148956,-2.124733909169674],[-0.544570171565083,-2.0509221589765096]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.5667427356354828,-1.2338945139523863,0.71338606911949],"aabb_xy":[[0.5168600387577866,-1.2838945131986612],[0.616625432513179,-1.1838945147061117]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.2481510084517642,-2.0264410255564176,0.71338606911949],"aabb_xy":[[-0.28378016435172393,-2.0620736923132705],[-0.21252185255180445,-1.9908083587995646]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[0.4183662440373832,1.4630164315471617,0.71338606911949],"aabb_xy":[[0.3815156961003956,1.425516430724128],[0.4552167919743708,1.5005164323701954]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.5852265183958065,0.10704898380923078,0.71338606911949],"aabb_xy":[[-0.5949825079049803,0.09728644974999633],[-0.5754705288866325,0.1168115178684652]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[0.45835908377117307,-1.791375301739826,0.71338606911949],"aabb_xy":[[0.4534030635862919,-1.8138753019419482],[0.46331510395605424,-1.768875301537705]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[0.3782917034182791,-1.4145500682590864,0.71338606911949],"aabb_xy":[[0.3332991166998286,-1.459550067533535],[0.4232842901367294,-1.3695500689846374]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.337303447897088,1.3469350735669057,0.71338606911949],"aabb_xy":[[-0.34529743647479133,1.3389349934718153],[-0.32930945931938455,1.354935153661996]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.14635411297904077,0.4203953368426756,0.71338606911949],"aabb_xy":[[-0.15439747290499595,0.3353953357473091],[-0.1383107530530856,0.505395337938042]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.4975109886752983,1.6203180902366143,0.71338606911949],"aabb_xy":[[-0.5101377759624945,1.610772016535041],[-0.48488420138810184,1.6298641639381868]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[-0.5957027123177089,-1.4258605040259935,0.71338606911949],"aabb_xy":[[-0.6407027137839377,-1.4708603608874742],[-0.55070271085148,-1.3808606471645128]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.08801556215596917,1.7198807730224686,0.71338606911949],"aabb_xy":[[-0.13329417703711843,1.6558807736742849],[-0.042736947274819914,1.7838807723706522]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.05394860310638261,0.7059190393720685,0.71338606911949],"aabb_xy":[[-0.07849481872913333,0.6756701428230314],[-0.02940238748363189,0.7361679359211055]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.43327380489675343,1.7692322418741715,0.71338606911949],"aabb_xy":[[-0.4395859044330919,1.763465302620953],[-0.42696170536041506,1.7749991811273909]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[0.6882961958340779,0.020432623651152504,0.71338606911949],"aabb_xy":[[0.6841802457220051,0.016317068618307003],[0.6924121459461504,0.024548178683997997]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[0.2572214780653769,1.5513277377958121,0.71338606911949],"aabb_xy":[[0.21972147789350494,1.518627002412905],[0.2947214782372488,1.5840284731787193]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[0.5519702624330023,-2.2033728361799194,0.71338606911949],"aabb_xy":[[0.48797026021259515,-2.2477459203052077],[0.6159702646534092,-2.158999752054631]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[0.620396250223896,0.09989451375129077,0.71338606911949],"aabb_xy":[[0.5553962491179528,0.07492914068316249],[0.6853962513298394,0.12485988681941908]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.47511271519299314,0.9517719433702458,0.71338606911949],"aabb_xy":[[-0.49962633928999894,0.9275073500682093],[-0.4505990910959872,0.9760365366722822]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[-0.2305107670890929,-2.328895234811744,0.71338606911949],"aabb_xy":[[-0.32019784339720836,-2.4188952350661945],[-0.14082369078097742,-2.2388952345572934]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[-0.16741986646007656,0.9494733811069103,0.71338606911949],"aabb_xy":[[-0.22901062568406938,0.8854733829978635],[-0.10582910723608374,1.0134733792159571]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[-0.34542112990365986,0.2751837156301842,0.71338606911949],"aabb_xy":[[-0.3605932991852932,0.2600148587019809],[-0.3302489606220265,0.2903525725583876]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.550429626727186,-0.6022254658443731,0.71338606911949],"aabb_xy":[[-0.5854296258571416,-0.6079706869200373],[-0.5154296275972303,-0.5964802447687091]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_26","position":[-0.27057735958366647,-0.34576244606047846,0.71338606911949],"aabb_xy":[[-0.2955773595161844,-0.3526451142814018],[-0.24557735965114863,-0.33887977783955514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6551792451976165,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/966.png","name":"966"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/966.png","name":"966"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6326.png","name":"6326"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2620.png","name":"2620"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9106.png","name":"9106"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5803.png","name":"5803"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":518.6771411359997,"rotation_z_degrees":166.97084723988337,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014240604765520696,0.009096930986145339,0.015132438827950328]},{"name":"camera_2","offset_m":[-0.002490864578610797,0.009536807611591855,0.0008145611752844173]},{"name":"camera_3","offset_m":[0.011843582290617171,-0.007886880508065342,0.0032367036855423803]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006529975854754721,0.0009899794349883671,-0.000844617951164464],"end_effector_yaw_offset_degrees":-0.56030468611037},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009707474018653827,0.000444153536513552,-0.0010338474977061069],"end_effector_yaw_offset_degrees":-0.8851090648253239},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016913585798818687,0.0004349050396293538,0.001081806205411978],"end_effector_yaw_offset_degrees":-0.5219718071390795}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003679655822052783,0.0024392637721825415],"position_m":[0.2197203441779472,-0.02696073622781746,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004421933246338653,-0.0010800158228282787],"position_m":[0.2563780667536613,-0.3057800158228283,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002821451062662143,0.0023947188963502775],"position_m":[0.14432145106266214,0.2875947188963503,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006549738726632616,0.0039088718561560406],"position_m":[0.32735497387266327,0.18740887185615604,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"94460b2bb8f49548e0ec22e79a70092e027d089fc327e3ce7e974ef42f45f922","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0090.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_966/tex_ceiling_textures_5803/tex_floor_textures_9106/tex_table_textures_6326/tex_wall_textures_2620","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1083490911593544535,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1083490911593544535,"visual_seed":1083490911593544535,"scene_id":"lab_003","finished_at":"2026-09-03T22:48:44"} +{"episode_id":"ep_000091","started_at":"2026-09-03T22:48:47","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.2592919383651349,-1.1695532708116803,0.71338606911949],"aabb_xy":[[-0.3092652323683953,-1.2195532713662274],[-0.20931864436187442,-1.1195532702571327]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.5292741417187745,-0.2184353341214318,0.71338606911949],"aabb_xy":[[-0.5932741388308802,-0.2674677039158424],[-0.4652741446066688,-0.16940296432702115]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[0.5180616908696427,-0.666439518506134,0.71338606911949],"aabb_xy":[[0.4680616895858028,-0.716418372896756],[0.5680616921534827,-0.6164606641155118]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.1605609751946846,1.3195023036805607,0.71338606911949],"aabb_xy":[[-0.17379192072936586,1.306274884658561],[-0.14733002966000328,1.3327297227025598]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_4","position":[0.6279102313859888,-1.8110527226901452,0.71338606911949],"aabb_xy":[[0.5479164078074307,-1.891052725282987],[0.7079040549645471,-1.7310527200973038]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.574611065259224,1.2627343000492401,0.71338606911949],"aabb_xy":[[0.5401485872461362,1.2560706228663172],[0.6090735432723118,1.2693979772321626]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[0.5363490416238268,-0.49061700422671883,0.71338606911949],"aabb_xy":[[0.5144403594844758,-0.5125176710468096],[0.5582577237631778,-0.4687163374066281]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[0.04900969664593757,-0.9876910098214369,0.71338606911949],"aabb_xy":[[0.042595883002752626,-0.9941008300691051],[0.055423510289122506,-0.9812811895737684]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.09306398765568358,-1.0993136805961696,0.71338606911949],"aabb_xy":[[0.05175944459194759,-1.1633136801642865],[0.13436853071941957,-1.0353136810280523]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.28327458983633635,-2.2851074202601485,0.71338606911949],"aabb_xy":[[0.2752312299103812,-2.3701074213555144],[0.29131794976229153,-2.2001074191647816]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[-0.17448552370680237,1.5051763410698924,0.71338606911949],"aabb_xy":[[-0.23948552470730286,1.4543899759152177],[-0.10948552270630182,1.5559627062245676]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.5040882040309416,1.7431843254882575,0.71338606911949],"aabb_xy":[[0.4628393930010269,1.6881843259760398],[0.5453370150608563,1.7981843250004748]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[-0.02700034216518543,-2.3441793920303216,0.71338606911949],"aabb_xy":[[-0.06450034282976412,-2.3598664500305433],[0.010499658499393267,-2.328492334030099]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.25408696226698174,1.1682920255311724,0.71338606911949],"aabb_xy":[[-0.2582029123790544,1.1641764704983266],[-0.24997101215490908,1.1724075805640177]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[-0.23495542626962113,-2.2128108919538536,0.71338606911949],"aabb_xy":[[-0.28208480527145674,-2.276810892998255],[-0.1878260472677854,-2.148810890909451]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.5721828093865434,-2.3559046936113797,0.71338606911949],"aabb_xy":[[-0.6521828126443863,-2.4359012014033636],[-0.49218280612870036,-2.2759081858193957]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.2739741949421241,-0.5316789487699007,0.71338606911949],"aabb_xy":[[-0.28028629447846254,-0.5374458880231197],[-0.26766209540578567,-0.525912009516682]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.38138550791815834,0.6691733978856926,0.71338606911949],"aabb_xy":[[-0.3919529875762573,0.6586283677726841],[-0.3708180282600593,0.6797184279987012]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[0.11614221397596414,-2.14284608962675,0.71338606911949],"aabb_xy":[[0.03614221696171614,-2.1629806413001615],[0.19614221099021212,-2.1227115379533386]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.3503245410286353,-2.3136633741138284,0.71338606911949],"aabb_xy":[[0.3332224630702671,-2.3307701796450986],[0.3674266189870034,-2.296556568582559]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[-0.004693530141470337,-2.498310956789937,0.71338606911949],"aabb_xy":[[-0.02256263789592583,-2.512143864767148],[0.013175577612985157,-2.484478048812726]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.3771505390017996,-0.8420989809583108,0.71338606911949],"aabb_xy":[[-0.4411462363968962,-0.9060989792590194],[-0.31315484160670304,-0.778098982657602]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.49346787317504104,-2.2241434845811296,0.71338606911949],"aabb_xy":[[0.47526204951379336,-2.2351688851631213],[0.5116736968362887,-2.213118083999138]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[0.3124393101513756,-1.842350831064163,0.71338606911949],"aabb_xy":[[0.30754001784481205,-1.8700277503667313],[0.31733860245793905,-1.8146739117615938]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[0.4713739316467147,0.14227029217598242,0.71338606911949],"aabb_xy":[[0.4214912347690186,0.09227029292970766],[0.521256628524411,0.19227029142225718]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6621356090123565,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3142.png","name":"3142"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3142.png","name":"3142"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1798.png","name":"1798"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9248.png","name":"9248"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7194.png","name":"7194"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6772.png","name":"6772"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":628.2973944095063,"rotation_z_degrees":263.73626963768623,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011747727832259306,0.00878499615387007,-0.017112536286955093]},{"name":"camera_2","offset_m":[-0.00686745107389501,0.00579490727950642,0.001950921975083033]},{"name":"camera_3","offset_m":[0.005695530738612432,-0.01156831235705296,-0.016690521051598566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015597294920823548,-0.0014636334405960347,-0.0001488678704775208],"end_effector_yaw_offset_degrees":-0.22057076570637135},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005842627640452274,0.001520839751417845,-0.00017253905162048348],"end_effector_yaw_offset_degrees":0.387938752556785},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003183246788703159,-0.0012331104794766749,0.0016728074887709318],"end_effector_yaw_offset_degrees":-0.3195738897672269}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004414211560120079,-0.0026508894423334516],"position_m":[0.2189857884398799,-0.032050889442333454,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014648682187244676,-0.004829158819310779],"position_m":[0.26226486821872447,-0.3095291588193108,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001364950712986669,-0.004883548474200619],"position_m":[0.1401350492870133,0.28031645152579937,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002376605106087759,0.004047909495976152],"position_m":[0.3243233948939122,0.18754790949597616,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d1b6206ac703b918648e61c1ec1764c9a065d8c4c0c6cb6ad098feb4176301c5","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3142/tex_ceiling_textures_6772/tex_floor_textures_7194/tex_table_textures_1798/tex_wall_textures_9248","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2898080253176549600,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2898080253176549600,"visual_seed":2898080253176549600,"scene_id":"lab_003","finished_at":"2026-09-03T22:51:23"} +{"episode_id":"ep_000092","started_at":"2026-09-03T22:51:26","dimensions":{"distractor":{"count":34,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[-0.6120516927125779,1.717273707334773,0.71338606911949],"aabb_xy":[[-0.6479651971375674,1.6813601991180183],[-0.5761381882875881,1.7531872155515273]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.24654019572967995,-2.0018600667993263,0.71338606911949],"aabb_xy":[[-0.2715401952814184,-2.012002550664461],[-0.22154019617794143,-1.9917175829341915]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.46842090658932023,1.550841513048359,0.71338606911949],"aabb_xy":[[-0.48831194646966053,1.5381857017636624],[-0.44852986670898004,1.563497324333056]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.6669659600352217,0.26786914930937256,0.71338606911949],"aabb_xy":[[-0.6734675965432263,0.2581013272830628],[-0.6604643235272171,0.2776369713356823]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.3378911799636024,-2.093607221682515,0.71338606911949],"aabb_xy":[[0.30792362305377674,-2.1236072219804014],[0.36785873687342807,-2.0636072213846295]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.17558199187608248,-1.25744078421468,0.71338606911949],"aabb_xy":[[-0.19308199213541913,-1.2715323264034526],[-0.15808199161674585,-1.2433492420259074]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.6376204831198102,1.7574696339353557,0.71338606911949],"aabb_xy":[[0.5898143155060415,1.6924696312282965],[0.6854266507335788,1.8224696366424145]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[0.3293692000630217,-1.7533555672211292,0.71338606911949],"aabb_xy":[[0.23936920033984752,-1.7764289197563086],[0.41936919978619586,-1.730282214685949]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[-0.13753935312592702,0.8901868036959075,0.71338606911949],"aabb_xy":[[-0.17403517375320576,0.8537028612691498],[-0.10104353249864828,0.926670746122665]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.11345273540507872,-2.5184265574366727,0.71338606911949],"aabb_xy":[[-0.12778716053124217,-2.5304867729912117],[-0.09911831027891525,-2.5063663418821345]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.13219409198904175,-1.6681363695291758,0.71338606911949],"aabb_xy":[[-0.19619409057561424,-1.7151433329286845],[-0.06819409340246932,-1.621129406129667]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[-0.4663839932564861,-2.3590924246430602,0.71338606911949],"aabb_xy":[[-0.48888399278019345,-2.3815883720936806],[-0.44388399373277865,-2.336596477192439]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.23833866042328838,-1.8023310390461023,0.71338606911949],"aabb_xy":[[-0.2446507599596268,-1.808097978299321],[-0.23202656088694992,-1.7965640997928831]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[0.533157030962657,-2.1882945113845276,0.71338606911949],"aabb_xy":[[0.4831570300121242,-2.2198436583880485],[0.5831570319131898,-2.1567453643810057]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[0.2852510306543322,-1.3568493791922642,0.71338606911949],"aabb_xy":[[0.26003019379449255,-1.3820731300451508],[0.3104718675141719,-1.3316256283393773]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.008806739285995513,1.579851461666688,0.71338606911949],"aabb_xy":[[-0.031306739099897896,1.5753768452962071],[0.013693260527906868,1.5843260780371686]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[0.18469559694207627,-2.339170146251519,0.71338606911949],"aabb_xy":[[0.16701996635347793,-2.3568503625309214],[0.2023712275306746,-2.321489929972116]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.06684720209655948,-1.4438756542906561,0.71338606911949],"aabb_xy":[[-0.13084720443936101,-1.4888165055347886],[-0.0028471997537579115,-1.3989348030465236]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.3979627580828482,0.509682415288462,0.71338606911949],"aabb_xy":[[0.3339627609707425,0.46065004549405153],[0.4619627551949539,0.5587147850828728]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.3920552318798871,-1.094138195855844,0.71338606911949],"aabb_xy":[[0.38334126282995257,-1.116638196515032],[0.40076920092982155,-1.0716381951966556]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.6267151916534486,1.2525039272208596,0.71338606911949],"aabb_xy":[[0.589864643716461,1.2150039263978256],[0.6635657395904362,1.290003928043893]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[0.1285623928804831,-0.7819095024898728,0.71338606911949],"aabb_xy":[[0.12044873820710597,-0.7900153189439019],[0.13667604755386017,-0.7738036860358437]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[-0.18377269484835812,1.3191219495903206,0.71338606911949],"aabb_xy":[[-0.23376580695755003,1.269121948916125],[-0.13377958273916624,1.3691219502645162]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.5538877773214936,-0.9598425445689316,0.71338606911949],"aabb_xy":[[0.5038877777451589,-1.0098231235210378],[0.6038877768978284,-0.9098619656168258]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[-0.3008725639496057,-2.348058326338599,0.71338606911949],"aabb_xy":[[-0.3905596402577211,-2.4380583265930493],[-0.2111854876414902,-2.2580583260841482]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[-0.28688779085289656,-0.5369616238756421,0.71338606911949],"aabb_xy":[[-0.3668877922830237,-0.6164787788882514],[-0.2068877894227693,-0.45744446886303247]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_26","position":[-0.3930639683087499,1.0808776870501737,0.71338606911949],"aabb_xy":[[-0.4480562189442609,1.025877685306861],[-0.33807171767323896,1.1358776887934865]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.022329739782781632,-1.2117298922877429,0.71338606911949],"aabb_xy":[[-0.02766509314515997,-1.2617298911829864],[0.07232457271072323,-1.1617298933924993]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[0.2586345009283886,-1.9642789725041871,0.71338606911949],"aabb_xy":[[0.18863449911964314,-1.9856327412683747],[0.328634502737134,-1.94292520374]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[0.35217372825097315,-0.6092224235125319,0.71338606911949],"aabb_xy":[[0.2971737286292273,-0.6642061163000047],[0.407173727872719,-0.5542387307250592]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_30","position":[-0.621601907660654,0.9061781785662353,0.71338606911949],"aabb_xy":[[-0.6916019097920835,0.8834162129405395],[-0.5516019055292244,0.9289401441919308]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_31","position":[0.47299110914919673,0.8996167937085424,0.71338606911949],"aabb_xy":[[0.437361953249237,0.8639841269516894],[0.5086202650491565,0.9352494604653953]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_32","position":[-0.22410766246477848,-1.5170018122397464,0.71338606911949],"aabb_xy":[[-0.24660766297681908,-1.5394936706051445],[-0.20160766195273788,-1.4945099538743478]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_33","position":[-0.3195922407068852,-1.1108217236759506,0.71338606911949],"aabb_xy":[[-0.3835922414103546,-1.1568401061488716],[-0.25559224000341585,-1.0648033412030296]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569561323236108,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7585.png","name":"7585"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7585.png","name":"7585"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6470.png","name":"6470"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7173.png","name":"7173"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6076.png","name":"6076"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5377.png","name":"5377"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":522.1342285469894,"rotation_z_degrees":232.94681463586613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018687836403915404,-0.002670768039892763,0.010446074586665872]},{"name":"camera_2","offset_m":[-0.001633049473661951,-0.006756463135538274,-0.01840327737979488]},{"name":"camera_3","offset_m":[0.010513627453388304,0.002636846428682834,0.012106232793449839]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009830668287086027,0.0012582397070352966,0.0018443152274722962],"end_effector_yaw_offset_degrees":0.816857242609506},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007181249828172448,0.0009949951115158394,0.0005564448160264288],"end_effector_yaw_offset_degrees":-0.1872985971976937},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015278806291927484,0.0019134114348580734,-0.0005997222287103489],"end_effector_yaw_offset_degrees":-0.9583891967290594}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021177420358304546,0.002855484549234043],"position_m":[0.22128225796416953,-0.026544515450765957,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001243457314951786,0.0011553105586877034],"position_m":[0.2595565426850482,-0.3035446894413123,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036116320588359405,0.001948562249733896],"position_m":[0.14511163205883593,0.2871485622497339,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013302155131926599,0.004746598616135702],"position_m":[0.3253697844868073,0.18824659861613569,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"42cff944e1cab8c34cb310fa766e941372713f82c8d36d7ae29e42f00ac1e655","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7585/tex_ceiling_textures_5377/tex_floor_textures_6076/tex_table_textures_6470/tex_wall_textures_7173","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3994565110729166387,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3994565110729166387,"visual_seed":3994565110729166387,"scene_id":"lab_003","finished_at":"2026-09-03T22:54:05"} +{"episode_id":"ep_000093","started_at":"2026-09-03T22:54:09","dimensions":{"distractor":{"count":25,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[0.3360512863279468,-0.9492393680331954,0.71338606911949],"aabb_xy":[[0.32596957924937325,-1.02923936592531],[0.3461329934065202,-0.8692393701410808]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.6750451571811791,-0.8169164983947699,0.71338606911949],"aabb_xy":[[0.6525451569376637,-0.8291211330545418],[0.6975451574246945,-0.8047118637349979]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[-0.33511927424294813,-1.2296913862481622,0.71338606911949],"aabb_xy":[[-0.3951192751037608,-1.2811178162546484],[-0.2751192733821352,-1.1782649562416756]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.590991141173429,-0.6614872179311673,0.71338606911949],"aabb_xy":[[-0.6549911418768983,-0.7075056004040883],[-0.5269911404699597,-0.6154688354582463]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.12562503525980173,0.6026517169217147,0.71338606911949],"aabb_xy":[[-0.17559810079231722,0.5526517171091819],[-0.07565196972728629,0.6526517167342477]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[-0.5580583565706906,1.5332601507414352,0.71338606911949],"aabb_xy":[[-0.595558356387724,1.5286219394302933],[-0.5205583567536569,1.537898362052577]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[-0.010967389633456448,-1.196714266648538,0.71338606911949],"aabb_xy":[[-0.027644525626551952,-1.2134141906224682],[0.005709746359639055,-1.1800143426746077]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[0.4329696613152152,1.6030576636525429,0.71338606911949],"aabb_xy":[[0.41047052558898817,1.58055766287428],[0.4554687970414421,1.6255576644308058]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[0.3766344715259349,1.2004668416105062,0.71338606911949],"aabb_xy":[[0.36340352599125353,1.1872394225885066],[0.3898654170606161,1.2136942606325054]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.3053663861928803,-1.440870819968434,0.71338606911949],"aabb_xy":[[-0.3224684641512484,-1.4579776254997039],[-0.2882643082345121,-1.4237640144371644]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[-0.0992232929394693,1.0730853073090882,0.71338606911949],"aabb_xy":[[-0.13672329373146475,1.0667174663508978],[-0.06172329214747384,1.0794531482672782]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.11106214643526358,-0.9938412599575597,0.71338606911949],"aabb_xy":[[0.031062148454478546,-1.0014428009194116],[0.19106214441604863,-0.9862397189957077]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.19308833857765595,-2.426092848743186,0.71338606911949],"aabb_xy":[[0.14311092171240233,-2.476092850232434],[0.2430657554429095,-2.376092847253937]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[-0.6393348368125381,-0.465542599592093,0.71338606911949],"aabb_xy":[[-0.6893348384740329,-0.5155410418477957],[-0.5893348351510433,-0.4155441573363903]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.42442221518244483,-1.2663029877576075,0.71338606911949],"aabb_xy":[[0.38317340415253004,-1.3213029872698248],[0.4656710262123595,-1.2113029882453898]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.48482836385592704,-0.23800955004723168,0.71338606911949],"aabb_xy":[[-0.5346451433207617,-0.28800954853153504],[-0.4350115843910922,-0.18800955156292828]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.4889555217347171,-1.8709417107573665,0.71338606911949],"aabb_xy":[[-0.5789555184703272,-1.9241251740746608],[-0.39895552499910686,-1.8177582474400718]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[0.4691582670651435,0.6621419788583776,0.71338606911949],"aabb_xy":[[0.451727551986137,0.6448698641945266],[0.48658898214415003,0.6794140935222283]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[-0.38602380995079755,-2.2252827283713237,0.71338606911949],"aabb_xy":[[-0.4171707287943806,-2.295282727058131],[-0.3548768911072144,-2.1552827296845165]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[-0.39794602666433343,-1.394267738434543,0.71338606911949],"aabb_xy":[[-0.4180044382775738,-1.4143328253437004],[-0.3778876150510932,-1.3742026515253856]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[-0.24122957298657277,-1.550283134374432,0.71338606911949],"aabb_xy":[[-0.3312295715810427,-1.5665337206878533],[-0.15122957439210283,-1.5340325480610113]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.09836360208684525,1.2530211473720345,0.71338606911949],"aabb_xy":[[-0.12219981972745034,1.1630211465635483],[-0.0745273844462402,1.3430211481805212]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[-0.10155144295743912,-1.2277007584502468,0.71338606911949],"aabb_xy":[[-0.11118307917786874,-1.2373380712299555],[-0.0919198067370095,-1.2180634456705377]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[-0.07481432253628195,-2.3436737551663973,0.71338606911949],"aabb_xy":[[-0.15481432580029508,-2.3572337874753106],[0.005185680727731179,-2.330113722857484]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[0.5777828549861217,-2.2769947222210885,0.71338606911949],"aabb_xy":[[0.5736469986534215,-2.3144947216654455],[0.5819187113188219,-2.2394947227767315]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6603885224402358,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8001.png","name":"8001"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8001.png","name":"8001"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3446.png","name":"3446"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5473.png","name":"5473"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1082.png","name":"1082"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8128.png","name":"8128"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":669.4048435005416,"rotation_z_degrees":65.00621091365011,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002414181959187814,0.016975200206192986,-0.016152451580281724]},{"name":"camera_2","offset_m":[0.0025287356365879254,0.00550829727856501,0.01922664450759071]},{"name":"camera_3","offset_m":[0.010841976856972687,2.9108478709259644e-05,-0.011281465531082535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004363977855491102,-0.0012486102639669965,-2.042082375739839e-05],"end_effector_yaw_offset_degrees":0.35706488371339096},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00022690102790937322,0.0007980987427276889,0.0006947778369944617],"end_effector_yaw_offset_degrees":-0.7254597180298861},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009098470564351379,0.001039773338974349,-0.0010462686907727913],"end_effector_yaw_offset_degrees":-0.489733011699234}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025217364878113817,-0.002463754091241689],"position_m":[0.22592173648781136,-0.03186375409124169,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002874809748564847,0.0016401232246445662],"position_m":[0.26367480974856483,-0.30305987677535545,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003240420443527953,0.004052803171378439],"position_m":[0.13825957955647203,0.28925280317137847,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00034548396027180364,-4.3971063474123814e-05],"position_m":[0.3270454839602718,0.18345602893652588,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3fb407f7a7f072bc2b7296e619c23e8a9fdb2a4e25735ed9ead10b6d0a1e3dd1","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8001/tex_ceiling_textures_8128/tex_floor_textures_1082/tex_table_textures_3446/tex_wall_textures_5473","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3577005015989977385,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3577005015989977385,"visual_seed":3577005015989977385,"scene_id":"lab_003","finished_at":"2026-09-03T22:56:47"} +{"episode_id":"ep_000094","started_at":"2026-09-03T22:56:49","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.11151774498797962,-1.1037238411170012,0.71338606911949],"aabb_xy":[[0.03151774802494044,-1.1807994827607746],[0.19151774195101878,-1.0266481994732277]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[0.3670525276238574,0.9806017389086632,0.71338606911949],"aabb_xy":[[0.3494196920303298,0.9629787928930402],[0.38468536321738495,0.9982246849242862]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.4910394633180264,-0.6675928797524533,0.71338606911949],"aabb_xy":[[0.43591425768843556,-0.7275928811937404],[0.5461646689476171,-0.6075928783111662]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.11183431766844454,1.5656829928311606,0.71338606911949],"aabb_xy":[[-0.13683431694040682,1.5493376292349983],[-0.08683431839648226,1.582028356427323]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[-0.5973895938337326,-0.14287865716357606,0.71338606911949],"aabb_xy":[[-0.6165019011917114,-0.16201343604081808],[-0.5782772864757537,-0.12374387828633404]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[0.19541344252188309,-1.3240315886021328,0.71338606911949],"aabb_xy":[[0.18910134298554462,-1.3297985278553515],[0.2017255420582215,-1.3182646493489136]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[-0.31679670949904565,-0.8018125490984689,0.71338606911949],"aabb_xy":[[-0.35429671016362435,-0.817499607098691],[-0.27929670883446694,-0.7861254910982466]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.34158918561209145,0.2598409183347843,0.71338606911949],"aabb_xy":[[-0.3585992829021421,0.24370642983651036],[-0.3245790883220408,0.2759754068330582]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[-0.6524101452391767,1.7905473968420265,0.71338606911949],"aabb_xy":[[-0.6604036350344589,1.782549264901551],[-0.6444166554438948,1.7985455287825023]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[0.11681331981962484,-1.6240997068547514,0.71338606911949],"aabb_xy":[[0.08222223696557962,-1.6890997071397822],[0.15140440267367006,-1.55909970656972]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[0.08039694551504295,1.5713793082164957,0.71338606911949],"aabb_xy":[[0.03540435879659254,1.5263793089420468],[0.12538953223349336,1.6163793074909443]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.15309194148472294,-1.2181954643835282,0.71338606911949],"aabb_xy":[[-0.16272357770515256,-1.2278327771632371],[-0.14346030526429332,-1.2085581516038193]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[0.07349366724349493,0.935795509223603,0.71338606911949],"aabb_xy":[[0.06623241967308752,0.9230084989600935],[0.08075491481390235,0.9485825194871125]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[0.355605347128519,1.0735388396674472,0.71338606911949],"aabb_xy":[[0.34768206688977066,1.0510388394294439],[0.3635286273672673,1.0960388399054506]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.46777664967142085,-0.79807287750437,0.71338606911949],"aabb_xy":[[0.4027766515155018,-0.8243691220542821],[0.5327766478273399,-0.7717766329544578]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[-0.2633697559724206,0.5735071567565688,0.71338606911949],"aabb_xy":[[-0.3273697532580693,0.5320004378037249],[-0.19936975868677198,0.6150138757094128]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[-0.0695879429005336,0.946170194677336,0.71338606911949],"aabb_xy":[[-0.1345879455383271,0.894690595977889],[-0.00458794026274012,0.997649793376783]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[-0.6097233482954006,-1.7294837545704183,0.71338606911949],"aabb_xy":[[-0.6201349069758844,-1.7348294879063164],[-0.5993117896149169,-1.7241380212345196]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[-0.0054703226120565995,-0.742400339174728,0.71338606911949],"aabb_xy":[[-0.04297032340405205,-0.748768180132918],[0.03202967817993885,-0.7360324982165378]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.028107629412656987,-0.6459696043951593,0.71338606911949],"aabb_xy":[[-0.03300692171922048,-0.673646523697728],[-0.02320833710609349,-0.6182926850925905]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[-0.09324068802833496,1.3032016274698814,0.71338606911949],"aabb_xy":[[-0.09927770102899972,1.2971749264009333],[-0.08720367502767025,1.3092283285388295]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625955005135541,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2100.png","name":"2100"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2100.png","name":"2100"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7207.png","name":"7207"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1607.png","name":"1607"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3675.png","name":"3675"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7196.png","name":"7196"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":655.2428916280843,"rotation_z_degrees":69.82215262944183,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018161219305858036,-0.016674631990416473,0.007047034179075821]},{"name":"camera_2","offset_m":[-0.006428796601921798,0.005920720246325801,0.011877492057230519]},{"name":"camera_3","offset_m":[-0.019723264094654712,-0.01737673989620811,0.012323174262136461]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004430126185800184,0.0017049428112988082,-0.0004796131166354804],"end_effector_yaw_offset_degrees":0.6045851655250749},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007670669961165714,0.0009466656174984796,0.0013332082761995491],"end_effector_yaw_offset_degrees":-0.4954199415548768},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015338355374324322,-0.0014980657692184325,-0.001411400623896931],"end_effector_yaw_offset_degrees":0.6979886958741224}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003434433315881401,0.0005646265520645889],"position_m":[0.2199655666841186,-0.02883537344793541,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003498275477445749,-0.0019480347170465597],"position_m":[0.2642982754774457,-0.3066480347170466,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003937398810499862,7.222623524505162e-05],"position_m":[0.13756260118950012,0.28527222623524506,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012321853268761306,-0.0023908235596894877],"position_m":[0.32546781467312386,0.18110917644031052,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37f1f0c208d34f20c4b628c4051bd1ebc4963a6f392157b1020cf1b4a57669a0","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2100/tex_ceiling_textures_7196/tex_floor_textures_3675/tex_table_textures_7207/tex_wall_textures_1607","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8805742875584751643,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8805742875584751643,"visual_seed":8805742875584751643,"scene_id":"lab_003","finished_at":"2026-09-03T22:59:44"} +{"episode_id":"ep_000095","started_at":"2026-09-03T22:59:48","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.42090111123659885,1.1787311875873479,0.71338606911949],"aabb_xy":[[-0.433773014737539,1.0987311871735115],[-0.4080292077356587,1.2587311880011838]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.5547183836767053,1.0114371100350121,0.71338606911949],"aabb_xy":[[0.5172183833284775,0.9996457144539284],[0.592218384024933,1.0232285056160955]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.14094170881255763,-1.2077454017335307,0.71338606911949],"aabb_xy":[[-0.154092954783847,-1.2327454014902175],[-0.12779046284126827,-1.1827454019768444]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.6345293725186785,-0.17279274992977323,0.71338606911949],"aabb_xy":[[-0.6512065085117739,-0.1894926739037035],[-0.6178522365255829,-0.15609282595584295]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.1650436538811456,-1.9302696171488214,0.71338606911949],"aabb_xy":[[-0.20254365230454596,-1.9434338311166521],[-0.12754365545774526,-1.9171054031809907]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.08834793868621604,-1.4091142954704834,0.71338606911949],"aabb_xy":[[0.0385311592213813,-1.4591142939547865],[0.1381647181510508,-1.3591142969861798]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[0.636738962625554,-2.015461593817578,0.71338606911949],"aabb_xy":[[0.6117389633535917,-2.03180695741374],[0.6617389618975162,-1.9991162302214154]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[0.42454654386626034,0.6778004991573763,0.71338606911949],"aabb_xy":[[0.37454654522033914,0.6278809554979139],[0.47454654251218154,0.7277200428168387]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.02506543141441675,-0.6060516694930806,0.71338606911949],"aabb_xy":[[-0.04256536484840012,-0.6235516694133151],[-0.007565497980433378,-0.588551669572846]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.1699785714933697,-1.0884871403318486,0.71338606911949],"aabb_xy":[[-0.185534340903635,-1.1040375735762558],[-0.15442280208310447,-1.0729367070874414]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[0.6366718304952377,-1.9053533689470912,0.71338606911949],"aabb_xy":[[0.5867891336175415,-1.955353368193366],[0.6865545273729339,-1.8553533697008164]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.10507420798678546,-0.3759848213692454,0.71338606911949],"aabb_xy":[[-0.11233545555719286,-0.3887718316327549],[-0.09781296041637803,-0.36319781110573596]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[0.5087507130337023,-2.228447711384185,0.71338606911949],"aabb_xy":[[0.48986632926519214,-2.2473336361645377],[0.5276350968022125,-2.209561786603832]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[-0.5988928599096807,0.18572486472901284,0.71338606911949],"aabb_xy":[[-0.6097444661585563,0.17486557400136182],[-0.5880412536608051,0.19658415545666386]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[-0.35012641947389583,-1.409665359392313,0.71338606911949],"aabb_xy":[[-0.3726264194840442,-1.423761579031916],[-0.3276264194637476,-1.3955691397527095]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[0.44328295269779283,1.0834676194202069,0.71338606911949],"aabb_xy":[[0.43731641375705704,1.0775064747608427],[0.4492494916385286,1.089428764079571]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[-0.4206924212916192,-0.5692348613518883,0.71338606911949],"aabb_xy":[[-0.4286157015303676,-0.5917348615898916],[-0.41276914105287094,-0.5467348611138849]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.4516929365314769,-1.9791246756072434,0.71338606911949],"aabb_xy":[[-0.5156929388742784,-2.0240655268513756],[-0.38769293418867534,-1.9341838243631106]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[0.37402249558674283,-1.6422945376420532,0.71338606911949],"aabb_xy":[[0.3701086223913203,-1.65104355304861],[0.37793636878216536,-1.6335455222354964]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.32500306673619445,-0.3857821945957767,0.71338606911949],"aabb_xy":[[-0.36630760979993043,-0.44978219416389376],[-0.28369852367245846,-0.3217821950276596]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.2790647659350787,-0.5041516622087112,0.71338606911949],"aabb_xy":[[0.2290654907666425,-0.5541516634846584],[0.32906404110351484,-0.45415166093276405]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.5707170154822911,0.28049568538959013,0.71338606911949],"aabb_xy":[[-0.593216151208518,0.25799568461132716],[-0.5482178797560641,0.3029956861678531]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.510584985363377,0.03062289764603765,0.71338606911949],"aabb_xy":[[-0.5745849872757195,-0.02528825161197279],[-0.4465849834510348,0.08653404690404809]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[-0.5611558550499346,-0.3742017099821058,0.71338606911949],"aabb_xy":[[-0.6461558537420092,-0.40618757337698463],[-0.47615585635785995,-0.3422158465872269]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_24","position":[-0.1634036817370239,0.7115504067250118,0.71338606911949],"aabb_xy":[[-0.18090368198207327,0.6940506188854448],[-0.1459036814919745,0.7290501945645785]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[0.6082564272165372,0.2306572882319835,0.71338606911949],"aabb_xy":[[0.5442564268390035,0.1809120213811712],[0.6722564275940708,0.28040255508279577]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_26","position":[0.4621408347279383,-2.39605349186393,0.71338606911949],"aabb_xy":[[0.4418565320045395,-2.416336117006638],[0.482425137451337,-2.3757708667212207]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[0.33993574916547087,0.9731383990430045,0.71338606911949],"aabb_xy":[[0.3224357500311037,0.9632587720054165],[0.35743574829983804,0.9830180260805922]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631137457413017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8931.png","name":"8931"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8931.png","name":"8931"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3167.png","name":"3167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/903.png","name":"903"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1884.png","name":"1884"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1662.png","name":"1662"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":703.384120953449,"rotation_z_degrees":117.08207200531739,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013264690100888954,0.0033821420958616913,0.006286615909926702]},{"name":"camera_2","offset_m":[-0.012824718604368752,-0.00905206572480564,-0.019806447628313212]},{"name":"camera_3","offset_m":[-0.007874813892328358,0.011161454000047609,-0.013129944507457277]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008477785512894052,0.0019110694604058754,-0.0010089247912128806],"end_effector_yaw_offset_degrees":0.13001633749127994},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.9176307485486814e-05,0.0019317536445027502,-0.0013632865115408839],"end_effector_yaw_offset_degrees":-0.10824774467666365},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011680842188438157,-9.280610366489651e-05,-0.0005788691382741038],"end_effector_yaw_offset_degrees":0.4265409407486218}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036426578665673002,0.0018143058026099],"position_m":[0.2270426578665673,-0.027585694197390098,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004511694600581993,-0.0011243879675412517],"position_m":[0.26531169460058196,-0.3058243879675413,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010722099241080073,0.0020451188155848144],"position_m":[0.14042779007589198,0.28724511881558484,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-7.358082246390358e-05,0.0031223645938840113],"position_m":[0.3266264191775361,0.186622364593884,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"16d31f961d4bd396960df20cbc4fa552d34cf3be9c8edaa78f1caa614d2f8543","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0095.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8931/tex_ceiling_textures_1662/tex_floor_textures_1884/tex_table_textures_3167/tex_wall_textures_903","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5206723220762357533,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5206723220762357533,"visual_seed":5206723220762357533,"scene_id":"lab_003","finished_at":"2026-09-03T23:02:26"} +{"episode_id":"ep_000096","started_at":"2026-09-03T23:02:30","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.1998086018262198,-0.40185139988523355,0.71338606911949],"aabb_xy":[[-0.2598086016727865,-0.4586700220782722],[-0.13980860197965297,-0.3450327776921948]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.633821487522346,-0.7083590182428081,0.71338606911949],"aabb_xy":[[0.6230485136009782,-0.7433590164618471],[0.6445944614437138,-0.6733590200237691]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[0.2964604853133136,1.4925650308488145,0.71338606911949],"aabb_xy":[[0.2464604866673924,1.4426454871893521],[0.3464604839592348,1.542484574508277]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[-0.5310704660275744,-1.0320959358273343,0.71338606911949],"aabb_xy":[[-0.578876633641343,-1.0970959385343932],[-0.4832642984138057,-0.9670959331202753]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.16299993183371264,-0.873016264392132,0.71338606911949],"aabb_xy":[[-0.2269999321076909,-0.92308236458942],[-0.09899993155973444,-0.822950164194844]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.46744613324474105,-2.0226709837525054,0.71338606911949],"aabb_xy":[[-0.4910312567086359,-2.0876709859979368],[-0.4438610097808462,-1.9576709815070732]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.3773787475631478,1.1984155298197798,0.71338606911949],"aabb_xy":[[0.31737874731174665,1.1441342047833152],[0.437378747814549,1.2526968548562445]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.6311629683284632,-0.12592652160942386,0.71338606911949],"aabb_xy":[[-0.666162966598583,-0.13300064930441202],[-0.5961629700583432,-0.1188523939144357]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.5510557038868935,0.23863430280891595,0.71338606911949],"aabb_xy":[[-0.5592702490025774,0.22995771251127461],[-0.5428411587712094,0.24731089310655718]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[-0.46923758590515363,-1.5107328950569934,0.71338606911949],"aabb_xy":[[-0.5492375891691668,-1.5242929273659065],[-0.38923758264114044,-1.4971728627480798]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.5751606106350705,1.4681828293142911,0.71338606911949],"aabb_xy":[[-0.6251606100752661,1.4182149048299748],[-0.5251606111948749,1.5181507537986074]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.11522134245321114,-0.8795946409746156,0.71338606911949],"aabb_xy":[[0.08737630567260402,-0.9103791397129274],[0.14306637923381826,-0.848810142236304]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.40944761162975657,1.2112911510041942,0.71338606911949],"aabb_xy":[[-0.4644408229668934,1.1562911506654006],[-0.3544544002926198,1.2662911513429878]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[-0.04094922900593201,-1.517610543689144,0.71338606911949],"aabb_xy":[[-0.046407174642952076,-1.5976105469968032],[-0.03549128336891194,-1.437610540381485]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[-0.2588997415103927,-1.9371407623819656,0.71338606911949],"aabb_xy":[[-0.26761371056032707,-1.9596407630411534],[-0.2501857724604581,-1.914640761722777]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.6300684092316231,-1.178017875671624,0.71338606911949],"aabb_xy":[[0.5750684110298783,-1.2185398422980616],[0.6850684074333679,-1.1374959090451864]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.21526134532087365,-0.1241893186113816,0.71338606911949],"aabb_xy":[[-0.26525635628032573,-0.17418931764697332],[-0.16526633436142163,-0.07418931957578989]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[0.22153836272673888,-1.715582791058107,0.71338606911949],"aabb_xy":[[0.14153835946889592,-1.7955792988500907],[0.30153836598458184,-1.6355862832661228]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[0.048478388576032816,0.6184124922253513,0.71338606911949],"aabb_xy":[[0.01347839026533737,0.6106974773018056],[0.08347838688672826,0.6261275071488969]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[-0.5539620134589851,1.6927870635394187,0.71338606911949],"aabb_xy":[[-0.5991333313071541,1.6287870663948802],[-0.5087906956108161,1.756787060683957]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.5339108221279043,1.0869600317674264,0.71338606911949],"aabb_xy":[[0.4964108206122726,1.0757332587512813],[0.571410823643536,1.0981868047835714]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[0.5956118957164729,0.716179739996488,0.71338606911949],"aabb_xy":[[0.5781118965821057,0.7063001129589002],[0.6131118948508401,0.7260593670340758]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[-0.11898242155038219,0.370773272677714,0.71338606911949],"aabb_xy":[[-0.19898241851342136,0.29369763103394053],[-0.03898242458734302,0.44784891432148743]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.30850830019117426,-1.800941663641936,0.71338606911949],"aabb_xy":[[-0.3785083035827362,-1.8362574373453666],[-0.23850829679961225,-1.7656258899385049]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6560502202857448,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5385.png","name":"5385"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5385.png","name":"5385"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8644.png","name":"8644"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1504.png","name":"1504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7133.png","name":"7133"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6687.png","name":"6687"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":659.7803883410471,"rotation_z_degrees":331.8016041022007,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018988724580800618,-0.017987082624067747,0.009576855160554464]},{"name":"camera_2","offset_m":[-0.014603782068757488,-0.012673713336901437,-0.003412297264248472]},{"name":"camera_3","offset_m":[-0.01180775391512872,-0.006489437567564713,-0.017404009859051696]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011453066447896952,-8.177861797677762e-05,0.0011911737333235844],"end_effector_yaw_offset_degrees":0.5563733939723605},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00034168596028995345,0.000799013418600383,0.0010899178569456183],"end_effector_yaw_offset_degrees":-0.4392402950485914},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015873412386767484,0.0016403667412065825,0.00041922591822079027],"end_effector_yaw_offset_degrees":-0.2377487769534845}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012913992201072054,-0.0008252060240261606],"position_m":[0.22210860077989278,-0.03022520602402616,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004980628076283458,-0.00399170983743064],"position_m":[0.2558193719237165,-0.30869170983743066,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004239594607141188,0.0046911824053085345],"position_m":[0.1372604053928588,0.28989118240530853,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028321913508240143,-0.002009032323988814],"position_m":[0.329532191350824,0.1814909676760112,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8c8b407c54114550e051ffaba64161a0f3ee6d662ce2c36ad839af0ca4bd9fbd","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0096.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5385/tex_ceiling_textures_6687/tex_floor_textures_7133/tex_table_textures_8644/tex_wall_textures_1504","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8513299729827051769,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8513299729827051769,"visual_seed":8513299729827051769,"scene_id":"lab_003","finished_at":"2026-09-03T23:05:11"} +{"episode_id":"ep_000097","started_at":"2026-09-03T23:05:14","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.2613714212846473,-0.9935900034924985,0.71338606911949],"aabb_xy":[[0.22387142049265185,-0.9999578444506885],[0.29887142207664275,-0.9872221625343083]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.4948593867175075,-1.9098226574904529,0.71338606911949],"aabb_xy":[[-0.5498593849192521,-1.9503446241168905],[-0.43985938851576256,-1.8693006908640153]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.35947386120092456,0.1753551110937397,0.71338606911949],"aabb_xy":[[-0.3703796372884873,0.09535511469491054],[-0.34856808511336185,0.25535510749256884]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.18935198177733725,-2.305558926453406,0.71338606911949],"aabb_xy":[[-0.25094274100133007,-2.369558924562453],[-0.12776122255334443,-2.241558928344359]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[0.4772802636726725,-2.29574163159495,0.71338606911949],"aabb_xy":[[0.4702399537391356,-2.375741630994622],[0.48432057360620956,-2.215741632195279]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.36838099820391146,-0.8762027275199089,0.71338606911949],"aabb_xy":[[0.3603446635026266,-0.8842408468243256],[0.3764173329051963,-0.868164608215492]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.06894492668572094,0.512771405786626,0.71338606911949],"aabb_xy":[[-0.07337555604056113,0.5073230340519433],[-0.06451429733088078,0.5182197775213085]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.18022340691660144,-1.1288079586976756,0.71338606911949],"aabb_xy":[[-0.20272340742864203,-1.151299817063074],[-0.15772340640456084,-1.1063161003322772]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.11707086249139231,1.1539474251233632,0.71338606911949],"aabb_xy":[[-0.13735516521479102,1.1336647999806544],[-0.09678655976799352,1.174230050266072]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.3541324700757645,-0.55120351246762,0.71338606911949],"aabb_xy":[[-0.41913247107626495,-0.6019898776222949],[-0.2891324690752639,-0.5004171473129451]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[0.541945068160925,0.14292884876866907,0.71338606911949],"aabb_xy":[[0.4920623712832288,0.09292884952239434],[0.5918277650386212,0.19292884801494387]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[0.43943868302116385,-1.2305228364422056,0.71338606911949],"aabb_xy":[[0.36943868141888436,-1.2439556296438632],[0.5094386846234433,-1.217090043240548]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[0.07028500623706568,1.2828019985617134,0.71338606911949],"aabb_xy":[[0.05871602549012912,1.257801998444782],[0.08185398698400227,1.3078019986786453]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[-0.38694298010761874,-1.5772051640718587,0.71338606911949],"aabb_xy":[[-0.4519429779892666,-1.6283288277783998],[-0.32194298222597095,-1.526081500365318]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[-0.5249300951442144,-0.7432234989300586,0.71338606911949],"aabb_xy":[[-0.5749300937901356,-0.793143042589521],[-0.4749300964982932,-0.6933039552705962]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.18482858717807138,0.10912459185490819,0.71338606911949],"aabb_xy":[[-0.2488285842901771,0.06009222206049758],[-0.12082859006596572,0.1581569616493188]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[0.4509546333083345,-0.19513291002183175,0.71338606911949],"aabb_xy":[[0.4159546334123156,-0.2035071455337717],[0.48595463320435334,-0.1867586745098918]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.31517953464110077,-1.0134238721041686,0.71338606911949],"aabb_xy":[[-0.3231730244363828,-1.0214220040446444],[-0.30718604484581874,-1.0054257401636932]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[-0.4490436893189347,1.547560183618495,0.71338606911949],"aabb_xy":[[-0.4527469506480735,1.543858165309777],[-0.44534042798979573,1.5512622019272124]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.16156178694001844,1.4741089590641843,0.71338606911949],"aabb_xy":[[-0.24156178390305758,1.3970333174204106],[-0.08156178997697924,1.5511846007079575]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[0.11836210366920585,1.600978424440107,0.71338606911949],"aabb_xy":[[0.10901509608691062,1.5866748022224628],[0.12770911125150108,1.6152820466577509]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[-0.530364417986359,-0.6449996255889934,0.71338606911949],"aabb_xy":[[-0.5528644178002614,-0.6494742419594741],[-0.5078644181724566,-0.6405250092185126]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[0.269632256655571,-1.9638534463272999,0.71338606911949],"aabb_xy":[[0.2519566260669726,-1.9815336626067022],[0.2873078872441693,-1.9461732300478967]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[0.5603527814467497,-0.5422078714281624,0.71338606911949],"aabb_xy":[[0.5103739729364339,-0.5922078714338812],[0.6103315899570657,-0.4922078714224436]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.13288755708452626,-2.303676595338783,0.71338606911949],"aabb_xy":[[0.09555628055928364,-2.3383296501336353],[0.1702188336097689,-2.2690235405439307]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_25","position":[-0.5674263136100125,0.12391048793024773,0.71338606911949],"aabb_xy":[[-0.6574263101108841,0.0779988455117895],[-0.4774263171091407,0.16982213034870597]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.38044717179978305,-1.839610650830569,0.71338606911949],"aabb_xy":[[0.37303471625839457,-1.8454618612521967],[0.3878596273411715,-1.8337594404089408]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[0.528212448333335,-1.3233451577055393,0.71338606911949],"aabb_xy":[[0.49321244914051665,-1.3343122037032016],[0.5632124475261532,-1.312378111707876]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_28","position":[0.6487137560884793,-1.5289318028887233,0.71338606911949],"aabb_xy":[[0.5887137558370781,-1.583213127925188],[0.7087137563398804,-1.4746504778522587]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_29","position":[0.46238167115857776,0.45257331966624115,0.71338606911949],"aabb_xy":[[0.4279191931454899,0.44590964248331827],[0.4968441491716654,0.4592369968491639]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_30","position":[-0.5995604708082062,1.4726243697389756,0.71338606911949],"aabb_xy":[[-0.6068042368544515,1.3926243715353734],[-0.5923167047619609,1.5526243679425782]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_31","position":[-0.3712908380790926,0.4748506037152027,0.71338606911949],"aabb_xy":[[-0.4512908385493086,0.46653989610085445],[-0.2912908376088767,0.4831613113295512]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6523667233248208,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1251.png","name":"1251"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1251.png","name":"1251"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3420.png","name":"3420"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/76.png","name":"76"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2879.png","name":"2879"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/419.png","name":"419"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":773.4797310785395,"rotation_z_degrees":202.18559889078458,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026470740333260773,-0.010895820750447186,0.010704739529137482]},{"name":"camera_2","offset_m":[-0.01814228356974752,0.00846258439856725,0.01823202193588847]},{"name":"camera_3","offset_m":[0.00781365737578264,0.014161799169601055,-0.007521810734791065]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019038798987053556,0.0002465009598669639,-0.0008814635785716542],"end_effector_yaw_offset_degrees":-0.7128777021853283},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001579895519818043,-0.0015364122887360529,0.0010381613353327278],"end_effector_yaw_offset_degrees":0.868449907071142},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014267556193306888,0.001344282959053812,-0.0018595476439474865],"end_effector_yaw_offset_degrees":-0.10569862389021778}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018620003370250467,0.004564645810524406],"position_m":[0.22526200033702504,-0.024835354189475592,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004830873661888631,0.004204165201542049],"position_m":[0.25596912633811136,-0.300495834798458,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017730796999144505,0.0037247053361408903],"position_m":[0.13972692030008554,0.2889247053361409,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016607250133611295,-0.002381983397621912],"position_m":[0.32503927498663887,0.18111801660237808,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d8c14b3c9c71bab06479a47337422f7fc8b092ce78bf857f9e45edcaaa69593d","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1251/tex_ceiling_textures_419/tex_floor_textures_2879/tex_table_textures_3420/tex_wall_textures_76","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5539659569524084585,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5539659569524084585,"visual_seed":5539659569524084585,"scene_id":"lab_003","finished_at":"2026-09-03T23:08:02"} +{"episode_id":"ep_000098","started_at":"2026-09-03T23:08:05","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[-0.6030833524431043,1.6749375490525984,0.71338606911949],"aabb_xy":[[-0.6530783634025563,1.6249375500170071],[-0.5530883414836523,1.7249375480881906]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.3994252237891533,0.7517900673174016,0.71338606911949],"aabb_xy":[[-0.4369252223647741,0.7390537716538438],[-0.3619252252135325,0.7645263629809597]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[-0.4294397382887799,-2.5070795448024414,0.71338606911949],"aabb_xy":[[-0.4420424374258564,-2.519674941027307],[-0.4168370391517035,-2.494484148577576]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[0.04861381739872439,-2.1460056029027004,0.71338606911949],"aabb_xy":[[0.03804633774062537,-2.1565506330157094],[0.059181297056823394,-2.1354605727896923]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.0650875483126574,-2.3254421388591857,0.71338606911949],"aabb_xy":[[0.015087547362124587,-2.3569912858627067],[0.1150875492631902,-2.293892991855664]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.5868524048573183,-2.0054149159671484,0.71338606911949],"aabb_xy":[[0.555705486013735,-2.0754149146539556],[0.6179993237009013,-1.9354149172803412]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[0.02610667578176018,-0.7451411331778157,0.71338606911949],"aabb_xy":[[-0.023893325502079784,-0.7951199875684377],[0.07610667706560013,-0.6951622787871935]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.1517364153064712,-0.2774863507755492,0.71338606911949],"aabb_xy":[[-0.21573641852510908,-0.3242094626745575],[-0.08773641208783337,-0.23076323887654082]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[-0.3398317622192326,0.6325913926399469,0.71338606911949],"aabb_xy":[[-0.3634168856831275,0.5675913903945152],[-0.3162466387553378,0.6975913948853788]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[-0.342308506432839,1.7582756691765176,0.71338606911949],"aabb_xy":[[-0.3648221982562962,1.68827566857551],[-0.3197948146093818,1.828275669777525]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[0.5897322871432717,0.6751133827258715,0.71338606911949],"aabb_xy":[[0.5694479844198729,0.6548307575831626],[0.6100165898666704,0.6953960078685802]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.32575438778162463,1.0154221195181843,0.71338606911949],"aabb_xy":[[-0.38734514700561745,0.9514221214091376],[-0.2641636285576318,1.0794221176272314]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[0.19433115037666104,1.6061285083065644,0.71338606911949],"aabb_xy":[[0.1791589810950277,1.590959651378361],[0.20950331965829438,1.6212973652347678]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.21458256070174903,-0.8737174639759442,0.71338606911949],"aabb_xy":[[-0.22542303892826393,-0.8909037452665929],[-0.20374208247523412,-0.8565311826852953]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.5039112695312131,1.597485186870863,0.71338606911949],"aabb_xy":[[0.4139112730303413,1.5515735444524048],[0.5939112660320848,1.6433968292893213]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[-0.4494909101446808,0.6871344765655358,0.71338606911949],"aabb_xy":[[-0.4844909092746364,0.6813892554898717],[-0.41449091101472507,0.6928796976411999]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[0.030744967542931545,1.5663282010113675,0.71338606911949],"aabb_xy":[[0.019971993621563763,1.5313282027923285],[0.041517941464299324,1.6013281992304065]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.2496467489815215,1.4848029298922047,0.71338606911949],"aabb_xy":[[-0.2996467506430162,1.4348044876365016],[-0.1996467473200267,1.534801372147907]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.19884962383648053,-1.4875027264370797,0.71338606911949],"aabb_xy":[[0.16322046793652079,-1.5231353931939327],[0.23447877973644027,-1.4518700596802268]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.20713846991025453,1.0501552987073226,0.71338606911949],"aabb_xy":[[0.1846384699001062,1.0360590790677193],[0.2296384699204028,1.0642515183469259]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[0.5888171072837818,-0.08930498020300126,0.71338606911949],"aabb_xy":[[0.5779655010349063,-0.10016427093065228],[0.5996687135326575,-0.07844568947535024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6567993431885014,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/194.png","name":"194"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/194.png","name":"194"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7783.png","name":"7783"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6572.png","name":"6572"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/298.png","name":"298"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5253.png","name":"5253"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":577.8900450770795,"rotation_z_degrees":4.532219416411634,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0017141584370965676,-0.0005839591473271455,0.019198431875567894]},{"name":"camera_2","offset_m":[0.009017214285082543,-0.013967138548768392,0.0032808785891032914]},{"name":"camera_3","offset_m":[0.013293199189122407,0.014665550909308819,-8.365951132029495e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-6.893786316690951e-05,0.0012679881211108243,0.001010419163232498],"end_effector_yaw_offset_degrees":0.8022079662151729},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001492806002936371,0.0006581693712189051,-0.0006193918987883662],"end_effector_yaw_offset_degrees":0.8945174515338563},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005195906766804108,0.0012576355442096721,-0.00026678972921193186],"end_effector_yaw_offset_degrees":-0.16994257476390828}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0042777689350633735,-0.0028830034550434945],"position_m":[0.2191222310649366,-0.032283003455043494,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00035232673295530065,0.0032132653676167572],"position_m":[0.26044767326704465,-0.3014867346323833,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038485542177915245,-0.00023491713227547818],"position_m":[0.13765144578220848,0.28496508286772454,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018882263613242134,0.0037308896592748173],"position_m":[0.32858822636132423,0.1872308896592748,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3ae285aa350351dc3bb575e2991c33ef2075304a4d7f0d0a7a28fc45d866c5bc","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0098.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_194/tex_ceiling_textures_5253/tex_floor_textures_298/tex_table_textures_7783/tex_wall_textures_6572","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3881551471502028625,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3881551471502028625,"visual_seed":3881551471502028625,"scene_id":"lab_003","finished_at":"2026-09-03T23:10:45"} +{"episode_id":"ep_000099","started_at":"2026-09-03T23:10:48","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.042467970459051485,-2.333098912014007,0.71338606911949],"aabb_xy":[[-0.05403695120598807,-2.358098912130939],[-0.030898989712114917,-2.3080989118970754]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.12730222978843897,-1.6604367399028623,0.71338606911949],"aabb_xy":[[0.08017285078660327,-1.724436740947264],[0.1744316087902746,-1.5964367388584602]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.031134637316692193,-2.221905705136847,0.71338606911949],"aabb_xy":[[-0.09513463802016156,-2.267924087609768],[0.03286536338677716,-2.175887322663926]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.1894752664052224,0.8902750111546158,0.71338606911949],"aabb_xy":[[-0.20553719386374,0.805275009342024],[-0.17341333894670471,0.9752750129672076]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.24750874690886393,0.6805541460119899,0.71338606911949],"aabb_xy":[[0.2250123254749998,0.6580541462052425],[0.27000516834272803,0.7030541458187374]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.5725792931297528,-0.25241756745636934,0.71338606911949],"aabb_xy":[[-0.617857908010902,-0.3164175668045531],[-0.5273006782486035,-0.18841756810818572]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.09824247882402215,-2.520716675518484,0.71338606911949],"aabb_xy":[[0.04824247746313493,-2.5706945800938996],[0.14824248018490938,-2.4707387709430684]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[0.12518243559916187,1.3823398653210592,0.71338606911949],"aabb_xy":[[0.06118243230945374,1.3390049463171416],[0.18918243888886996,1.4256747843249769]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[0.2917664289737165,-1.5038122563820344,0.71338606911949],"aabb_xy":[[0.23775083269181646,-1.5678122592742914],[0.34578202525561647,-1.439812253489777]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.21329094622765216,-0.14081250616734886,0.71338606911949],"aabb_xy":[[-0.2682864240483115,-0.19581250760125576],[-0.15829546840699274,-0.0858125047334419]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[0.1926653240853684,-1.36002604162217,0.71338606911949],"aabb_xy":[[0.1561695034580896,-1.3965099840489275],[0.2291611447126471,-1.3235420991954123]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[0.018437764266652223,-0.9126757898577347,0.71338606911949],"aabb_xy":[[-0.009891945681888,-0.917136532051452],[0.04676747421519245,-0.9082150476640178]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[0.6117979952006356,0.401168665239922,0.71338606911949],"aabb_xy":[[0.5742979949084609,0.3971271898393184],[0.6492979954928105,0.40521014064052563]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[-0.04164585343183347,-1.2617782075221937,0.71338606911949],"aabb_xy":[[-0.13164585576585253,-1.3392605621073064],[0.04835414890218559,-1.184295852937081]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.24869961202388413,-2.3805816320372726,0.71338606911949],"aabb_xy":[[0.2311529171077652,-2.418081633601524],[0.26624630694000306,-2.343081630473021]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[0.24397969645775797,1.1648597976361188,0.71338606911949],"aabb_xy":[[0.20121298957833775,1.1008597942143161],[0.28674640333717816,1.228859801057921]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[-0.5068311366561074,-1.3793599516331647,0.71338606911949],"aabb_xy":[[-0.5109470867681799,-1.38347550666601],[-0.5027151865440346,-1.375244396600319]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.6036813454485324,-0.8230764948610272,0.71338606911949],"aabb_xy":[[-0.6116748352438144,-0.831074626801503],[-0.5956878556532503,-0.8150783629205518]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[-0.5620296453913414,-0.47550827866790346,0.71338606911949],"aabb_xy":[[-0.6420296427949347,-0.5555008498660862],[-0.4820296479877479,-0.3955157074697206]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[0.09927412559940807,0.691150636183238,0.71338606911949],"aabb_xy":[[0.09203035955316274,0.6111506379796356],[0.1065178916456534,0.7711506343868404]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[0.2534374688150599,-1.7357062652774042,0.71338606911949],"aabb_xy":[[0.2493016124823597,-1.7732062647217612],[0.2575733251477601,-1.6982062658330472]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[-0.20681877665431492,-0.6208960366423293,0.71338606911949],"aabb_xy":[[-0.25680301236249214,-0.6708960354558249],[-0.1568345409461377,-0.5708960378288337]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[0.0114000548298413,1.031211269421815,0.71338606911949],"aabb_xy":[[0.0034060662521379053,1.0232111893267246],[0.019394043407544692,1.0392113495169053]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[0.1011949193324525,-1.4050410712610217,0.71338606911949],"aabb_xy":[[0.09184791175015726,-1.4193446934786658],[0.11054192691474772,-1.3907374490433777]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[-0.47712452282686346,0.27077253564115455,0.71338606911949],"aabb_xy":[[-0.5121245211375589,0.2630575207176089],[-0.442124524516168,0.2784875505647002]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_25","position":[-0.24037697942787267,1.3433134176280657,0.71338606911949],"aabb_xy":[[-0.30037697927443946,1.286494795435027],[-0.18037697958130589,1.4001320398211043]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_26","position":[0.24771705525732735,1.7064976856379306,0.71338606911949],"aabb_xy":[[0.2382995806874646,1.6970815085002116],[0.2571345298271901,1.7159138627756496]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_27","position":[-0.07417957377367723,-1.793129570644001,0.71338606911949],"aabb_xy":[[-0.16417957027454896,-1.839041213062459],[0.015820422727194524,-1.7472179282255424]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[-0.1476073432667101,1.7735285376783039,0.71338606911949],"aabb_xy":[[-0.21160734560951164,1.7285876864341714],[-0.08360734092390852,1.8184693889224364]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663953807706705,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/829.png","name":"829"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/829.png","name":"829"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6915.png","name":"6915"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4347.png","name":"4347"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/233.png","name":"233"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5066.png","name":"5066"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":525.6867715714916,"rotation_z_degrees":345.63572615489085,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0055440708627974185,0.010739832046834506,-0.016780967455433546]},{"name":"camera_2","offset_m":[0.016113880577668212,-0.0020011386932765086,0.011916310611355587]},{"name":"camera_3","offset_m":[-0.006631005724364213,0.004763022234193861,-0.003974409162863464]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006966916882873431,0.0012914600267685044,0.0012657304359439884],"end_effector_yaw_offset_degrees":0.2112065733678674},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006746315785921225,0.001486663133889109,-0.00011966881862970967],"end_effector_yaw_offset_degrees":-0.8143007847790564},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012721057321041776,-0.0013373951539752335,-0.00023710552145073203],"end_effector_yaw_offset_degrees":-0.6637739160641707}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001204277634703512,-0.0025795796527024505],"position_m":[0.22219572236529647,-0.03197957965270245,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004051454958321431,-0.0038201928010305995],"position_m":[0.2648514549583214,-0.3085201928010306,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004421619495508221,-0.002921476577206592],"position_m":[0.13707838050449175,0.2822785234227934,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024735937002872553,-0.0008000849199302808],"position_m":[0.3242264062997127,0.18269991508006972,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"384a1823f66f179abd0dc7ca7df99a0de95f56f2680c8699a47191c2947f25f2","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_829/tex_ceiling_textures_5066/tex_floor_textures_233/tex_table_textures_6915/tex_wall_textures_4347","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5587715929222617410,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5587715929222617410,"visual_seed":5587715929222617410,"scene_id":"lab_003","finished_at":"2026-09-03T23:13:22"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..856fd223931710cee6082f190a3170dfe3c1eed5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00003 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00003 + reproducibility: + enabled: true + layout_id: layout_00003 + action_seed: 8196756798222636436 + step_seeds: + - 6038634529671703149 + - 2665526681626151468 + - 4292576788232893539 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2234 + - 0.2234 + 'y': + - -0.0294 + - -0.0294 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1415 + - 0.1415 + 'y': + - 0.2852 + - 0.2852 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3267 + - 0.3267 + 'y': + - 0.1835 + - 0.1835 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2608 + - 0.2608 + 'y': + - -0.3047 + - -0.3047 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..90e67f42b7567e26138a05b2feaed407cbf8d9c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24705442711778808, + -0.03440631689667156, + 1.1635377697844769 + ], + "current_z": 1.1635377697844769, + "required_z": 0.8611067279836321, + "initial_z": 0.7611067279836321, + "lift_margin": 0.3024310418008448, + "gripper_z": 1.1570428199005425, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24205327537309607, + -0.039353918605403854, + 1.1570428199005425 + ], + "object_minus_gripper": [ + 0.005001151744692012, + 0.004947601708732291, + 0.006494949883934398 + ], + "object_to_gripper_xy": 0.007034932937966548, + "object_to_gripper_z": 0.006494949883934398, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24705442711778808, + -0.058210626104648625, + 1.1635377697844769 + ], + "finger_b": [ + 0.2357086250766038, + -0.03440631689667156, + 1.1635377697844769 + ], + "finger_midpoint": [ + 0.24138152609719593, + -0.046308471500660094, + 1.1635377697844769 + ], + "object_minus_finger_midpoint": [ + 0.005672901020592147, + 0.011902154603988531, + 0.0 + ], + "finger_gap": 0.026369913932865283, + "fingertip_max_gap": 0.09181259086409643, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013184956966432647, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635377697844769, + "object_top_z": 1.2137132547462344, + "finger_top_clearance": 0.0501754849617575, + "fingertip_min_top_clearance": 0.01505264548852725, + "object_projection_between_fingers": 0.8148801545625163, + "object_to_finger_line_xy": 0.010241936347931864, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840629543204822, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9256067291480349, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.325305382939151, + -0.3069469911827447, + 0.8515395693162715 + ], + "target_position": [ + 0.3162438378992007, + -0.3086047599926067, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009211937686393654, + "xy_threshold": 0.08, + "gripper_dist": 0.184995161905748, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395693162715, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754752541847662, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08546368398527963, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15324016150580796, + "release_required_pad_clearance": 0.05273184199263982, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5158607739045876, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007513165473937988, + "max_z_decrease": 0.007513165473937988, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035198114017920785, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007513165473937988, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021321748908162182, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007513165473937988, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007513177130644531, + "max_button_displacement": 0.12, + "button_start": [ + 0.1719437688589096, + -0.3648662269115447, + 0.7768088579177856 + ], + "button_final": [ + 0.1719437688589096, + -0.3648662269115447, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1737420957424694, + -0.36661487089162914, + 0.8080798852249569 + ], + "closest_button": [ + 0.1719425767660141, + -0.36487442255020136, + 0.7729709148406982 + ], + "closest_ee_minus_button": [ + 0.0017995189764553055, + -0.0017404483414277805, + 0.03510897038425864 + ], + "button_min_z_position": [ + 0.17193092405796048, + -0.3648694157600402, + 0.7692956924438477 + ], + "min_active_finger_to_button": 0.14432651763143511, + "closest_active_finger": [ + 0.032308340072631836, + -0.3526846170425415, + 0.8100546002388 + ], + "closest_active_finger_button": [ + 0.17194673418998718, + -0.3648699223995208, + 0.7756630182266235 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13963839411735535, + 0.012185305356979315, + 0.034391582012176514 + ], + "min_contact_pad_to_button": 0.021321748908162182, + "closest_contact_pad": [ + 0.17193092405796048, + -0.3677109742405813, + 0.7904272452004337 + ], + "closest_contact_pad_button": [ + 0.17193092405796048, + -0.3648694157600402, + 0.7692956924438477 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002841558480541073, + 0.02113155275658607 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b9f9173b0067d06ce3a7e5083027459a863e6037d873fb8c2f48eca37d39542f", + "visual_seed": 6848095251179895673, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25441321b042e805f40201ce90658981d46e407f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2557097482185462, + -0.031453715937751855, + 1.1625675290123945 + ], + "current_z": 1.1625675290123945, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3014610209976283, + "gripper_z": 1.155750864825594, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2508329641674858, + -0.03612226590696144, + 1.155750864825594 + ], + "object_minus_gripper": [ + 0.004876784051060401, + 0.004668549969209582, + 0.006816664186800381 + ], + "object_to_gripper_xy": 0.006751176304591955, + "object_to_gripper_z": 0.006816664186800381, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2557097482185462, + -0.055558534374392114, + 1.1625675290123945 + ], + "finger_b": [ + 0.24518705591299284, + -0.031453715937751855, + 1.1625675290123945 + ], + "finger_midpoint": [ + 0.2504484020657695, + -0.04350612515607198, + 1.1625675290123945 + ], + "object_minus_finger_midpoint": [ + 0.00526134615277668, + 0.012052409218320126, + 0.0 + ], + "finger_gap": 0.02630150804080907, + "fingertip_max_gap": 0.09169102894198314, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013150754020404531, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1625675290123945, + "object_top_z": 1.212633211746775, + "finger_top_clearance": 0.05006568273438061, + "fingertip_min_top_clearance": 0.01501970482031415, + "object_projection_between_fingers": 0.8399364508942068, + "object_to_finger_line_xy": 0.009643841984134115, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834551447099157, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0624945578572318, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3217526543200484, + -0.3075344620962052, + 0.8515395263638373 + ], + "target_position": [ + 0.31272876464163396, + -0.3091022911073381, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009159075976120335, + "xy_threshold": 0.08, + "gripper_dist": 0.18731054449012374, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395263638373, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524760132681924, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541749634365635, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15610109266577055, + "release_required_pad_clearance": 0.052708748171828176, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4714679274373744, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007231175899505615, + "max_z_decrease": 0.007231175899505615, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506464911547606, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007231175899505615, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0212418347268889, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007231175899505615, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007231196522330666, + "max_button_displacement": 0.12, + "button_start": [ + 0.16842868924140925, + -0.365363746881485, + 0.7768088579177856 + ], + "button_final": [ + 0.16842868924140925, + -0.365363746881485, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16821989819684918, + -0.3656698350108102, + 0.8078745088321666 + ], + "closest_button": [ + 0.16841964423656458, + -0.365369975566864, + 0.7728117108345032 + ], + "closest_ee_minus_button": [ + -0.00019974603971539828, + -0.00029985944394617103, + 0.03506279799766343 + ], + "button_min_z_position": [ + 0.16841213405132288, + -0.3653686642646789, + 0.76957768201828 + ], + "min_active_finger_to_button": 0.146407980328638, + "closest_active_finger": [ + 0.02724623680114746, + -0.34791287779808044, + 0.808746874332428 + ], + "closest_active_finger_button": [ + 0.1684343665838241, + -0.3653707504272461, + 0.7741574048995972 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14118812978267664, + 0.01745787262916565, + 0.03458946943283081 + ], + "min_contact_pad_to_button": 0.0212418347268889, + "closest_contact_pad": [ + 0.16841213405132288, + -0.36717207124662316, + 0.790742824725617 + ], + "closest_contact_pad_button": [ + 0.16841213405132288, + -0.3653686642646789, + 0.76957768201828 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018034069819442555, + 0.021165142707336937 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e49aa2399798341430b75543c99a56479c578f0bbe45ed6e8d0099f094f2264f", + "visual_seed": 7371528588017697583, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..875d0180d1ffcbe940f09f5492a70cf1b53f20c8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2556718821411491, + -0.02772023641458716, + 1.161750432056921 + ], + "current_z": 1.161750432056921, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3006439240421549, + "gripper_z": 1.1550686906050158, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.250684314512605, + -0.03248895097390464, + 1.1550686906050158 + ], + "object_minus_gripper": [ + 0.004987567628544132, + 0.0047687145593174815, + 0.006681741451905143 + ], + "object_to_gripper_xy": 0.006900468780999437, + "object_to_gripper_z": 0.006681741451905143, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2556718821411491, + -0.05198729761598886, + 1.161750432056921 + ], + "finger_b": [ + 0.24509719494085322, + -0.02772023641458716, + 1.161750432056921 + ], + "finger_midpoint": [ + 0.2503845385410012, + -0.039853767015288005, + 1.161750432056921 + ], + "object_minus_finger_midpoint": [ + 0.005287343600147931, + 0.012133530600700847, + 0.0 + ], + "finger_gap": 0.026471008079343664, + "fingertip_max_gap": 0.09164560166339536, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013235504039671822, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161750432056921, + "object_top_z": 1.2117755574358327, + "finger_top_clearance": 0.05002512537891168, + "fingertip_min_top_clearance": 0.015007537613673504, + "object_projection_between_fingers": 0.8404142538930882, + "object_to_finger_line_xy": 0.009694250430738488, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832280083169768, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0360400851994511, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32356013205326317, + -0.30497008408118687, + 0.8515395921387501 + ], + "target_position": [ + 0.3154952140693973, + -0.306410729417914, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008192579634810813, + "xy_threshold": 0.08, + "gripper_dist": 0.18381743394594446, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395921387501, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562950256022419, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08742932297430071, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1516421558386488, + "release_required_pad_clearance": 0.05371466148715036, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4386558735756187, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073822736740112305, + "max_z_decrease": 0.0073822736740112305, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035050371798029806, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073822736740112305, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021319041867164757, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073822736740112305, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007382294454339695, + "max_button_displacement": 0.12, + "button_start": [ + 0.1711951345205307, + -0.3626721799373626, + 0.7768088579177856 + ], + "button_final": [ + 0.1711951345205307, + -0.3626721799373626, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1725972827595436, + -0.36317367464512895, + 0.8047569280105191 + ], + "closest_button": [ + 0.17117860913276672, + -0.36267751455307007, + 0.7697387933731079 + ], + "closest_ee_minus_button": [ + 0.0014186736267768896, + -0.0004961600920588838, + 0.03501813463741121 + ], + "button_min_z_position": [ + 0.17117846012115479, + -0.36267754435539246, + 0.7694265842437744 + ], + "min_active_finger_to_button": 0.1445241958308113, + "closest_active_finger": [ + 0.03206777572631836, + -0.3450227677822113, + 0.8078590631484985 + ], + "closest_active_finger_button": [ + 0.17120791971683502, + -0.36267879605293274, + 0.7729946374893188 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13914014399051666, + 0.017656028270721436, + 0.03486442565917969 + ], + "min_contact_pad_to_button": 0.021319041867164757, + "closest_contact_pad": [ + 0.17117846012115479, + -0.36455760119860625, + 0.790662566264868 + ], + "closest_contact_pad_button": [ + 0.17117846012115479, + -0.36267754435539246, + 0.7694265842437744 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018800568432137954, + 0.021235982021093558 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "28bad3692208f09639a026efca31c9bbd01d22283b1b0df801b104c2e89199ba", + "visual_seed": 3060346481182339728, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..374d3fa1f3ae036cec05fd93fe9d9879f40e7f8f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2536858982174801, + -0.03049729115834947, + 1.16460914599641 + ], + "current_z": 1.16460914599641, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3035026975862889, + "gripper_z": 1.1579652403389236, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24890157269395366, + -0.03528008348621546, + 1.1579652403389236 + ], + "object_minus_gripper": [ + 0.00478432552352645, + 0.004782792327865989, + 0.006643905657486515 + ], + "object_to_gripper_xy": 0.0067649739960003105, + "object_to_gripper_z": 0.006643905657486515, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2536858982174801, + -0.05428985166295896, + 1.16460914599641 + ], + "finger_b": [ + 0.24267671454988266, + -0.03049729115834947, + 1.16460914599641 + ], + "finger_midpoint": [ + 0.24818130638368138, + -0.04239357141065422, + 1.16460914599641 + ], + "object_minus_finger_midpoint": [ + 0.005504591833798728, + 0.011896280252304745, + 0.0 + ], + "finger_gap": 0.02621617936298876, + "fingertip_max_gap": 0.09167978973188906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013108089681494382, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16460914599641, + "object_top_z": 1.214647900067574, + "finger_top_clearance": 0.05003875407116398, + "fingertip_min_top_clearance": 0.015011626221349161, + "object_projection_between_fingers": 0.8236516360291553, + "object_to_finger_line_xy": 0.009991412741380058, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04833989486594453, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9905176650646449, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32138685006756396, + -0.2988024894429736, + 0.8515395691376603 + ], + "target_position": [ + 0.3115251039229914, + -0.30074826389582476, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010051869241159098, + "xy_threshold": 0.08, + "gripper_dist": 0.18681888782781567, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691376603, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754547127914919, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1550459788474444, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007185757160186768, + "max_z_decrease": 0.007185757160186768, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035146021895105094, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007185757160186768, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021140978683444667, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007185757160186768, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007185777397383671, + "max_button_displacement": 0.12, + "button_start": [ + 0.167225033044815, + -0.3570097088813781, + 0.7768088579177856 + ], + "button_final": [ + 0.167225033044815, + -0.3570097088813781, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16731149148790256, + -0.3553535272277293, + 0.8077029841554477 + ], + "closest_button": [ + 0.16721360385417933, + -0.3570142984390258, + 0.7725963592529297 + ], + "closest_ee_minus_button": [ + 9.78876337232315e-05, + 0.0016607712112965411, + 0.035106624902518035 + ], + "button_min_z_position": [ + 0.1672088056802749, + -0.3570149540901184, + 0.7696231007575989 + ], + "min_active_finger_to_button": 0.14534506165573963, + "closest_active_finger": [ + 0.040128402411937714, + -0.41858425736427307, + 0.8106045722961426 + ], + "closest_active_finger_button": [ + 0.1672284752130508, + -0.3570121526718139, + 0.7762587666511536 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12710007280111307, + -0.06157210469245916, + 0.034345805644989014 + ], + "min_contact_pad_to_button": 0.021140978683444667, + "closest_contact_pad": [ + 0.1672088056802749, + -0.3570149540901184, + 0.7907640794410435 + ], + "closest_contact_pad_button": [ + 0.1672088056802749, + -0.3570149540901184, + 0.7696231007575989 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021140978683444667 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64f1bc6115a4a1c84f9156665e37131d55870af0a9a7737a9626e6f49ea02520", + "visual_seed": 7353726071663683521, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3f82ec8a2303ec844f805dcc4eb7ec88c8415537 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24904617320774064, + -0.03485122101904522, + 1.165151858382611 + ], + "current_z": 1.165151858382611, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30404540997248986, + "gripper_z": 1.1585208110001406, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24416314483803167, + -0.039526027731023636, + 1.1585208110001406 + ], + "object_minus_gripper": [ + 0.004883028369708969, + 0.004674806711978417, + 0.006631047382470445 + ], + "object_to_gripper_xy": 0.0067600135986358115, + "object_to_gripper_z": 0.006631047382470445, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24904617320774064, + -0.058874154213830396, + 1.165151858382611 + ], + "finger_b": [ + 0.23842521550823612, + -0.03485122101904522, + 1.165151858382611 + ], + "finger_midpoint": [ + 0.24373569435798836, + -0.046862687616437804, + 1.165151858382611 + ], + "object_minus_finger_midpoint": [ + 0.005310478849752276, + 0.012011466597392585, + 0.0 + ], + "finger_gap": 0.026266062927964212, + "fingertip_max_gap": 0.09176271141408252, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313303146398211, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165151858382611, + "object_top_z": 1.2152513038176096, + "finger_top_clearance": 0.05009944543499856, + "fingertip_min_top_clearance": 0.015029833630499534, + "object_projection_between_fingers": 0.8364926057167084, + "object_to_finger_line_xy": 0.009713924693608872, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838135570704126, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0545978773540712, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32618249334472005, + -0.3043240923706152, + 0.8515396029512474 + ], + "target_position": [ + 0.3170363528964857, + -0.30606274295819696, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009309929697077585, + "xy_threshold": 0.08, + "gripper_dist": 0.18711376575724772, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396029512474, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563605037842101, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08633322082960969, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15485364703421609, + "release_required_pad_clearance": 0.053166610414804846, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.357370629267368, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007366955280303955, + "max_z_decrease": 0.007366955280303955, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502781707258356, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007366955280303955, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02140418242998419, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007366955280303955, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007366973522183753, + "max_button_displacement": 0.12, + "button_start": [ + 0.17273627221584326, + -0.3623242080211639, + 0.7768088579177856 + ], + "button_final": [ + 0.17273627221584326, + -0.3623242080211639, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1726661840198599, + -0.3636145544330184, + 0.8075785877310176 + ], + "closest_button": [ + 0.17272588610649114, + -0.3623304963111877, + 0.7725743651390076 + ], + "closest_ee_minus_button": [ + -5.970208663125254e-05, + -0.001284058121830689, + 0.03500422259201008 + ], + "button_min_z_position": [ + 0.1727206707000733, + -0.3623292446136474, + 0.7694419026374817 + ], + "min_active_finger_to_button": 0.1462081090865012, + "closest_active_finger": [ + 0.03173935413360596, + -0.3456073999404907, + 0.8078473210334778 + ], + "closest_active_finger_button": [ + 0.17274735867977148, + -0.36233150959014887, + 0.7730068564414978 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14100800454616552, + 0.016724109649658148, + 0.03484046459197998 + ], + "min_contact_pad_to_button": 0.02140418242998419, + "closest_contact_pad": [ + 0.1727206707000733, + -0.3651561522189242, + 0.7906585851983174 + ], + "closest_contact_pad_button": [ + 0.1727206707000733, + -0.3623292446136474, + 0.7694419026374817 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028269076052768183, + 0.021216682560835753 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5b7d5d6e9dce5fb6367c107de5d25a2656ee3beb72431db3f32c0ed64e5e62b6", + "visual_seed": 2658180592504474051, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aeab1ebbe6298cf28445c27cc5994937f2971f9a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2546963285683095, + -0.028614713099514327, + 1.1642888263261864 + ], + "current_z": 1.1642888263261864, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30318237791606517, + "gripper_z": 1.1575342111590248, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2497553019268511, + -0.03331285234012055, + 1.1575342111590248 + ], + "object_minus_gripper": [ + 0.004941026641458374, + 0.0046981392406062195, + 0.006754615167161582 + ], + "object_to_gripper_xy": 0.006818083058728854, + "object_to_gripper_z": 0.006754615167161582, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2546963285683095, + -0.0526767681499178, + 1.1642888263261864 + ], + "finger_b": [ + 0.24402011326034065, + -0.028614713099514327, + 1.1642888263261864 + ], + "finger_midpoint": [ + 0.24935822091432508, + -0.04064574062471606, + 1.1642888263261864 + ], + "object_minus_finger_midpoint": [ + 0.005338107653984403, + 0.012031027525201736, + 0.0 + ], + "finger_gap": 0.026324210653897208, + "fingertip_max_gap": 0.09146886956043199, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013162105326948599, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642888263261864, + "object_top_z": 1.2143322906341436, + "finger_top_clearance": 0.05004346430795725, + "fingertip_min_top_clearance": 0.015013039292387176, + "object_projection_between_fingers": 0.8355158964166007, + "object_to_finger_line_xy": 0.009758761007038012, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048234434780215996, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.940010144101466, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3225138947774213, + -0.30110185560704655, + 0.851539613578119 + ], + "target_position": [ + 0.31272914680336317, + -0.3027899042380264, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00992929006003893, + "xy_threshold": 0.08, + "gripper_dist": 0.18727962694048658, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539613578119, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520781487120821, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554738957859874, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1561629358635613, + "release_required_pad_clearance": 0.05277369478929937, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5961026975533733, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007386744022369385, + "max_z_decrease": 0.007386744022369385, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035155766698883054, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007386744022369385, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021207097956049692, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007386744022369385, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007386764944989978, + "max_button_displacement": 0.12, + "button_start": [ + 0.16842907667160034, + -0.3590513765811919, + 0.7768088579177856 + ], + "button_final": [ + 0.16842907667160034, + -0.3590513765811919, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17012013650282123, + -0.35727464587171237, + 0.8044911199584895 + ], + "closest_button": [ + 0.16841237246990204, + -0.3590568602085113, + 0.7694221138954163 + ], + "closest_ee_minus_button": [ + 0.0017077640329191957, + 0.0017822143367989263, + 0.03506900606307328 + ], + "button_min_z_position": [ + 0.16841237246990204, + -0.3590568602085113, + 0.7694221138954163 + ], + "min_active_finger_to_button": 0.14353778993914826, + "closest_active_finger": [ + 0.042748257517814636, + -0.41912466287612915, + 0.8100674152374268 + ], + "closest_active_finger_button": [ + 0.1684344857931137, + -0.3590559363365172, + 0.7754579186439514 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12568622827529907, + -0.06006872653961193, + 0.03460949659347534 + ], + "min_contact_pad_to_button": 0.021207097956049692, + "closest_contact_pad": [ + 0.16841237246990204, + -0.3590568602085113, + 0.790629211851466 + ], + "closest_contact_pad_button": [ + 0.16841237246990204, + -0.3590568602085113, + 0.7694221138954163 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021207097956049692 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5fc7b5df104cabf00c147817799927fe73ec40cd1b40bf3e7184a9f16f4866d8", + "visual_seed": 6929891173412099027, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..241e2f65cb25714504d45c8b2f8a1c4d1275180d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2525541641794067, + -0.027872576788129794, + 1.1641202202592873 + ], + "current_z": 1.1641202202592873, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3030137122445211, + "gripper_z": 1.1574800184029674, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24766960359826104, + -0.0326474523446206, + 1.1574800184029674 + ], + "object_minus_gripper": [ + 0.004884560581145642, + 0.00477487555649081, + 0.006640201856319861 + ], + "object_to_gripper_xy": 0.006830693131070614, + "object_to_gripper_z": 0.006640201856319861, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2525541641794067, + -0.0518617822712141, + 1.1641202202592873 + ], + "finger_b": [ + 0.24170705050154842, + -0.027872576788129794, + 1.1641202202592873 + ], + "finger_midpoint": [ + 0.24713060734047754, + -0.03986717952967195, + 1.1641202202592873 + ], + "object_minus_finger_midpoint": [ + 0.005423556838929144, + 0.011994602741542154, + 0.0 + ], + "finger_gap": 0.026327587334391694, + "fingertip_max_gap": 0.09161467063840562, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013163793667195852, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641202202592873, + "object_top_z": 1.2141567236024815, + "finger_top_clearance": 0.050036503343194205, + "fingertip_min_top_clearance": 0.015010951002958227, + "object_projection_between_fingers": 0.830251377380986, + "object_to_finger_line_xy": 0.0098836872369463, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830733531920281, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9179537088401573, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32367983779709997, + -0.30129187174670324, + 0.8515395797728734 + ], + "target_position": [ + 0.31387511186229344, + -0.30337340802372775, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010023245179543236, + "xy_threshold": 0.08, + "gripper_dist": 0.18778135528486062, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395797728734, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562477662000924, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554313479968072, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15561699981785485, + "release_required_pad_clearance": 0.05277156739984036, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.59215059469517, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007505655288696289, + "max_z_decrease": 0.007505655288696289, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035135767220303885, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007505655288696289, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021215911561538462, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007505655288696289, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0075056800230637, + "max_button_displacement": 0.12, + "button_start": [ + 0.169575035572052, + -0.35963487625122065, + 0.7768088579177856 + ], + "button_final": [ + 0.169575035572052, + -0.35963487625122065, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1696687315145829, + -0.3607653691404788, + 0.8079100735405947 + ], + "closest_button": [ + 0.16956961154937744, + -0.35964605212211603, + 0.7727922797203064 + ], + "closest_ee_minus_button": [ + 9.911996520545197e-05, + -0.0011193170183627643, + 0.035117793820288346 + ], + "button_min_z_position": [ + 0.16955623030662537, + -0.3596390783786773, + 0.7693032026290894 + ], + "min_active_finger_to_button": 0.14599308247819637, + "closest_active_finger": [ + 0.028257161378860474, + -0.3467772305011749, + 0.8109009861946106 + ], + "closest_active_finger_button": [ + 0.16957759857177734, + -0.3596374094486236, + 0.7765916585922241 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14132043719291687, + 0.012860178947448675, + 0.034309327602386475 + ], + "min_contact_pad_to_button": 0.021215911561538462, + "closest_contact_pad": [ + 0.16955623030662537, + -0.3618921684781208, + 0.790399137981446 + ], + "closest_contact_pad_button": [ + 0.16955623030662537, + -0.3596390783786773, + 0.7693032026290894 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022530900994434666, + 0.021095935352356654 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8c8b66830188526c15768a790f9058e5d61608fb1cf740e9cf7b1bbd483f00ef", + "visual_seed": 1472917580298923378, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a85ae649df8e65470c6f9407709a8245488ca1e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25680697554732534, + -0.03748790053913781, + 1.1621994066959793 + ], + "current_z": 1.1621994066959793, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30109295828585825, + "gripper_z": 1.1555963786810661, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25183207501062405, + -0.04231356296186568, + 1.1555963786810661 + ], + "object_minus_gripper": [ + 0.004974900536701299, + 0.004825662422727875, + 0.006603028014913193 + ], + "object_to_gripper_xy": 0.006930847940057459, + "object_to_gripper_z": 0.006603028014913193, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25680697554732534, + -0.061431273424213326, + 1.1621994066959793 + ], + "finger_b": [ + 0.2457715974097348, + -0.03748790053913781, + 1.1621994066959793 + ], + "finger_midpoint": [ + 0.2512892864785301, + -0.04945958698167557, + 1.1621994066959793 + ], + "object_minus_finger_midpoint": [ + 0.00551768906879524, + 0.011971686442537759, + 0.0 + ], + "finger_gap": 0.02636407926997225, + "fingertip_max_gap": 0.09179763977474234, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013182039634986114, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621994066959793, + "object_top_z": 1.212351014618858, + "finger_top_clearance": 0.05015160792287876, + "fingertip_min_top_clearance": 0.015045482376863628, + "object_projection_between_fingers": 0.8247939006429663, + "object_to_finger_line_xy": 0.010022127872187158, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04839881988737117, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0019993105726221, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3275687987108491, + -0.3025922581801781, + 0.8515396531258169 + ], + "target_position": [ + 0.31801049907451834, + -0.3045225060522203, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009751253703263196, + "xy_threshold": 0.08, + "gripper_dist": 0.18695800184365544, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396531258169, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754003428376308, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.084965425265267, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15531452983924895, + "release_required_pad_clearance": 0.0524827126326335, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.039564624364902407, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007134974002838135, + "max_z_decrease": 0.007134974002838135, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503475420814719, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007134974002838135, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021244385108870983, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007134974002838135, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007134997989366472, + "max_button_displacement": 0.12, + "button_start": [ + 0.17371042072772983, + -0.360783964395523, + 0.7768088579177856 + ], + "button_final": [ + 0.17371042072772983, + -0.360783964395523, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17211498930674463, + -0.36021800657076136, + 0.8076090898212677 + ], + "closest_button": [ + 0.17370092868804932, + -0.36078828573226923, + 0.7726148962974548 + ], + "closest_ee_minus_button": [ + -0.0015859393813046907, + 0.0005702791615078695, + 0.03499419352381283 + ], + "button_min_z_position": [ + 0.17369280755519867, + -0.3607896268367767, + 0.7696738839149475 + ], + "min_active_finger_to_button": 0.14742950589807677, + "closest_active_finger": [ + 0.043842196464538574, + -0.4212533235549927, + 0.8079663515090942 + ], + "closest_active_finger_button": [ + 0.17372140288352966, + -0.36079022288322443, + 0.7731660008430481 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1298792064189911, + -0.060463100671768244, + 0.03480035066604614 + ], + "min_contact_pad_to_button": 0.021244385108870983, + "closest_contact_pad": [ + 0.17369280755519867, + -0.36179620079884833, + 0.7908944095331526 + ], + "closest_contact_pad_button": [ + 0.17369280755519867, + -0.3607896268367767, + 0.7696738839149475 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010065739620716552, + 0.02122052561820509 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3ae77eebd5d23ebe9f5824ce5649007b550cea217d6d9d43aacdea6c710f67ae", + "visual_seed": 1438835098022615585, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c51b971e5b9dec59b72804aaa02bd5c9803d6aa7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24911352791995398, + -0.038048810149584875, + 1.164441688494271 + ], + "current_z": 1.164441688494271, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30333518047950514, + "gripper_z": 1.1578725238847256, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24424906391991769, + -0.04286309034343874, + 1.1578725238847256 + ], + "object_minus_gripper": [ + 0.004864464000036289, + 0.004814280193853868, + 0.006569164609545375 + ], + "object_to_gripper_xy": 0.006843997647032229, + "object_to_gripper_z": 0.006569164609545375, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24911352791995398, + -0.06184547406007363, + 1.164441688494271 + ], + "finger_b": [ + 0.23805498334307182, + -0.038048810149584875, + 1.164441688494271 + ], + "finger_midpoint": [ + 0.2435842556315129, + -0.049947142104829256, + 1.164441688494271 + ], + "object_minus_finger_midpoint": [ + 0.005529272288441078, + 0.011898331955244382, + 0.0 + ], + "finger_gap": 0.026240667320547466, + "fingertip_max_gap": 0.09211335932250289, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013120333660273736, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164441688494271, + "object_top_z": 1.2145388755908666, + "finger_top_clearance": 0.05009718709659561, + "fingertip_min_top_clearance": 0.015029156128978649, + "object_projection_between_fingers": 0.822398677563831, + "object_to_finger_line_xy": 0.01002857379427852, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855667966125145, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3913072991058106, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3224250623438648, + -0.3049210846302335, + 0.8515395797437492 + ], + "target_position": [ + 0.3133838261444946, + -0.30649984778300216, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009178041463479128, + "xy_threshold": 0.08, + "gripper_dist": 0.18800976814071418, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395797437492, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525254084233615, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511861975486006, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15675037171113826, + "release_required_pad_clearance": 0.05255930987743003, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18557482529304756, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007497251033782959, + "max_z_decrease": 0.007497251033782959, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514358727409641, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007497251033782959, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02110506140426671, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007497251033782959, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007497269985254909, + "max_button_displacement": 0.12, + "button_start": [ + 0.16908375918865204, + -0.3627613186836242, + 0.7768088579177856 + ], + "button_final": [ + 0.16908375918865204, + -0.3627613186836242, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16911306374721025, + -0.36156872168209814, + 0.8079423412486774 + ], + "closest_button": [ + 0.16907721757888794, + -0.36277264356613154, + 0.7728193998336792 + ], + "closest_ee_minus_button": [ + 3.584616832230658e-05, + 0.0012039218840333987, + 0.035122941414998166 + ], + "button_min_z_position": [ + 0.16906745731830594, + -0.36276561021804804, + 0.7693116068840027 + ], + "min_active_finger_to_button": 0.14559257771851591, + "closest_active_finger": [ + 0.04276497662067413, + -0.42655181884765625, + 0.8108468055725098 + ], + "closest_active_finger_button": [ + 0.16908653080463407, + -0.36276438832283014, + 0.7766236066818237 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12632155418395993, + -0.0637874305248261, + 0.034223198890686035 + ], + "min_contact_pad_to_button": 0.02110506140426671, + "closest_contact_pad": [ + 0.16906745731830594, + -0.36276561021804804, + 0.7904166682882694 + ], + "closest_contact_pad_button": [ + 0.16906745731830594, + -0.36276561021804804, + 0.7693116068840027 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02110506140426671 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b0d9f530de06a91009def0454c210f7bea17de164471a2f754519e7ed078886c", + "visual_seed": 198028291099383746, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a377d4cd1b2720b4cbc7bc560d639eabf94336b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24718833597131754, + -0.031004648734858944, + 1.1630343254561888 + ], + "current_z": 1.1630343254561888, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30192781744142294, + "gripper_z": 1.1565735265050865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24239618997799037, + -0.03587528164884181, + 1.1565735265050865 + ], + "object_minus_gripper": [ + 0.004792145993327168, + 0.004870632913982865, + 0.006460798951102298 + ], + "object_to_gripper_xy": 0.006832841883443143, + "object_to_gripper_z": 0.006460798951102298, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24718833597131754, + -0.05466239316943409, + 1.1630343254561888 + ], + "finger_b": [ + 0.23594695821238285, + -0.031004648734858944, + 1.1630343254561888 + ], + "finger_midpoint": [ + 0.2415676470918502, + -0.042833520952146514, + 1.1630343254561888 + ], + "object_minus_finger_midpoint": [ + 0.005620688879467345, + 0.01182887221728757, + 0.0 + ], + "finger_gap": 0.026192698327028904, + "fingertip_max_gap": 0.09231358891106134, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01309634916351445, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1630343254561888, + "object_top_z": 1.2131960903130863, + "finger_top_clearance": 0.050161764856897495, + "fingertip_min_top_clearance": 0.015048529457069281, + "object_projection_between_fingers": 0.8158046753662038, + "object_to_finger_line_xy": 0.010153426683762387, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865679445553067, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5518907562016135, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3218498776507964, + -0.3015017949896931, + 0.8515395867679033 + ], + "target_position": [ + 0.31205222753174716, + -0.3035301169506088, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010005400433387903, + "xy_threshold": 0.08, + "gripper_dist": 0.1873270837533442, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395867679033, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757181725832062, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08563756351145334, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15494279956443696, + "release_required_pad_clearance": 0.05281878175572667, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.682993313054733, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073743462562561035, + "max_z_decrease": 0.0073743462562561035, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514298867324909, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073743462562561035, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02111091010229724, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0073743462562561035, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007374366023715169, + "max_button_displacement": 0.12, + "button_start": [ + 0.16775214672088617, + -0.35979157686233515, + 0.7768088579177856 + ], + "button_final": [ + 0.16775214672088617, + -0.35979157686233515, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16815908607074498, + -0.3586884128008157, + 0.8080514165356137 + ], + "closest_button": [ + 0.16774609684944147, + -0.3598030209541321, + 0.7729285359382629 + ], + "closest_ee_minus_button": [ + 0.0004129892213035058, + 0.0011146081533163765, + 0.0351228805973508 + ], + "button_min_z_position": [ + 0.16773572564125055, + -0.35979625582695, + 0.7694345116615295 + ], + "min_active_finger_to_button": 0.14531444020438836, + "closest_active_finger": [ + 0.04159989953041077, + -0.42327743768692017, + 0.8103820085525513 + ], + "closest_active_finger_button": [ + 0.1677535474300384, + -0.35979655385017395, + 0.7761515974998474 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12615364789962763, + -0.06348088383674622, + 0.03423041105270386 + ], + "min_contact_pad_to_button": 0.02111091010229724, + "closest_contact_pad": [ + 0.16773572564125055, + -0.35983844471887666, + 0.7905453796077954 + ], + "closest_contact_pad_button": [ + 0.16773572564125055, + -0.35979625582695, + 0.7694345116615295 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -4.2188891926642214e-05, + 0.02111086794626582 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "857c05c90b5ffea1597fa23aa69c0d16a85e1859b582a185fa295cc03083ff6a", + "visual_seed": 1774706945077227350, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..61bac463887ff1a7d6ede06c4cbae9f9047eaee9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24959498451129394, + -0.037274207657652186, + 1.163486699803569 + ], + "current_z": 1.163486699803569, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3023801917888028, + "gripper_z": 1.1568136568663956, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24475134867978068, + -0.041925250022228855, + 1.1568136568663956 + ], + "object_minus_gripper": [ + 0.00484363583151326, + 0.0046510423645766685, + 0.006673042937173301 + ], + "object_to_gripper_xy": 0.006715132399692956, + "object_to_gripper_z": 0.006673042937173301, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24959498451129394, + -0.06132002212004679, + 1.163486699803569 + ], + "finger_b": [ + 0.23907963645761154, + -0.037274207657652186, + 1.163486699803569 + ], + "finger_midpoint": [ + 0.24433731048445273, + -0.04929711488884948, + 1.163486699803569 + ], + "object_minus_finger_midpoint": [ + 0.005257674026841214, + 0.012022907231197297, + 0.0 + ], + "finger_gap": 0.026244499192211453, + "fingertip_max_gap": 0.0917520931496652, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013122249596105728, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163486699803569, + "object_top_z": 1.2135871074145836, + "finger_top_clearance": 0.05010040761101475, + "fingertip_min_top_clearance": 0.015030122283304425, + "object_projection_between_fingers": 0.8394646331388371, + "object_to_finger_line_xy": 0.009634404011846691, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048376046574832604, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0847078297960215, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3261058177363003, + -0.3026424612744707, + 0.8515395692729708 + ], + "target_position": [ + 0.3177539977439491, + -0.30425368726575397, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008505818383884329, + "xy_threshold": 0.08, + "gripper_dist": 0.18644697835858323, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395692729708, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585641804284199, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551205603826005, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15379346264274155, + "release_required_pad_clearance": 0.05275602801913003, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5623203467257922, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0072686076164245605, + "max_z_decrease": 0.0072686076164245605, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035103299822748846, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0072686076164245605, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02115461928627347, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0072686076164245605, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007268631576746477, + "max_button_displacement": 0.12, + "button_start": [ + 0.1734539270401001, + -0.36051514744758595, + 0.7768088579177856 + ], + "button_final": [ + 0.1734539270401001, + -0.36051514744758595, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17240998091987095, + -0.36054562590827754, + 0.8070118665084478 + ], + "closest_button": [ + 0.17344099283218384, + -0.3605190515518188, + 0.7719237208366394 + ], + "closest_ee_minus_button": [ + -0.0010310119123128902, + -2.6574356458752835e-05, + 0.0350881456718084 + ], + "button_min_z_position": [ + 0.17343595623970032, + -0.36052018404006947, + 0.7695402503013611 + ], + "min_active_finger_to_button": 0.1469500521600494, + "closest_active_finger": [ + 0.0458635538816452, + -0.4248071014881134, + 0.8107813000679016 + ], + "closest_active_finger_button": [ + 0.1734561324119568, + -0.3605177104473113, + 0.7764108777046204 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12759257853031158, + -0.06428939104080211, + 0.03437042236328125 + ], + "min_contact_pad_to_button": 0.02115461928627347, + "closest_contact_pad": [ + 0.17343595623970032, + -0.36171611004512216, + 0.7906610381213647 + ], + "closest_contact_pad_button": [ + 0.17343595623970032, + -0.36052018404006947, + 0.7695402503013611 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011959260050526943, + 0.021120787820003595 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9f3a057abea01dbb4d34c7387bda9344afe18d6853a99143c96584079490cee3", + "visual_seed": 2460006012420909811, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2d289c308190802d20f4f3992784e4b292ac31cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25390457025824675, + -0.03763402614145514, + 1.1630588690323922 + ], + "current_z": 1.1630588690323922, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.30195230141298146, + "gripper_z": 1.1563193485445578, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24894707948705216, + -0.04238482060622255, + 1.1563193485445578 + ], + "object_minus_gripper": [ + 0.004957490771194589, + 0.004750794464767408, + 0.006739520487834438 + ], + "object_to_gripper_xy": 0.006866350034257223, + "object_to_gripper_z": 0.006739520487834438, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25390457025824675, + -0.0616801996463774, + 1.1630588690323922 + ], + "finger_b": [ + 0.24312837792028968, + -0.03763402614145514, + 1.1630588690323922 + ], + "finger_midpoint": [ + 0.24851647408926822, + -0.04965711289391627, + 1.1630588690323922 + ], + "object_minus_finger_midpoint": [ + 0.0053880961689785345, + 0.01202308675246113, + 0.0 + ], + "finger_gap": 0.026350422796104618, + "fingertip_max_gap": 0.09156938916981627, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013175211398052309, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1630588690323922, + "object_top_z": 1.2131955841180093, + "finger_top_clearance": 0.05013671508561712, + "fingertip_min_top_clearance": 0.015041014525685103, + "object_projection_between_fingers": 0.8327540950935384, + "object_to_finger_line_xy": 0.009833853243494681, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04828469458490814, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8583388617688993, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3191337599476294, + -0.30482740412209824, + 0.8515395633210534 + ], + "target_position": [ + 0.3090347995404816, + -0.306841185858052, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.01029778219740541, + "xy_threshold": 0.08, + "gripper_dist": 0.1855310413625505, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395633210534, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587280155564438, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08670575707457821, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528152708309612, + "release_required_pad_clearance": 0.05335287853728911, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7223300264500996, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007363021373748779, + "max_z_decrease": 0.007363021373748779, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507807385557975, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007363021373748779, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021202388958171434, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007363021373748779, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073630501861052435, + "max_button_displacement": 0.12, + "button_start": [ + 0.1647347211837768, + -0.36310264468193054, + 0.7768088579177856 + ], + "button_final": [ + 0.1647347211837768, + -0.36310264468193054, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16469139578286074, + -0.36286936330573993, + 0.8075332948401484 + ], + "closest_button": [ + 0.1647246032953262, + -0.363108217716217, + 0.7724560499191284 + ], + "closest_ee_minus_button": [ + -3.320751246546627e-05, + 0.0002388544104770518, + 0.035077244921019934 + ], + "button_min_z_position": [ + 0.1647148579359054, + -0.36310809850692743, + 0.7694458365440369 + ], + "min_active_finger_to_button": 0.1461189873873543, + "closest_active_finger": [ + 0.036397188901901245, + -0.4238569140434265, + 0.8111079931259155 + ], + "closest_active_finger_button": [ + 0.16473871469497678, + -0.3631044626235962, + 0.7766355276107788 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12834152579307553, + -0.06075245141983032, + 0.03447246551513672 + ], + "min_contact_pad_to_button": 0.021202388958171434, + "closest_contact_pad": [ + 0.1647148579359054, + -0.36442553141348294, + 0.7906072558742783 + ], + "closest_contact_pad_button": [ + 0.1647148579359054, + -0.36310809850692743, + 0.7694458365440369 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013174329065555046, + 0.021161419330241404 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2707a2272291c4a70ad629e90bf7ab0b01891843b7c5b0de4d8e1c8aa305407e", + "visual_seed": 8733972686145165176, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7b0509f5e73df757a426027d8e5353fd3a8b314b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24885988928447675, + -0.03509301862090435, + 1.1646786705868497 + ], + "current_z": 1.1646786705868497, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.303572102967439, + "gripper_z": 1.158102138091621, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2440346866157482, + -0.03992864141928874, + 1.158102138091621 + ], + "object_minus_gripper": [ + 0.004825202668728545, + 0.004835622798384391, + 0.006576532495228715 + ], + "object_to_gripper_xy": 0.006831239173280348, + "object_to_gripper_z": 0.006576532495228715, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24885988928447675, + -0.05879807888992438, + 1.1646786705868497 + ], + "finger_b": [ + 0.2377038663090444, + -0.03509301862090435, + 1.1646786705868497 + ], + "finger_midpoint": [ + 0.24328187779676058, + -0.04694554875541437, + 1.1646786705868497 + ], + "object_minus_finger_midpoint": [ + 0.005578011487716167, + 0.011852530134510014, + 0.0 + ], + "finger_gap": 0.026198983396045098, + "fingertip_max_gap": 0.09220151766220022, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013099491698022542, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646786705868497, + "object_top_z": 1.2149205569763033, + "finger_top_clearance": 0.050241886389453594, + "fingertip_min_top_clearance": 0.015072565916836077, + "object_projection_between_fingers": 0.8186782421484944, + "object_to_finger_line_xy": 0.010094063307628838, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04860075883110011, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.337067346160685, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32172966553958504, + -0.2999320152301179, + 0.8515395579845855 + ], + "target_position": [ + 0.31234254905646325, + -0.3015880781318297, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009532077433703677, + "xy_threshold": 0.08, + "gripper_dist": 0.18623932006035132, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395579845855, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529656957722114, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08533630258087564, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15498443714749416, + "release_required_pad_clearance": 0.05266815129043782, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3936638063981562, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0072743892669677734, + "max_z_decrease": 0.0072743892669677734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509209160076913, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0072743892669677734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02123471131440885, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0072743892669677734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00727440619431812, + "max_button_displacement": 0.12, + "button_start": [ + 0.16804248094558716, + -0.3578495383262634, + 0.7768088579177856 + ], + "button_final": [ + 0.16804248094558716, + -0.3578495383262634, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1671216759873323, + -0.35852957461406787, + 0.8075330419877071 + ], + "closest_button": [ + 0.16803166270256042, + -0.3578533828258514, + 0.7724592685699463 + ], + "closest_ee_minus_button": [ + -0.0009099867152281282, + -0.0006761917882164847, + 0.035073773417760856 + ], + "button_min_z_position": [ + 0.1680273860692978, + -0.3578538298606872, + 0.7695344686508179 + ], + "min_active_finger_to_button": 0.14699259987804691, + "closest_active_finger": [ + 0.02609024941921234, + -0.34152087569236755, + 0.8095177412033081 + ], + "closest_active_finger_button": [ + 0.16804338991641998, + -0.3578573167324066, + 0.7750322222709656 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14195314049720764, + 0.016336441040039062, + 0.03448551893234253 + ], + "min_contact_pad_to_button": 0.02123471131440885, + "closest_contact_pad": [ + 0.1680273860692978, + -0.3599802563936335, + 0.7906624424014231 + ], + "closest_contact_pad_button": [ + 0.1680273860692978, + -0.3578538298606872, + 0.7695344686508179 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002126426532946313, + 0.021127973750605267 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3d8313c4503fd11674bf638af1a48739290150f61ebbbacc42ccb19bb97bb59c", + "visual_seed": 8955775586271983976, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..447fcc8f38a5f265b1f13c0aa3b8d889439e19ac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25048790076628213, + -0.026757089406642478, + 1.1637032516471997 + ], + "current_z": 1.1637032516471997, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3025968032370784, + "gripper_z": 1.1572069238783071, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24537999499513224, + -0.03165623778961957, + 1.1572069238783071 + ], + "object_minus_gripper": [ + 0.00510790577114989, + 0.00489914838297709, + 0.006496327768892529 + ], + "object_to_gripper_xy": 0.007077595371690401, + "object_to_gripper_z": 0.006496327768892529, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25048790076628213, + -0.05098734268498299, + 1.1637032516471997 + ], + "finger_b": [ + 0.23956431592187258, + -0.026757089406642478, + 1.1637032516471997 + ], + "finger_midpoint": [ + 0.24502610834407734, + -0.03887221604581274, + 1.1637032516471997 + ], + "object_minus_finger_midpoint": [ + 0.005461792422204792, + 0.012115126639170259, + 0.0 + ], + "finger_gap": 0.026578748649730397, + "fingertip_max_gap": 0.09177729884184876, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013289374324865206, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637032516471997, + "object_top_z": 1.2137321903363303, + "finger_top_clearance": 0.05002893868913061, + "fingertip_min_top_clearance": 0.015008681606739183, + "object_projection_between_fingers": 0.8310876857456282, + "object_to_finger_line_xy": 0.009958378062699726, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048388649420924384, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1222641457189955, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31664275141159737, + -0.30662796034608564, + 0.8515396050639689 + ], + "target_position": [ + 0.3089662033560306, + -0.3077056183962605, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007751821522876591, + "xy_threshold": 0.08, + "gripper_dist": 0.18552737294014718, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396050639689, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573662165861615, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08776282979158999, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15299900484446283, + "release_required_pad_clearance": 0.053881414895794996, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7724199551530098, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007494032382965088, + "max_z_decrease": 0.007494032382965088, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516003435852044, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007494032382965088, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0211227553278223, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007494032382965088, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007494057277130456, + "max_button_displacement": 0.12, + "button_start": [ + 0.16466613113880157, + -0.363967090845108, + 0.7768088579177856 + ], + "button_final": [ + 0.16466613113880157, + -0.363967090845108, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1661160321585241, + -0.36386958564113886, + 0.8079979696247975 + ], + "closest_button": [ + 0.16465826332569122, + -0.3639778196811676, + 0.7728683352470398 + ], + "closest_ee_minus_button": [ + 0.0014577688328328842, + 0.00010823404002874293, + 0.035129634377757735 + ], + "button_min_z_position": [ + 0.16464725136756894, + -0.36397117376327515, + 0.7693148255348206 + ], + "min_active_finger_to_button": 0.14477699481812825, + "closest_active_finger": [ + 0.024766668677330017, + -0.349319726228714, + 0.8103379607200623 + ], + "closest_active_finger_button": [ + 0.164667546749115, + -0.3639720678329468, + 0.7760825753211975 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13990087807178497, + 0.014652341604232788, + 0.034255385398864746 + ], + "min_contact_pad_to_button": 0.0211227553278223, + "closest_contact_pad": [ + 0.16464725136756894, + -0.36500978484118846, + 0.7904120310291006 + ], + "closest_contact_pad_button": [ + 0.16464725136756894, + -0.36397117376327515, + 0.7693148255348206 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010386110779133095, + 0.02109720549428007 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "192b5fecf94d997881ea06e767b5c9b3d3459fe1e2ef54f864137bc31018524a", + "visual_seed": 4945988353256345382, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..44eda9c964f5666638f974fbf007d154d531dbb5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25647742828450804, + -0.03083394896000046, + 1.1616369822187658 + ], + "current_z": 1.1616369822187658, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3005305338086446, + "gripper_z": 1.1550038018604936, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2513332044913493, + -0.03573251030096258, + 1.1550038018604936 + ], + "object_minus_gripper": [ + 0.005144223793158709, + 0.004898561340962122, + 0.006633180358272206 + ], + "object_to_gripper_xy": 0.007103445758592713, + "object_to_gripper_z": 0.006633180358272206, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25647742828450804, + -0.05510364794652493, + 1.1616369822187658 + ], + "finger_b": [ + 0.245571426250098, + -0.03083394896000046, + 1.1616369822187658 + ], + "finger_midpoint": [ + 0.251024427267303, + -0.042968798453262694, + 1.1616369822187658 + ], + "object_minus_finger_midpoint": [ + 0.005453001017205028, + 0.012134849493262233, + 0.0 + ], + "finger_gap": 0.02660750212385714, + "fingertip_max_gap": 0.09163300451944711, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013303751061928578, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1616369822187658, + "object_top_z": 1.2116676306824237, + "finger_top_clearance": 0.0500306484636579, + "fingertip_min_top_clearance": 0.01500919453909737, + "object_projection_between_fingers": 0.831994717298427, + "object_to_finger_line_xy": 0.009947772823223016, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04831650225972356, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9910932419948003, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32361375418417504, + -0.30532562523632695, + 0.8515395762690509 + ], + "target_position": [ + 0.31495480883521765, + -0.3067227554319636, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008770935374279674, + "xy_threshold": 0.08, + "gripper_dist": 0.1847445064220263, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395762690509, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514015749973324, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08517288724279014, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15398499802027724, + "release_required_pad_clearance": 0.05258644362139507, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23738813241579773, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074083805084228516, + "max_z_decrease": 0.0074083805084228516, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035146583664742714, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074083805084228516, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021196227046524598, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074083805084228516, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00740839954966352, + "max_button_displacement": 0.12, + "button_start": [ + 0.17065472900867465, + -0.3629842102527618, + 0.7768088579177856 + ], + "button_final": [ + 0.17065472900867465, + -0.3629842102527618, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17211933417287134, + -0.3635992513236667, + 0.8081617469104075 + ], + "closest_button": [ + 0.17065292596817017, + -0.36299517750740046, + 0.7730509638786316 + ], + "closest_ee_minus_button": [ + 0.001466408204701175, + -0.0006040738162662596, + 0.03511078303177595 + ], + "button_min_z_position": [ + 0.1706385463476181, + -0.36298871040344227, + 0.7694004774093628 + ], + "min_active_finger_to_button": 0.14474253008803334, + "closest_active_finger": [ + 0.030717939138412476, + -0.34937334060668945, + 0.8101224303245544 + ], + "closest_active_finger_button": [ + 0.17065756022930148, + -0.3629888594150542, + 0.7757433652877808 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.139939621090889, + 0.013615518808364757, + 0.03437906503677368 + ], + "min_contact_pad_to_button": 0.021196227046524598, + "closest_contact_pad": [ + 0.1706385463476181, + -0.3647219136987282, + 0.7905257240906451 + ], + "closest_contact_pad_button": [ + 0.1706385463476181, + -0.36298871040344227, + 0.7694004774093628 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017332032952859233, + 0.02112524668128235 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7cfbcdd3fbb47da3ffa806ec24a380e870fb97716d149d002df79daafb2a46ef", + "visual_seed": 2029517031505511789, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5a312ed6c7cebbfc60ee62806d49e40192ba0cc8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24959798068557607, + -0.037963599986148566, + 1.1647858243091842 + ], + "current_z": 1.1647858243091842, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.303679316294418, + "gripper_z": 1.1584077577202663, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24461305297467525, + -0.042760128018255, + 1.1584077577202663 + ], + "object_minus_gripper": [ + 0.0049849277109008105, + 0.004796528032106437, + 0.00637806658891793 + ], + "object_to_gripper_xy": 0.006917816522985388, + "object_to_gripper_z": 0.00637806658891793, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24959798068557607, + -0.062027937172838825, + 1.1647858243091842 + ], + "finger_b": [ + 0.23876432755276364, + -0.037963599986148566, + 1.1647858243091842 + ], + "finger_midpoint": [ + 0.24418115411916985, + -0.0499957685794937, + 1.1647858243091842 + ], + "object_minus_finger_midpoint": [ + 0.005416826566406213, + 0.012032168593345133, + 0.0 + ], + "finger_gap": 0.02639053550871638, + "fingertip_max_gap": 0.09186392166488941, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013195267754358192, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647858243091842, + "object_top_z": 1.2148669268152992, + "finger_top_clearance": 0.05008110250611497, + "fingertip_min_top_clearance": 0.015024330751834491, + "object_projection_between_fingers": 0.8314792252434867, + "object_to_finger_line_xy": 0.009878718901537072, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048431960832444707, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0968974060666183, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3196485266491329, + -0.30386160957506697, + 0.8515395687806253 + ], + "target_position": [ + 0.3105202113052862, + -0.3053921985221006, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009255746514543766, + "xy_threshold": 0.08, + "gripper_dist": 0.18485414647879883, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395687806253, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521224965726413, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499575523837231, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15370095277664883, + "release_required_pad_clearance": 0.05249787761918616, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06852804017080205, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007394134998321533, + "max_z_decrease": 0.007394134998321533, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513266605145568, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007394134998321533, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021179250732779643, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007394134998321533, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007394159411570738, + "max_button_displacement": 0.12, + "button_start": [ + 0.16622014343738556, + -0.3616536557674408, + 0.7768088579177856 + ], + "button_final": [ + 0.16622014343738556, + -0.3616536557674408, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16568670854056716, + -0.362453493228238, + 0.8080293461990251 + ], + "closest_button": [ + 0.166213721036911, + -0.361663281917572, + 0.7729095220565796 + ], + "closest_ee_minus_button": [ + -0.0005270124963438483, + -0.000790211310665978, + 0.03511982414244552 + ], + "button_min_z_position": [ + 0.1662016063928604, + -0.3616578280925751, + 0.7694147229194641 + ], + "min_active_finger_to_button": 0.14661460592092287, + "closest_active_finger": [ + 0.024389244616031647, + -0.34735894203186035, + 0.8104134798049927 + ], + "closest_active_finger_button": [ + 0.1662200391292572, + -0.3616584539413452, + 0.7761294841766357 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14183079451322556, + 0.014299511909484863, + 0.034283995628356934 + ], + "min_contact_pad_to_button": 0.021179250732779643, + "closest_contact_pad": [ + 0.1662016063928604, + -0.3636709317350659, + 0.7904980830721186 + ], + "closest_contact_pad_button": [ + 0.1662016063928604, + -0.3616578280925751, + 0.7694147229194641 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020131036424908544, + 0.02108336015265444 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1caeec5d246b17fc2057d49f2fe245a02ee2dc427112c6aafb3810d39f15c5ea", + "visual_seed": 8740945792917598526, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6c1cb72cb96e978d15bd0abea9148f5c60388b25 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25613580408704306, + -0.0368262700791012, + 1.162067642194315 + ], + "current_z": 1.162067642194315, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30096113417954884, + "gripper_z": 1.155422204825494, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2514103531037736, + -0.041582939062343185, + 1.155422204825494 + ], + "object_minus_gripper": [ + 0.004725450983269486, + 0.0047566689832419864, + 0.00664543736882095 + ], + "object_to_gripper_xy": 0.006704907666136716, + "object_to_gripper_z": 0.00664543736882095, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25613580408704306, + -0.0605615936358844, + 1.162067642194315 + ], + "finger_b": [ + 0.2451666753890984, + -0.0368262700791012, + 1.162067642194315 + ], + "finger_midpoint": [ + 0.25065123973807074, + -0.048693931857492795, + 1.162067642194315 + ], + "object_minus_finger_midpoint": [ + 0.005484564348972321, + 0.011867661778391596, + 0.0 + ], + "finger_gap": 0.02614741610058747, + "fingertip_max_gap": 0.09189555493772239, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013073708050293726, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162067642194315, + "object_top_z": 1.2121991115169894, + "finger_top_clearance": 0.05013146932267443, + "fingertip_min_top_clearance": 0.015039440796802294, + "object_projection_between_fingers": 0.8240105201675698, + "object_to_finger_line_xy": 0.00995722934075552, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0484477774688612, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.161947916951306, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3268790330111213, + -0.30270267973446435, + 0.8515396134990737 + ], + "target_position": [ + 0.3175935934587719, + -0.3044855893652905, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009455059726518243, + "xy_threshold": 0.08, + "gripper_dist": 0.18445923064377684, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396134990737, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531269759226347, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566555006911168, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15325454637305386, + "release_required_pad_clearance": 0.05283277503455584, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7099639673924381, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0072972774505615234, + "max_z_decrease": 0.0072972774505615234, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511485129625098, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0072972774505615234, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021148056004854594, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0072972774505615234, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00729729697158238, + "max_button_displacement": 0.12, + "button_start": [ + 0.17329351603984833, + -0.36074703931808466, + 0.7768088579177856 + ], + "button_final": [ + 0.17329351603984833, + -0.36074703931808466, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17400215615181655, + -0.36046197652660694, + 0.8080471163829182 + ], + "closest_button": [ + 0.173284113407135, + -0.3607531189918517, + 0.7729408144950867 + ], + "closest_ee_minus_button": [ + 0.0007180427446815407, + 0.0002911424652447536, + 0.03510630188783148 + ], + "button_min_z_position": [ + 0.1732773333787918, + -0.3607518374919891, + 0.7695115804672241 + ], + "min_active_finger_to_button": 0.1454262298759168, + "closest_active_finger": [ + 0.04770468920469284, + -0.42552387714385986, + 0.8107882142066956 + ], + "closest_active_finger_button": [ + 0.17329661548137665, + -0.3607496917247771, + 0.7764405608177185 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1255919262766838, + -0.06477418541908275, + 0.03434765338897705 + ], + "min_contact_pad_to_button": 0.021148056004854594, + "closest_contact_pad": [ + 0.1732773333787918, + -0.3615628454179065, + 0.7906440800573948 + ], + "closest_contact_pad_button": [ + 0.1732773333787918, + -0.3607518374919891, + 0.7695115804672241 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008110079259174285, + 0.021132499590170717 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8074a45306eeeab696fda27af14eb58d25f3bcd21f89584cda594d9f77244941", + "visual_seed": 9024981233203199451, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4463dfa81b52d8f0c02f97e42193ff773e7de8d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2538234161911673, + -0.027687309948732607, + 1.1635673491754532 + ], + "current_z": 1.1635673491754532, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.3024607219513977, + "gripper_z": 1.1568182388883645, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24895487422015264, + -0.03240352460680425, + 1.1568182388883645 + ], + "object_minus_gripper": [ + 0.004868541971014634, + 0.004716214658071642, + 0.006749110287088689 + ], + "object_to_gripper_xy": 0.006778302267127136, + "object_to_gripper_z": 0.006749110287088689, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2538234161911673, + -0.05171556918089775, + 1.1635673491754532 + ], + "finger_b": [ + 0.24313628033204696, + -0.027687309948732607, + 1.1635673491754532 + ], + "finger_midpoint": [ + 0.24847984826160713, + -0.03970143956481518, + 1.1635673491754532 + ], + "object_minus_finger_midpoint": [ + 0.005343567929560145, + 0.012014129616082572, + 0.0 + ], + "finger_gap": 0.026297758737189467, + "fingertip_max_gap": 0.09163515433591579, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013148879368594726, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635673491754532, + "object_top_z": 1.2136477451946068, + "finger_top_clearance": 0.050080396019153595, + "fingertip_min_top_clearance": 0.015024118805746077, + "object_projection_between_fingers": 0.8348474866754114, + "object_to_finger_line_xy": 0.00976483484538026, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483175771679579, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.008467977053702, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3207393783411412, + -0.29966583762639387, + 0.8515395648040689 + ], + "target_position": [ + 0.3116699871523285, + -0.30139744855539824, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00923321899150888, + "xy_threshold": 0.08, + "gripper_dist": 0.18672642637433126, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395648040689, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554118502630074, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0852853574428603, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15479640840663297, + "release_required_pad_clearance": 0.05264267872143015, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.344917029926905, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007344722747802734, + "max_z_decrease": 0.007344722747802734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035148088229699795, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007344722747802734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021205075851524514, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007344722747802734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007344746588666624, + "max_button_displacement": 0.12, + "button_start": [ + 0.1673699170351029, + -0.3576588928699493, + 0.7768088579177856 + ], + "button_final": [ + 0.1673699170351029, + -0.3576588928699493, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16798468885083914, + -0.35871187554268047, + 0.8080871766675154 + ], + "closest_button": [ + 0.1673628687858582, + -0.3576689958572387, + 0.7729600667953491 + ], + "closest_ee_minus_button": [ + 0.0006218200649809325, + -0.0010428796854417555, + 0.03512710987216627 + ], + "button_min_z_position": [ + 0.1673517376184464, + -0.357663333415985, + 0.7694641351699829 + ], + "min_active_finger_to_button": 0.1454806472088269, + "closest_active_finger": [ + 0.026567772030830383, + -0.3448374271392822, + 0.811054527759552 + ], + "closest_active_finger_button": [ + 0.16737335920333868, + -0.3576608002185821, + 0.7767913341522217 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1408055871725083, + 0.012823373079299871, + 0.03426319360733032 + ], + "min_contact_pad_to_button": 0.021205075851524514, + "closest_contact_pad": [ + 0.1673517376184464, + -0.3598199749163988, + 0.7905592563904832 + ], + "closest_contact_pad_button": [ + 0.1673517376184464, + -0.357663333415985, + 0.7694641351699829 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021566415004137807, + 0.02109512122050028 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7cfac17c826c8433bff0887eadfb8d115a75fa8295394421e98359a671ac4458", + "visual_seed": 8674199194994899528, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cfc7b603a1bd4ebab13111e2a0ed94bff86bc065 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24896427411118144, + -0.03375185283163587, + 1.165400509639785 + ], + "current_z": 1.165400509639785, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30429400162501885, + "gripper_z": 1.1589319492479575, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24398655595752577, + -0.038501576280302874, + 1.1589319492479575 + ], + "object_minus_gripper": [ + 0.004977718153655664, + 0.004749723448667004, + 0.006468560391827527 + ], + "object_to_gripper_xy": 0.006880228982821017, + "object_to_gripper_z": 0.006468560391827527, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24896427411118144, + -0.057998062102481, + 1.165400509639785 + ], + "finger_b": [ + 0.2384114509585362, + -0.03375185283163587, + 1.165400509639785 + ], + "finger_midpoint": [ + 0.2436878625348588, + -0.045874957467058435, + 1.165400509639785 + ], + "object_minus_finger_midpoint": [ + 0.005276411576322637, + 0.012123104635422564, + 0.0 + ], + "finger_gap": 0.0264431605617903, + "fingertip_max_gap": 0.0916999766130065, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013221580280895154, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165400509639785, + "object_top_z": 1.2154279240760295, + "finger_top_clearance": 0.05002741443624448, + "fingertip_min_top_clearance": 0.015008224330873343, + "object_projection_between_fingers": 0.8407385753697462, + "object_to_finger_line_xy": 0.009676073249994779, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834998830650325, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1020268460118519, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31765462833177327, + -0.30387479955885044, + 0.8515395599968475 + ], + "target_position": [ + 0.30892625864900913, + -0.30532371013498294, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008847812112416534, + "xy_threshold": 0.08, + "gripper_dist": 0.18275751343400465, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395599968475, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527828767841678, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08617035778557962, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15155971034797516, + "release_required_pad_clearance": 0.05308517889278981, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1987565653717984, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0072866082191467285, + "max_z_decrease": 0.0072866082191467285, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035139340925883854, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0072866082191467285, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02117144931220748, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0072866082191467285, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007286627480858037, + "max_button_displacement": 0.12, + "button_start": [ + 0.1646261811256408, + -0.3615851700305938, + 0.7768088579177856 + ], + "button_final": [ + 0.1646261811256408, + -0.3615851700305938, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16378472372052855, + -0.3624064627521624, + 0.8080878356689127 + ], + "closest_button": [ + 0.16461956501007075, + -0.3615937530994415, + 0.7729678153991699 + ], + "closest_ee_minus_button": [ + -0.0008348412895421986, + -0.0008127096527208999, + 0.03512002026974281 + ], + "button_min_z_position": [ + 0.1646097749471664, + -0.36158856749534607, + 0.7695222496986389 + ], + "min_active_finger_to_button": 0.14689603560090936, + "closest_active_finger": [ + 0.02255295217037201, + -0.3467969000339508, + 0.8110601902008057 + ], + "closest_active_finger_button": [ + 0.16462878882884974, + -0.36158701777458185, + 0.7767942547798157 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14207583665847773, + 0.014790117740631048, + 0.03426593542098999 + ], + "min_contact_pad_to_button": 0.02117144931220748, + "closest_contact_pad": [ + 0.1646097749471664, + -0.3636796576691152, + 0.7905901781175542 + ], + "closest_contact_pad_button": [ + 0.1646097749471664, + -0.36158856749534607, + 0.7695222496986389 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002091090173769128, + 0.02106792841891525 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99b09c2c43737c08795908779a5d3c73142fe724fc24ada12422371092d32341", + "visual_seed": 8914229221153632647, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94c9a408d59bb2013cf891f83f694155bc66299f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2516566858249828, + -0.037502529703102146, + 1.1635627292685302 + ], + "current_z": 1.1635627292685302, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30245622125376426, + "gripper_z": 1.1569912440802486, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24678623728852966, + -0.04229515109002831, + 1.1569912440802486 + ], + "object_minus_gripper": [ + 0.004870448536453131, + 0.004792621386926162, + 0.006571485188281656 + ], + "object_to_gripper_xy": 0.006833043882828537, + "object_to_gripper_z": 0.006571485188281656, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2516566858249828, + -0.0614259509568235, + 1.1635627292685302 + ], + "finger_b": [ + 0.2407503045678016, + -0.037502529703102146, + 1.1635627292685302 + ], + "finger_midpoint": [ + 0.2462034951963922, + -0.04946424032996283, + 1.1635627292685302 + ], + "object_minus_finger_midpoint": [ + 0.005453190628590593, + 0.011961710626860682, + 0.0 + ], + "finger_gap": 0.026292189650350534, + "fingertip_max_gap": 0.0917663193435003, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01314609482517527, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635627292685302, + "object_top_z": 1.2136671243290729, + "finger_top_clearance": 0.05010439506054265, + "fingertip_min_top_clearance": 0.015031318518162827, + "object_projection_between_fingers": 0.8279289383689377, + "object_to_finger_line_xy": 0.009923781801328902, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838315967175015, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9682697694782, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32691002506870837, + -0.30435200969710874, + 0.8515395691376603 + ], + "target_position": [ + 0.31790065948174906, + -0.30615476150184984, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009187958551766759, + "xy_threshold": 0.08, + "gripper_dist": 0.188132573194366, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691376603, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547463720927369, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15636134860382028, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007334113121032715, + "max_z_decrease": 0.007334113121032715, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511858519252514, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007334113121032715, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02112916011535815, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007334113121032715, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007334137901561607, + "max_button_displacement": 0.12, + "button_start": [ + 0.17360058426856995, + -0.3624162077903747, + 0.7768088579177856 + ], + "button_final": [ + 0.17360058426856995, + -0.3624162077903747, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17288741955970638, + -0.3613923043566035, + 0.8077268819031197 + ], + "closest_button": [ + 0.17359007894992828, + -0.3624207973480224, + 0.7726303935050964 + ], + "closest_ee_minus_button": [ + -0.0007026593902219047, + 0.0010284929914188834, + 0.03509648839802326 + ], + "button_min_z_position": [ + 0.17358219623565674, + -0.3624212443828582, + 0.7694747447967529 + ], + "min_active_finger_to_button": 0.14631774773618034, + "closest_active_finger": [ + 0.046242862939834595, + -0.4257114827632904, + 0.8107520341873169 + ], + "closest_active_finger_button": [ + 0.17360332608222961, + -0.36241847276687617, + 0.776369035243988 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12736046314239502, + -0.06329300999641424, + 0.03438299894332886 + ], + "min_contact_pad_to_button": 0.02112916011535815, + "closest_contact_pad": [ + 0.17358219623565674, + -0.3625791789295739, + 0.7906033146456423 + ], + "closest_contact_pad_button": [ + 0.17358219623565674, + -0.3624212443828582, + 0.7694747447967529 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00015793454671569895, + 0.021128569848889334 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fd76548a55437032e9cfe14d0de30108424e2ea04c4733d4aaaf86a23c9281f9", + "visual_seed": 8194055173829165657, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..43f36948ac81f3c5be677e8bd3c23762a53246e9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2529434518441708, + -0.03682589757922202, + 1.1647859773553262 + ], + "current_z": 1.1647859773553262, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.303679528945205, + "gripper_z": 1.1581464080843695, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24798431137529103, + -0.04158130553333533, + 1.1581464080843695 + ], + "object_minus_gripper": [ + 0.004959140468879741, + 0.004755407954113312, + 0.006639569270956658 + ], + "object_to_gripper_xy": 0.0068707335125243315, + "object_to_gripper_z": 0.006639569270956658, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2529434518441708, + -0.06084328295753353, + 1.1647859773553262 + ], + "finger_b": [ + 0.2421249696458162, + -0.03682589757922202, + 1.1647859773553262 + ], + "finger_midpoint": [ + 0.2475342107449935, + -0.048834590268377776, + 1.1647859773553262 + ], + "object_minus_finger_midpoint": [ + 0.005409241099177287, + 0.012008692689155755, + 0.0 + ], + "finger_gap": 0.02634149497440201, + "fingertip_max_gap": 0.09165982128597391, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013170747487201005, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647859773553262, + "object_top_z": 1.2148957965896408, + "finger_top_clearance": 0.05010981923431457, + "fingertip_min_top_clearance": 0.015032945770294404, + "object_projection_between_fingers": 0.8313245678942661, + "object_to_finger_line_xy": 0.009863967721603589, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832991064298696, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9543753770118538, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32529222267240454, + -0.3005897863463555, + 0.8515395914663685 + ], + "target_position": [ + 0.31587417815043545, + -0.3024797678055301, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009605810352792506, + "xy_threshold": 0.08, + "gripper_dist": 0.18456554283173537, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395914663685, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563517372734123, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08573445774575393, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15254202395325756, + "release_required_pad_clearance": 0.05286722887287697, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7763165939530241, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007283210754394531, + "max_z_decrease": 0.007283210754394531, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515656093020933, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007283210754394531, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02133500477746456, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007283210754394531, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007283230461666342, + "max_button_displacement": 0.12, + "button_start": [ + 0.1715741008520127, + -0.35874122381210327, + 0.7768088579177856 + ], + "button_final": [ + 0.1715741008520127, + -0.35874122381210327, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17275102379976492, + -0.3604498741341814, + 0.8076937937489624 + ], + "closest_button": [ + 0.1715628355741501, + -0.35874539613723755, + 0.7725986838340759 + ], + "closest_ee_minus_button": [ + 0.0011881882256148113, + -0.0017044779969438428, + 0.03509510991488651 + ], + "button_min_z_position": [ + 0.17155793309211734, + -0.3587462902069092, + 0.7695256471633911 + ], + "min_active_finger_to_button": 0.1448723631262567, + "closest_active_finger": [ + 0.031469352543354034, + -0.3457004427909851, + 0.8102713823318481 + ], + "closest_active_finger_button": [ + 0.17157775163650518, + -0.3587455451488495, + 0.7758117914199829 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14010839909315115, + 0.01304510235786438, + 0.034459590911865234 + ], + "min_contact_pad_to_button": 0.02133500477746456, + "closest_contact_pad": [ + 0.17155793309211734, + -0.36164131267156613, + 0.7906633214390433 + ], + "closest_contact_pad_button": [ + 0.17155793309211734, + -0.3587462902069092, + 0.7695256471633911 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002895022464656949, + 0.021137674275652163 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d580606f45b5ed19273ab4c0d43d7e0b4a4faffdc315c2944838a3cd2e13a977", + "visual_seed": 9063045200424116709, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6c204fc98499a8c2b02cd396f70994a540ab7cd0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24938876343023006, + -0.035558865574912994, + 1.161868439150258 + ], + "current_z": 1.161868439150258, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30076205034478154, + "gripper_z": 1.1552489160138477, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24440721093914275, + -0.04032092448017628, + 1.1552489160138477 + ], + "object_minus_gripper": [ + 0.00498155249108731, + 0.0047620589052632875, + 0.0066195231364103435 + ], + "object_to_gripper_xy": 0.006891521619980276, + "object_to_gripper_z": 0.0066195231364103435, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24938876343023006, + -0.05979756475447722, + 1.161868439150258 + ], + "finger_b": [ + 0.2388048365009662, + -0.035558865574912994, + 1.161868439150258 + ], + "finger_midpoint": [ + 0.24409679996559813, + -0.04767821516469511, + 1.161868439150258 + ], + "object_minus_finger_midpoint": [ + 0.005291963464631927, + 0.012119349589782114, + 0.0 + ], + "finger_gap": 0.026448705963835056, + "fingertip_max_gap": 0.09168305201403285, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013224352981917528, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161868439150258, + "object_top_z": 1.211856448840032, + "finger_top_clearance": 0.049988009689774016, + "fingertip_min_top_clearance": 0.014996402906932204, + "object_projection_between_fingers": 0.8398655366403486, + "object_to_finger_line_xy": 0.009699552837393984, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048341526007016425, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0582147740786407, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32631285927151277, + -0.29890283196147216, + 0.8515395388147061 + ], + "target_position": [ + 0.3185257434919652, + -0.2999207378381489, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007853362626152662, + "xy_threshold": 0.08, + "gripper_dist": 0.1844040540413677, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395388147061, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517665717466748, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858502841401995, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15327173576270992, + "release_required_pad_clearance": 0.052925142070099754, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8882271245709134, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007385075092315674, + "max_z_decrease": 0.007385075092315674, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351802888914455, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007385075092315674, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02112391349975229, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007385075092315674, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007385095152002978, + "max_button_displacement": 0.12, + "button_start": [ + 0.17422567307949063, + -0.35618218779563904, + 0.7768088579177856 + ], + "button_final": [ + 0.17422567307949063, + -0.35618218779563904, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1728126914163523, + -0.35411843838642715, + 0.8077900843681838 + ], + "closest_button": [ + 0.17421615123748777, + -0.3561887443065643, + 0.7726988196372986 + ], + "closest_ee_minus_button": [ + -0.001403459821135461, + 0.0020703059201371277, + 0.0350912647308852 + ], + "button_min_z_position": [ + 0.17420917749404904, + -0.356187105178833, + 0.76942378282547 + ], + "min_active_finger_to_button": 0.14650406822136788, + "closest_active_finger": [ + 0.04628089815378189, + -0.4187273383140564, + 0.8104971051216125 + ], + "closest_active_finger_button": [ + 0.17422683537006373, + -0.35618647933006287, + 0.7761180400848389 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12794593721628184, + -0.06254085898399353, + 0.03437906503677368 + ], + "min_contact_pad_to_button": 0.02112391349975229, + "closest_contact_pad": [ + 0.17420917749404904, + -0.356187105178833, + 0.7905476963252223 + ], + "closest_contact_pad_button": [ + 0.17420917749404904, + -0.356187105178833, + 0.76942378282547 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02112391349975229 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b0ecc1122f6cce1c7e5a51e8848413d5f4ec1379f58fa2b9315ea887b30e865a", + "visual_seed": 1157510453925206722, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5ecd27f0809b8842b25f35d853b5d3aa398dacdc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2511149715133567, + -0.03702236917505764, + 1.1617354801887063 + ], + "current_z": 1.1617354801887063, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.3006290913832298, + "gripper_z": 1.1550585798528297, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24623149041358774, + -0.041689429404525996, + 1.1550585798528297 + ], + "object_minus_gripper": [ + 0.004883481099768966, + 0.004667060229468355, + 0.0066769003358766454 + ], + "object_to_gripper_xy": 0.006754986220362401, + "object_to_gripper_z": 0.0066769003358766454, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2511149715133567, + -0.06115822591694287, + 1.1617354801887063 + ], + "finger_b": [ + 0.24064049553128813, + -0.03702236917505764, + 1.1617354801887063 + ], + "finger_midpoint": [ + 0.24587773352232242, + -0.04909029754600026, + 1.1617354801887063 + ], + "object_minus_finger_midpoint": [ + 0.005237237991034288, + 0.012067928370942616, + 0.0 + ], + "finger_gap": 0.02631072457694273, + "fingertip_max_gap": 0.09183147059405786, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013155362288471365, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1617354801887063, + "object_top_z": 1.2118582400409665, + "finger_top_clearance": 0.050122759852260224, + "fingertip_min_top_clearance": 0.015036827955678067, + "object_projection_between_fingers": 0.8415110479666492, + "object_to_finger_line_xy": 0.009608646504972111, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04841573529702893, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9632946225626566, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31806627638979135, + -0.30442799103203105, + 0.8515395972276044 + ], + "target_position": [ + 0.3089465273986974, + -0.30618502856440893, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009287464807510389, + "xy_threshold": 0.08, + "gripper_dist": 0.18506930933543603, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395972276044, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568276692694464, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08707534154410233, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528556558114156, + "release_required_pad_clearance": 0.05353767077205117, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.086854844207563, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007397055625915527, + "max_z_decrease": 0.007397055625915527, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513972119874868, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007397055625915527, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021231150375349585, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007397055625915527, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007397082767995485, + "max_button_displacement": 0.12, + "button_start": [ + 0.1646464467048645, + -0.36244648694992065, + 0.7768088579177856 + ], + "button_final": [ + 0.1646464467048645, + -0.36244648694992065, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1642896213134549, + -0.3636422207112056, + 0.8080160739570232 + ], + "closest_button": [ + 0.1646386831998825, + -0.3624570965766907, + 0.7728980779647827 + ], + "closest_ee_minus_button": [ + -0.0003490618864276096, + -0.0011851241345149366, + 0.035117995992240525 + ], + "button_min_z_position": [ + 0.1646268665790558, + -0.3624507486820221, + 0.7694118022918701 + ], + "min_active_finger_to_button": 0.14639615560797095, + "closest_active_finger": [ + 0.023071490228176117, + -0.3478577435016632, + 0.8103971481323242 + ], + "closest_active_finger_button": [ + 0.16464641690254211, + -0.36245179176330566, + 0.7761132121086121 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.141574926674366, + 0.014594048261642456, + 0.03428393602371216 + ], + "min_contact_pad_to_button": 0.021231150375349585, + "closest_contact_pad": [ + 0.1646268665790558, + -0.36494041408446143, + 0.7904964723733441 + ], + "closest_contact_pad_button": [ + 0.1646268665790558, + -0.3624507486820221, + 0.7694118022918701 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002489665402439334, + 0.021084670081473966 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b26fed34c658822427e986f0638d74292fc11b21db04472930174b655dd904f4", + "visual_seed": 3794485622772285978, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e24297436ffe7fbbdba73f0576dfbaec6b460b89 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2549135912874734, + -0.03169388918322816, + 1.162164901873732 + ], + "current_z": 1.162164901873732, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3010583938589657, + "gripper_z": 1.1554474019770071, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2501110502670695, + -0.03645176430311786, + 1.1554474019770071 + ], + "object_minus_gripper": [ + 0.004802541020403894, + 0.004757875119889704, + 0.006717499896724766 + ], + "object_to_gripper_xy": 0.006760308861962413, + "object_to_gripper_z": 0.006717499896724766, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2549135912874734, + -0.055552451658530705, + 1.162164901873732 + ], + "finger_b": [ + 0.24400466039960436, + -0.03169388918322816, + 1.162164901873732 + ], + "finger_midpoint": [ + 0.24945912584353885, + -0.04362317042087943, + 1.162164901873732 + ], + "object_minus_finger_midpoint": [ + 0.00545446544393452, + 0.011929281237651274, + 0.0 + ], + "finger_gap": 0.026234248159690367, + "fingertip_max_gap": 0.09162831412003061, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013117124079845189, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162164901873732, + "object_top_z": 1.2122125036531017, + "finger_top_clearance": 0.050047601779369844, + "fingertip_min_top_clearance": 0.015014280533810952, + "object_projection_between_fingers": 0.827087202992021, + "object_to_finger_line_xy": 0.009921054628388201, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04831415706001531, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9297827990432769, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3190187496786662, + -0.3068441685588583, + 0.851539587582754 + ], + "target_position": [ + 0.309273437997864, + -0.3088264873867985, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009944882487570505, + "xy_threshold": 0.08, + "gripper_dist": 0.18425840021901502, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539587582754, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581363054942913, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08586658862295392, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15173227114986718, + "release_required_pad_clearance": 0.05293329431147696, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9039492568871547, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007433712482452393, + "max_z_decrease": 0.007433712482452393, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512616055980135, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007433712482452393, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021118724730352853, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007433712482452393, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007433737254111548, + "max_button_displacement": 0.12, + "button_start": [ + 0.16497336328029633, + -0.36508795619010925, + 0.7768088579177856 + ], + "button_final": [ + 0.16497336328029633, + -0.36508795619010925, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16448336810893416, + -0.36436523556699474, + 0.8079289246040604 + ], + "closest_button": [ + 0.16496725380420685, + -0.3650977909564972, + 0.7728137373924255 + ], + "closest_ee_minus_button": [ + -0.00048388569527269, + 0.0007325553895024539, + 0.03511518721163487 + ], + "button_min_z_position": [ + 0.16495472192764282, + -0.36509251594543457, + 0.7693751454353333 + ], + "min_active_finger_to_button": 0.14627416313870611, + "closest_active_finger": [ + 0.037028536200523376, + -0.427152156829834, + 0.8108800649642944 + ], + "closest_active_finger_button": [ + 0.1649751365184784, + -0.36509060859680176, + 0.7766140103340149 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12794660031795502, + -0.06206154823303223, + 0.03426605463027954 + ], + "min_contact_pad_to_button": 0.021118724730352853, + "closest_contact_pad": [ + 0.16495472192764282, + -0.3657061814771128, + 0.7904849523707755 + ], + "closest_contact_pad_button": [ + 0.16495472192764282, + -0.36509251594543457, + 0.7693751454353333 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006136655316782424, + 0.021109806935442288 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1ccee233b1729ab537e81f7d7c8b68f893aa370d4c6c70ba3ee9a937fdda9fb", + "visual_seed": 5720829026295168005, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..970149703ce45be5c727e55366a3a3fda38e6d1a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2507243762397459, + -0.03553831882575148, + 1.1642340810038978 + ], + "current_z": 1.1642340810038978, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30312757298913184, + "gripper_z": 1.1575208212520292, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2460716442612457, + -0.04032003908599423, + 1.1575208212520292 + ], + "object_minus_gripper": [ + 0.004652731978500219, + 0.004781720260242747, + 0.00671325975186865 + ], + "object_to_gripper_xy": 0.006671788629069009, + "object_to_gripper_z": 0.00671325975186865, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2507243762397459, + -0.05913645712190692, + 1.1642340810038978 + ], + "finger_b": [ + 0.23964832808638403, + -0.03553831882575148, + 1.1642340810038978 + ], + "finger_midpoint": [ + 0.24518635216306497, + -0.0473373879738292, + 1.1642340810038978 + ], + "object_minus_finger_midpoint": [ + 0.005538024076680942, + 0.011799069148077719, + 0.0 + ], + "finger_gap": 0.02606819851351583, + "fingertip_max_gap": 0.09222120286040511, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013034099256757916, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642340810038978, + "object_top_z": 1.2143663793167052, + "finger_top_clearance": 0.05013229831280741, + "fingertip_min_top_clearance": 0.01503968949384219, + "object_projection_between_fingers": 0.8194707278242879, + "object_to_finger_line_xy": 0.010026550778428116, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861060143020256, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3989576536646555, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3202997727760768, + -0.2988975327719135, + 0.851539513125237 + ], + "target_position": [ + 0.3110991739800602, + -0.300521249813915, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009342776634263925, + "xy_threshold": 0.08, + "gripper_dist": 0.18493330787736134, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539513125237, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516086955133533, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08585380524045365, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1541295701988354, + "release_required_pad_clearance": 0.052926902620226826, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.891744891050082, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007097601890563965, + "max_z_decrease": 0.007097601890563965, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516923716300641, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007097601890563965, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021119800746626893, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007097601890563965, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007097622008395113, + "max_button_displacement": 0.12, + "button_start": [ + 0.16679909825325012, + -0.3567827045917511, + 0.7768088579177856 + ], + "button_final": [ + 0.16679909825325012, + -0.3567827045917511, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16680672390591406, + -0.3549630239584937, + 0.8082322993045775 + ], + "closest_button": [ + 0.16679295897483826, + -0.3567926287651062, + 0.7731106877326965 + ], + "closest_ee_minus_button": [ + 1.3764931075799236e-05, + 0.0018296048066124837, + 0.035121611571880984 + ], + "button_min_z_position": [ + 0.1667829304933548, + -0.35678762197494507, + 0.7697112560272217 + ], + "min_active_finger_to_button": 0.14535614519057666, + "closest_active_finger": [ + 0.04001016169786453, + -0.4190714359283447, + 0.8106040954589844 + ], + "closest_active_finger_button": [ + 0.16680127382278442, + -0.35678595304489136, + 0.7763558626174927 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1267911121249199, + -0.06228548288345337, + 0.0342482328414917 + ], + "min_contact_pad_to_button": 0.021119800746626893, + "closest_contact_pad": [ + 0.1667829304933548, + -0.35678762197494507, + 0.7908310567738486 + ], + "closest_contact_pad_button": [ + 0.1667829304933548, + -0.35678762197494507, + 0.7697112560272217 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021119800746626893 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4fb9360c55020d4e37b5d3e076006906f3693806497c5ecc7834c8214ec9de9", + "visual_seed": 7854070627808589366, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..228e56fe7c1db0ebd1a0b8618a60de0a1d4f2c6a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25634899669508887, + -0.030466647729033392, + 1.1652086561766402 + ], + "current_z": 1.1652086561766402, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30410226737116375, + "gripper_z": 1.1584603018043969, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25149051632077657, + -0.035226651805969844, + 1.1584603018043969 + ], + "object_minus_gripper": [ + 0.004858480374312302, + 0.004760004076936452, + 0.006748354372243304 + ], + "object_to_gripper_xy": 0.006801652031677999, + "object_to_gripper_z": 0.006748354372243304, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25634899669508887, + -0.05433483275979629, + 1.1652086561766402 + ], + "finger_b": [ + 0.24540744717800947, + -0.030466647729033392, + 1.1652086561766402 + ], + "finger_midpoint": [ + 0.2508782219365492, + -0.04240074024441484, + 1.1652086561766402 + ], + "object_minus_finger_midpoint": [ + 0.005470774758539687, + 0.01193409251538145, + 0.0 + ], + "finger_gap": 0.026256575604930558, + "fingertip_max_gap": 0.09170056061976822, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013128287802465275, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1652086561766402, + "object_top_z": 1.215332877384493, + "finger_top_clearance": 0.05012422120785276, + "fingertip_min_top_clearance": 0.015037266362355826, + "object_projection_between_fingers": 0.8263473196167471, + "object_to_finger_line_xy": 0.009946267644584438, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048350280309884114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0125482650690127, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3215456620524144, + -0.2979579826223652, + 0.8515395776951891 + ], + "target_position": [ + 0.3118776119861634, + -0.2997555293976261, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009833736141100521, + "xy_threshold": 0.08, + "gripper_dist": 0.1880902152625238, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395776951891, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544545841056616, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507925146482302, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15629718200041454, + "release_required_pad_clearance": 0.05253962573241151, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.14803749256648652, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007091164588928223, + "max_z_decrease": 0.007091164588928223, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513529808637109, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007091164588928223, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021125503373866993, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007091164588928223, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007091184774731138, + "max_button_displacement": 0.12, + "button_start": [ + 0.1675775349140167, + -0.356016993522644, + 0.7768088579177856 + ], + "button_final": [ + 0.1675775349140167, + -0.356016993522644, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16743623331186672, + -0.3549320412166767, + 0.8082372754957008 + ], + "closest_button": [ + 0.16757494211196897, + -0.35602742433547974, + 0.773119330406189 + ], + "closest_ee_minus_button": [ + -0.00013870880010224962, + 0.0010953831188030283, + 0.035117945089511826 + ], + "button_min_z_position": [ + 0.1675613820552826, + -0.3560220301151275, + 0.7697176933288574 + ], + "min_active_finger_to_button": 0.14582131253367997, + "closest_active_finger": [ + 0.04054953157901764, + -0.4188832640647888, + 0.810653567314148 + ], + "closest_active_finger_button": [ + 0.1675805300474167, + -0.35601955652236933, + 0.7763733267784119 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12703099846839905, + -0.06286370754241949, + 0.034280240535736084 + ], + "min_contact_pad_to_button": 0.021125503373866993, + "closest_contact_pad": [ + 0.1675613820552826, + -0.3561763177189732, + 0.7908426332846198 + ], + "closest_contact_pad_button": [ + 0.1675613820552826, + -0.3560220301151275, + 0.7697176933288574 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00015428760384567086, + 0.021124939955762367 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c4878b15b7afc1be025110aed2560cf9bde931cc3b948a041fee369ebb54af63", + "visual_seed": 1877014116459366602, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4cf189f08aca4c07231a25fd8363dfe4fd7ea58 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24817715213805175, + -0.030099661008228765, + 1.1611376179250614 + ], + "current_z": 1.1611376179250614, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30003116951494013, + "gripper_z": 1.1547542685334538, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24323540107853556, + -0.03498091430186627, + 1.1547542685334538 + ], + "object_minus_gripper": [ + 0.004941751059516192, + 0.004881253293637505, + 0.006383349391607673 + ], + "object_to_gripper_xy": 0.006946044719901852, + "object_to_gripper_z": 0.006383349391607673, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24817715213805175, + -0.05389266170929373, + 1.1611376179250614 + ], + "finger_b": [ + 0.23693066439762578, + -0.030099661008228765, + 1.1611376179250614 + ], + "finger_midpoint": [ + 0.24255390826783876, + -0.04199616135876125, + 1.1611376179250614 + ], + "object_minus_finger_midpoint": [ + 0.005623243870212985, + 0.011896500350532482, + 0.0 + ], + "finger_gap": 0.026317111711896303, + "fingertip_max_gap": 0.09177396862692716, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013158555855948151, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1611376179250614, + "object_top_z": 1.2112984138525018, + "finger_top_clearance": 0.05016079592744038, + "fingertip_min_top_clearance": 0.015048238778232081, + "object_projection_between_fingers": 0.8173761978463621, + "object_to_finger_line_xy": 0.01016782136360026, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838698431346358, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.006150949804703, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3225430426818877, + -0.2996977179124958, + 0.8515395814542279 + ], + "target_position": [ + 0.3131287901808128, + -0.3014071071481032, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009568184870329684, + "xy_threshold": 0.08, + "gripper_dist": 0.18565942592349063, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395814542279, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522130247057313, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08602466461848644, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15468040027684063, + "release_required_pad_clearance": 0.053012332309243224, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0572028465784986, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007358074188232422, + "max_z_decrease": 0.007358074188232422, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035089039950786965, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007358074188232422, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021211117371914126, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007358074188232422, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007358095113417314, + "max_button_displacement": 0.12, + "button_start": [ + 0.1688287109136582, + -0.35766857862472534, + 0.7768088579177856 + ], + "button_final": [ + 0.1688287109136582, + -0.35766857862472534, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16992863103663333, + -0.35687561200950213, + 0.8046929171282652 + ], + "closest_button": [ + 0.16881231963634494, + -0.35767412185668945, + 0.7696307301521301 + ], + "closest_ee_minus_button": [ + 0.0011163114002883945, + 0.0007985098471873231, + 0.03506218697613506 + ], + "button_min_z_position": [ + 0.16881208121776584, + -0.35767418146133423, + 0.7694507837295532 + ], + "min_active_finger_to_button": 0.14449237212665283, + "closest_active_finger": [ + 0.042480118572711945, + -0.4186179041862488, + 0.8106738328933716 + ], + "closest_active_finger_button": [ + 0.1688340306282044, + -0.35767343640327454, + 0.7760543823242188 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12635391205549246, + -0.06094446778297424, + 0.03461945056915283 + ], + "min_contact_pad_to_button": 0.021211117371914126, + "closest_contact_pad": [ + 0.16881208121776584, + -0.3581848466301647, + 0.7906557529879714 + ], + "closest_contact_pad_button": [ + 0.16881208121776584, + -0.35767418146133423, + 0.7694507837295532 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005106651688304709, + 0.021204969258418194 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a5b78e390217ff1170e6749df2a5f8c40ea39703ff13bcd73881697d8f5d4230", + "visual_seed": 2834012732975269935, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3077954ea16cdbb92467e006d49498d3464c1a1e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2505459712426593, + -0.03766891445687207, + 1.1621185159526544 + ], + "current_z": 1.1621185159526544, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30101212714717795, + "gripper_z": 1.1553358891769685, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2458884881937636, + -0.04240362891603429, + 1.1553358891769685 + ], + "object_minus_gripper": [ + 0.004657483048895711, + 0.004734714459162216, + 0.006782626775685863 + ], + "object_to_gripper_xy": 0.006641511075090566, + "object_to_gripper_z": 0.006782626775685863, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2505459712426593, + -0.06125425781114914, + 1.1621185159526544 + ], + "finger_b": [ + 0.23952768689782153, + -0.03766891445687207, + 1.1621185159526544 + ], + "finger_midpoint": [ + 0.24503682907024044, + -0.04946158613401061, + 1.1621185159526544 + ], + "object_minus_finger_midpoint": [ + 0.005509142172418879, + 0.011792671677138537, + 0.0 + ], + "finger_gap": 0.026032114993654258, + "fingertip_max_gap": 0.09217872747188605, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013016057496827127, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621185159526544, + "object_top_z": 1.2122778259598586, + "finger_top_clearance": 0.050159310007204194, + "fingertip_min_top_clearance": 0.01504779300216129, + "object_projection_between_fingers": 0.8208532046886937, + "object_to_finger_line_xy": 0.009982670232956577, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048589363735943025, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3925237993198427, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.321985798135595, + -0.30402281377695217, + 0.8515396049356133 + ], + "target_position": [ + 0.31287691987474103, + -0.3056948443195846, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009261066315849064, + "xy_threshold": 0.08, + "gripper_dist": 0.18612554893413896, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396049356133, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535930636405772, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528780489509317, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15451887856273872, + "release_required_pad_clearance": 0.05264390244754659, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.34717880098269555, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007475376129150391, + "max_z_decrease": 0.007475376129150391, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517823749921132, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007475376129150391, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021117883248641833, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007475376129150391, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007475395582357786, + "max_button_displacement": 0.12, + "button_start": [ + 0.16857685148715967, + -0.3619562983512878, + 0.7768088579177856 + ], + "button_final": [ + 0.16857685148715967, + -0.3619562983512878, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16902494969783974, + -0.3600026085905182, + 0.8079805524525382 + ], + "closest_button": [ + 0.16857358813285822, + -0.36196708679199213, + 0.7728601098060608 + ], + "closest_ee_minus_button": [ + 0.00045136156498151725, + 0.0019644782014739404, + 0.0351204426464774 + ], + "button_min_z_position": [ + 0.16856038570404047, + -0.36196073889732355, + 0.7693334817886353 + ], + "min_active_finger_to_button": 0.14492485750469883, + "closest_active_finger": [ + 0.04239065200090408, + -0.42445558309555054, + 0.8103476762771606 + ], + "closest_active_finger_button": [ + 0.1685792207717895, + -0.3619612157344817, + 0.7760823369026184 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1261885687708854, + -0.06249436736106884, + 0.034265339374542236 + ], + "min_contact_pad_to_button": 0.021117883248641833, + "closest_contact_pad": [ + 0.16856038570404047, + -0.36196073889732355, + 0.7904513650372771 + ], + "closest_contact_pad_button": [ + 0.16856038570404047, + -0.36196073889732355, + 0.7693334817886353 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021117883248641833 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c33b7d9f0fda10d1c9513f7f58006e58597e77e6545e7946a92edc627416ca44", + "visual_seed": 9078377008903428082, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8172145326c110742625e5349836b2f17cbe088a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.256592449578151, + -0.030506007598412953, + 1.1647364841613528 + ], + "current_z": 1.1647364841613528, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3036300357512314, + "gripper_z": 1.158030788412159, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2517637847900873, + -0.03531429625103159, + 1.158030788412159 + ], + "object_minus_gripper": [ + 0.004828664788063708, + 0.0048082886526186405, + 0.006705695749193774 + ], + "object_to_gripper_xy": 0.00681437035993697, + "object_to_gripper_z": 0.006705695749193774, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.256592449578151, + -0.054292885020364993, + 1.1647364841613528 + ], + "finger_b": [ + 0.24549727283938227, + -0.030506007598412953, + 1.1647364841613528 + ], + "finger_midpoint": [ + 0.2510448612087667, + -0.04239944630938897, + 1.1647364841613528 + ], + "object_minus_finger_midpoint": [ + 0.005547588369384349, + 0.01189343871097602, + 0.0 + ], + "finger_gap": 0.02624725670144381, + "fingertip_max_gap": 0.09164872189072598, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013123628350721893, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647364841613528, + "object_top_z": 1.214832719599601, + "finger_top_clearance": 0.05009623543824815, + "fingertip_min_top_clearance": 0.015028870631474444, + "object_projection_between_fingers": 0.8213098506416211, + "object_to_finger_line_xy": 0.010055131172831024, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832436094536299, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8965536209269576, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32726181684192224, + -0.2983313610231567, + 0.8515395624865439 + ], + "target_position": [ + 0.3178770044017457, + -0.30036854980965433, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009603376629557112, + "xy_threshold": 0.08, + "gripper_dist": 0.18721511800695137, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395624865439, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576976836465243, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559328822700212, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1547541556028185, + "release_required_pad_clearance": 0.05279664411350106, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6404111557601923, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007097005844116211, + "max_z_decrease": 0.007097005844116211, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502352874228484, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007097005844116211, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021278328441922005, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007097005844116211, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007097029067994349, + "max_button_displacement": 0.12, + "button_start": [ + 0.1735769361257553, + -0.35662999749183655, + 0.7768088579177856 + ], + "button_final": [ + 0.1735769361257553, + -0.35662999749183655, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17366833851165983, + -0.3567769832484702, + 0.8076114034232033 + ], + "closest_button": [ + 0.1735658198595047, + -0.35663497447967524, + 0.772588312625885 + ], + "closest_ee_minus_button": [ + 0.00010251865215513134, + -0.0001420087687949434, + 0.035023090797318246 + ], + "button_min_z_position": [ + 0.17355972528457642, + -0.3566357791423797, + 0.7697118520736694 + ], + "min_active_finger_to_button": 0.14614767085841252, + "closest_active_finger": [ + 0.03263331949710846, + -0.3398473262786865, + 0.8079761862754822 + ], + "closest_active_finger_button": [ + 0.17358636856079102, + -0.3566369414329529, + 0.7731984853744507 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14095304906368256, + 0.016789615154266357, + 0.034777700901031494 + ], + "min_contact_pad_to_button": 0.021278328441922005, + "closest_contact_pad": [ + 0.17355972528457642, + -0.3582341132591151, + 0.7909300656962529 + ], + "closest_contact_pad_button": [ + 0.17355972528457642, + -0.3566357791423797, + 0.7697118520736694 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015983341167353782, + 0.02121821362258347 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d3be6b300c4034bfe5eabc494683402d760140e15a6765d04fc90ea5075f691b", + "visual_seed": 403292265718867691, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d129a0beb52bd15ee32c3ee95ddd18a365a3174f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2549810369165189, + -0.03142837346025369, + 1.164550808833365 + ], + "current_z": 1.164550808833365, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30344430081859886, + "gripper_z": 1.157970133263108, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2501688150811383, + -0.036308671492727915, + 1.157970133263108 + ], + "object_minus_gripper": [ + 0.0048122218353806034, + 0.004880298032474223, + 0.0065806755702568775 + ], + "object_to_gripper_xy": 0.0068538155708105855, + "object_to_gripper_z": 0.0065806755702568775, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2549810369165189, + -0.055096729046585385, + 1.164550808833365 + ], + "finger_b": [ + 0.243675177680661, + -0.03142837346025369, + 1.164550808833365 + ], + "finger_midpoint": [ + 0.24932810729858995, + -0.04326255125341954, + 1.164550808833365 + ], + "object_minus_finger_midpoint": [ + 0.005652929617928959, + 0.011834177793165847, + 0.0 + ], + "finger_gap": 0.026230011613075442, + "fingertip_max_gap": 0.09217694411704733, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013115005806537721, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164550808833365, + "object_top_z": 1.2146730279592235, + "finger_top_clearance": 0.05012221912585857, + "fingertip_min_top_clearance": 0.01503666573775757, + "object_projection_between_fingers": 0.8142151987603252, + "object_to_finger_line_xy": 0.010201714759055078, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048588472058523666, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4467057389828075, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3244731189693889, + -0.2990517858697467, + 0.8515395691376604 + ], + "target_position": [ + 0.3148907806942124, + -0.3009875198375961, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009775902659816068, + "xy_threshold": 0.08, + "gripper_dist": 0.1843937645258743, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691376604, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559470837816934, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15249242709038618, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007331252098083496, + "max_z_decrease": 0.007331252098083496, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035110469016016665, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007331252098083496, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021160629625125483, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007331252098083496, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073312773912339, + "max_button_displacement": 0.12, + "button_start": [ + 0.17059071362018585, + -0.357248991727829, + 0.7768088579177856 + ], + "button_final": [ + 0.17059071362018585, + -0.357248991727829, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16966375534665037, + -0.35596232118468163, + 0.807433823808913 + ], + "closest_button": [ + 0.1705794781446457, + -0.3572539687156677, + 0.7723590731620789 + ], + "closest_ee_minus_button": [ + -0.0009157227979953164, + 0.0012916475309860953, + 0.035074750646834185 + ], + "button_min_z_position": [ + 0.17057232558727264, + -0.3572547137737274, + 0.7694776058197021 + ], + "min_active_finger_to_button": 0.14641506418897737, + "closest_active_finger": [ + 0.042272478342056274, + -0.41875994205474854, + 0.8105278611183167 + ], + "closest_active_finger_button": [ + 0.17059372365474698, + -0.3572535216808319, + 0.7760606408119202 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1283212453126907, + -0.061506420373916626, + 0.034467220306396484 + ], + "min_contact_pad_to_button": 0.021160629625125483, + "closest_contact_pad": [ + 0.17057232558727264, + -0.35734910362157146, + 0.7906380249244449 + ], + "closest_contact_pad_button": [ + 0.17057232558727264, + -0.3572547137737274, + 0.7694776058197021 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -9.438984784404525e-05, + 0.021160419104742756 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "203149586ae3a0e3500d939cd9714cd69db9b99173fd440f846e997986a2a336", + "visual_seed": 285962731813176930, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..14a5350221b4237ec4c1a357883717034e10da3a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2564846237523434, + -0.03728204194254136, + 1.1623570109445667 + ], + "current_z": 1.1623570109445667, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3012505625344454, + "gripper_z": 1.1557119998417613, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2517286138315638, + -0.04208199442424858, + 1.1557119998417613 + ], + "object_minus_gripper": [ + 0.004756009920779569, + 0.004799952481707219, + 0.006645011102805354 + ], + "object_to_gripper_xy": 0.0067571572568056295, + "object_to_gripper_z": 0.006645011102805354, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2564846237523434, + -0.06099544025875901, + 1.1623570109445667 + ], + "finger_b": [ + 0.24540288448093409, + -0.03728204194254136, + 1.1623570109445667 + ], + "finger_midpoint": [ + 0.2509437541166387, + -0.04913874110065018, + 1.1623570109445667 + ], + "object_minus_finger_midpoint": [ + 0.005540869635704659, + 0.011856699158108823, + 0.0 + ], + "finger_gap": 0.0261749919767531, + "fingertip_max_gap": 0.09200652660706668, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013087495988376554, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1623570109445667, + "object_top_z": 1.212484520529704, + "finger_top_clearance": 0.05012750958513723, + "fingertip_min_top_clearance": 0.01503825287554117, + "object_projection_between_fingers": 0.8207567782206799, + "object_to_finger_line_xy": 0.010039571267597292, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850326330353334, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2024762903491788, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3254820279517159, + -0.3017908436441741, + 0.8515395604072562 + ], + "target_position": [ + 0.31644749016554513, + -0.3033541706600232, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00916879841463595, + "xy_threshold": 0.08, + "gripper_dist": 0.18568147137596158, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395604072562, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527033250087642, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08542942912898242, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15449330853661256, + "release_required_pad_clearance": 0.052714714564491214, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4829488464007101, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007682502269744873, + "max_z_decrease": 0.007682502269744873, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035132934781304685, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007682502269744873, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021243003120223203, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007682502269744873, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007682526737063216, + "max_button_displacement": 0.12, + "button_start": [ + 0.17214742302894592, + -0.3596156239509582, + 0.7768088579177856 + ], + "button_final": [ + 0.17214742302894592, + -0.3596156239509582, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17231941473092383, + -0.3609418720691243, + 0.807772859860068 + ], + "closest_button": [ + 0.17214246094226837, + -0.3596275448799133, + 0.7726649641990662 + ], + "closest_ee_minus_button": [ + 0.00017695378865545397, + -0.0013143271892110397, + 0.03510789566100181 + ], + "button_min_z_position": [ + 0.17212852835655212, + -0.35961997509002686, + 0.7691263556480408 + ], + "min_active_finger_to_button": 0.1459149147916844, + "closest_active_finger": [ + 0.030877642333507538, + -0.34724530577659607, + 0.8108007907867432 + ], + "closest_active_finger_button": [ + 0.17214985191822052, + -0.3596185445785522, + 0.7764463424682617 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14127220958471298, + 0.012373238801956121, + 0.034354448318481445 + ], + "min_contact_pad_to_button": 0.021243003120223203, + "closest_contact_pad": [ + 0.17212852835655212, + -0.36204841288111556, + 0.7902300963463299 + ], + "closest_contact_pad_button": [ + 0.17212852835655212, + -0.35961997509002686, + 0.7691263556480408 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024284377910887, + 0.02110374069828913 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "760af7078ec4681a850a720cb25db5aedfa05217fa911e962804ab7eaeba7981", + "visual_seed": 1634755749243820441, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7978708dd2127f33439b3c43145fada4dc353779 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24953614589909437, + -0.035458723527121754, + 1.162816108367335 + ], + "current_z": 1.162816108367335, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.3017094811432792, + "gripper_z": 1.1563272385277323, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2446295389663847, + -0.04024247108821298, + 1.1563272385277323 + ], + "object_minus_gripper": [ + 0.004906606932709667, + 0.004783747561091227, + 0.006488869839602618 + ], + "object_to_gripper_xy": 0.0068526660738985985, + "object_to_gripper_z": 0.006488869839602618, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24953614589909437, + -0.05940488742104293, + 1.162816108367335 + ], + "finger_b": [ + 0.23864864443645367, + -0.035458723527121754, + 1.162816108367335 + ], + "finger_midpoint": [ + 0.24409239516777403, + -0.04743180547408234, + 1.162816108367335 + ], + "object_minus_finger_midpoint": [ + 0.005443750731320335, + 0.01197308194696059, + 0.0 + ], + "finger_gap": 0.026305065164974172, + "fingertip_max_gap": 0.09175423123815316, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01315253258248708, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162816108367335, + "object_top_z": 1.212942846317156, + "finger_top_clearance": 0.05012673794982114, + "fingertip_min_top_clearance": 0.015038021384946343, + "object_projection_between_fingers": 0.8286919826703811, + "object_to_finger_line_xy": 0.009911167023712515, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837711561907658, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.031820119510792, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32565216832707233, + -0.30213100369666296, + 0.8515396081337526 + ], + "target_position": [ + 0.316298014997803, + -0.3040307010036677, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00954510525692206, + "xy_threshold": 0.08, + "gripper_dist": 0.1876547812925194, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396081337526, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565693927285173, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08535857173266324, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15546532802168267, + "release_required_pad_clearance": 0.052679285866331624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.414958106988662, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007204413414001465, + "max_z_decrease": 0.007204413414001465, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035033287604056496, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007204413414001465, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021259005965162607, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007204413414001465, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007204433837575306, + "max_button_displacement": 0.12, + "button_start": [ + 0.1719979345798493, + -0.36029216647148127, + 0.7768088579177856 + ], + "button_final": [ + 0.1719979345798493, + -0.36029216647148127, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1729409645944958, + -0.3599716078548119, + 0.8074090659175102 + ], + "closest_button": [ + 0.17198607325553897, + -0.36029699444770813, + 0.7723903059959412 + ], + "closest_ee_minus_button": [ + 0.0009548913389568203, + 0.0003253865928962152, + 0.035018759921569 + ], + "button_min_z_position": [ + 0.17198175191879275, + -0.3602978587150573, + 0.7696044445037842 + ], + "min_active_finger_to_button": 0.14526100448411333, + "closest_active_finger": [ + 0.0450083464384079, + -0.42165327072143555, + 0.8078754544258118 + ], + "closest_active_finger_button": [ + 0.1720093190670014, + -0.3602990508079528, + 0.7731310725212097 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1270009726285935, + -0.06135421991348272, + 0.03474438190460205 + ], + "min_contact_pad_to_button": 0.021259005965162607, + "closest_contact_pad": [ + 0.17198175191879275, + -0.36144745212297286, + 0.7908323452389793 + ], + "closest_contact_pad_button": [ + 0.17198175191879275, + -0.3602978587150573, + 0.7696044445037842 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001149593407915539, + 0.021227900735195093 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e07a1f8067eec089fdbcaca40d7fce39314cdb3d0c7ac9f6956a07febce400ba", + "visual_seed": 3106091130764705609, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8b3cce8f01164b1a5aee829cdce8baa83aa4d999 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2527002401364254, + -0.032117810625970675, + 1.1611884130312893 + ], + "current_z": 1.1611884130312893, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3000819646211679, + "gripper_z": 1.154716467957627, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24773720979373187, + -0.03696551287596207, + 1.154716467957627 + ], + "object_minus_gripper": [ + 0.00496303034269352, + 0.004847702249991398, + 0.006471945073662333 + ], + "object_to_gripper_xy": 0.006937714846191664, + "object_to_gripper_z": 0.006471945073662333, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2527002401364254, + -0.0560661599617088, + 1.1611884130312893 + ], + "finger_b": [ + 0.24165340604761124, + -0.032117810625970675, + 1.1611884130312893 + ], + "finger_midpoint": [ + 0.24717682309201833, + -0.04409198529383974, + 1.1611884130312893 + ], + "object_minus_finger_midpoint": [ + 0.005523417044407064, + 0.011974174667869063, + 0.0 + ], + "finger_gap": 0.026373395293218034, + "fingertip_max_gap": 0.09176115998515719, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013186697646609012, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1611884130312893, + "object_top_z": 1.2113075094433743, + "finger_top_clearance": 0.05011909641208501, + "fingertip_min_top_clearance": 0.015035728923625535, + "object_projection_between_fingers": 0.82455395824511, + "object_to_finger_line_xy": 0.01003107255897736, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048380579992578596, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9667422610107326, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3203586621453922, + -0.30554094085866756, + 0.8515395691056767 + ], + "target_position": [ + 0.3110491661894863, + -0.307257948958735, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009466511066318238, + "xy_threshold": 0.08, + "gripper_dist": 0.18746153245231953, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691056767, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568223308914336, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549016246771927, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1551710501640647, + "release_required_pad_clearance": 0.05274508123385964, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.541039364807519, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007099747657775879, + "max_z_decrease": 0.007099747657775879, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507516553242427, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007099747657775879, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021354274551105567, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007099747657775879, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070997697454754025, + "max_button_displacement": 0.12, + "button_start": [ + 0.16674908995628362, + -0.3635194003582001, + 0.7768088579177856 + ], + "button_final": [ + 0.16674908995628362, + -0.3635194003582001, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16694138647027587, + -0.36468049287994975, + 0.8075888559208159 + ], + "closest_button": [ + 0.1667377501726151, + -0.3635238707065582, + 0.7725333571434021 + ], + "closest_ee_minus_button": [ + 0.0002036362976607642, + -0.0011566221733915194, + 0.03505549877741376 + ], + "button_min_z_position": [ + 0.1667321473360062, + -0.36352455615997314, + 0.7697091102600098 + ], + "min_active_finger_to_button": 0.14587534875760788, + "closest_active_finger": [ + 0.02610364556312561, + -0.34625542163848877, + 0.8083400726318359 + ], + "closest_active_finger_button": [ + 0.16675512492656713, + -0.3635265827178955, + 0.773720920085907 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14065147936344152, + 0.01727116107940674, + 0.034619152545928955 + ], + "min_contact_pad_to_button": 0.021354274551105567, + "closest_contact_pad": [ + 0.1667321473360062, + -0.36624920948985457, + 0.790888848356501 + ], + "closest_contact_pad_button": [ + 0.1667321473360062, + -0.36352455615997314, + 0.7697091102600098 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027246533298814213, + 0.021179738096491207 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4de747f93de740c81a33d8c024a94da410b6d4dffb2634a9d8770a6261684d86", + "visual_seed": 3481264857806784460, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..18a71d25c671b533afdb7591d374955f93e072d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24732500760295503, + -0.026477605866345493, + 1.1651963857254801 + ], + "current_z": 1.1651963857254801, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.3040898181060693, + "gripper_z": 1.1585897753815475, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24259532515257248, + -0.03134206410073402, + 1.1585897753815475 + ], + "object_minus_gripper": [ + 0.00472968245038255, + 0.004864458234388528, + 0.006606610343932617 + ], + "object_to_gripper_xy": 0.006784751284724225, + "object_to_gripper_z": 0.006606610343932617, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24732500760295503, + -0.05012532278001553, + 1.1651963857254801 + ], + "finger_b": [ + 0.23611209008594802, + -0.026477605866345493, + 1.1651963857254801 + ], + "finger_midpoint": [ + 0.24171854884445154, + -0.03830146432318051, + 1.1651963857254801 + ], + "object_minus_finger_midpoint": [ + 0.005606458758503491, + 0.011823858456835017, + 0.0 + ], + "finger_gap": 0.02617143546831695, + "fingertip_max_gap": 0.09158570009168246, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013085717734158469, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651963857254801, + "object_top_z": 1.215302009512014, + "finger_top_clearance": 0.050105623786533826, + "fingertip_min_top_clearance": 0.015031687135960148, + "object_projection_between_fingers": 0.81643825930965, + "object_to_finger_line_xy": 0.010131652867857232, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829285004584123, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9540643528146974, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32577053247206766, + -0.300801736942345, + 0.8515396231690391 + ], + "target_position": [ + 0.3158412775616297, + -0.30271493948347294, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010111896312751353, + "xy_threshold": 0.08, + "gripper_dist": 0.18570266437236735, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396231690391, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531715404640908, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08575799970587299, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15439318410497838, + "release_required_pad_clearance": 0.052878999852936495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7991690190715418, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007274210453033447, + "max_z_decrease": 0.007274210453033447, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516653650837571, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007274210453033447, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021195872886652253, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007274210453033447, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007274229632677825, + "max_button_displacement": 0.12, + "button_start": [ + 0.17154119908809662, + -0.3589763939380645, + 0.7768088579177856 + ], + "button_final": [ + 0.17154119908809662, + -0.3589763939380645, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17309548974116526, + -0.3595995160270713, + 0.8053513136499992 + ], + "closest_button": [ + 0.17152555286884308, + -0.3589808046817779, + 0.7702252864837646 + ], + "closest_ee_minus_button": [ + 0.0015699368723221807, + -0.000618711345293399, + 0.035126027166234586 + ], + "button_min_z_position": [ + 0.17152512073516846, + -0.35898092389106745, + 0.7695346474647522 + ], + "min_active_finger_to_button": 0.1442802673888853, + "closest_active_finger": [ + 0.03205104172229767, + -0.34573349356651306, + 0.8096622228622437 + ], + "closest_active_finger_button": [ + 0.17154407501220703, + -0.35898265242576594, + 0.7752681970596313 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13949303328990936, + 0.013249158859252874, + 0.034394025802612305 + ], + "min_contact_pad_to_button": 0.021195872886652253, + "closest_contact_pad": [ + 0.17152512073516846, + -0.36060267786741473, + 0.790668386875167 + ], + "closest_contact_pad_button": [ + 0.17152512073516846, + -0.35898092389106745, + 0.7695346474647522 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016217539763472844, + 0.021133739410414853 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f648f4c72629c6dfc5fda234b542368439796ef86402f6ca2516872480375cc2", + "visual_seed": 7276777840761579724, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0c3cb609c24e58b97e16c402b67dcfce365becb7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2515713686120993, + -0.030304728978412084, + 1.1640545346161568 + ], + "current_z": 1.1640545346161568, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3029480862060354, + "gripper_z": 1.1576256375900742, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24665553416262842, + -0.03517925114542485, + 1.1576256375900742 + ], + "object_minus_gripper": [ + 0.004915834449470857, + 0.004874522167012764, + 0.006428897026082625 + ], + "object_to_gripper_xy": 0.006922889186698228, + "object_to_gripper_z": 0.006428897026082625, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2515713686120993, + -0.054210018336029175, + 1.1640545346161568 + ], + "finger_b": [ + 0.2404632532862299, + -0.030304728978412084, + 1.1640545346161568 + ], + "finger_midpoint": [ + 0.24601731094916457, + -0.042257373657220626, + 1.1640545346161568 + ], + "object_minus_finger_midpoint": [ + 0.005554057662934708, + 0.011952644678808542, + 0.0 + ], + "finger_gap": 0.026360066110770956, + "fingertip_max_gap": 0.09185820211108225, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318003305538548, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1640545346161568, + "object_top_z": 1.2141401088496935, + "finger_top_clearance": 0.050085574233536656, + "fingertip_min_top_clearance": 0.015025672270060996, + "object_projection_between_fingers": 0.8224225686093947, + "object_to_finger_line_xy": 0.010073673941742719, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842910105554113, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0785548338986823, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3245976184266167, + -0.3051713950560893, + 0.8515395875025733 + ], + "target_position": [ + 0.3150246522035681, + -0.3069700547785732, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009740475301796885, + "xy_threshold": 0.08, + "gripper_dist": 0.1854801675528598, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395875025733, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523722583125232, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08575398667529531, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15426402891276325, + "release_required_pad_clearance": 0.05287699333764766, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7952418575776861, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073015689849853516, + "max_z_decrease": 0.0073015689849853516, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504539441297036, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073015689849853516, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02122943290215187, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073015689849853516, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007301589487129738, + "max_button_displacement": 0.12, + "button_start": [ + 0.17072458565235132, + -0.3632315099239349, + 0.7768088579177856 + ], + "button_final": [ + 0.17072458565235132, + -0.3632315099239349, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17147489852774497, + -0.362467093214773, + 0.8070209741776104 + ], + "closest_button": [ + 0.17071188986301417, + -0.36323603987693787, + 0.7719923257827759 + ], + "closest_ee_minus_button": [ + 0.0007630086647308076, + 0.0007689466621648711, + 0.03502864839483455 + ], + "button_min_z_position": [ + 0.1707081645727157, + -0.3632369637489319, + 0.7695072889328003 + ], + "min_active_finger_to_button": 0.14518793685199669, + "closest_active_finger": [ + 0.04345843940973282, + -0.42386722564697266, + 0.8077507615089417 + ], + "closest_active_finger_button": [ + 0.1707353293895721, + -0.363238662481308, + 0.7730476260185242 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12727688997983927, + -0.06062856316566467, + 0.03470313549041748 + ], + "min_contact_pad_to_button": 0.02122943290215187, + "closest_contact_pad": [ + 0.1707081645727157, + -0.36394159890082184, + 0.7907250246897016 + ], + "closest_contact_pad_button": [ + 0.1707081645727157, + -0.3632369637489319, + 0.7695072889328003 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007046351518899541, + 0.021217735756901335 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f518e0f6ca072de105e79cea1ad35dd6afdc98118473497fb5bc98229f4033db", + "visual_seed": 3819047572242359195, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a3cf7fcd04c9bec9f3f45554d41525a8613eb33 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24793680225672632, + -0.0381669998495626, + 1.1637889475312042 + ], + "current_z": 1.1637889475312042, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.302682499121083, + "gripper_z": 1.1570983628027862, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24311577488973002, + -0.04283220977898877, + 1.1570983628027862 + ], + "object_minus_gripper": [ + 0.0048210273669963, + 0.0046652099294261715, + 0.006690584728417992 + ], + "object_to_gripper_xy": 0.006708687543696145, + "object_to_gripper_z": 0.006690584728417992, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24793680225672632, + -0.06209742315730745, + 1.1637889475312042 + ], + "finger_b": [ + 0.23728612080435718, + -0.0381669998495626, + 1.1637889475312042 + ], + "finger_midpoint": [ + 0.24261146153054175, + -0.050132211503435026, + 1.1637889475312042 + ], + "object_minus_finger_midpoint": [ + 0.005325340726184569, + 0.011965211653872425, + 0.0 + ], + "finger_gap": 0.026193552166281265, + "fingertip_max_gap": 0.0917605676974585, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013096776083140632, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637889475312042, + "object_top_z": 1.213907066483654, + "finger_top_clearance": 0.050118118952449775, + "fingertip_min_top_clearance": 0.015035435685734932, + "object_projection_between_fingers": 0.8346645448466326, + "object_to_finger_line_xy": 0.009730460154970456, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838028384872925, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0653867680531182, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32001621010008086, + -0.29906942831256744, + 0.851539564301554 + ], + "target_position": [ + 0.3107927972070998, + -0.30071311820301744, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009368727867238798, + "xy_threshold": 0.08, + "gripper_dist": 0.18524972707777945, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539564301554, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563904584998045, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08620278642752187, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15310488222492127, + "release_required_pad_clearance": 0.053101393213760936, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2303339295957507, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007287025451660156, + "max_z_decrease": 0.007287025451660156, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515358792423625, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007287025451660156, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02118269432920355, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007287025451660156, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007287046614825781, + "max_button_displacement": 0.12, + "button_start": [ + 0.16649273037910461, + -0.356974571943283, + 0.7768088579177856 + ], + "button_final": [ + 0.16649273037910461, + -0.356974571943283, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1682091789500191, + -0.3558830165832012, + 0.8046155280365193 + ], + "closest_button": [ + 0.1664760559797287, + -0.3569800853729247, + 0.7695218324661255 + ], + "closest_ee_minus_button": [ + 0.0017331229702904072, + 0.0010970687897234876, + 0.03509369557039377 + ], + "button_min_z_position": [ + 0.1664760559797287, + -0.3569800853729247, + 0.7695218324661255 + ], + "min_active_finger_to_button": 0.14374781656974414, + "closest_active_finger": [ + 0.04098701477050781, + -0.4179759621620178, + 0.8106676340103149 + ], + "closest_active_finger_button": [ + 0.166496142745018, + -0.356978952884674, + 0.7761675119400024 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1255091279745102, + -0.060997009277343806, + 0.0345001220703125 + ], + "min_contact_pad_to_button": 0.02118269432920355, + "closest_contact_pad": [ + 0.1664760559797287, + -0.3571439322987102, + 0.7907038931125636 + ], + "closest_contact_pad_button": [ + 0.1664760559797287, + -0.3569800853729247, + 0.7695218324661255 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00016384692578552684, + 0.021182060646438128 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9581fdf77aef774ed6aeed02a84516ef76a592825ee0e7409cf09491893108d5", + "visual_seed": 2434984804066242549, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0c6c79e0e6f25ccb9c6fba66c8224b882a752212 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2516823676564915, + -0.027048846838871623, + 1.165252392849656 + ], + "current_z": 1.165252392849656, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.304145944439535, + "gripper_z": 1.158793310791713, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2468412606993152, + -0.0319287730534963, + 1.158793310791713 + ], + "object_minus_gripper": [ + 0.004841106957176294, + 0.004879926214624675, + 0.0064590820579431 + ], + "object_to_gripper_xy": 0.006873863282827338, + "object_to_gripper_z": 0.0064590820579431, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2516823676564915, + -0.05080994789739072, + 1.165252392849656 + ], + "finger_b": [ + 0.24045397907611407, + -0.027048846838871623, + 1.165252392849656 + ], + "finger_midpoint": [ + 0.24606817336630277, + -0.03892939736813117, + 1.165252392849656 + ], + "object_minus_finger_midpoint": [ + 0.005614194290188723, + 0.011880550529259546, + 0.0 + ], + "finger_gap": 0.026280537163937637, + "fingertip_max_gap": 0.09182230559683402, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013140268581968822, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165252392849656, + "object_top_z": 1.2153397735396463, + "finger_top_clearance": 0.05008738068999019, + "fingertip_min_top_clearance": 0.01502621420699709, + "object_projection_between_fingers": 0.8174564920702624, + "object_to_finger_line_xy": 0.010151956716804609, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04841115279841701, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.055583776260306, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3264956700047452, + -0.2983520944439263, + 0.8515395042714995 + ], + "target_position": [ + 0.31711940295666696, + -0.300159889277824, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009548953132063503, + "xy_threshold": 0.08, + "gripper_dist": 0.18572956979077182, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395042714995, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541363767414087, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539258416174066, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1542515317900836, + "release_required_pad_clearance": 0.05269629208087033, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4476235618080468, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007437944412231445, + "max_z_decrease": 0.007437944412231445, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351111486503905, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007437944412231445, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021194348235000993, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007437944412231445, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007437964991649579, + "max_button_displacement": 0.12, + "button_start": [ + 0.1728193312883377, + -0.3564213514328002, + 0.7768088579177856 + ], + "button_final": [ + 0.1728193312883377, + -0.3564213514328002, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17331424619889885, + -0.3545931802719008, + 0.8064343536258828 + ], + "closest_button": [ + 0.17280596494674683, + -0.35642606019973744, + 0.7713747620582581 + ], + "closest_ee_minus_button": [ + 0.0005082812521520208, + 0.0018328799278366503, + 0.035059591567624726 + ], + "button_min_z_position": [ + 0.17280277609825134, + -0.35642701387405384, + 0.7693709135055542 + ], + "min_active_finger_to_button": 0.14484419607382235, + "closest_active_finger": [ + 0.04622534662485123, + -0.41771525144577026, + 0.8105853796005249 + ], + "closest_active_finger_button": [ + 0.1728244423866272, + -0.3564262092113494, + 0.7759997844696045 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12659909576177597, + -0.06128904223442089, + 0.03458559513092041 + ], + "min_contact_pad_to_button": 0.021194348235000993, + "closest_contact_pad": [ + 0.17280277609825134, + -0.35642701387405384, + 0.7905652617405552 + ], + "closest_contact_pad_button": [ + 0.17280277609825134, + -0.35642701387405384, + 0.7693709135055542 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021194348235000993 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "67cfc400ffd2518df71c005f5ee96f605392f107b0b0ea4349b218216a668018", + "visual_seed": 2012168771233136054, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cf737eeb713f4482f7daa5bd820927405f72e4dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2550777513693716, + -0.03115084075620016, + 1.163875173387297 + ], + "current_z": 1.163875173387297, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.3027686653725312, + "gripper_z": 1.1570923516573435, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2502771145193437, + -0.03592391277292799, + 1.1570923516573435 + ], + "object_minus_gripper": [ + 0.004800636850027906, + 0.004773072016727827, + 0.006782821729953481 + ], + "object_to_gripper_xy": 0.006769662520592596, + "object_to_gripper_z": 0.006782821729953481, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2550777513693716, + -0.05492301077520366, + 1.163875173387297 + ], + "finger_b": [ + 0.24404915519258577, + -0.03115084075620016, + 1.163875173387297 + ], + "finger_midpoint": [ + 0.24956345328097868, + -0.04303692576570191, + 1.163875173387297 + ], + "object_minus_finger_midpoint": [ + 0.005514298088392933, + 0.011886085009501748, + 0.0 + ], + "finger_gap": 0.02620583906389994, + "fingertip_max_gap": 0.09168171855907783, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013102919531949973, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163875173387297, + "object_top_z": 1.2139614568641623, + "finger_top_clearance": 0.05008628347686539, + "fingertip_min_top_clearance": 0.015025885043059649, + "object_projection_between_fingers": 0.8228894912443835, + "object_to_finger_line_xy": 0.010004398742822324, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834085927953892, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0078444596765743, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31897064794767627, + -0.3000291537352092, + 0.8515395600736224 + ], + "target_position": [ + 0.3096179900681972, + -0.30186467332527805, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009531072425289229, + "xy_threshold": 0.08, + "gripper_dist": 0.1847088848063333, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395600736224, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576178141284413, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08607242279614029, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15242457534492274, + "release_required_pad_clearance": 0.053036211398070146, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.103568141745214, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007179558277130127, + "max_z_decrease": 0.007179558277130127, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03526160419332014, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007179558277130127, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021116196535360898, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007179558277130127, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007179578497702634, + "max_button_displacement": 0.12, + "button_start": [ + 0.16531792283058172, + -0.35812613368034363, + 0.7768088579177856 + ], + "button_final": [ + 0.16531792283058172, + -0.35812613368034363, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16704878418640348, + -0.3561975012053283, + 0.8047944934965887 + ], + "closest_button": [ + 0.16530147194862368, + -0.3581305742263794, + 0.7696292996406555 + ], + "closest_ee_minus_button": [ + 0.0017473122377797967, + 0.0019330730210511127, + 0.0351651938559332 + ], + "button_min_z_position": [ + 0.16530147194862368, + -0.3581305742263794, + 0.7696292996406555 + ], + "min_active_finger_to_button": 0.143276473285377, + "closest_active_finger": [ + 0.04115375876426697, + -0.4209073483943939, + 0.8105306625366211 + ], + "closest_active_finger_button": [ + 0.16531927883625033, + -0.35812890529632563, + 0.7763262987136841 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12416552007198337, + -0.06277844309806829, + 0.03420436382293701 + ], + "min_contact_pad_to_button": 0.021116196535360898, + "closest_contact_pad": [ + 0.16530147194862368, + -0.3581305742263794, + 0.7907454961760164 + ], + "closest_contact_pad_button": [ + 0.16530147194862368, + -0.3581305742263794, + 0.7696292996406555 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021116196535360898 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4831b7ca38344556eb0139e4c8e1c124d85006d89f3c5eb0cbd486bbf84e82db", + "visual_seed": 2929375774719044827, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e8c8e24a6dc5c7a79ef24a0a5e4eff4b666d5c1e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2556108794465395, + -0.031526340310242956, + 1.1613861893132973 + ], + "current_z": 1.1613861893132973, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3002797409031759, + "gripper_z": 1.154824633608822, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25070800045281205, + -0.03640613231846572, + 1.154824633608822 + ], + "object_minus_gripper": [ + 0.004902878993727433, + 0.004879792008222764, + 0.006561555704475364 + ], + "object_to_gripper_xy": 0.006917412266928181, + "object_to_gripper_z": 0.006561555704475364, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2556108794465395, + -0.05530006560318515, + 1.1613861893132973 + ], + "finger_b": [ + 0.24434447863942382, + -0.031526340310242956, + 1.1613861893132973 + ], + "finger_midpoint": [ + 0.24997767904298165, + -0.04341320295671405, + 1.1613861893132973 + ], + "object_minus_finger_midpoint": [ + 0.005633200403557831, + 0.011886862646471097, + 0.0 + ], + "finger_gap": 0.026308207872275446, + "fingertip_max_gap": 0.09168258365972967, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013154103936137723, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1613861893132973, + "object_top_z": 1.2114387959774802, + "finger_top_clearance": 0.050052606664182875, + "fingertip_min_top_clearance": 0.015015781999254895, + "object_projection_between_fingers": 0.8166048419794081, + "object_to_finger_line_xy": 0.010181017237240776, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834129182986484, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0858968014388273, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32853854249970493, + -0.29843261292048606, + 0.8515396670037624 + ], + "target_position": [ + 0.318542083473916, + -0.3002247635237254, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010155835605156687, + "xy_threshold": 0.08, + "gripper_dist": 0.186622480067815, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396670037624, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515984789286023, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552503926066966, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15563936359551045, + "release_required_pad_clearance": 0.052762519630334834, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5747108000030662, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007396519184112549, + "max_z_decrease": 0.007396519184112549, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500207341170031, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007396519184112549, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02130228206241804, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007396519184112549, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007396541598622528, + "max_button_displacement": 0.12, + "button_start": [ + 0.17424200475215915, + -0.3564862310886382, + 0.7768088579177856 + ], + "button_final": [ + 0.17424200475215915, + -0.3564862310886382, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17375405117067305, + -0.35671562096511933, + 0.8071451601170974 + ], + "closest_button": [ + 0.17423105239868164, + -0.3564907610416411, + 0.7721470594406128 + ], + "closest_ee_minus_button": [ + -0.0004770012280085889, + -0.0002248599234782045, + 0.03499810067648457 + ], + "button_min_z_position": [ + 0.17422454059123993, + -0.3564913868904113, + 0.7694123387336731 + ], + "min_active_finger_to_button": 0.14671286676642178, + "closest_active_finger": [ + 0.03280673176050186, + -0.3391357660293579, + 0.8076955080032349 + ], + "closest_active_finger_button": [ + 0.17425204813480377, + -0.3564924299716949, + 0.7728152275085449 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1414453163743019, + 0.01735666394233698, + 0.03488028049468994 + ], + "min_contact_pad_to_button": 0.02130228206241804, + "closest_contact_pad": [ + 0.17422454059123993, + -0.35822868168492117, + 0.7906436605922806 + ], + "closest_contact_pad_button": [ + 0.17422454059123993, + -0.3564913868904113, + 0.7694123387336731 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017372947945098471, + 0.021231321858607544 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e83a0ad9021bde5e4f9826e974cc61965ad967b11397b81cc42e9c4229324b1d", + "visual_seed": 1749930036428972115, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7fdde6598f5013e2dee7c8d4521872b4d66a809e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24931339194757254, + -0.0373761155097569, + 1.1616161466219728 + ], + "current_z": 1.1616161466219728, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30050975781649625, + "gripper_z": 1.15511509371365, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2444644396478546, + -0.04218960393811204, + 1.15511509371365 + ], + "object_minus_gripper": [ + 0.004848952299717935, + 0.004813488428355141, + 0.006501052908322702 + ], + "object_to_gripper_xy": 0.006832423380825334, + "object_to_gripper_z": 0.006501052908322702, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24931339194757254, + -0.06123671652446401, + 1.1616161466219728 + ], + "finger_b": [ + 0.23833475323482226, + -0.0373761155097569, + 1.1616161466219728 + ], + "finger_midpoint": [ + 0.2438240725911974, + -0.04930641601711046, + 1.1616161466219728 + ], + "object_minus_finger_midpoint": [ + 0.005489319356375144, + 0.01193030050735356, + 0.0 + ], + "finger_gap": 0.026265163025729375, + "fingertip_max_gap": 0.09209938025227407, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313258151286469, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1616161466219728, + "object_top_z": 1.2117354808991871, + "finger_top_clearance": 0.05011933427721438, + "fingertip_min_top_clearance": 0.015035800283164279, + "object_projection_between_fingers": 0.8252823477101354, + "object_to_finger_line_xy": 0.009973550050039255, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854969012613704, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2207048004487175, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32457911746276513, + -0.30730812882480774, + 0.8515395691830113 + ], + "target_position": [ + 0.3158993980008812, + -0.3088394111387404, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008813759439760654, + "xy_threshold": 0.08, + "gripper_dist": 0.18480571567937418, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691830113, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523535169556046, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08508466439382999, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15376764991935074, + "release_required_pad_clearance": 0.052542332196914995, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.15323336535584894, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007478833198547363, + "max_z_decrease": 0.007478833198547363, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517358945431225, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007478833198547363, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02117718415436387, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007478833198547363, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007478852927946632, + "max_button_displacement": 0.12, + "button_start": [ + 0.17159932851791376, + -0.3651008605957031, + 0.7768088579177856 + ], + "button_final": [ + 0.17159932851791376, + -0.3651008605957031, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17290125568020212, + -0.36308309362482805, + 0.8044206488498303 + ], + "closest_button": [ + 0.17158287763595578, + -0.3651058077812195, + 0.7693300247192383 + ], + "closest_ee_minus_button": [ + 0.0013183780442463378, + 0.0020227141563914364, + 0.03509062413059205 + ], + "button_min_z_position": [ + 0.17158287763595578, + -0.3651058077812195, + 0.7693300247192383 + ], + "min_active_finger_to_button": 0.14375063191859255, + "closest_active_finger": [ + 0.046140216290950775, + -0.4261876940727234, + 0.8107610940933228 + ], + "closest_active_finger_button": [ + 0.1716031283140182, + -0.3651033341884613, + 0.7762356996536255 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12546291202306742, + -0.061084359884262085, + 0.034525394439697266 + ], + "min_contact_pad_to_button": 0.02117718415436387, + "closest_contact_pad": [ + 0.17158287763595578, + -0.3651058077812195, + 0.7905072088736022 + ], + "closest_contact_pad_button": [ + 0.17158287763595578, + -0.3651058077812195, + 0.7693300247192383 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02117718415436387 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b8cb99304b9b56281b1615ed3c2cc7243be20b79a2701b4b39179d10719ea54a", + "visual_seed": 2142819358651652218, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c344f8c472084fa6844d4cb66d0bc40e9186135a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25196432321085915, + -0.029750133859602065, + 1.1645508622271223 + ], + "current_z": 1.1645508622271223, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30344435421235616, + "gripper_z": 1.158067701610271, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2468718347004425, + -0.03465058184907174, + 1.158067701610271 + ], + "object_minus_gripper": [ + 0.0050924885104166595, + 0.0049004479894696786, + 0.006483160616851391 + ], + "object_to_gripper_xy": 0.007067377853647214, + "object_to_gripper_z": 0.006483160616851391, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25196432321085915, + -0.053779759159645654, + 1.1645508622271223 + ], + "finger_b": [ + 0.24081772315087327, + -0.029750133859602065, + 1.1645508622271223 + ], + "finger_midpoint": [ + 0.2463910231808662, + -0.04176494650962386, + 1.1645508622271223 + ], + "object_minus_finger_midpoint": [ + 0.005573300029992956, + 0.012014812650021797, + 0.0 + ], + "finger_gap": 0.026489046509034112, + "fingertip_max_gap": 0.09155457233047751, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013244523254517065, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1645508622271223, + "object_top_z": 1.2146473238211482, + "finger_top_clearance": 0.05009646159402581, + "fingertip_min_top_clearance": 0.015028938478207743, + "object_projection_between_fingers": 0.8229270648737687, + "object_to_finger_line_xy": 0.010111674752790902, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048277286165238756, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.858868921051535, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32236539888991644, + -0.3052344014472023, + 0.8515395724431922 + ], + "target_position": [ + 0.31224584725133736, + -0.30727041872008287, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010322339449046257, + "xy_threshold": 0.08, + "gripper_dist": 0.18742284925689662, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395724431922, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535288002011631, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08526585161690896, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15589149736472976, + "release_required_pad_clearance": 0.05263292580845448, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3262588347914775, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0075920820236206055, + "max_z_decrease": 0.0075920820236206055, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508645592234413, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0075920820236206055, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021193093448082536, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0075920820236206055, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007592101582144521, + "max_button_displacement": 0.12, + "button_start": [ + 0.1679457724094391, + -0.3635318875312804, + 0.7768088579177856 + ], + "button_final": [ + 0.1679457724094391, + -0.3635318875312804, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16814166005869208, + -0.363509845796031, + 0.8075191843378782 + ], + "closest_button": [ + 0.16793639957904813, + -0.36353853344917286, + 0.772433340549469 + ], + "closest_ee_minus_button": [ + 0.00020526047964394833, + 2.8687653141845626e-05, + 0.03508584378840918 + ], + "button_min_z_position": [ + 0.16792929172515866, + -0.3635369241237639, + 0.769216775894165 + ], + "min_active_finger_to_button": 0.14600460494802223, + "closest_active_finger": [ + 0.040533147752285004, + -0.4259618818759918, + 0.8109054565429688 + ], + "closest_active_finger_button": [ + 0.1679493486881256, + -0.36353424191474903, + 0.7764780521392822 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274162009358406, + -0.06242763996124279, + 0.03442740440368652 + ], + "min_contact_pad_to_button": 0.021193093448082536, + "closest_contact_pad": [ + 0.16792929172515866, + -0.36488208901639, + 0.7903671362057721 + ], + "closest_contact_pad_button": [ + 0.16792929172515866, + -0.3635369241237639, + 0.769216775894165 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001345164892626094, + 0.021150360311607108 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8267e3d3ed9999cd540bac1a59c085d603152cdee3a85af1d7e6bd8c288d9559", + "visual_seed": 6863736545225065261, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f03042f2448b32cc866b00179f68311c3f21bdb8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2551113224517154, + -0.029593725448157138, + 1.1649961007662473 + ], + "current_z": 1.1649961007662473, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30388965235612597, + "gripper_z": 1.158346856255697, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2500999253884996, + -0.034416070273996485, + 1.158346856255697 + ], + "object_minus_gripper": [ + 0.0050113970632157945, + 0.0048223448258393475, + 0.006649244510550156 + ], + "object_to_gripper_xy": 0.006954790445765236, + "object_to_gripper_z": 0.006649244510550156, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2551113224517154, + -0.053599002743177984, + 1.1649961007662473 + ], + "finger_b": [ + 0.2441123464037047, + -0.029593725448157138, + 1.1649961007662473 + ], + "finger_midpoint": [ + 0.24961183442771007, + -0.04159636409566756, + 1.1649961007662473 + ], + "object_minus_finger_midpoint": [ + 0.00549948802400535, + 0.012002638647510423, + 0.0 + ], + "finger_gap": 0.026405128519201664, + "fingertip_max_gap": 0.09158691111859621, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013202564259600825, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1649961007662473, + "object_top_z": 1.2150695938745852, + "finger_top_clearance": 0.050073493108337974, + "fingertip_min_top_clearance": 0.015022047932501358, + "object_projection_between_fingers": 0.8264886290127649, + "object_to_finger_line_xy": 0.009999325312951482, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829345555929811, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9157814776347272, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3239690468420936, + -0.307864806406277, + 0.8515395745465076 + ], + "target_position": [ + 0.3145036671132109, + -0.3096748901300093, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00963689869713611, + "xy_threshold": 0.08, + "gripper_dist": 0.18560965558321238, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395745465076, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555085116365505, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08570123762803487, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15361773762583206, + "release_required_pad_clearance": 0.05285061881401744, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7444063557731041, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007340669631958008, + "max_z_decrease": 0.007340669631958008, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035103380133284304, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007340669631958008, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02117250392264586, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007340669631958008, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073406940045800196, + "max_button_displacement": 0.12, + "button_start": [ + 0.17020359635353088, + -0.3659363389015198, + 0.7768088579177856 + ], + "button_final": [ + 0.17020359635353088, + -0.3659363389015198, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16977680631164344, + -0.36615342064600725, + 0.8078076134204633 + ], + "closest_button": [ + 0.17019303143024445, + -0.3659411072731018, + 0.7727073431015015 + ], + "closest_ee_minus_button": [ + -0.0004162251186010102, + -0.00021231337290544827, + 0.03510027031896179 + ], + "button_min_z_position": [ + 0.17018522322177887, + -0.3659408390522003, + 0.7694681882858276 + ], + "min_active_finger_to_button": 0.14656506198609293, + "closest_active_finger": [ + 0.02856898307800293, + -0.350590318441391, + 0.8102136254310608 + ], + "closest_active_finger_button": [ + 0.17020657658576965, + -0.3659401834011078, + 0.7757971882820129 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14163759350776672, + 0.015349864959716797, + 0.03441643714904785 + ], + "min_contact_pad_to_button": 0.02117250392264586, + "closest_contact_pad": [ + 0.17018522322177887, + -0.3674328234154102, + 0.7905880581958056 + ], + "closest_contact_pad_button": [ + 0.17018522322177887, + -0.3659408390522003, + 0.7694681882858276 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014919843632099083, + 0.02111986990997794 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c00e6de7cbb3f3621503dff8874debb0969cd34f9890a09bdcd1009df0e5443e", + "visual_seed": 7851616606086198720, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4cd6d0488a968a8e2bd28ee1ed541b1d0ef97da9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25628156188337387, + -0.03455057726180603, + 1.1643152865485842 + ], + "current_z": 1.1643152865485842, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.3032087189291732, + "gripper_z": 1.1575665737098548, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2515366231177627, + -0.039373910216412775, + 1.1575665737098548 + ], + "object_minus_gripper": [ + 0.004744938765611162, + 0.0048233329546067474, + 0.006748712838729354 + ], + "object_to_gripper_xy": 0.00676601689920998, + "object_to_gripper_z": 0.006748712838729354, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25628156188337387, + -0.058154830300720224, + 1.1643152865485842 + ], + "finger_b": [ + 0.24503844222487478, + -0.03455057726180603, + 1.1643152865485842 + ], + "finger_midpoint": [ + 0.2506600020541243, + -0.046352703781263126, + 1.1643152865485842 + ], + "object_minus_finger_midpoint": [ + 0.005621559829249556, + 0.011802126519457098, + 0.0 + ], + "finger_gap": 0.026145142974946967, + "fingertip_max_gap": 0.09187900006595576, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013072571487473489, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1643152865485842, + "object_top_z": 1.2143979393878572, + "finger_top_clearance": 0.050082652839273045, + "fingertip_min_top_clearance": 0.015024795851781913, + "object_projection_between_fingers": 0.8150767049139308, + "object_to_finger_line_xy": 0.010150468162300851, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843950003297788, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2795538876860209, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3233847903449385, + -0.30670697925963253, + 0.8515395152382926 + ], + "target_position": [ + 0.31316718288185, + -0.30887733431259334, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010445570512215875, + "xy_threshold": 0.08, + "gripper_dist": 0.18721798891938476, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395152382926, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566650414551339, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531056013740788, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15487524179001594, + "release_required_pad_clearance": 0.052655280068703944, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3690349439809837, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007226824760437012, + "max_z_decrease": 0.007226824760437012, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506317711184373, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007226824760437012, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02133637821154361, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007226824760437012, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007226849594106264, + "max_button_displacement": 0.12, + "button_start": [ + 0.1688671112060547, + -0.3651387989521026, + 0.7768088579177856 + ], + "button_final": [ + 0.1688671112060547, + -0.3651387989521026, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16855671181612394, + -0.3662331197247438, + 0.8078035385481885 + ], + "closest_button": [ + 0.16885723173618317, + -0.3651448190212249, + 0.7727585434913635 + ], + "closest_ee_minus_button": [ + -0.00030051992005922235, + -0.0010883007035188963, + 0.03504499505682501 + ], + "button_min_z_position": [ + 0.16884887218475342, + -0.36514392495155323, + 0.7695820331573486 + ], + "min_active_finger_to_button": 0.14642055058738476, + "closest_active_finger": [ + 0.027643412351608276, + -0.34805601835250854, + 0.8077806234359741 + ], + "closest_active_finger_button": [ + 0.1688746213912964, + -0.36514607071876515, + 0.7731301784515381 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1412312090396881, + 0.017090052366256603, + 0.034650444984436035 + ], + "min_contact_pad_to_button": 0.02133637821154361, + "closest_contact_pad": [ + 0.16884887218475342, + -0.36777663029151453, + 0.7907553630272338 + ], + "closest_contact_pad_button": [ + 0.16884887218475342, + -0.36514392495155323, + 0.7695820331573486 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026327053399612943, + 0.021173329869885182 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1fa8351c4e033843ec806fe88f0b6facb3bdb4d63dfb608d74cc92721cc5846", + "visual_seed": 4128897463207367433, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..716d85efce40ce156c2e27bdadfa3c99f436a3dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2472332390674475, + -0.03156695148948496, + 1.1623750684864205 + ], + "current_z": 1.1623750684864205, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3012686200762994, + "gripper_z": 1.1560149613292476, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24220270949622233, + -0.036339693892555036, + 1.1560149613292476 + ], + "object_minus_gripper": [ + 0.005030529571225184, + 0.004772742403070074, + 0.006360107157172834 + ], + "object_to_gripper_xy": 0.006934356337327505, + "object_to_gripper_z": 0.006360107157172834, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2472332390674475, + -0.05566009071397957, + 1.1623750684864205 + ], + "finger_b": [ + 0.23643273903017364, + -0.03156695148948496, + 1.1623750684864205 + ], + "finger_midpoint": [ + 0.24183298904881056, + -0.043613521101732264, + 1.1623750684864205 + ], + "object_minus_finger_midpoint": [ + 0.005400250018636948, + 0.012046569612247301, + 0.0 + ], + "finger_gap": 0.026403222506846274, + "fingertip_max_gap": 0.09168411308061122, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013201611253423139, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1623750684864205, + "object_top_z": 1.2125153687561512, + "finger_top_clearance": 0.05014030026973071, + "fingertip_min_top_clearance": 0.015042090080919245, + "object_projection_between_fingers": 0.8326699833715715, + "object_to_finger_line_xy": 0.009855537558899282, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048342056540305614, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0127601606765022, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3280082412393349, + -0.3028921075497242, + 0.8515395157716842 + ], + "target_position": [ + 0.3184181684762801, + -0.3045529086654008, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009732818499618656, + "xy_threshold": 0.08, + "gripper_dist": 0.1845537468397503, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395157716842, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752275707265533, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550479341576027, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15345795961420106, + "release_required_pad_clearance": 0.052752396707880136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5553173157403127, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007451236248016357, + "max_z_decrease": 0.007451236248016357, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510979278488136, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007451236248016357, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021317377040783205, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007451236248016357, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0074512557667496026, + "max_button_displacement": 0.12, + "button_start": [ + 0.1741181015968323, + -0.3608143627643584, + 0.7768088579177856 + ], + "button_final": [ + 0.1741181015968323, + -0.3608143627643584, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1755867785809143, + -0.3620063472437185, + 0.8076784384917556 + ], + "closest_button": [ + 0.17410705983638766, + -0.3608201444149016, + 0.772619903087616 + ], + "closest_ee_minus_button": [ + 0.0014797187445266258, + -0.0011862028288168736, + 0.03505853540413961 + ], + "button_min_z_position": [ + 0.17410184442996982, + -0.36081951856613154, + 0.7693576216697693 + ], + "min_active_finger_to_button": 0.14470296220343548, + "closest_active_finger": [ + 0.03433084487915039, + -0.34673449397087097, + 0.8081199526786804 + ], + "closest_active_finger_button": [ + 0.17412549257278445, + -0.360822319984436, + 0.7735087275505066 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13979464769363406, + 0.014087826013565008, + 0.03461122512817383 + ], + "min_contact_pad_to_button": 0.021317377040783205, + "closest_contact_pad": [ + 0.17410184442996982, + -0.3632591130995007, + 0.7905349430870701 + ], + "closest_contact_pad_button": [ + 0.17410184442996982, + -0.36081951856613154, + 0.7693576216697693 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024395945333691715, + 0.021177321417300776 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1eaebe82538cff02dc26742618d0618afc9c8bc68ce6b2c84870915be195f13d", + "visual_seed": 6058754044270897849, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0b728786c6aacda1658c6c14f816ac44b13d4cc4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2489442510018747, + -0.02797178995721619, + 1.164055147218793 + ], + "current_z": 1.164055147218793, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.3029485199947376, + "gripper_z": 1.1574143275938058, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24419679097896815, + -0.032718504108482746, + 1.1574143275938058 + ], + "object_minus_gripper": [ + 0.004747460022906547, + 0.004746714151266557, + 0.006640819624987193 + ], + "object_to_gripper_xy": 0.006713394961040951, + "object_to_gripper_z": 0.006640819624987193, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2489442510018747, + -0.051743939464719474, + 1.164055147218793 + ], + "finger_b": [ + 0.23800743925931905, + -0.02797178995721619, + 1.164055147218793 + ], + "finger_midpoint": [ + 0.2434758451305969, + -0.03985786471096783, + 1.164055147218793 + ], + "object_minus_finger_midpoint": [ + 0.005468405871277809, + 0.011886074753751644, + 0.0 + ], + "finger_gap": 0.02616732587214811, + "fingertip_max_gap": 0.09181997512627252, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013083662936074051, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164055147218793, + "object_top_z": 1.214164370762552, + "finger_top_clearance": 0.05010922354375902, + "fingertip_min_top_clearance": 0.015032767063127705, + "object_projection_between_fingers": 0.8253121147241501, + "object_to_finger_line_xy": 0.009935731497737013, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840998756313626, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0701981034998223, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32075520352560416, + -0.2984977213203731, + 0.851539505734382 + ], + "target_position": [ + 0.3105065023058927, + -0.3006613854315084, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.01047460352837899, + "xy_threshold": 0.08, + "gripper_dist": 0.1869815849078582, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539505734382, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757362470386443, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08573431195805763, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1546265688170265, + "release_required_pad_clearance": 0.052867155979028815, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7763166006536404, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007162988185882568, + "max_z_decrease": 0.007162988185882568, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035129670145741365, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007162988185882568, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021138354309469733, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007162988185882568, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007163006138752418, + "max_button_displacement": 0.12, + "button_start": [ + 0.16620643436908722, + -0.356922835111618, + 0.7768088579177856 + ], + "button_final": [ + 0.16620643436908722, + -0.356922835111618, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16675709952291096, + -0.3566967022199431, + 0.8082011895254361 + ], + "closest_button": [ + 0.16620114445686343, + -0.3569329082965851, + 0.7730767130851746 + ], + "closest_ee_minus_button": [ + 0.0005559550660475254, + 0.00023620607664198712, + 0.03512447644026151 + ], + "button_min_z_position": [ + 0.166191041469574, + -0.35692733526229853, + 0.7696458697319031 + ], + "min_active_finger_to_button": 0.14557541526825798, + "closest_active_finger": [ + 0.040023915469646454, + -0.4209383726119995, + 0.8105512261390686 + ], + "closest_active_finger_button": [ + 0.1662089228630066, + -0.35692542791366577, + 0.776318371295929 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12618500739336014, + -0.06401294469833374, + 0.03423285484313965 + ], + "min_contact_pad_to_button": 0.021138354309469733, + "closest_contact_pad": [ + 0.166191041469574, + -0.35790247316085017, + 0.7907617199158641 + ], + "closest_contact_pad_button": [ + 0.166191041469574, + -0.35692733526229853, + 0.7696458697319031 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009751378985516368, + 0.021115850183961005 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d818f25b525c8f78eb3928d1106ee9ad536962f68300ced873f03fda312488b1", + "visual_seed": 6626376866443853587, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..59999053ffef61cd05305c24111cb5cd4a66f3d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25610992892331447, + -0.026785167803863967, + 1.1614712135916125 + ], + "current_z": 1.1614712135916125, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30036476518149136, + "gripper_z": 1.154903950729693, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2511824183491268, + -0.031610987682583386, + 1.154903950729693 + ], + "object_minus_gripper": [ + 0.004927510574187666, + 0.004825819878719419, + 0.006567262861919554 + ], + "object_to_gripper_xy": 0.006897020948248219, + "object_to_gripper_z": 0.006567262861919554, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25610992892331447, + -0.050722095111943775, + 1.1614712135916125 + ], + "finger_b": [ + 0.24507999495026758, + -0.026785167803863967, + 1.1614712135916125 + ], + "finger_midpoint": [ + 0.25059496193679104, + -0.03875363145790387, + 1.1614712135916125 + ], + "object_minus_finger_midpoint": [ + 0.0055149669865234285, + 0.011968463654039904, + 0.0 + ], + "finger_gap": 0.026355946812855552, + "fingertip_max_gap": 0.09176233490416885, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01317797340642777, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1614712135916125, + "object_top_z": 1.2115139131137305, + "finger_top_clearance": 0.05004269952211793, + "fingertip_min_top_clearance": 0.01501280985663541, + "object_projection_between_fingers": 0.8248586953613642, + "object_to_finger_line_xy": 0.010017577042497347, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838116745208443, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0516429578269209, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3243893903326475, + -0.30715347540055915, + 0.8515395612827132 + ], + "target_position": [ + 0.31457178419890525, + -0.30913860642819607, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010016293495808752, + "xy_threshold": 0.08, + "gripper_dist": 0.1847844497010461, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395612827132, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556237226363603, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08536824856188628, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528775071506643, + "release_required_pad_clearance": 0.05268412428094314, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.42428418664253154, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007516145706176758, + "max_z_decrease": 0.007516145706176758, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035142429077953, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007516145706176758, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021158566298484827, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007516145706176758, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00751616725541404, + "max_button_displacement": 0.12, + "button_start": [ + 0.17027170956134796, + -0.36540007591247553, + 0.7768088579177856 + ], + "button_final": [ + 0.17027170956134796, + -0.36540007591247553, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1715075713926211, + -0.3657589551562345, + 0.8080962444072397 + ], + "closest_button": [ + 0.17026813328266147, + -0.3654100894927978, + 0.7729774117469788 + ], + "closest_ee_minus_button": [ + 0.001239438109959634, + -0.000348865663436726, + 0.035118832660260946 + ], + "button_min_z_position": [ + 0.17025423049926758, + -0.36540436744689936, + 0.7692927122116089 + ], + "min_active_finger_to_button": 0.14497074784009975, + "closest_active_finger": [ + 0.030082836747169495, + -0.3518420457839966, + 0.8105803728103638 + ], + "closest_active_finger_button": [ + 0.17027431726455688, + -0.36540284752845764, + 0.7762442231178284 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1401914805173874, + 0.01356080174446106, + 0.0343361496925354 + ], + "min_contact_pad_to_button": 0.021158566298484827, + "closest_contact_pad": [ + 0.17025423049926758, + -0.36683742058949376, + 0.7904026929434305 + ], + "closest_contact_pad_button": [ + 0.17025423049926758, + -0.36540436744689936, + 0.7692927122116089 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014330531425943982, + 0.021109980731821576 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a5641ef1722610a8c388989f016b23c488c0931e94c07e9592f6fe7bee158f90", + "visual_seed": 4984191904335627204, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..da56dba7f3199aa57e50f04644a5cee40a3503f0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2540039003950998, + -0.03487554988252516, + 1.1644534633586852 + ], + "current_z": 1.1644534633586852, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3033469553439192, + "gripper_z": 1.1578709237472937, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24909170273821352, + -0.039790130453991726, + 1.1578709237472937 + ], + "object_minus_gripper": [ + 0.004912197656886275, + 0.004914580571466563, + 0.006582539611391436 + ], + "object_to_gripper_xy": 0.006948581726781057, + "object_to_gripper_z": 0.006582539611391436, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2540039003950998, + -0.058546909335185374, + 1.1644534633586852 + ], + "finger_b": [ + 0.2425885889812638, + -0.03487554988252516, + 1.1644534633586852 + ], + "finger_midpoint": [ + 0.2482962446881818, + -0.046711229608855265, + 1.1644534633586852 + ], + "object_minus_finger_midpoint": [ + 0.005707655706918002, + 0.011835679726330102, + 0.0 + ], + "finger_gap": 0.026280079775600006, + "fingertip_max_gap": 0.0919821755801126, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0131400398878, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644534633586852, + "object_top_z": 1.214541793769497, + "finger_top_clearance": 0.05008833041081173, + "fingertip_min_top_clearance": 0.015026499123243485, + "object_projection_between_fingers": 0.811321606872559, + "object_to_finger_line_xy": 0.010282158275328046, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0484910877900563, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3751867781142637, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3260467292068938, + -0.2998340972984735, + 0.8515395700689337 + ], + "target_position": [ + 0.3170456633371446, + -0.3012737411996559, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00911546824654529, + "xy_threshold": 0.08, + "gripper_dist": 0.1881141582431006, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395700689337, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522877940136763, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537961879813137, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15688279876477118, + "release_required_pad_clearance": 0.05268980939906569, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.43521176198835476, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007531166076660156, + "max_z_decrease": 0.007531166076660156, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035077972475383815, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007531166076660156, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021241434388732962, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007531166076660156, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007531189690786415, + "max_button_displacement": 0.12, + "button_start": [ + 0.17274558544158936, + -0.3575352132320404, + 0.7768088579177856 + ], + "button_final": [ + 0.17274558544158936, + -0.3575352132320404, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17238409241525562, + -0.35832184103487236, + 0.8074768041406877 + ], + "closest_button": [ + 0.17273475229740143, + -0.3575417399406433, + 0.7724092602729797 + ], + "closest_ee_minus_button": [ + -0.000350659882145804, + -0.0007801010942290465, + 0.03506754386770794 + ], + "button_min_z_position": [ + 0.17272743582725525, + -0.35754033923149103, + 0.7692776918411255 + ], + "min_active_finger_to_button": 0.1464916800157291, + "closest_active_finger": [ + 0.03115709125995636, + -0.3427661061286926, + 0.8093275427818298 + ], + "closest_active_finger_button": [ + 0.17275011539459229, + -0.35754215717315674, + 0.7747892141342163 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14159302413463593, + 0.014776051044464111, + 0.034538328647613525 + ], + "min_contact_pad_to_button": 0.021241434388732962, + "closest_contact_pad": [ + 0.17272743582725525, + -0.35960511142272755, + 0.790418535028878 + ], + "closest_contact_pad_button": [ + 0.17272743582725525, + -0.35754033923149103, + 0.7692776918411255 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002064772191236519, + 0.021140843187752556 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e052a5ec96c8b38def0729139aaf7622909c3ee178e94694b83d81728358e56b", + "visual_seed": 504298426758359770, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8fa6cac3273fae26024867eda33b9a61e96fa9ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24887530293977256, + -0.03582778085396639, + 1.1646120754983964 + ], + "current_z": 1.1646120754983964, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.303505448274341, + "gripper_z": 1.157951501111377, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24400807721478324, + -0.040521934538032, + 1.157951501111377 + ], + "object_minus_gripper": [ + 0.004867225724989321, + 0.004694153684065616, + 0.006660574387019391 + ], + "object_to_gripper_xy": 0.006762023740539856, + "object_to_gripper_z": 0.006660574387019391, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24887530293977256, + -0.05979518761007557, + 1.1646120754983964 + ], + "finger_b": [ + 0.23817676090727696, + -0.03582778085396639, + 1.1646120754983964 + ], + "finger_midpoint": [ + 0.24352603192352476, + -0.04781148423202098, + 1.1646120754983964 + ], + "object_minus_finger_midpoint": [ + 0.0053492710162477974, + 0.011983703378054593, + 0.0 + ], + "finger_gap": 0.02624681672572625, + "fingertip_max_gap": 0.09172072181212929, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013123408362863125, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646120754983964, + "object_top_z": 1.2147158256973718, + "finger_top_clearance": 0.050103750198975394, + "fingertip_min_top_clearance": 0.015031125059692584, + "object_projection_between_fingers": 0.8338516942107631, + "object_to_finger_line_xy": 0.00976942504188793, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048360360906064645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0331014707221353, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3181162141235915, + -0.3056225266550557, + 0.8515396114632144 + ], + "target_position": [ + 0.3089710952305851, + -0.3073839439771208, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009313205170600167, + "xy_threshold": 0.08, + "gripper_dist": 0.1859151509810098, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396114632144, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592263707823062, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08731583033043315, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15316276433559436, + "release_required_pad_clearance": 0.05365791516521658, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.325622159830444, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007437407970428467, + "max_z_decrease": 0.007437407970428467, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511587354899002, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007437407970428467, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021185114309734267, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007437407970428467, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0074374281543188245, + "max_button_displacement": 0.12, + "button_start": [ + 0.16467101871967316, + -0.36364540457725514, + 0.7768088579177856 + ], + "button_final": [ + 0.16467101871967316, + -0.36364540457725514, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1656853254199024, + -0.36348418516839365, + 0.8070991691148859 + ], + "closest_button": [ + 0.16465838253498077, + -0.3636493384838103, + 0.7719987034797668 + ], + "closest_ee_minus_button": [ + 0.0010269428849216389, + 0.00016515331541666622, + 0.03510046563511904 + ], + "button_min_z_position": [ + 0.16465440392494202, + -0.36365032196044916, + 0.7693714499473572 + ], + "min_active_finger_to_button": 0.14513053905240086, + "closest_active_finger": [ + 0.03797059506177902, + -0.42550984025001526, + 0.8109984397888184 + ], + "closest_active_finger_button": [ + 0.16467441618442535, + -0.3636475801467895, + 0.7766171097755432 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12670382112264633, + -0.061862260103225764, + 0.034381330013275146 + ], + "min_contact_pad_to_button": 0.021185114309734267, + "closest_contact_pad": [ + 0.16465440392494202, + -0.3648913269764183, + 0.7905201845399243 + ], + "closest_contact_pad_button": [ + 0.16465440392494202, + -0.36365032196044916, + 0.7693714499473572 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012410050159691322, + 0.021148734592567164 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4e32abf0090bafc1ea2d2e8dc4d28b10845e7168c7cc8819b0275b08d3b2e19", + "visual_seed": 908406215057750988, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..adbe0a1ffaf6d7dc34df3320c64c967918411790 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2484384407141903, + -0.029423204802472017, + 1.1620762159260165 + ], + "current_z": 1.1620762159260165, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30096970791125066, + "gripper_z": 1.155682340902418, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24341109433042094, + -0.03419606002761978, + 1.155682340902418 + ], + "object_minus_gripper": [ + 0.0050273463837693655, + 0.0047728552251477645, + 0.006393875023598561 + ], + "object_to_gripper_xy": 0.006932125118794325, + "object_to_gripper_z": 0.006393875023598561, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2484384407141903, + -0.05356562335344684, + 1.1620762159260165 + ], + "finger_b": [ + 0.23768242577275553, + -0.029423204802472017, + 1.1620762159260165 + ], + "finger_midpoint": [ + 0.24306043324347293, + -0.04149441407795943, + 1.1620762159260165 + ], + "object_minus_finger_midpoint": [ + 0.005378007470717372, + 0.012071209275487414, + 0.0 + ], + "finger_gap": 0.026430063013750487, + "fingertip_max_gap": 0.09182724164080097, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013215031506875238, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1620762159260165, + "object_top_z": 1.2121493259677256, + "finger_top_clearance": 0.05007311004170911, + "fingertip_min_top_clearance": 0.015021933012512733, + "object_projection_between_fingers": 0.8343824344533518, + "object_to_finger_line_xy": 0.009825031991848003, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04841362082040049, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1185701588322141, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32016863518718985, + -0.3044516699292594, + 0.8515396705778265 + ], + "target_position": [ + 0.3110005880563566, + -0.306350968819359, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0093627145885749, + "xy_threshold": 0.08, + "gripper_dist": 0.18763301187341408, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396705778265, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758970979565116, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08710935234249832, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1548625812497582, + "release_required_pad_clearance": 0.05355467617124916, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1203428452602266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073544979095458984, + "max_z_decrease": 0.0073544979095458984, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511639768881416, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073544979095458984, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021147027253010018, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073544979095458984, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007354522124391137, + "max_button_displacement": 0.12, + "button_start": [ + 0.16670051217079163, + -0.3626124262809753, + 0.7768088579177856 + ], + "button_final": [ + 0.16670051217079163, + -0.3626124262809753, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1657155245301822, + -0.361348289571277, + 0.8070002533611624 + ], + "closest_button": [ + 0.16668789088726044, + -0.3626155853271484, + 0.7719202041625977 + ], + "closest_ee_minus_button": [ + -0.0009723663570782304, + 0.0012672957558713671, + 0.03508004919856478 + ], + "button_min_z_position": [ + 0.1666821986436844, + -0.36261698603630066, + 0.7694543600082397 + ], + "min_active_finger_to_button": 0.14639972782341748, + "closest_active_finger": [ + 0.03776457905769348, + -0.4227748215198517, + 0.8111125230789185 + ], + "closest_active_finger_button": [ + 0.16670487821102145, + -0.36261537671089167, + 0.7766433954238892 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12894029915332797, + -0.060159444808960016, + 0.0344691276550293 + ], + "min_contact_pad_to_button": 0.021147027253010018, + "closest_contact_pad": [ + 0.1666821986436844, + -0.36283856660710434, + 0.7906002263581955 + ], + "closest_contact_pad_button": [ + 0.1666821986436844, + -0.36261698603630066, + 0.7694543600082397 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002215805708036811, + 0.021145866349955744 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e1d26e3c249e9f53a7df5fb5ca772214bfa93effd29013ef459e5f79f084169b", + "visual_seed": 1742900200532212947, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f83bce875dd22e0b2c8a363fb985deccccfd4f49 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2515426581780737, + -0.02719464913712329, + 1.163761007110205 + ], + "current_z": 1.163761007110205, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3026545587000836, + "gripper_z": 1.1571721073922328, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2465768271905199, + -0.03192602810750003, + 1.1571721073922328 + ], + "object_minus_gripper": [ + 0.004965830987553793, + 0.004731378970376742, + 0.006588899717972163 + ], + "object_to_gripper_xy": 0.006858966712142053, + "object_to_gripper_z": 0.006588899717972163, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2515426581780737, + -0.05127495302353467, + 1.163761007110205 + ], + "finger_b": [ + 0.24081474312327075, + -0.02719464913712329, + 1.163761007110205 + ], + "finger_midpoint": [ + 0.2461787006506722, + -0.03923480108032898, + 1.163761007110205 + ], + "object_minus_finger_midpoint": [ + 0.005363957527401486, + 0.01204015194320569, + 0.0 + ], + "finger_gap": 0.026361889095529303, + "fingertip_max_gap": 0.0916038500379252, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013180944547764657, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163761007110205, + "object_top_z": 1.2137714541031661, + "finger_top_clearance": 0.0500104469929612, + "fingertip_min_top_clearance": 0.015003134097888358, + "object_projection_between_fingers": 0.8343934175734634, + "object_to_finger_line_xy": 0.009799428775803191, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048301925018962605, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0566346907334798, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3252167680402699, + -0.3044746905856457, + 0.8515395616468743 + ], + "target_position": [ + 0.3157586249899838, + -0.3063728932713451, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009646742631358595, + "xy_threshold": 0.08, + "gripper_dist": 0.18549335617935006, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395616468743, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551254964048314, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08521133082845943, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1537562075672549, + "release_required_pad_clearance": 0.052605665414229716, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.27411222087775533, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00734400749206543, + "max_z_decrease": 0.00734400749206543, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518006737333001, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00734400749206543, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021125976321885398, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00734400749206543, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007344026610427367, + "max_button_displacement": 0.12, + "button_start": [ + 0.17145855724811548, + -0.36263436079025263, + 0.7768088579177856 + ], + "button_final": [ + 0.17145855724811548, + -0.36263436079025263, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17260911207781401, + -0.3610007500215382, + 0.807245374227565 + ], + "closest_button": [ + 0.1714460551738739, + -0.3626380860805511, + 0.7721226811408997 + ], + "closest_ee_minus_button": [ + 0.0011630569039401129, + 0.001637336059012895, + 0.03512269308666538 + ], + "button_min_z_position": [ + 0.171442449092865, + -0.36263898015022267, + 0.7694648504257202 + ], + "min_active_finger_to_button": 0.14432914307950198, + "closest_active_finger": [ + 0.04645270109176636, + -0.4260966181755066, + 0.810673713684082 + ], + "closest_active_finger_button": [ + 0.1714614629745483, + -0.36263695359230036, + 0.7763723731040955 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12500876188278195, + -0.06345966458320623, + 0.03430134057998657 + ], + "min_contact_pad_to_button": 0.021125976321885398, + "closest_contact_pad": [ + 0.171442449092865, + -0.36263898015022267, + 0.7905908267476056 + ], + "closest_contact_pad_button": [ + 0.171442449092865, + -0.36263898015022267, + 0.7694648504257202 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021125976321885398 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1547a058a4a5f162eea9e8d77c0c7be547e5d9e9f8f3749f519983fe2bf02eef", + "visual_seed": 5487595296067545462, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad337f59359a0c9cb6688fc821424d268f2f4e8c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24823126862625766, + -0.02820509649733206, + 1.1610520499838366 + ], + "current_z": 1.1610520499838366, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.2999456015737154, + "gripper_z": 1.1545574660331346, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24324155049406307, + -0.03297354997919369, + 1.1545574660331346 + ], + "object_minus_gripper": [ + 0.004989718132194593, + 0.004768453481861629, + 0.006494583950702015 + ], + "object_to_gripper_xy": 0.0069018429167454825, + "object_to_gripper_z": 0.006494583950702015, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24823126862625766, + -0.05224299426561484, + 1.1610520499838366 + ], + "finger_b": [ + 0.23739103701654538, + -0.02820509649733206, + 1.1610520499838366 + ], + "finger_midpoint": [ + 0.24281115282140153, + -0.04022404538147345, + 1.1610520499838366 + ], + "object_minus_finger_midpoint": [ + 0.005420115804856129, + 0.01201894888414139, + 0.0 + ], + "finger_gap": 0.02636913253162909, + "fingertip_max_gap": 0.0917336366230464, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318456626581454, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1610520499838366, + "object_top_z": 1.2111751191598674, + "finger_top_clearance": 0.05012306917603082, + "fingertip_min_top_clearance": 0.015036920752809246, + "object_projection_between_fingers": 0.8310004934013513, + "object_to_finger_line_xy": 0.009881871499042186, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483668183115232, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.02088696252752, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32146601698460797, + -0.3075877834669724, + 0.8515395678203164 + ], + "target_position": [ + 0.3117864394101479, + -0.3092613668622875, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009823192118708917, + "xy_threshold": 0.08, + "gripper_dist": 0.18492826792311734, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395678203164, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521415206837455, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08521721755270338, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15392777827160725, + "release_required_pad_clearance": 0.05260860877635169, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2797646178579909, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007254600524902344, + "max_z_decrease": 0.007254600524902344, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351121473439417, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007254600524902344, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02124017852866093, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007254600524902344, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007254620782639822, + "max_button_displacement": 0.12, + "button_start": [ + 0.16748636960983276, + -0.36552283167839045, + 0.7768088579177856 + ], + "button_final": [ + 0.16748636960983276, + -0.36552283167839045, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1691065394486814, + -0.36563598842502715, + 0.8048160246919543 + ], + "closest_button": [ + 0.16747026145458221, + -0.3655279874801635, + 0.7697421908378601 + ], + "closest_ee_minus_button": [ + 0.0016362779940991834, + -0.00010800094486362877, + 0.03507383385409424 + ], + "button_min_z_position": [ + 0.1674700379371643, + -0.3655280470848083, + 0.7695542573928833 + ], + "min_active_finger_to_button": 0.14427956693521943, + "closest_active_finger": [ + 0.02854789048433304, + -0.34787216782569885, + 0.8077618479728699 + ], + "closest_active_finger_button": [ + 0.1674925982952118, + -0.36553069949150074, + 0.7731332778930664 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13894470781087875, + 0.01765853166580189, + 0.03462857007980347 + ], + "min_contact_pad_to_button": 0.02124017852866093, + "closest_contact_pad": [ + 0.1674700379371643, + -0.36697265748301267, + 0.7907452527618316 + ], + "closest_contact_pad_button": [ + 0.1674700379371643, + -0.3655280470848083, + 0.7695542573928833 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014446103982043712, + 0.021190995368948307 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5a9eb26fb76ad90371f087a388d952cd9c9777113274dcc9396ec36aa695f37e", + "visual_seed": 3197410526089919775, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2df815a43adcddf32cd3581658fec2a5d366d69b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2498686782442448, + -0.035696799785585015, + 1.1654552864184788 + ], + "current_z": 1.1654552864184788, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.3043488976130023, + "gripper_z": 1.1587934947195155, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2448365706608977, + -0.04050871983906114, + 1.1587934947195155 + ], + "object_minus_gripper": [ + 0.005032107583347101, + 0.004811920053476124, + 0.006661791698963304 + ], + "object_to_gripper_xy": 0.006962519754472878, + "object_to_gripper_z": 0.006661791698963304, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2498686782442448, + -0.05993349904231093, + 1.1654552864184788 + ], + "finger_b": [ + 0.23916593802838243, + -0.035696799785585015, + 1.1654552864184788 + ], + "finger_midpoint": [ + 0.24451730813631362, + -0.047815149413947974, + 1.1654552864184788 + ], + "object_minus_finger_midpoint": [ + 0.005351370107931186, + 0.01211834962836296, + 0.0 + ], + "finger_gap": 0.026494645477703905, + "fingertip_max_gap": 0.09165107559861024, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013247322738851956, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654552864184788, + "object_top_z": 1.2154921122589863, + "finger_top_clearance": 0.050036825840507504, + "fingertip_min_top_clearance": 0.01501104775215225, + "object_projection_between_fingers": 0.8368174396917151, + "object_to_finger_line_xy": 0.009790623394187896, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048325537799305124, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9840447485519144, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3215963573626082, + -0.3069987798744618, + 0.8515395964107593 + ], + "target_position": [ + 0.3128603922507564, + -0.3086199670593994, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00888511870061949, + "xy_threshold": 0.08, + "gripper_dist": 0.18612389985885802, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395964107593, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570945682265581, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08687115205198657, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1536393941284093, + "release_required_pad_clearance": 0.05343557602599329, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8850614102383814, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007638335227966309, + "max_z_decrease": 0.007638335227966309, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513281340447898, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007638335227966309, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021121342280701325, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007638335227966309, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007638357676201265, + "max_button_displacement": 0.12, + "button_start": [ + 0.1685603111982345, + -0.36488142609596247, + 0.7768088579177856 + ], + "button_final": [ + 0.1685603111982345, + -0.36488142609596247, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16928661528411984, + -0.3641104311600786, + 0.8076258189192685 + ], + "closest_button": [ + 0.16854946315288538, + -0.36488750576972956, + 0.7725093364715576 + ], + "closest_ee_minus_button": [ + 0.0007371521312344587, + 0.0007770746096509851, + 0.03511648244771093 + ], + "button_min_z_position": [ + 0.16854235529899592, + -0.3648859560489654, + 0.7691705226898193 + ], + "min_active_finger_to_button": 0.1451754500114831, + "closest_active_finger": [ + 0.04254969209432602, + -0.4282960891723633, + 0.8107860684394836 + ], + "closest_active_finger_button": [ + 0.1685634553432464, + -0.36488407850265503, + 0.7765025496482849 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12601376324892039, + -0.06341201066970825, + 0.03428351879119873 + ], + "min_contact_pad_to_button": 0.021121342280701325, + "closest_contact_pad": [ + 0.16854235529899592, + -0.36527789556161677, + 0.7902882281323376 + ], + "closest_contact_pad_button": [ + 0.16854235529899592, + -0.3648859560489654, + 0.7691705226898193 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003919395126513736, + 0.02111770544251823 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "630b4af3d01a5bbcd7d82a6fe464310e0cc1e205a60353d3752ac3066198a3b6", + "visual_seed": 4675597378479860984, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c64cf99d057938a0373b855e83a94a7a14cfeac2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25264028938516536, + -0.029999001708694913, + 1.1634451419228844 + ], + "current_z": 1.1634451419228844, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3023386935127631, + "gripper_z": 1.1568309008206006, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2476424355919767, + -0.03478623370065828, + 1.1568309008206006 + ], + "object_minus_gripper": [ + 0.00499785379318865, + 0.0047872319919633685, + 0.006614241102283813 + ], + "object_to_gripper_xy": 0.006920703192809799, + "object_to_gripper_z": 0.006614241102283813, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25264028938516536, + -0.0542144829524231, + 1.1634451419228844 + ], + "finger_b": [ + 0.24196101725375987, + -0.029999001708694913, + 1.1634451419228844 + ], + "finger_midpoint": [ + 0.2473006533194626, + -0.042106742330559006, + 1.1634451419228844 + ], + "object_minus_finger_midpoint": [ + 0.0053396360657027575, + 0.012107740621864094, + 0.0 + ], + "finger_gap": 0.026465758729384, + "fingertip_max_gap": 0.09190029231925595, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013232879364692007, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634451419228844, + "object_top_z": 1.2134596615273145, + "finger_top_clearance": 0.05001451960443015, + "fingertip_min_top_clearance": 0.015004355881329012, + "object_projection_between_fingers": 0.8371774287014586, + "object_to_finger_line_xy": 0.009771256385995856, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04845014615962798, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2506552828539006, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31953052035151974, + -0.3034048637447199, + 0.8515395788475238 + ], + "target_position": [ + 0.31082450785386373, + -0.3049583226982455, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008843522393799404, + "xy_threshold": 0.08, + "gripper_dist": 0.1856889183786911, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395788475238, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756217259046235, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0869684391311109, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15339733956530185, + "release_required_pad_clearance": 0.05348421956555545, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.981026349207609, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007463574409484863, + "max_z_decrease": 0.007463574409484863, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514579948602659, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007463574409484863, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021229809630719396, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007463574409484863, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007463598725920818, + "max_button_displacement": 0.12, + "button_start": [ + 0.1665244400501251, + -0.36121979355812067, + 0.7768088579177856 + ], + "button_final": [ + 0.1665244400501251, + -0.36121979355812067, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16719261677483213, + -0.3623433872544697, + 0.8079416068364159 + ], + "closest_button": [ + 0.16651895642280573, + -0.36123096942901606, + 0.7728198766708374 + ], + "closest_ee_minus_button": [ + 0.0006736603520264006, + -0.0011124178254536266, + 0.03512173016557851 + ], + "button_min_z_position": [ + 0.1665057986974716, + -0.36122372746467585, + 0.7693452835083008 + ], + "min_active_finger_to_button": 0.14542973536469972, + "closest_active_finger": [ + 0.02584920823574066, + -0.34766751527786255, + 0.8103201389312744 + ], + "closest_active_finger_button": [ + 0.16652616858482355, + -0.36122417449951166, + 0.7760270237922668 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406769603490829, + 0.013556659221649114, + 0.03429311513900757 + ], + "min_contact_pad_to_button": 0.021229809630719396, + "closest_contact_pad": [ + 0.1665057986974716, + -0.36353629805453697, + 0.790448762705426 + ], + "closest_contact_pad_button": [ + 0.1665057986974716, + -0.36122372746467585, + 0.7693452835083008 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002312570589861118, + 0.021103479197125186 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e00c277218471d5b33ff15b1a93fc20aae6db6762a97059a520661688178e717", + "visual_seed": 4604908428746462661, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..64961c4e08616eb751ef3faf324688f86bbe7d4d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24956804106797276, + -0.03266537996475583, + 1.1643945853257764 + ], + "current_z": 1.1643945853257764, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30328807731101026, + "gripper_z": 1.1577790963560872, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2446232248162139, + -0.03740133757478288, + 1.1577790963560872 + ], + "object_minus_gripper": [ + 0.0049448162517588545, + 0.004735957610027049, + 0.0066154889696892205 + ], + "object_to_gripper_xy": 0.006846933784376157, + "object_to_gripper_z": 0.0066154889696892205, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24956804106797276, + -0.05666859581699307, + 1.1643945853257764 + ], + "finger_b": [ + 0.238777558684374, + -0.03266537996475583, + 1.1643945853257764 + ], + "finger_midpoint": [ + 0.24417279987617338, + -0.04466698789087445, + 1.1643945853257764 + ], + "object_minus_finger_midpoint": [ + 0.005395241191799377, + 0.012001607926118617, + 0.0 + ], + "finger_gap": 0.026317083450106096, + "fingertip_max_gap": 0.09163785773649011, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013158541725053045, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1643945853257764, + "object_top_z": 1.2145062422170958, + "finger_top_clearance": 0.050111656891319356, + "fingertip_min_top_clearance": 0.015033497067395806, + "object_projection_between_fingers": 0.8318851006547074, + "object_to_finger_line_xy": 0.00984175462658421, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048318928868245056, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0038757459545327, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3248726738106553, + -0.3075318762412843, + 0.8515395732329095 + ], + "target_position": [ + 0.3152176917857665, + -0.3092403139248464, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009804970026447903, + "xy_threshold": 0.08, + "gripper_dist": 0.18591690225489196, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395732329095, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521928958992244, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496533748916361, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.154859264139245, + "release_required_pad_clearance": 0.05248266874458181, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956467514077698, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007685542106628418, + "max_z_decrease": 0.007685542106628418, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512600668274486, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007685542106628418, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021143212415764997, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007685542106628418, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007685568706790937, + "max_button_displacement": 0.12, + "button_start": [ + 0.1709176152944565, + -0.3655017614364624, + 0.7768088579177856 + ], + "button_final": [ + 0.1709176152944565, + -0.3655017614364624, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16941817988746644, + -0.36612128880387496, + 0.8054155760509103 + ], + "closest_button": [ + 0.17090018093585974, + -0.3655050992965698, + 0.7703262567520142 + ], + "closest_ee_minus_button": [ + -0.0014820010483933, + -0.0006161895073051316, + 0.03508931929889614 + ], + "button_min_z_position": [ + 0.17089775204658508, + -0.3655055463314056, + 0.7691233158111572 + ], + "min_active_finger_to_button": 0.14729948176673946, + "closest_active_finger": [ + 0.028400853276252747, + -0.35121774673461914, + 0.8102257251739502 + ], + "closest_active_finger_button": [ + 0.1709205210208893, + -0.3655075132846832, + 0.7758588194847107 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14251966774463656, + 0.014289766550064087, + 0.0343669056892395 + ], + "min_contact_pad_to_button": 0.021143212415764997, + "closest_contact_pad": [ + 0.17089775204658508, + -0.36724079859136494, + 0.7901952006545324 + ], + "closest_contact_pad_button": [ + 0.17089775204658508, + -0.3655055463314056, + 0.7691233158111572 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017352522599593523, + 0.021071884843375188 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "82bb806e444dc323ccb6c957b387c802fdd5653cd346cdb871570e90a5ea6a0a", + "visual_seed": 8291905089075952975, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fb0a477c27eaa5b38e3a39559f7be89162e73db4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25131828205268414, + -0.03155281583446483, + 1.1649095832581864 + ], + "current_z": 1.1649095832581864, + "required_z": 0.8611065080147663, + "initial_z": 0.7611065080147663, + "lift_margin": 0.3038030752434201, + "gripper_z": 1.158361024732629, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24652846600937836, + -0.03634582338832762, + 1.158361024732629 + ], + "object_minus_gripper": [ + 0.004789816043305778, + 0.004793007553862791, + 0.0065485585255573575 + ], + "object_to_gripper_xy": 0.006776079924270019, + "object_to_gripper_z": 0.0065485585255573575, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25131828205268414, + -0.05528429252563205, + 1.1649095832581864 + ], + "finger_b": [ + 0.240235660933962, + -0.03155281583446483, + 1.1649095832581864 + ], + "finger_midpoint": [ + 0.24577697149332306, + -0.04341855418004844, + 1.1649095832581864 + ], + "object_minus_finger_midpoint": [ + 0.005541310559361079, + 0.011865738345583611, + 0.0 + ], + "finger_gap": 0.02619174443989096, + "fingertip_max_gap": 0.09185890326115595, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013095872219945485, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1649095832581864, + "object_top_z": 1.2150231875967359, + "finger_top_clearance": 0.0501136043385495, + "fingertip_min_top_clearance": 0.015034081301564816, + "object_projection_between_fingers": 0.8209575040883439, + "object_to_finger_line_xy": 0.010041597853842184, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842945163057798, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0862693711264766, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3207207871887745, + -0.30420169127797403, + 0.8515395688864155 + ], + "target_position": [ + 0.3112597973221343, + -0.30593666275696746, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009618755391919934, + "xy_threshold": 0.08, + "gripper_dist": 0.1850686125075706, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395688864155, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528609447061682, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560584047504448, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15386283808208967, + "release_required_pad_clearance": 0.05280292023752224, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6525183310128196, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074083805084228516, + "max_z_decrease": 0.0074083805084228516, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035084610547215345, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074083805084228516, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02120578139311912, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074083805084228516, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0074084011468865995, + "max_button_displacement": 0.12, + "button_start": [ + 0.16695971786975855, + -0.3621981143951415, + 0.7768088579177856 + ], + "button_final": [ + 0.16695971786975855, + -0.3621981143951415, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16749859537390624, + -0.3609717617853245, + 0.8045802360659164 + ], + "closest_button": [ + 0.16694323718547815, + -0.36220353841781605, + 0.7695216536521912 + ], + "closest_ee_minus_button": [ + 0.0005553581884280845, + 0.0012317766324915769, + 0.03505858241372528 + ], + "button_min_z_position": [ + 0.1669431030750274, + -0.3622035682201385, + 0.7694004774093628 + ], + "min_active_finger_to_button": 0.1448087215327124, + "closest_active_finger": [ + 0.03958207368850708, + -0.421732097864151, + 0.8106509447097778 + ], + "closest_active_finger_button": [ + 0.16696497797965998, + -0.3622024059295654, + 0.7760189175605774 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1273829042911529, + -0.05952969193458563, + 0.03463202714920044 + ], + "min_contact_pad_to_button": 0.02120578139311912, + "closest_contact_pad": [ + 0.1669431030750274, + -0.3623736383562709, + 0.7906055768111943 + ], + "closest_contact_pad_button": [ + 0.1669431030750274, + -0.3622035682201385, + 0.7694004774093628 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001700701361324053, + 0.021205099401831462 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c5e87005f2d07e2ef85f8bc6c86ba8239639a9221b58247211afccbdfdcd6cab", + "visual_seed": 32811730489062860, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ced37a616400038d1e5057459904c429be3b2fb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2534765750843003, + -0.03352152671778693, + 1.1639787490475046 + ], + "current_z": 1.1639787490475046, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30287230063738324, + "gripper_z": 1.1574278757414282, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24846144640803672, + -0.038317071410725156, + 1.1574278757414282 + ], + "object_minus_gripper": [ + 0.005015128676263608, + 0.0047955446929382264, + 0.006550873306076399 + ], + "object_to_gripper_xy": 0.006938931080609574, + "object_to_gripper_z": 0.006550873306076399, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2534765750843003, + -0.05760091429224506, + 1.1639787490475046 + ], + "finger_b": [ + 0.24261370702729274, + -0.03352152671778693, + 1.1639787490475046 + ], + "finger_midpoint": [ + 0.24804514105579653, + -0.045561220505015994, + 1.1639787490475046 + ], + "object_minus_finger_midpoint": [ + 0.005431434028503795, + 0.012039693787229064, + 0.0 + ], + "finger_gap": 0.02641626030279313, + "fingertip_max_gap": 0.09169082320224964, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013208130151396566, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1639787490475046, + "object_top_z": 1.214073607991069, + "finger_top_clearance": 0.05009485894356436, + "fingertip_min_top_clearance": 0.015028457683069273, + "object_projection_between_fingers": 0.83089893679268, + "object_to_finger_line_xy": 0.009901901598358704, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834541160112482, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9489245254153195, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3212568004293259, + -0.3000963848118102, + 0.8515396015918169 + ], + "target_position": [ + 0.3118637831445066, + -0.30186321108037656, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009557742870375353, + "xy_threshold": 0.08, + "gripper_dist": 0.1859483851273469, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396015918169, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550646629170966, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560968559268266, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15410943457887974, + "release_required_pad_clearance": 0.05280484279634133, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6561069153246741, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007315874099731445, + "max_z_decrease": 0.007315874099731445, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504870940331663, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007315874099731445, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02125202315861327, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007315874099731445, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007315894703586819, + "max_button_displacement": 0.12, + "button_start": [ + 0.1675637066364288, + -0.3581246733665466, + 0.7768088579177856 + ], + "button_final": [ + 0.1675637066364288, + -0.3581246733665466, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1683165961958588, + -0.3579615051800897, + 0.8072269478724248 + ], + "closest_button": [ + 0.16755144298076627, + -0.35812956094741816, + 0.7721869945526123 + ], + "closest_ee_minus_button": [ + 0.0007651532150925178, + 0.00016805576732847882, + 0.03503995331981247 + ], + "button_min_z_position": [ + 0.16754734516143796, + -0.3581304848194121, + 0.7694929838180542 + ], + "min_active_finger_to_button": 0.1454559428732316, + "closest_active_finger": [ + 0.04007110744714737, + -0.4189632534980774, + 0.8107951283454895 + ], + "closest_active_finger_button": [ + 0.16756889224052426, + -0.3581283092498779, + 0.7761417627334595 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274977847933769, + -0.06083494424819952, + 0.03465336561203003 + ], + "min_contact_pad_to_button": 0.02125202315861327, + "closest_contact_pad": [ + 0.16754734516143796, + -0.359504122499771, + 0.7907005675525897 + ], + "closest_contact_pad_button": [ + 0.16754734516143796, + -0.3581304848194121, + 0.7694929838180542 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013736376803588635, + 0.021207583734535462 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c86848fe59d386256b2ee1391435663c06570e1f507872e8c3e63a78c110c211", + "visual_seed": 2484904371402096521, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9947ba9123550e21d09028a4d4dd189ddc8ec4a7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24649865818024463, + -0.037339810932501334, + 1.1616810460068325 + ], + "current_z": 1.1616810460068325, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30057459759671135, + "gripper_z": 1.1550841674529155, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24165860906616432, + -0.042040811664422195, + 1.1550841674529155 + ], + "object_minus_gripper": [ + 0.004840049114080314, + 0.004701000731920861, + 0.006596878553916996 + ], + "object_to_gripper_xy": 0.006747257465684121, + "object_to_gripper_z": 0.006596878553916996, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24649865818024463, + -0.06132696181654874, + 1.1616810460068325 + ], + "finger_b": [ + 0.23585354568158634, + -0.037339810932501334, + 1.1616810460068325 + ], + "finger_midpoint": [ + 0.2411761019309155, + -0.049333386374525036, + 1.1616810460068325 + ], + "object_minus_finger_midpoint": [ + 0.005322556249329147, + 0.011993575442023702, + 0.0 + ], + "finger_gap": 0.026243129151134914, + "fingertip_max_gap": 0.09180321760369026, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013121564575567457, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1616810460068325, + "object_top_z": 1.2118483408808054, + "finger_top_clearance": 0.05016729487397287, + "fingertip_min_top_clearance": 0.01505018846219186, + "object_projection_between_fingers": 0.8354608401477812, + "object_to_finger_line_xy": 0.009730010404339785, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840160880184513, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9708877653271742, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3242963283776872, + -0.3072869592415761, + 0.8515396138681841 + ], + "target_position": [ + 0.31537658134549035, + -0.3087944268798309, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009046233790852945, + "xy_threshold": 0.08, + "gripper_dist": 0.1835644759806189, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396138681841, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525672774590876, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496538419904047, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1523664821946683, + "release_required_pad_clearance": 0.05248269209952024, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956466084394806, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007564246654510498, + "max_z_decrease": 0.007564246654510498, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515890892472861, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007564246654510498, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02138094535262663, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007564246654510498, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007564268024842782, + "max_button_displacement": 0.12, + "button_start": [ + 0.17107650637626648, + -0.3650558888912201, + 0.7768088579177856 + ], + "button_final": [ + 0.17107650637626648, + -0.3650558888912201, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1728172932796581, + -0.36681244971072935, + 0.8076071628001055 + ], + "closest_button": [ + 0.1710665076971054, + -0.3650613129138946, + 0.7725355625152588 + ], + "closest_ee_minus_button": [ + 0.0017507855825527052, + -0.0017511367968347513, + 0.03507160028484668 + ], + "button_min_z_position": [ + 0.17105916142463684, + -0.3650606274604797, + 0.7692446112632751 + ], + "min_active_finger_to_button": 0.14436263984468165, + "closest_active_finger": [ + 0.03163813799619675, + -0.3508704602718353, + 0.8090494275093079 + ], + "closest_active_finger_button": [ + 0.17108245193958285, + -0.365062952041626, + 0.7744889259338379 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1394443139433861, + 0.01419249176979065, + 0.03456050157546997 + ], + "min_contact_pad_to_button": 0.02138094535262663, + "closest_contact_pad": [ + 0.17105916142463684, + -0.3681167383486287, + 0.7904060150544073 + ], + "closest_contact_pad_button": [ + 0.17105916142463684, + -0.3650606274604797, + 0.7692446112632751 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030561108881489996, + 0.021161403791132183 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5105d2c283710216b70ffa0f77ac5b2c0767e2096727fd2a3dea00dfc43566d4", + "visual_seed": 7378565339243375482, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a1113ec5b460bd900a2e5f7b86f63417dd994cbe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2477280370544226, + -0.03579255357752643, + 1.1653596457385311 + ], + "current_z": 1.1653596457385311, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3042531973284097, + "gripper_z": 1.1589475567135903, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24281046794315092, + -0.040525504819333605, + 1.1589475567135903 + ], + "object_minus_gripper": [ + 0.004917569111271669, + 0.004732951241807178, + 0.006412089024940837 + ], + "object_to_gripper_xy": 0.006825196951111179, + "object_to_gripper_z": 0.006412089024940837, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2477280370544226, + -0.06000443675041709, + 1.1653596457385311 + ], + "finger_b": [ + 0.2372126726215649, + -0.03579255357752643, + 1.1653596457385311 + ], + "finger_midpoint": [ + 0.24247035483799373, + -0.04789849516397176, + 1.1653596457385311 + ], + "object_minus_finger_midpoint": [ + 0.005257682216428861, + 0.012105941586445332, + 0.0 + ], + "finger_gap": 0.026396745555721725, + "fingertip_max_gap": 0.09187915459497215, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013198372777860868, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1653596457385311, + "object_top_z": 1.2153799017204951, + "finger_top_clearance": 0.050020255981964024, + "fingertip_min_top_clearance": 0.015006076794589207, + "object_projection_between_fingers": 0.8413106120699168, + "object_to_finger_line_xy": 0.009645006223637833, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048439577297486075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1812257844685359, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3264284099427483, + -0.3007856070738961, + 0.8515395103292029 + ], + "target_position": [ + 0.3176480006635854, + -0.3023778542469298, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008923611274010304, + "xy_threshold": 0.08, + "gripper_dist": 0.18537963776858246, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395103292029, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544079494025661, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08644978970705129, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15361416605096453, + "release_required_pad_clearance": 0.05322489485352565, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4713695070447073, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007109701633453369, + "max_z_decrease": 0.007109701633453369, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035045449215740744, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007109701633453369, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02131363043464036, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007109701633453369, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007109723165733607, + "max_button_displacement": 0.12, + "button_start": [ + 0.1733479201793671, + -0.3586392998695373, + 0.7768088579177856 + ], + "button_final": [ + 0.1733479201793671, + -0.3586392998695373, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1728470078698582, + -0.35950870780505845, + 0.8076329024898996 + ], + "closest_button": [ + 0.17333695292472842, + -0.35864415764808655, + 0.7726015448570251 + ], + "closest_ee_minus_button": [ + -0.0004899450548702111, + -0.0008645501569718994, + 0.03503135763287446 + ], + "button_min_z_position": [ + 0.17333124577999115, + -0.3586446046829223, + 0.7696991562843323 + ], + "min_active_finger_to_button": 0.14661937510919187, + "closest_active_finger": [ + 0.031803444027900696, + -0.3426564633846283, + 0.8079257011413574 + ], + "closest_active_finger_button": [ + 0.1733550727367401, + -0.35864597558975214, + 0.773216724395752 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14155162870883942, + 0.015989512205123846, + 0.03470897674560547 + ], + "min_contact_pad_to_button": 0.02131363043464036, + "closest_contact_pad": [ + 0.17333124577999115, + -0.36093765964170843, + 0.7908890770312443 + ], + "closest_contact_pad_button": [ + 0.17333124577999115, + -0.3586446046829223, + 0.7696991562843323 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022930549587861226, + 0.02118992074691206 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b1792b4001e1dcd79a2ed9a9610a2401eeca2bd7416ea820eca01388d40720b9", + "visual_seed": 7160512852096502634, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..feab9fad9369a424e8e368c9ad1f09df4364139e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24898780361236897, + -0.027261735502515014, + 1.1646988456170821 + ], + "current_z": 1.1646988456170821, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30359239720696096, + "gripper_z": 1.1581357651773143, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2440510554838884, + -0.03204948748462333, + 1.1581357651773143 + ], + "object_minus_gripper": [ + 0.004936748128480578, + 0.004787751982108315, + 0.006563080439767832 + ], + "object_to_gripper_xy": 0.006877067043895863, + "object_to_gripper_z": 0.006563080439767832, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24898780361236897, + -0.051195333185317264, + 1.1646988456170821 + ], + "finger_b": [ + 0.23802965481855473, + -0.027261735502515014, + 1.1646988456170821 + ], + "finger_midpoint": [ + 0.24350872921546185, + -0.03922853434391614, + 1.1646988456170821 + ], + "object_minus_finger_midpoint": [ + 0.005479074396907119, + 0.011966798841401127, + 0.0 + ], + "finger_gap": 0.026322958098010368, + "fingertip_max_gap": 0.09166003406209713, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013161479049005186, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646988456170821, + "object_top_z": 1.214774166065996, + "finger_top_clearance": 0.05007532044891394, + "fingertip_min_top_clearance": 0.01502259613467418, + "object_projection_between_fingers": 0.8266974306953909, + "object_to_finger_line_xy": 0.009963467008643626, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04833001703104857, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.020523925496718, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3244599970056285, + -0.3020868593911966, + 0.8515395976580526 + ], + "target_position": [ + 0.31498912831617426, + -0.3039447381518512, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009651376441843723, + "xy_threshold": 0.08, + "gripper_dist": 0.18604443885713118, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395976580526, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562537272950569, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560471506264165, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15401200887498026, + "release_required_pad_clearance": 0.05280235753132083, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6513177363918565, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007680237293243408, + "max_z_decrease": 0.007680237293243408, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514563920056486, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007680237293243408, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02127731588361147, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007680237293243408, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007680258655384147, + "max_button_displacement": 0.12, + "button_start": [ + 0.17068906128406525, + -0.3602061867713928, + 0.7768088579177856 + ], + "button_final": [ + 0.17068906128406525, + -0.3602061867713928, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17132039431324986, + -0.36171267486584624, + 0.8077679265815899 + ], + "closest_button": [ + 0.1706845760345459, + -0.36021807789802546, + 0.7726598381996155 + ], + "closest_ee_minus_button": [ + 0.000635818278703959, + -0.0014945969678207827, + 0.035108088381974434 + ], + "button_min_z_position": [ + 0.17067144811153412, + -0.3602104187011718, + 0.7691286206245422 + ], + "min_active_finger_to_button": 0.14545290071684097, + "closest_active_finger": [ + 0.029926255345344543, + -0.34752270579338074, + 0.8108015060424805 + ], + "closest_active_finger_button": [ + 0.17069168388843536, + -0.3602088093757629, + 0.7764401435852051 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14076542854309082, + 0.012686103582382147, + 0.03436136245727539 + ], + "min_contact_pad_to_button": 0.02127731588361147, + "closest_contact_pad": [ + 0.17067144811153412, + -0.3628595630848324, + 0.790240375768194 + ], + "closest_contact_pad_button": [ + 0.17067144811153412, + -0.3602104187011718, + 0.7691286206245422 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026491443836605955, + 0.02111175514365171 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e06393c1cd9bd0ed7807764eaa136b51966301c7e9141ac62aaed1974e01a3b7", + "visual_seed": 8258116774362278152, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..19ec870c5f63d9652d643f1d14042dd15a657249 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24614705069923332, + -0.036751668865351354, + 1.1625020844369165 + ], + "current_z": 1.1625020844369165, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3013956360267954, + "gripper_z": 1.1559088188361153, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24135170540033762, + -0.04160141063667942, + 1.1559088188361153 + ], + "object_minus_gripper": [ + 0.004795345298895692, + 0.0048497417713280686, + 0.006593265600801201 + ], + "object_to_gripper_xy": 0.006820214936804069, + "object_to_gripper_z": 0.006593265600801201, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24614705069923332, + -0.06035693974249706, + 1.1625020844369165 + ], + "finger_b": [ + 0.23492164960909223, + -0.036751668865351354, + 1.1625020844369165 + ], + "finger_midpoint": [ + 0.24053435015416277, + -0.04855430430392421, + 1.1625020844369165 + ], + "object_minus_finger_midpoint": [ + 0.0056127005450705425, + 0.011802635438572857, + 0.0 + ], + "finger_gap": 0.026138447597704877, + "fingertip_max_gap": 0.09223976851958743, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013069223798852442, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1625020844369165, + "object_top_z": 1.2127103313613206, + "finger_top_clearance": 0.050208246924404065, + "fingertip_min_top_clearance": 0.015062474077321253, + "object_projection_between_fingers": 0.8155646543808032, + "object_to_finger_line_xy": 0.010137504625969202, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048619884259793716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4197080216241906, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 332, + "max_stable_success_frames": 332, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32282307942065364, + -0.3048794534957414, + 0.8515395729008399 + ], + "target_position": [ + 0.31285585487565915, + -0.30695341091735884, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010180710413179554, + "xy_threshold": 0.08, + "gripper_dist": 0.18599724579145913, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395729008399, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550843064851741, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507923082882195, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15408816076211354, + "release_required_pad_clearance": 0.052539615414410976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1480374940682934, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007482349872589111, + "max_z_decrease": 0.007482349872589111, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035131855710537375, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007482349872589111, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021216291186149344, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007482349872589111, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007482370461917064, + "max_button_displacement": 0.12, + "button_start": [ + 0.16855578124523163, + -0.36321488022804266, + 0.7768088579177856 + ], + "button_final": [ + 0.16855578124523163, + -0.36321488022804266, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16700019935758154, + -0.36431495207760595, + 0.8059504410705548 + ], + "closest_button": [ + 0.16853980720043182, + -0.36321577429771423, + 0.7708695530891418 + ], + "closest_ee_minus_button": [ + -0.001539607842850288, + -0.0010991777798917135, + 0.035080887981412956 + ], + "button_min_z_position": [ + 0.16853861510753632, + -0.3632185459136963, + 0.7693265080451965 + ], + "min_active_finger_to_button": 0.14736531152532356, + "closest_active_finger": [ + 0.026052124798297882, + -0.34822893142700195, + 0.81038498878479 + ], + "closest_active_finger_button": [ + 0.16855935752391815, + -0.3632197678089142, + 0.7759829759597778 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14250723272562027, + 0.014990836381912231, + 0.03440201282501221 + ], + "min_contact_pad_to_button": 0.021216291186149344, + "closest_contact_pad": [ + 0.16853861510753632, + -0.365588320063328, + 0.7904100367388288 + ], + "closest_contact_pad_button": [ + 0.16853861510753632, + -0.3632185459136963, + 0.7693265080451965 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002369774149631687, + 0.02108352869363228 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e6032f4040792be2f69b227c7d720060083ccfcf95345326dd4e76d626801025", + "visual_seed": 947445077035840790, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..81bf92135e9757871795f171023e10f9339d8261 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_64_success.json @@ -0,0 +1,700 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2495756463080304, + -0.03194692116825202, + 1.1626147369672561 + ], + "current_z": 1.1626147369672561, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.3015081693478452, + "gripper_z": 1.1559265987571365, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2449074434604457, + -0.03671783617127494, + 1.1559265987571365 + ], + "object_minus_gripper": [ + 0.004668202847584679, + 0.004770915003022923, + 0.0066881382101195985 + ], + "object_to_gripper_xy": 0.006674859383707414, + "object_to_gripper_z": 0.0066881382101195985, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2495756463080304, + -0.05552967208489664, + 1.1626147369672561 + ], + "finger_b": [ + 0.23848286850932054, + -0.03194692116825202, + 1.1626147369672561 + ], + "finger_midpoint": [ + 0.24402925740867548, + -0.04373829662657433, + 1.1626147369672561 + ], + "object_minus_finger_midpoint": [ + 0.005546388899354909, + 0.01179137545832231, + 0.0 + ], + "finger_gap": 0.026061386380775157, + "fingertip_max_gap": 0.09213320818485707, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013030693190387571, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626147369672561, + "object_top_z": 1.2127738552700391, + "finger_top_clearance": 0.05015911830278297, + "fingertip_min_top_clearance": 0.015047735490834857, + "object_projection_between_fingers": 0.8188302866339651, + "object_to_finger_line_xy": 0.010037770515295152, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048566604092428536, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3708643805667382, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3183114591256482, + -0.29820020213461784, + 0.8515395564230189 + ], + "target_position": [ + 0.30912226802117837, + -0.2997479329024951, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009318621340321801, + "xy_threshold": 0.08, + "gripper_dist": 0.1871845735345715, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395564230189, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556524629068805, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08536245650335221, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15506346368855886, + "release_required_pad_clearance": 0.05268122825167611, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4187134671144942, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007389247417449951, + "max_z_decrease": 0.007389247417449951, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035202023420401775, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007389247417449951, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0211075634679192, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007389247417449951, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073892675111254325, + "max_button_displacement": 0.12, + "button_start": [ + 0.16482219099998469, + -0.3560093939304351, + 0.7768088579177856 + ], + "button_final": [ + 0.16482219099998469, + -0.3560093939304351, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16544418902108793, + -0.3538806084733543, + 0.8078591019270693 + ], + "closest_button": [ + 0.164812833070755, + -0.3560194373130798, + 0.7727277874946594 + ], + "closest_ee_minus_button": [ + 0.0006313559503329236, + 0.002138828839725493, + 0.03513131443240991 + ], + "button_min_z_position": [ + 0.16480560600757596, + -0.35601407289505, + 0.7694196105003357 + ], + "min_active_finger_to_button": 0.1446532245217547, + "closest_active_finger": [ + 0.038966938853263855, + -0.4185914993286133, + 0.810648500919342 + ], + "closest_active_finger_button": [ + 0.1648240685462951, + -0.35601288080215454, + 0.7764658331871033 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12585712969303126, + -0.06257861852645874, + 0.03418266773223877 + ], + "min_contact_pad_to_button": 0.0211075634679192, + "closest_contact_pad": [ + 0.16480560600757596, + -0.35601407289505, + 0.7905271739682549 + ], + "closest_contact_pad_button": [ + 0.16480560600757596, + -0.35601407289505, + 0.7694196105003357 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0211075634679192 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "42ec352eb3980a4566eb4e40c91f55c7293dd7e43005632d6fec715aeb6de485", + "visual_seed": 5804438666408066671, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..33bfdfdd8727908b9bb9ae0ab43ea2b7866c6aa8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_65_success.json @@ -0,0 +1,700 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24936308258692208, + -0.03519376185917399, + 1.1633917497584938 + ], + "current_z": 1.1633917497584938, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3022853013483725, + "gripper_z": 1.1568475206414874, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24462844878086284, + -0.0400190930049049, + 1.1568475206414874 + ], + "object_minus_gripper": [ + 0.004734633806059235, + 0.004825331145730909, + 0.0065442291170063616 + ], + "object_to_gripper_xy": 0.006760220258500437, + "object_to_gripper_z": 0.0065442291170063616, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24936308258692208, + -0.05889359074315022, + 1.1633917497584938 + ], + "finger_b": [ + 0.2382728962596978, + -0.03519376185917399, + 1.1633917497584938 + ], + "finger_midpoint": [ + 0.24381798942330996, + -0.0470436763011621, + 1.1633917497584938 + ], + "object_minus_finger_midpoint": [ + 0.005545093163612125, + 0.011849914441988109, + 0.0 + ], + "finger_gap": 0.02616627833495444, + "fingertip_max_gap": 0.09211785694145525, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01308313916747721, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633917497584938, + "object_top_z": 1.2135329665157402, + "finger_top_clearance": 0.050141216757246365, + "fingertip_min_top_clearance": 0.01504236502717391, + "object_projection_between_fingers": 0.8203638361110693, + "object_to_finger_line_xy": 0.010044818559294955, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048558928470727625, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2648655958074508, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32832015710246576, + -0.30650979415500557, + 0.8515395066884404 + ], + "target_position": [ + 0.3186747078518382, + -0.3087160465838604, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009894556130835758, + "xy_threshold": 0.08, + "gripper_dist": 0.18488118556260258, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395066884404, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577196483198137, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08579566876890231, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15254529953283077, + "release_required_pad_clearance": 0.052897834384451156, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8355569758415127, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007375478744506836, + "max_z_decrease": 0.007375478744506836, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509280170941169, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007375478744506836, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021191903488563812, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007375478744506836, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007375496578492196, + "max_button_displacement": 0.12, + "button_start": [ + 0.1743746399879455, + -0.36497750878334034, + 0.7768088579177856 + ], + "button_final": [ + 0.1743746399879455, + -0.36497750878334034, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17311420783729178, + -0.36329672092223525, + 0.8076199004121343 + ], + "closest_button": [ + 0.17436406016349792, + -0.3649829030036925, + 0.772589921951294 + ], + "closest_ee_minus_button": [ + -0.0012498523262061412, + 0.0016861820814572659, + 0.03502997846084033 + ], + "button_min_z_position": [ + 0.1743592321872711, + -0.36498257517814625, + 0.7694333791732788 + ], + "min_active_finger_to_button": 0.1466403761943656, + "closest_active_finger": [ + 0.045347586274147034, + -0.4254143238067627, + 0.8109912872314453 + ], + "closest_active_finger_button": [ + 0.174378901720047, + -0.3649795949459075, + 0.7763219475746155 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12903131544589996, + -0.060434728860855214, + 0.034669339656829834 + ], + "min_contact_pad_to_button": 0.021191903488563812, + "closest_contact_pad": [ + 0.1743592321872711, + -0.36498257517814625, + 0.7906252826618426 + ], + "closest_contact_pad_button": [ + 0.1743592321872711, + -0.36498257517814625, + 0.7694333791732788 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021191903488563812 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9935309157a26defb3f277cf2d630be788eb729340e7c6abb3ddfb2a57840847", + "visual_seed": 9104340737018735519, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4161d5451530d0f467ca06d90ad80f9cf5ce5dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_66_success.json @@ -0,0 +1,700 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25091953811129547, + -0.032083531249916156, + 1.161337349290799 + ], + "current_z": 1.161337349290799, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30023084127603317, + "gripper_z": 1.1549000889125487, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2459082320727904, + -0.0369184357682872, + 1.1549000889125487 + ], + "object_minus_gripper": [ + 0.005011306038505081, + 0.0048349045183710415, + 0.00643726037825032 + ], + "object_to_gripper_xy": 0.006963439517459902, + "object_to_gripper_z": 0.00643726037825032, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25091953811129547, + -0.05610364149435905, + 1.161337349290799 + ], + "finger_b": [ + 0.2399441583334302, + -0.032083531249916156, + 1.161337349290799 + ], + "finger_midpoint": [ + 0.24543184822236283, + -0.0440935863721376, + 1.161337349290799 + ], + "object_minus_finger_midpoint": [ + 0.00548768988893264, + 0.012010055122221447, + 0.0 + ], + "finger_gap": 0.026408798863703828, + "fingertip_max_gap": 0.0916807031895383, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013204399431851914, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161337349290799, + "object_top_z": 1.211451160939643, + "finger_top_clearance": 0.05011381164884399, + "fingertip_min_top_clearance": 0.015034143494653195, + "object_projection_between_fingers": 0.827280323421063, + "object_to_finger_line_xy": 0.009982651373110538, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048340351594769154, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.993146968653671, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 334, + "max_stable_success_frames": 334, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32267861119172153, + -0.30696089535950455, + 0.851539581193364 + ], + "target_position": [ + 0.3131809059738221, + -0.30868666992944765, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009653222377650721, + "xy_threshold": 0.08, + "gripper_dist": 0.18481727463776873, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539581193364, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752945208585963, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550187681028575, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15365029072398384, + "release_required_pad_clearance": 0.052750938405142875, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5524912489117999, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007350921630859375, + "max_z_decrease": 0.007350921630859375, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035133355643389035, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007350921630859375, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021137677058989227, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007350921630859375, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007350940646057264, + "max_button_displacement": 0.12, + "button_start": [ + 0.16888083517551428, + -0.3649481236934662, + 0.7768088579177856 + ], + "button_final": [ + 0.16888083517551428, + -0.3649481236934662, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1699299964269395, + -0.36485146116789435, + 0.8082045065783351 + ], + "closest_button": [ + 0.16887746751308444, + -0.3649587631225586, + 0.7730870842933655 + ], + "closest_ee_minus_button": [ + 0.001052528913855072, + 0.00010730195466424064, + 0.03511742228496961 + ], + "button_min_z_position": [ + 0.16886466741561892, + -0.36495238542556757, + 0.7694579362869263 + ], + "min_active_finger_to_button": 0.1451988961007667, + "closest_active_finger": [ + 0.02857280522584915, + -0.35025882720947266, + 0.8107177019119263 + ], + "closest_active_finger_button": [ + 0.16888342797756198, + -0.364950954914093, + 0.7763696312904358 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14031062275171283, + 0.014692127704620361, + 0.03434807062149048 + ], + "min_contact_pad_to_button": 0.021137677058989227, + "closest_contact_pad": [ + 0.16886466741561892, + -0.36601139655043674, + 0.7905690681108604 + ], + "closest_contact_pad_button": [ + 0.16886466741561892, + -0.36495238542556757, + 0.7694579362869263 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010590111248691692, + 0.021111131823934093 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7cfac01a41fdb13dc039ce9214d7a900f641a36ce0c000f7f5ea68935047ba92", + "visual_seed": 7112090409371209820, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6dbb61f09438a7d2623108a26e6c9d059a3b199c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_67_success.json @@ -0,0 +1,700 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25173876745706214, + -0.03115034025358889, + 1.1654730025097653 + ], + "current_z": 1.1654730025097653, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3043664944949993, + "gripper_z": 1.1588537542353918, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24688253307030794, + -0.03594693898665649, + 1.1588537542353918 + ], + "object_minus_gripper": [ + 0.004856234386754199, + 0.004796598733067599, + 0.006619248274373435 + ], + "object_to_gripper_xy": 0.006825714015775904, + "object_to_gripper_z": 0.006619248274373435, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25173876745706214, + -0.05496504541508547, + 1.1654730025097653 + ], + "finger_b": [ + 0.24069120217906298, + -0.03115034025358889, + 1.1654730025097653 + ], + "finger_midpoint": [ + 0.24621498481806256, + -0.04305769283433718, + 1.1654730025097653 + ], + "object_minus_finger_midpoint": [ + 0.00552378263899958, + 0.011907352580748286, + 0.0 + ], + "finger_gap": 0.026252407137263897, + "fingertip_max_gap": 0.09171384057600893, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013126203568631947, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654730025097653, + "object_top_z": 1.2155599852645809, + "finger_top_clearance": 0.0500869827548156, + "fingertip_min_top_clearance": 0.01502609482644468, + "object_projection_between_fingers": 0.8229096521653253, + "object_to_finger_line_xy": 0.010021728996975988, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048356920288004465, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.032094536567958, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32524820212227373, + -0.30394234526679076, + 0.8515395837502535 + ], + "target_position": [ + 0.3159191739165368, + -0.30573615487562206, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00949992211421604, + "xy_threshold": 0.08, + "gripper_dist": 0.18736586411979336, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395837502535, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561430313801333, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551931436065328, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15530644522865888, + "release_required_pad_clearance": 0.052759657180326644, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5692372293321565, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073476433753967285, + "max_z_decrease": 0.0073476433753967285, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506362307511329, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073476433753967285, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021260793270632385, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073476433753967285, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007347663418436309, + "max_button_displacement": 0.12, + "button_start": [ + 0.17161910235881803, + -0.3619976043701172, + 0.7768088579177856 + ], + "button_final": [ + 0.17161910235881803, + -0.3619976043701172, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17287836747107763, + -0.3620210163060675, + 0.8045016258526433 + ], + "closest_button": [ + 0.17160286009311673, + -0.3620031476020813, + 0.7694612145423889 + ], + "closest_ee_minus_button": [ + 0.0012755073779608939, + -1.7868703986179124e-05, + 0.03504041131025437 + ], + "button_min_z_position": [ + 0.17160286009311673, + -0.3620031476020813, + 0.7694612145423889 + ], + "min_active_finger_to_button": 0.14465376657163995, + "closest_active_finger": [ + 0.032301075756549835, + -0.3446010947227478, + 0.8078077435493469 + ], + "closest_active_finger_button": [ + 0.17162977159023282, + -0.36200499534606934, + 0.7730323076248169 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.139328695833683, + 0.017403900623321533, + 0.03477543592453003 + ], + "min_contact_pad_to_button": 0.021260793270632385, + "closest_contact_pad": [ + 0.17160286009311673, + -0.36332236287028175, + 0.7906810402149225 + ], + "closest_contact_pad_button": [ + 0.17160286009311673, + -0.3620031476020813, + 0.7694612145423889 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013192152682004465, + 0.021219825672533554 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "32bf418670f9902fae77baf9dd58898b23b34d2deab42dc73c6747ce99ffb17c", + "visual_seed": 5051947373377140952, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bf3d0d06a9a26199654e59307c346629e05459a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_68_success.json @@ -0,0 +1,700 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2521034116850133, + -0.03753941969214062, + 1.1628151274857603 + ], + "current_z": 1.1628151274857603, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.3017085002617049, + "gripper_z": 1.1561596895660848, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2473788438592698, + -0.042289998826083475, + 1.1561596895660848 + ], + "object_minus_gripper": [ + 0.004724567825743514, + 0.004750579133942855, + 0.006655437919675489 + ], + "object_to_gripper_xy": 0.006699965913935984, + "object_to_gripper_z": 0.006655437919675489, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2521034116850133, + -0.06128438525463017, + 1.1628151274857603 + ], + "finger_b": [ + 0.2411631938553878, + -0.03753941969214062, + 1.1628151274857603 + ], + "finger_midpoint": [ + 0.24663330277020057, + -0.049411902473385394, + 1.1628151274857603 + ], + "object_minus_finger_midpoint": [ + 0.005470108914812755, + 0.011872482781244774, + 0.0 + ], + "finger_gap": 0.026144057751685584, + "fingertip_max_gap": 0.09176204435162383, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013072028875842787, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1628151274857603, + "object_top_z": 1.212902194718155, + "finger_top_clearance": 0.050087067232394755, + "fingertip_min_top_clearance": 0.015026120169718393, + "object_projection_between_fingers": 0.8248920151593137, + "object_to_finger_line_xy": 0.009936295967440027, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048381022175811916, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9978300797815767, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3212792602750067, + -0.29954158889507165, + 0.8515396226723423 + ], + "target_position": [ + 0.3117874776879153, + -0.30123374034900197, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009641437300716609, + "xy_threshold": 0.08, + "gripper_dist": 0.18444799202625342, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396226723423, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518802510565022, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08575188946423638, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15349226167484092, + "release_required_pad_clearance": 0.052875944732118194, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7932709885051653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007395803928375244, + "max_z_decrease": 0.007395803928375244, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511676623360017, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007395803928375244, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021215184106806978, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007395803928375244, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007395824347985366, + "max_button_displacement": 0.12, + "button_start": [ + 0.16748739778995514, + -0.35749518871307373, + 0.7768088579177856 + ], + "button_final": [ + 0.16748739778995514, + -0.35749518871307373, + 0.7768088579177856 + ], + "closest_ee": [ + 0.168819714626401, + -0.35773808212380215, + 0.8072228332481937 + ], + "closest_button": [ + 0.16747495532035828, + -0.3574995696544647, + 0.7721326351165771 + ], + "closest_ee_minus_button": [ + 0.0013447593060427199, + -0.00023851246933742631, + 0.03509019813161651 + ], + "button_min_z_position": [ + 0.16747085750102997, + -0.35750052332878113, + 0.7694130539894104 + ], + "min_active_finger_to_button": 0.14483507612057403, + "closest_active_finger": [ + 0.027732841670513153, + -0.341521292924881, + 0.8099954128265381 + ], + "closest_active_finger_button": [ + 0.16749151051044464, + -0.3575015366077423, + 0.7755085229873657 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1397586688399315, + 0.015980243682861328, + 0.03448688983917236 + ], + "min_contact_pad_to_button": 0.021215184106806978, + "closest_contact_pad": [ + 0.16747085750102997, + -0.3590705052689491, + 0.7905700668549654 + ], + "closest_contact_pad_button": [ + 0.16747085750102997, + -0.35750052332878113, + 0.7694130539894104 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001569981940167997, + 0.021157012865555047 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "665a8965c09a887c344e30c4b6fe106aa25b97531724acfd318d4dcaa4283a30", + "visual_seed": 1138398498180962659, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a18d224d245e331f72126bbb94f89a036279aa43 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_69_success.json @@ -0,0 +1,700 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24770581045077467, + -0.031357993326455114, + 1.163155695062959 + ], + "current_z": 1.163155695062959, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3020492466528377, + "gripper_z": 1.1567974336816238, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2426681726565734, + -0.036155363034289775, + 1.1567974336816238 + ], + "object_minus_gripper": [ + 0.005037637794201272, + 0.004797369707834662, + 0.006358261381335106 + ], + "object_to_gripper_xy": 0.006956475448042254, + "object_to_gripper_z": 0.006358261381335106, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24770581045077467, + -0.05562450690007144, + 1.163155695062959 + ], + "finger_b": [ + 0.23705295466164844, + -0.031357993326455114, + 1.163155695062959 + ], + "finger_midpoint": [ + 0.24237938255621155, + -0.043491250113263276, + 1.163155695062959 + ], + "object_minus_finger_midpoint": [ + 0.005326427894563113, + 0.012133256786808162, + 0.0 + ], + "finger_gap": 0.02650183045531809, + "fingertip_max_gap": 0.09185061408635262, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013250915227659045, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163155695062959, + "object_top_z": 1.2132006845430268, + "finger_top_clearance": 0.05004498948006786, + "fingertip_min_top_clearance": 0.015013496844020357, + "object_projection_between_fingers": 0.8384226975566821, + "object_to_finger_line_xy": 0.00975433263149316, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842530704317631, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1691287703116602, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32244351308574987, + -0.30288682161982633, + 0.8515395293341266 + ], + "target_position": [ + 0.3136750049699266, + -0.3044156986288666, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00890079768818672, + "xy_threshold": 0.08, + "gripper_dist": 0.18554828122422012, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395293341266, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540124264531364, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08630340264883073, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15399676652734762, + "release_required_pad_clearance": 0.053151701324415365, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3282262702205667, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007444202899932861, + "max_z_decrease": 0.007444202899932861, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514947585112499, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007444202899932861, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021083854096496126, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007444202899932861, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007444224760258471, + "max_button_displacement": 0.12, + "button_start": [ + 0.16937492787837985, + -0.3606771528720855, + 0.7768088579177856 + ], + "button_final": [ + 0.16937492787837985, + -0.3606771528720855, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16828653054092924, + -0.3599207549781055, + 0.8080123599401263 + ], + "closest_button": [ + 0.16936612129211429, + -0.3606870770454406, + 0.7728878259658813 + ], + "closest_ee_minus_button": [ + -0.00107959075118505, + 0.0007663220673351234, + 0.035124533974244976 + ], + "button_min_z_position": [ + 0.16935731470584872, + -0.3606810569763183, + 0.7693646550178528 + ], + "min_active_finger_to_button": 0.14673262175669838, + "closest_active_finger": [ + 0.042077116668224335, + -0.42514798045158386, + 0.8108832836151123 + ], + "closest_active_finger_button": [ + 0.16937857866287234, + -0.3606798052787781, + 0.7766976952552795 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.127301461994648, + -0.06446817517280579, + 0.034185588359832764 + ], + "min_contact_pad_to_button": 0.021083854096496126, + "closest_contact_pad": [ + 0.16935731470584872, + -0.3610087624997011, + 0.7904459622034208 + ], + "closest_contact_pad_button": [ + 0.16935731470584872, + -0.3606810569763183, + 0.7693646550178528 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000327705523382793, + 0.021081307185568 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "df7cf4c3216c04859d6e373abc3f21605761976d02df944f6a4d6383c248868e", + "visual_seed": 8969347563242829200, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..64aec03484eee953417e4d471be45e98ea5afe5b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_6_success.json @@ -0,0 +1,700 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25047372202058826, + -0.03203189105560508, + 1.16486600033525 + ], + "current_z": 1.16486600033525, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.30375955192512905, + "gripper_z": 1.158274152413706, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24563983083589466, + -0.03684778401767237, + 1.158274152413706 + ], + "object_minus_gripper": [ + 0.004833891184693601, + 0.004815892962067289, + 0.006591847921544103 + ], + "object_to_gripper_xy": 0.006823439675672948, + "object_to_gripper_z": 0.006591847921544103, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25047372202058826, + -0.05576176333237136, + 1.16486600033525 + ], + "finger_b": [ + 0.23933147809180266, + -0.03203189105560508, + 1.16486600033525 + ], + "finger_midpoint": [ + 0.24490260005619546, + -0.04389682719398822, + 1.16486600033525 + ], + "object_minus_finger_midpoint": [ + 0.0055711219643928, + 0.011864936138383138, + 0.0 + ], + "finger_gap": 0.026215576248486323, + "fingertip_max_gap": 0.09186539336327476, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013107788124243161, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16486600033525, + "object_top_z": 1.2149839281712516, + "finger_top_clearance": 0.05011792783600155, + "fingertip_min_top_clearance": 0.015035378350800498, + "object_projection_between_fingers": 0.8193547664353816, + "object_to_finger_line_xy": 0.010085760572282807, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843269668163738, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1691326986475141, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3201189779585568, + -0.30289668909200435, + 0.8515396012767913 + ], + "target_position": [ + 0.31081247745719953, + -0.30462528845174136, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009465675217766908, + "xy_threshold": 0.08, + "gripper_dist": 0.18731160169802044, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396012767913, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535758183652728, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08543119632194561, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.155742807424852, + "release_required_pad_clearance": 0.05271559816097281, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.48456676719645786, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007381141185760498, + "max_z_decrease": 0.007381141185760498, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035095035956180104, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007381141185760498, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02119972699975325, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007381141185760498, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007381162058381964, + "max_button_displacement": 0.12, + "button_start": [ + 0.1665123999118805, + -0.36088675260543823, + 0.7768088579177856 + ], + "button_final": [ + 0.1665123999118805, + -0.36088675260543823, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16744602235178563, + -0.3600893684654437, + 0.804981199333723 + ], + "closest_button": [ + 0.16649655997753143, + -0.3608919084072113, + 0.7699081897735596 + ], + "closest_ee_minus_button": [ + 0.0009494623742541952, + 0.0008025399417675994, + 0.03507300956016346 + ], + "button_min_z_position": [ + 0.16649569571018216, + -0.3608921468257904, + 0.7694277167320251 + ], + "min_active_finger_to_button": 0.14467023587914696, + "closest_active_finger": [ + 0.03971126675605774, + -0.4213468134403229, + 0.8105989098548889 + ], + "closest_active_finger_button": [ + 0.1665181070566177, + -0.36089134216308594, + 0.7760353684425354 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12680684030055997, + -0.06045547127723694, + 0.034563541412353516 + ], + "min_contact_pad_to_button": 0.02119972699975325, + "closest_contact_pad": [ + 0.16649569571018216, + -0.3614628808288086, + 0.7906197597567518 + ], + "closest_contact_pad_button": [ + 0.16649569571018216, + -0.3608921468257904, + 0.7694277167320251 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000570734003018214, + 0.02119204302472666 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "255ee2e66c0d346a22c7db30d10fb4fcd4601b1f34398cf2de0dc47315fbe804", + "visual_seed": 7413963612252140801, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d7c9e3dd546c1c2a5fb054f93d6ff4a4b28dfd25 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_70_success.json @@ -0,0 +1,700 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2543143386448548, + -0.037834211109362324, + 1.1629797699107784 + ], + "current_z": 1.1629797699107784, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3018732618960125, + "gripper_z": 1.1562483632776634, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24962386370171535, + -0.042538153530856104, + 1.1562483632776634 + ], + "object_minus_gripper": [ + 0.0046904749431394555, + 0.00470394242149378, + 0.006731406633115 + ], + "object_to_gripper_xy": 0.006642863049690837, + "object_to_gripper_z": 0.006731406633115, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2543143386448548, + -0.06160732239716442, + 1.1629797699107784 + ], + "finger_b": [ + 0.2435035689237517, + -0.037834211109362324, + 1.1629797699107784 + ], + "finger_midpoint": [ + 0.24890895378430325, + -0.04972076675326337, + 1.1629797699107784 + ], + "object_minus_finger_midpoint": [ + 0.00540538486055156, + 0.011886555643901044, + 0.0 + ], + "finger_gap": 0.02611577228926886, + "fingertip_max_gap": 0.09187354575844361, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013057886144634427, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1629797699107784, + "object_top_z": 1.2131080771013876, + "finger_top_clearance": 0.05012830719060912, + "fingertip_min_top_clearance": 0.015038492157182736, + "object_projection_between_fingers": 0.8286407760131319, + "object_to_finger_line_xy": 0.009841012122478596, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843677287922181, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.054705251440509, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32528302321705854, + -0.3009110353712164, + 0.8515395672606945 + ], + "target_position": [ + 0.3162952564006613, + -0.302681314374557, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009160449775835237, + "xy_threshold": 0.08, + "gripper_dist": 0.18529511582900157, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395672606945, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545608445541707, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507922254480492, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1536957033762101, + "release_required_pad_clearance": 0.05253961127240246, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.14803749434403496, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007231533527374268, + "max_z_decrease": 0.007231533527374268, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514106936580217, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007231533527374268, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021335895971883703, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007231533527374268, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0072315537858015436, + "max_button_displacement": 0.12, + "button_start": [ + 0.17199517786502833, + -0.3589427769184112, + 0.7768088579177856 + ], + "button_final": [ + 0.17199517786502833, + -0.3589427769184112, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17361148458511694, + -0.36032298544350994, + 0.8049664970359361 + ], + "closest_button": [ + 0.17197908461093897, + -0.3589478433132171, + 0.769890308380127 + ], + "closest_ee_minus_button": [ + 0.0016323999741779671, + -0.001375142130292828, + 0.03507618865580919 + ], + "button_min_z_position": [ + 0.17197884619235987, + -0.3589479029178619, + 0.7695773243904114 + ], + "min_active_finger_to_button": 0.14416090798480694, + "closest_active_finger": [ + 0.03280568867921829, + -0.3444787263870239, + 0.8082789182662964 + ], + "closest_active_finger_button": [ + 0.17200097441673276, + -0.358950525522232, + 0.7736724615097046 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13919528573751447, + 0.014471799135208074, + 0.0346064567565918 + ], + "min_contact_pad_to_button": 0.021335895971883703, + "closest_contact_pad": [ + 0.17197884619235987, + -0.3614952847106763, + 0.7907606032424843 + ], + "closest_contact_pad_button": [ + 0.17197884619235987, + -0.3589479029178619, + 0.7695773243904114 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025473817928144404, + 0.02118327885207294 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e0533bbc7ca94dabc4bc8ae6470a1ad0fec50af5635faf22eb084fa42686e139", + "visual_seed": 8239232892057928242, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5131a080b6fa13276336ada713068132732e6c79 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.252241457815519, + -0.031570045955806564, + 1.1614949697228814 + ], + "current_z": 1.1614949697228814, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3003884617081152, + "gripper_z": 1.1548002146657987, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24732556239034786, + -0.036263628063378295, + 1.1548002146657987 + ], + "object_minus_gripper": [ + 0.004915895425171124, + 0.004693582107571731, + 0.006694755057082613 + ], + "object_to_gripper_xy": 0.0067967448702842955, + "object_to_gripper_z": 0.006694755057082613, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.252241457815519, + -0.05564532232265438, + 1.1614949697228814 + ], + "finger_b": [ + 0.2416141878341051, + -0.031570045955806564, + 1.1614949697228814 + ], + "finger_midpoint": [ + 0.24692782282481204, + -0.04360768413923047, + 1.1614949697228814 + ], + "object_minus_finger_midpoint": [ + 0.005313634990706945, + 0.012037638183423904, + 0.0 + ], + "finger_gap": 0.026316492916001587, + "fingertip_max_gap": 0.09161999588253394, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01315824645800079, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1614949697228814, + "object_top_z": 1.211550354099439, + "finger_top_clearance": 0.050055384376557654, + "fingertip_min_top_clearance": 0.015016615312967262, + "object_projection_between_fingers": 0.8369249940495391, + "object_to_finger_line_xy": 0.00972220966692999, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048309997941266974, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0001379210688424, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3196242878404115, + -0.30677453729469867, + 0.8515395768441024 + ], + "target_position": [ + 0.309982220958033, + -0.3087365465347609, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009839661275793492, + "xy_threshold": 0.08, + "gripper_dist": 0.18446330018045035, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395768441024, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568427979253198, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08692171050875507, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15224713629734196, + "release_required_pad_clearance": 0.053460855254377534, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.935055499806451, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007489264011383057, + "max_z_decrease": 0.007489264011383057, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514201225148715, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007489264011383057, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02127446500608786, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007489264011383057, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007489285534495598, + "max_button_displacement": 0.12, + "button_start": [ + 0.16568215191364283, + -0.3649980127811432, + 0.7768088579177856 + ], + "button_final": [ + 0.16568215191364283, + -0.3649980127811432, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1658633800223702, + -0.3664262869606833, + 0.8079337997230973 + ], + "closest_button": [ + 0.16567610204219813, + -0.3650087118148803, + 0.7728208899497986 + ], + "closest_ee_minus_button": [ + 0.0001872779801720681, + -0.001417575145802985, + 0.03511290977329873 + ], + "button_min_z_position": [ + 0.16566461324691764, + -0.3650018572807312, + 0.7693195939064026 + ], + "min_active_finger_to_button": 0.14586787525192402, + "closest_active_finger": [ + 0.024648740887641907, + -0.3505646586418152, + 0.8103619813919067 + ], + "closest_active_finger_button": [ + 0.16568337380886072, + -0.3650027811527252, + 0.7760369181632996 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14103463292121882, + 0.014438122510910034, + 0.03432506322860718 + ], + "min_contact_pad_to_button": 0.02127446500608786, + "closest_contact_pad": [ + 0.16566461324691764, + -0.36772699701710865, + 0.7904187994533532 + ], + "closest_contact_pad_button": [ + 0.16566461324691764, + -0.3650018572807312, + 0.7693195939064026 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027251397363774466, + 0.02109920554695066 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b14ea6412ac09edcb4dace6ae690521d7ba6284959b1964a2f7434138dcced56", + "visual_seed": 6157876189857828510, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..085c5be0a9f51ff79150bafce48be2269866507a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24723371987152193, + -0.0357460342924928, + 1.1633976875650878 + ], + "current_z": 1.1633976875650878, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3022912391549666, + "gripper_z": 1.1567152718154003, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24248508319915, + -0.04043763803229139, + 1.1567152718154003 + ], + "object_minus_gripper": [ + 0.004748636672371936, + 0.004691603739798593, + 0.00668241574968742 + ], + "object_to_gripper_xy": 0.006675379831701546, + "object_to_gripper_z": 0.00668241574968742, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24723371987152193, + -0.05954837631886704, + 1.1633976875650878 + ], + "finger_b": [ + 0.2364517286077161, + -0.0357460342924928, + 1.1633976875650878 + ], + "finger_midpoint": [ + 0.241842724239619, + -0.04764720530567992, + 1.1633976875650878 + ], + "object_minus_finger_midpoint": [ + 0.005390995631902928, + 0.01190117101318712, + 0.0 + ], + "finger_gap": 0.02613049600664493, + "fingertip_max_gap": 0.09177220329642508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01306524800332247, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633976875650878, + "object_top_z": 1.2135077256381925, + "finger_top_clearance": 0.05011003807310477, + "fingertip_min_top_clearance": 0.015033011421931397, + "object_projection_between_fingers": 0.8297439144315064, + "object_to_finger_line_xy": 0.009821346051801816, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838610164821254, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0662897004051248, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32227394897777967, + -0.30115570904890354, + 0.851539599183889 + ], + "target_position": [ + 0.3131672334643123, + -0.3028700859789864, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009266679863987293, + "xy_threshold": 0.08, + "gripper_dist": 0.1864275813818407, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539599183889, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561244903887544, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857631617961656, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15431817633295944, + "release_required_pad_clearance": 0.0528815808980828, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8040509925819922, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007513701915740967, + "max_z_decrease": 0.007513701915740967, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515421053503858, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007513701915740967, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02115984561997568, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007513701915740967, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007513722871197391, + "max_button_displacement": 0.12, + "button_start": [ + 0.16886715590953827, + -0.3591315448284149, + 0.7768088579177856 + ], + "button_final": [ + 0.16886715590953827, + -0.3591315448284149, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17034229940915918, + -0.35946466525017384, + 0.8079067034391672 + ], + "closest_button": [ + 0.16886240243911743, + -0.3591432571411133, + 0.7727851271629333 + ], + "closest_ee_minus_button": [ + 0.0014798969700417497, + -0.0003214081090605614, + 0.0351215762762338 + ], + "button_min_z_position": [ + 0.16884997487068176, + -0.35913598537445063, + 0.7692951560020447 + ], + "min_active_finger_to_button": 0.14472973053915955, + "closest_active_finger": [ + 0.02890443056821823, + -0.3457528352737427, + 0.810896098613739 + ], + "closest_active_finger_button": [ + 0.16886980831623077, + -0.3591342270374298, + 0.7765839099884033 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13996537774801254, + 0.013381391763687134, + 0.03431218862533569 + ], + "min_contact_pad_to_button": 0.02115984561997568, + "closest_contact_pad": [ + 0.16884997487068176, + -0.36055055753179877, + 0.7904076653809143 + ], + "closest_contact_pad_button": [ + 0.16884997487068176, + -0.35913598537445063, + 0.7692951560020447 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014145721573481373, + 0.02111250937886966 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "85cd6383b8a3afa1d038a8dadb586f0c3ddd6b525a36ad4fe7b9619f6e4866cf", + "visual_seed": 6891646909449942913, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec989b61099c2bef1f9f2b35e1b677a60d60e4b9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24781443920813262, + -0.026085742685102626, + 1.162282752796918 + ], + "current_z": 1.162282752796918, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.3011762447821521, + "gripper_z": 1.1556830557920503, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24300697704768348, + -0.030871233882071317, + 1.1556830557920503 + ], + "object_minus_gripper": [ + 0.0048074621604491385, + 0.004785491196968691, + 0.006599697004867622 + ], + "object_to_gripper_xy": 0.00678326016163431, + "object_to_gripper_z": 0.006599697004867622, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24781443920813262, + -0.049842199055908254, + 1.162282752796918 + ], + "finger_b": [ + 0.23675629257482214, + -0.026085742685102626, + 1.162282752796918 + ], + "finger_midpoint": [ + 0.24228536589147737, + -0.03796397087050544, + 1.162282752796918 + ], + "object_minus_finger_midpoint": [ + 0.005529073316655253, + 0.011878228185402812, + 0.0 + ], + "finger_gap": 0.02620404217409572, + "fingertip_max_gap": 0.09166120662734561, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013102021087047866, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162282752796918, + "object_top_z": 1.212360201192054, + "finger_top_clearance": 0.05007744839513606, + "fingertip_min_top_clearance": 0.015023234518540783, + "object_projection_between_fingers": 0.8219146847252754, + "object_to_finger_line_xy": 0.010025261610054532, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04833060331367281, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9989302364912573, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3263121709415422, + -0.3052166365536242, + 0.8515396103302361 + ], + "target_position": [ + 0.31713972387747785, + -0.3069781499994197, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009340059676617747, + "xy_threshold": 0.08, + "gripper_dist": 0.18672009360957298, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396103302361, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561686832206166, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528778253839962, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15463733769522803, + "release_required_pad_clearance": 0.05264389126919981, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3471788031253294, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007257699966430664, + "max_z_decrease": 0.007257699966430664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506025465195811, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007257699966430664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02122179240452868, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007257699966430664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0072577273696148555, + "max_button_displacement": 0.12, + "button_start": [ + 0.17283965647220612, + -0.3632396161556244, + 0.7768088579177856 + ], + "button_final": [ + 0.17283965647220612, + -0.3632396161556244, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17120279557863824, + -0.363199001230357, + 0.8075637826314078 + ], + "closest_button": [ + 0.17282883822917938, + -0.363244503736496, + 0.7725412845611572 + ], + "closest_ee_minus_button": [ + -0.001626042650541143, + 4.550250613905016e-05, + 0.035022498070250596 + ], + "button_min_z_position": [ + 0.17282064259052277, + -0.36324563622474676, + 0.769551157951355 + ], + "min_active_finger_to_button": 0.14762597530512878, + "closest_active_finger": [ + 0.043243348598480225, + -0.4248654246330261, + 0.8110392689704895 + ], + "closest_active_finger_button": [ + 0.17284312844276428, + -0.3632416129112244, + 0.7764006853103638 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12959977984428406, + -0.0616238117218017, + 0.03463858366012573 + ], + "min_contact_pad_to_button": 0.02122179240452868, + "closest_contact_pad": [ + 0.17282064259052277, + -0.36468169462386096, + 0.7907243062561122 + ], + "closest_contact_pad_button": [ + 0.17282064259052277, + -0.36324563622474676, + 0.769551157951355 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001436058399114204, + 0.02117314830475725 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8b2b5109878b849b9bf7543306fa14d9f5c5d488d8f1a940a03b79ac88451b06", + "visual_seed": 2281481208651449591, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8eaaf99acc21964c724f0cc7c8e62e41130d05d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2501617314413458, + -0.02750123691891974, + 1.1649197539191705 + ], + "current_z": 1.1649197539191705, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30381330550904906, + "gripper_z": 1.1583981937376284, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24526128755460752, + -0.03228649575753702, + 1.1583981937376284 + ], + "object_minus_gripper": [ + 0.0049004438867382705, + 0.004785258838617277, + 0.006521560181542041 + ], + "object_to_gripper_xy": 0.006849310362338332, + "object_to_gripper_z": 0.006521560181542041, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2501617314413458, + -0.05148832249861488, + 1.1649197539191705 + ], + "finger_b": [ + 0.23928956903226933, + -0.02750123691891974, + 1.1649197539191705 + ], + "finger_midpoint": [ + 0.24472565023680756, + -0.03949477970876731, + 1.1649197539191705 + ], + "object_minus_finger_midpoint": [ + 0.005436081204538229, + 0.011993542789847569, + 0.0 + ], + "finger_gap": 0.02633598659737193, + "fingertip_max_gap": 0.09172059854803372, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013167993298685962, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1649197539191705, + "object_top_z": 1.2149639093527242, + "finger_top_clearance": 0.05004415543355378, + "fingertip_min_top_clearance": 0.015013246630066134, + "object_projection_between_fingers": 0.8295752453070926, + "object_to_finger_line_xy": 0.009902476566755457, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04836029927401686, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.015828115189924, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3255763485168569, + -0.30421259216090213, + 0.8515395611828612 + ], + "target_position": [ + 0.3158394592883145, + -0.3063696403512547, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00997295687067827, + "xy_threshold": 0.08, + "gripper_dist": 0.18663903838489615, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395611828612, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587482413718886, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08600539612933959, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15406549799655697, + "release_required_pad_clearance": 0.0530026980646698, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0385293509502502, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0072002410888671875, + "max_z_decrease": 0.0072002410888671875, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508008226060775, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0072002410888671875, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021257680698768107, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0072002410888671875, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0072002582289444565, + "max_button_displacement": 0.12, + "button_start": [ + 0.17153938114643094, + -0.36263111233711237, + 0.7768088579177856 + ], + "button_final": [ + 0.17153938114643094, + -0.36263111233711237, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17073437691379603, + -0.3634102706872359, + 0.8074243459434729 + ], + "closest_button": [ + 0.1715282946825027, + -0.3626351654529571, + 0.7723618149757385 + ], + "closest_ee_minus_button": [ + -0.000793917768706659, + -0.0007751052342788167, + 0.03506253096773437 + ], + "button_min_z_position": [ + 0.1715245097875595, + -0.3626361787319183, + 0.7696086168289185 + ], + "min_active_finger_to_button": 0.14685471444529868, + "closest_active_finger": [ + 0.02968938648700714, + -0.3468363881111145, + 0.8098756670951843 + ], + "closest_active_finger_button": [ + 0.17154294252395627, + -0.36263668537139887, + 0.7753180861473083 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14185355603694913, + 0.01580029726028437, + 0.03455758094787598 + ], + "min_contact_pad_to_button": 0.021257680698768107, + "closest_contact_pad": [ + 0.1715245097875595, + -0.3647635192290764, + 0.7907595839722887 + ], + "closest_contact_pad_button": [ + 0.1715245097875595, + -0.3626361787319183, + 0.7696086168289185 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021273404971581256, + 0.02115096714337028 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f24a514b464a39e3d8e5bd24c5960b7c55c1281b99a7a0aa4625c29cfd6ab1e8", + "visual_seed": 4234808526777744057, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..39ef8e41782688fe92e9fbab751dfb9213b2372f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2472141953248848, + -0.035600727244642444, + 1.1626605138496116 + ], + "current_z": 1.1626605138496116, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.3015539462302007, + "gripper_z": 1.156200603952748, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2423576755659994, + -0.040463616243114994, + 1.156200603952748 + ], + "object_minus_gripper": [ + 0.0048565197588854025, + 0.00486288899847255, + 0.006459909896863625 + ], + "object_to_gripper_xy": 0.006872661317125244, + "object_to_gripper_z": 0.006459909896863625, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2472141953248848, + -0.05938213643806137, + 1.1626605138496116 + ], + "finger_b": [ + 0.23608585926807532, + -0.035600727244642444, + 1.1626605138496116 + ], + "finger_midpoint": [ + 0.24165002729648005, + -0.047491431841351905, + 1.1626605138496116 + ], + "object_minus_finger_midpoint": [ + 0.005564168028404759, + 0.011890704596709462, + 0.0 + ], + "finger_gap": 0.026256338027571862, + "fingertip_max_gap": 0.092305862494786, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013128169013785938, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626605138496116, + "object_top_z": 1.2128406226677049, + "finger_top_clearance": 0.050180108818093316, + "fingertip_min_top_clearance": 0.015054032645427994, + "object_projection_between_fingers": 0.8203645052451801, + "object_to_finger_line_xy": 0.010079376382607396, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048652931247393005, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3458657212612344, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32805560666348554, + -0.30516021701182616, + 0.8515395779285099 + ], + "target_position": [ + 0.31883091833093763, + -0.30705370572814816, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009417015150857747, + "xy_threshold": 0.08, + "gripper_dist": 0.18487114070603966, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395779285099, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585213921062593, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08577507982493508, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1523304542854654, + "release_required_pad_clearance": 0.05288753991246754, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8156485332676786, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007596194744110107, + "max_z_decrease": 0.007596194744110107, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511098407262348, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007596194744110107, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02117582706362364, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007596194744110107, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0075962172502168634, + "max_button_displacement": 0.12, + "button_start": [ + 0.17453084886074066, + -0.3633151650428772, + 0.7768088579177856 + ], + "button_final": [ + 0.17453084886074066, + -0.3633151650428772, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17547473905285985, + -0.36320733768159935, + 0.804375951444867 + ], + "closest_button": [ + 0.1745121031999588, + -0.36332017183303833, + 0.769278347492218 + ], + "closest_ee_minus_button": [ + 0.0009626358529010448, + 0.00011283415143897857, + 0.03509760395264894 + ], + "button_min_z_position": [ + 0.1745130568742752, + -0.3633202016353607, + 0.7692126631736755 + ], + "min_active_finger_to_button": 0.14489211555839138, + "closest_active_finger": [ + 0.04934554547071457, + -0.42761754989624023, + 0.8105537295341492 + ], + "closest_active_finger_button": [ + 0.17453496158123016, + -0.3633195459842682, + 0.7760993838310242 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1251894161105156, + -0.06429800391197205, + 0.034454345703125 + ], + "min_contact_pad_to_button": 0.02117582706362364, + "closest_contact_pad": [ + 0.1745130568742752, + -0.364243856113279, + 0.7903683365081245 + ], + "closest_contact_pad_button": [ + 0.1745130568742752, + -0.3633202016353607, + 0.7692126631736755 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009236544779182565, + 0.02115567333444901 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b3a063fa5574f95f20150759d200167c06c036e32922577bc4e884bd708ba729", + "visual_seed": 9368403512944852, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c40d5e993ee466b79ee872a9b759adf359c2109b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2533480078862597, + -0.027809327210131067, + 1.1651745507397164 + ], + "current_z": 1.1651745507397164, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30406816193424, + "gripper_z": 1.1584890411679787, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24844995497051398, + -0.032555762246060535, + 1.1584890411679787 + ], + "object_minus_gripper": [ + 0.004898052915745743, + 0.004746435035929468, + 0.006685509571737747 + ], + "object_to_gripper_xy": 0.0068205254867747655, + "object_to_gripper_z": 0.006685509571737747, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2533480078862597, + -0.051821237883975774, + 1.1651745507397164 + ], + "finger_b": [ + 0.24256163685302945, + -0.027809327210131067, + 1.1651745507397164 + ], + "finger_midpoint": [ + 0.24795482236964458, + -0.039815282547053424, + 1.1651745507397164 + ], + "object_minus_finger_midpoint": [ + 0.005393185516615134, + 0.012005955336922357, + 0.0 + ], + "finger_gap": 0.026323329088001127, + "fingertip_max_gap": 0.09166531175745996, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013161664544000569, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651745507397164, + "object_top_z": 1.2152142619828674, + "finger_top_clearance": 0.050039711243150986, + "fingertip_min_top_clearance": 0.015011913372945329, + "object_projection_between_fingers": 0.8320928910546997, + "object_to_finger_line_xy": 0.009839233361365796, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04833265587872998, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9609352836886476, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3249221803631267, + -0.3058668021394305, + 0.8515395095330156 + ], + "target_position": [ + 0.315793514216463, + -0.30745899751262895, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009266478928032923, + "xy_threshold": 0.08, + "gripper_dist": 0.187483498494979, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395095330156, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524900707605625, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15621427536330865, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007376730442047119, + "max_z_decrease": 0.007376730442047119, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511669394724972, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007376730442047119, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021136015909974805, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007376730442047119, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007376749692686351, + "max_button_displacement": 0.12, + "button_start": [ + 0.17149344086647028, + -0.36372044682502747, + 0.7768088579177856 + ], + "button_final": [ + 0.17149344086647028, + -0.36372044682502747, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17186320108209513, + -0.3631941796578043, + 0.8075951109356851 + ], + "closest_button": [ + 0.1714818030595779, + -0.36372372508049006, + 0.7724844813346863 + ], + "closest_ee_minus_button": [ + 0.0003813980225172431, + 0.0005295454226857399, + 0.035110629600998866 + ], + "button_min_z_position": [ + 0.1714771836996078, + -0.3637248873710632, + 0.7694321274757385 + ], + "min_active_finger_to_button": 0.14556394789817823, + "closest_active_finger": [ + 0.045316316187381744, + -0.42766422033309937, + 0.810686469078064 + ], + "closest_active_finger_button": [ + 0.17149692773818964, + -0.3637231886386871, + 0.7763519287109375 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1261806115508079, + -0.06394103169441229, + 0.034334540367126465 + ], + "min_contact_pad_to_button": 0.021136015909974805, + "closest_contact_pad": [ + 0.1714771836996078, + -0.3643400749936922, + 0.7905591886233679 + ], + "closest_contact_pad_button": [ + 0.1714771836996078, + -0.3637248873710632, + 0.7694321274757385 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006151876226290209, + 0.02112706114762941 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4f62ff097f8ebbbd93c7744229c2e1a4d2a0c384ba68134f78941c3174a796b7", + "visual_seed": 4390618288835953973, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..285a57843c2be3358aba2fd5b9eecdc0683d9019 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2555397709293057, + -0.03775660970675738, + 1.163513072040364 + ], + "current_z": 1.163513072040364, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3024066236302425, + "gripper_z": 1.1569101047523491, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25068735630974603, + -0.04259200073761865, + 1.1569101047523491 + ], + "object_minus_gripper": [ + 0.004852414619559653, + 0.004835391030861273, + 0.006602967288014794 + ], + "object_to_gripper_xy": 0.006850323646474661, + "object_to_gripper_z": 0.006602967288014794, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2555397709293057, + -0.06156973802550236, + 1.163513072040364 + ], + "finger_b": [ + 0.24444005396727467, + -0.03775660970675738, + 1.163513072040364 + ], + "finger_midpoint": [ + 0.24998991244829016, + -0.04966317386612987, + 1.163513072040364 + ], + "object_minus_finger_midpoint": [ + 0.005549858481015524, + 0.011906564159372489, + 0.0 + ], + "finger_gap": 0.026272967037664657, + "fingertip_max_gap": 0.09185985398057003, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313648351883233, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163513072040364, + "object_top_z": 1.2136012918042591, + "finger_top_clearance": 0.050088219763895214, + "fingertip_min_top_clearance": 0.015026465929168597, + "object_projection_between_fingers": 0.8215134203090111, + "object_to_finger_line_xy": 0.010060492366152257, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842992699028502, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1742195092933125, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3265180100827295, + -0.2981591783008631, + 0.8515396120005262 + ], + "target_position": [ + 0.3162250207663839, + -0.3003190558967749, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010517162178825912, + "xy_threshold": 0.08, + "gripper_dist": 0.18554168782667158, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396120005262, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543719201266029, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510489634283029, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15402207190308836, + "release_required_pad_clearance": 0.05255244817141515, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1724584601352101, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074991583824157715, + "max_z_decrease": 0.0074991583824157715, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351363430890107, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074991583824157715, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021259264168724562, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0074991583824157715, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007499180101968196, + "max_button_displacement": 0.12, + "button_start": [ + 0.1719249486923217, + -0.3565805256366729, + 0.7768088579177856 + ], + "button_final": [ + 0.1719249486923217, + -0.3565805256366729, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17218429516670355, + -0.35801004808235903, + 0.8079590877479046 + ], + "closest_button": [ + 0.17192019522190083, + -0.35659208893775934, + 0.77285236120224 + ], + "closest_ee_minus_button": [ + 0.0002640999448027259, + -0.0014179591445996897, + 0.0351067265456646 + ], + "button_min_z_position": [ + 0.1719074547290801, + -0.3565849661827087, + 0.7693096995353699 + ], + "min_active_finger_to_button": 0.14582556878581046, + "closest_active_finger": [ + 0.030744001269340515, + -0.34425806999206543, + 0.8104342818260193 + ], + "closest_active_finger_button": [ + 0.17192655801773063, + -0.356585144996643, + 0.7760740518569946 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14118255674839011, + 0.012327075004577581, + 0.03436022996902466 + ], + "min_contact_pad_to_button": 0.021259264168724562, + "closest_contact_pad": [ + 0.1719074547290801, + -0.3591372175573418, + 0.7904152041708032 + ], + "closest_contact_pad_button": [ + 0.1719074547290801, + -0.3565849661827087, + 0.7693096995353699 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025522513746331077, + 0.02110550463543337 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0062ad5db35579167234a0cc1d41ba8c16cbe37768a3e80a3fed2ad8ad8766fb", + "visual_seed": 4574602207846325297, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e215e9378b4cf92fb0d8d17aa2a28ec6b9d72219 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24793187888740906, + -0.027659629272061056, + 1.164469763118123 + ], + "current_z": 1.164469763118123, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3033633147080016, + "gripper_z": 1.1579778082383012, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2430446618109303, + -0.032478476310520074, + 1.1579778082383012 + ], + "object_minus_gripper": [ + 0.004887217076478767, + 0.004818847038459018, + 0.006491954879821682 + ], + "object_to_gripper_xy": 0.006863394024292276, + "object_to_gripper_z": 0.006491954879821682, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24793187888740906, + -0.051541482325267965, + 1.164469763118123 + ], + "finger_b": [ + 0.23691515915346756, + -0.027659629272061056, + 1.164469763118123 + ], + "finger_midpoint": [ + 0.2424235190204383, + -0.03960055579866451, + 1.164469763118123 + ], + "object_minus_finger_midpoint": [ + 0.005508359866970763, + 0.011940926526603456, + 0.0 + ], + "finger_gap": 0.026300399596796704, + "fingertip_max_gap": 0.09164056178757432, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01315019979839836, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164469763118123, + "object_top_z": 1.2145558961069463, + "finger_top_clearance": 0.05008613298882336, + "fingertip_min_top_clearance": 0.01502583989664704, + "object_projection_between_fingers": 0.8245392795964968, + "object_to_finger_line_xy": 0.010003638189831911, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832028089378716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.977139435083899, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.327053739592191, + -0.29906845395325266, + 0.8515395701093357 + ], + "target_position": [ + 0.31757671142397953, + -0.30102816340848654, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009677526752740404, + "xy_threshold": 0.08, + "gripper_dist": 0.18664147195695172, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395701093357, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567227138649718, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510000529399923, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15431627039840398, + "release_required_pad_clearance": 0.05255000264699962, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16785874400655165, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0075244903564453125, + "max_z_decrease": 0.0075244903564453125, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516435815686593, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0075244903564453125, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021139713869014143, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0075244903564453125, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007524510114696329, + "max_button_displacement": 0.12, + "button_start": [ + 0.1732766330242157, + -0.35728961229324335, + 0.7768088579177856 + ], + "button_final": [ + 0.1732766330242157, + -0.35728961229324335, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17325767965580285, + -0.3552068247870145, + 0.8074613498193779 + ], + "closest_button": [ + 0.17326539754867554, + -0.3572944104671477, + 0.7723590135574341 + ], + "closest_ee_minus_button": [ + -7.717892872682874e-06, + 0.0020875856801332304, + 0.03510233626194381 + ], + "button_min_z_position": [ + 0.17326019704341888, + -0.3572948276996612, + 0.7692843675613403 + ], + "min_active_finger_to_button": 0.1452448516606409, + "closest_active_finger": [ + 0.04693377763032913, + -0.42015689611434937, + 0.810891330242157 + ], + "closest_active_finger_button": [ + 0.17328037321567535, + -0.357292354106903, + 0.7765306830406189 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12634659558534622, + -0.06286454200744634, + 0.034360647201538086 + ], + "min_contact_pad_to_button": 0.021139713869014143, + "closest_contact_pad": [ + 0.17326019704341888, + -0.3572948276996612, + 0.7904240814303545 + ], + "closest_contact_pad_button": [ + 0.17326019704341888, + -0.3572948276996612, + 0.7692843675613403 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021139713869014143 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f87d7bb1bd5459859c991583dfe96e5d33431121c1c3f1e48c510567f4f51e9c", + "visual_seed": 3425007222320178919, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b41955467699226ff92b057006234290e155217a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2555617368987201, + -0.03032175422161248, + 1.1653300093748755 + ], + "current_z": 1.1653300093748755, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30422356096475445, + "gripper_z": 1.158575072014616, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2507349773691043, + -0.035123011964463616, + 1.158575072014616 + ], + "object_minus_gripper": [ + 0.0048267595296158095, + 0.0048012577428511345, + 0.006754937360259561 + ], + "object_to_gripper_xy": 0.006808060184077767, + "object_to_gripper_z": 0.006754937360259561, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2555617368987201, + -0.054136662774955345, + 1.1653300093748755 + ], + "finger_b": [ + 0.24451376245338619, + -0.03032175422161248, + 1.1653300093748755 + ], + "finger_midpoint": [ + 0.25003774967605313, + -0.04222920849828391, + 1.1653300093748755 + ], + "object_minus_finger_midpoint": [ + 0.005523987222666948, + 0.01190745427667143, + 0.0 + ], + "finger_gap": 0.026252763830668074, + "fingertip_max_gap": 0.09167369750393556, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013126381915334035, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1653300093748755, + "object_top_z": 1.2154029314694605, + "finger_top_clearance": 0.050072922094585026, + "fingertip_min_top_clearance": 0.015021876628375508, + "object_projection_between_fingers": 0.8229013467127406, + "object_to_finger_line_xy": 0.010022049594943544, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04833684875196778, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.975925567307036, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.325861182134234, + -0.30494199764581587, + 0.8515396126184712 + ], + "target_position": [ + 0.3157550904277876, + -0.307006024850498, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010314712690170886, + "xy_threshold": 0.08, + "gripper_dist": 0.18799018995427372, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396126184712, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528754637184817, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08540344653102182, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15673546020397916, + "release_required_pad_clearance": 0.05270172326551091, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.45799460706519396, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074117183685302734, + "max_z_decrease": 0.0074117183685302734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508856594744439, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074117183685302734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02124814238923359, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074117183685302734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007411737953810405, + "max_button_displacement": 0.12, + "button_start": [ + 0.1714550107717514, + -0.3632674813270568, + 0.7768088579177856 + ], + "button_final": [ + 0.1714550107717514, + -0.3632674813270568, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17233893453492172, + -0.3638218234178562, + 0.8076411377980958 + ], + "closest_button": [ + 0.17144441604614255, + -0.36327198147773737, + 0.7725682854652405 + ], + "closest_ee_minus_button": [ + 0.0008945184887791668, + -0.0005498419401188115, + 0.03507285233285529 + ], + "button_min_z_position": [ + 0.17143867909908295, + -0.363272339105606, + 0.7693971395492554 + ], + "min_active_finger_to_button": 0.14530373523343518, + "closest_active_finger": [ + 0.03116913139820099, + -0.3478526473045349, + 0.8085969686508179 + ], + "closest_active_finger_button": [ + 0.17145964503288266, + -0.36327397823333735, + 0.7740436792373657 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14029051363468167, + 0.015421330928802435, + 0.03455328941345215 + ], + "min_contact_pad_to_button": 0.02124814238923359, + "closest_contact_pad": [ + 0.17143867909908295, + -0.36514184848963305, + 0.7905628781297108 + ], + "closest_contact_pad_button": [ + 0.17143867909908295, + -0.363272339105606, + 0.7693971395492554 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018695093840270238, + 0.02116573858045545 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "71309299f48483846152a4c3366ae846cdd79c227ee43dd70fc7ac33d04d1275", + "visual_seed": 6375995764272851436, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..990a29cd3577e947c149ee1e06ec28df4686ad56 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24798310631330084, + -0.03143925166968761, + 1.1651825312843234 + ], + "current_z": 1.1651825312843234, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3040760828742023, + "gripper_z": 1.1586640791753875, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24301115547168314, + -0.03618935232148275, + 1.1586640791753875 + ], + "object_minus_gripper": [ + 0.004971950841617695, + 0.004750100651795139, + 0.006518452108935868 + ], + "object_to_gripper_xy": 0.006876318155353743, + "object_to_gripper_z": 0.006518452108935868, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24798310631330084, + -0.05551627308572137, + 1.1651825312843234 + ], + "finger_b": [ + 0.23723506144582923, + -0.03143925166968761, + 1.1651825312843234 + ], + "finger_midpoint": [ + 0.24260908387956504, + -0.043477762377704496, + 1.1651825312843234 + ], + "object_minus_finger_midpoint": [ + 0.005374022433735803, + 0.012038510708016883, + 0.0 + ], + "finger_gap": 0.02636708988002527, + "fingertip_max_gap": 0.09171951142290874, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013183544940012639, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651825312843234, + "object_top_z": 1.2152707083703493, + "finger_top_clearance": 0.050088177086025976, + "fingertip_min_top_clearance": 0.015026453125807792, + "object_projection_between_fingers": 0.8338369167415328, + "object_to_finger_line_xy": 0.00981454182589367, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835975571145437, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0043119298161505, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3208635875905179, + -0.3075056847304857, + 0.8515396239772037 + ], + "target_position": [ + 0.3114080471098705, + -0.30942993514868034, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009649351556093493, + "xy_threshold": 0.08, + "gripper_dist": 0.1866369988530803, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396239772037, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563576024651754, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08660424090888201, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15453524869698831, + "release_required_pad_clearance": 0.05330212045444101, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6226479374133778, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007595658302307129, + "max_z_decrease": 0.007595658302307129, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516565476171615, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007595658302307129, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021274955650352954, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007595658302307129, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007595681085027513, + "max_button_displacement": 0.12, + "button_start": [ + 0.1671079695224762, + -0.3656913936138153, + 0.7768088579177856 + ], + "button_final": [ + 0.1671079695224762, + -0.3656913936138153, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1661644128269612, + -0.36750254163987817, + 0.8078399112685246 + ], + "closest_button": [ + 0.16710039973258972, + -0.365700900554657, + 0.7727329134941101 + ], + "closest_ee_minus_button": [ + -0.0009359869056285164, + -0.001801641085221184, + 0.035106997774414506 + ], + "button_min_z_position": [ + 0.16708964109420776, + -0.3656945824623108, + 0.7692131996154785 + ], + "min_active_finger_to_button": 0.1469054363299761, + "closest_active_finger": [ + 0.0248856320977211, + -0.3523041605949402, + 0.8107954263687134 + ], + "closest_active_finger_button": [ + 0.16710805892944341, + -0.3656950294971466, + 0.7765219211578369 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14222242683172232, + 0.013390868902206421, + 0.034273505210876465 + ], + "min_contact_pad_to_button": 0.021274955650352954, + "closest_contact_pad": [ + 0.16708964109420776, + -0.3687419525007483, + 0.7902687754511881 + ], + "closest_contact_pad_button": [ + 0.16708964109420776, + -0.3656945824623108, + 0.7692131996154785 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030473700384375246, + 0.021055575835709606 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6546865871760402135ce20561515eeb4b8fa93d14f36f2f4744eadb0b13f333", + "visual_seed": 3937621487534083993, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..363f51e7f02c41be6e47386b0e17698d9a03dd34 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25121748094983215, + -0.03499713222068203, + 1.161525166448766 + ], + "current_z": 1.161525166448766, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.3004187776432894, + "gripper_z": 1.1549438988264258, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24625729457660292, + -0.039799450812005394, + 1.1549438988264258 + ], + "object_minus_gripper": [ + 0.004960186373229231, + 0.004802318591323365, + 0.006581267622340237 + ], + "object_to_gripper_xy": 0.006904035972511946, + "object_to_gripper_z": 0.006581267622340237, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25121748094983215, + -0.058981925915341134, + 1.161525166448766 + ], + "finger_b": [ + 0.24028829020281298, + -0.03499713222068203, + 1.161525166448766 + ], + "finger_midpoint": [ + 0.24575288557632258, + -0.046989529068011585, + 1.161525166448766 + ], + "object_minus_finger_midpoint": [ + 0.005464595373509573, + 0.011992396847329556, + 0.0 + ], + "finger_gap": 0.026357494929527894, + "fingertip_max_gap": 0.09166459511762101, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013178747464763945, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161525166448766, + "object_top_z": 1.2116262570278966, + "finger_top_clearance": 0.05010109057913059, + "fingertip_min_top_clearance": 0.01503032717373921, + "object_projection_between_fingers": 0.8280636320719238, + "object_to_finger_line_xy": 0.009945345186168169, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04833229755881051, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9500157288059771, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32161741850442505, + -0.3062571713397523, + 0.8515396035379063 + ], + "target_position": [ + 0.3115826779965635, + -0.3083429922077299, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010249227568622378, + "xy_threshold": 0.08, + "gripper_dist": 0.18553256818336997, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396035379063, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559213657085127, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08577415956131672, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15362316877421445, + "release_required_pad_clearance": 0.05288707978065836, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8146883749552304, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007586300373077393, + "max_z_decrease": 0.007586300373077393, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514126209702362, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007586300373077393, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021328410803869692, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007586300373077393, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007586318320975458, + "max_button_displacement": 0.12, + "button_start": [ + 0.1672826111316681, + -0.3646044433116913, + 0.7768088579177856 + ], + "button_final": [ + 0.1672826111316681, + -0.3646044433116913, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1663544802316711, + -0.3663800549225295, + 0.8077864864061834 + ], + "closest_button": [ + 0.16727791726589203, + -0.3646159768104553, + 0.7727016806602478 + ], + "closest_ee_minus_button": [ + -0.0009234370342209308, + -0.0017640781120741855, + 0.03508480574593564 + ], + "button_min_z_position": [ + 0.1672666221857071, + -0.3646085262298584, + 0.7692225575447083 + ], + "min_active_finger_to_button": 0.14691925313674944, + "closest_active_finger": [ + 0.025231599807739258, + -0.3496662974357605, + 0.8108886480331421 + ], + "closest_active_finger_button": [ + 0.16728347539901733, + -0.36460745334625244, + 0.7764896154403687 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14205187559127808, + 0.014941155910491943, + 0.03439903259277344 + ], + "min_contact_pad_to_button": 0.021328410803869692, + "closest_contact_pad": [ + 0.1672666221857071, + -0.36777602877390536, + 0.7903144525532674 + ], + "closest_contact_pad_button": [ + 0.1672666221857071, + -0.3646085262298584, + 0.7692225575447083 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003167502544046963, + 0.021091895008559125 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a6608dd109eca4ddcce0321e2957d41bc80eccdc5d12464c61cfd9c6bdfc386b", + "visual_seed": 7022679349557295, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d241cbbe6b44fba6b3b8191eecfc82e071b81b40 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2498884382859135, + -0.025533381216767247, + 1.1656290172116486 + ], + "current_z": 1.1656290172116486, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.3045226284061724, + "gripper_z": 1.1589923382069054, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24510579989358833, + -0.030333537700359042, + 1.1589923382069054 + ], + "object_minus_gripper": [ + 0.004782638392325178, + 0.004800156483591795, + 0.0066366790047431845 + ], + "object_to_gripper_xy": 0.006776070561816126, + "object_to_gripper_z": 0.0066366790047431845, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2498884382859135, + -0.049256272702056264, + 1.1656290172116486 + ], + "finger_b": [ + 0.23877622743084703, + -0.025533381216767247, + 1.1656290172116486 + ], + "finger_midpoint": [ + 0.24433233285838027, + -0.03739482695941176, + 1.1656290172116486 + ], + "object_minus_finger_midpoint": [ + 0.005556105427533237, + 0.01186144574264451, + 0.0 + ], + "finger_gap": 0.026196503784097894, + "fingertip_max_gap": 0.09156449838803943, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013098251892048949, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656290172116486, + "object_top_z": 1.215704976841358, + "finger_top_clearance": 0.05007595962970934, + "fingertip_min_top_clearance": 0.015022787888912802, + "object_projection_between_fingers": 0.8200655670059658, + "object_to_finger_line_xy": 0.0100629371937951, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048282249194019716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8555079560910509, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3237016896295558, + -0.306806510219444, + 0.851539598451973 + ], + "target_position": [ + 0.31450003177228686, + -0.3087425401978453, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009403122853579445, + "xy_threshold": 0.08, + "gripper_dist": 0.18683639407983504, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539598451973, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583259810108142, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552223283124886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1543280350271774, + "release_required_pad_clearance": 0.052761116415624434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5719805586403247, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007410287857055664, + "max_z_decrease": 0.007410287857055664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508991846204731, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007410287857055664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021331281599997892, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007410287857055664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007410308148239827, + "max_button_displacement": 0.12, + "button_start": [ + 0.17019996047019958, + -0.36500400304794306, + 0.7768088579177856 + ], + "button_final": [ + 0.17019996047019958, + -0.36500400304794306, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17046134754843234, + -0.3662996499669532, + 0.8077579722378605 + ], + "closest_button": [ + 0.17018991708755493, + -0.36501032114028925, + 0.7726927995681763 + ], + "closest_ee_minus_button": [ + 0.00027143046087740874, + -0.001289328826663938, + 0.03506517266968423 + ], + "button_min_z_position": [ + 0.17018333077430725, + -0.3650089204311371, + 0.76939857006073 + ], + "min_active_finger_to_button": 0.14583840327015535, + "closest_active_finger": [ + 0.029386088252067566, + -0.34939032793045044, + 0.8086073398590088 + ], + "closest_active_finger_button": [ + 0.17020446062088013, + -0.3650101721286773, + 0.7740378975868225 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14081837236881256, + 0.015619844198226873, + 0.03456944227218628 + ], + "min_contact_pad_to_button": 0.021331281599997892, + "closest_contact_pad": [ + 0.17018333077430725, + -0.36770905891933703, + 0.7905582682353957 + ], + "closest_contact_pad_button": [ + 0.17018333077430725, + -0.3650089204311371, + 0.76939857006073 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027001384881999435, + 0.021159698174665675 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "95323c8242010158559f195e9818c367dfc2413dce177e9d9687d9c2ca220911", + "visual_seed": 7284659119125840258, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..24fdecf8f1851a3d5ee35c9bb4c883910fde9dfc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24681815183027728, + -0.03624711578451631, + 1.1621312071882732 + ], + "current_z": 1.1621312071882732, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.3010246991735075, + "gripper_z": 1.1556820929379215, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24185313975779377, + -0.041099473077418625, + 1.1556820929379215 + ], + "object_minus_gripper": [ + 0.00496501207248351, + 0.004852357292902315, + 0.006449114250351773 + ], + "object_to_gripper_xy": 0.0069423854817986935, + "object_to_gripper_z": 0.006449114250351773, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24681815183027728, + -0.06009466836409331, + 1.1621312071882732 + ], + "finger_b": [ + 0.23569789386958268, + -0.03624711578451631, + 1.1621312071882732 + ], + "finger_midpoint": [ + 0.24125802284992998, + -0.048170892074304805, + 1.1621312071882732 + ], + "object_minus_finger_midpoint": [ + 0.005560128980347301, + 0.011923776289788496, + 0.0 + ], + "finger_gap": 0.026312846694116567, + "fingertip_max_gap": 0.09229625053185275, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01315642334705828, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621312071882732, + "object_top_z": 1.2123369630798284, + "finger_top_clearance": 0.05020575589155518, + "fingertip_min_top_clearance": 0.01506172676746652, + "object_projection_between_fingers": 0.8213948189716761, + "object_to_finger_line_xy": 0.010078382605232125, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864812526592638, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4335565378733777, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 333, + "max_stable_success_frames": 333, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32746496752081633, + -0.2993434797729101, + 0.8515395648792285 + ], + "target_position": [ + 0.31790013563747016, + -0.30131471589329406, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009765847674369178, + "xy_threshold": 0.08, + "gripper_dist": 0.1863413871153122, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395648792285, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572638239075576, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08586553361810272, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15404699454924875, + "release_required_pad_clearance": 0.05293276680905136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9030829925412021, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007467508316040039, + "max_z_decrease": 0.007467508316040039, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514364584565542, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007467508316040039, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021179315034506985, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007467508316040039, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007467528429856858, + "max_button_displacement": 0.12, + "button_start": [ + 0.17360006272792816, + -0.35757616162300104, + 0.7768088579177856 + ], + "button_final": [ + 0.17360006272792816, + -0.35757616162300104, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17407942608830587, + -0.3553932945561179, + 0.806810631419459 + ], + "closest_button": [ + 0.17358717322349548, + -0.35758084058761586, + 0.771738588809967 + ], + "closest_ee_minus_button": [ + 0.0004922528648103885, + 0.0021875460314979556, + 0.03507204260949193 + ], + "button_min_z_position": [ + 0.17358367145061493, + -0.3575817942619323, + 0.7693413496017456 + ], + "min_active_finger_to_button": 0.14474075005310555, + "closest_active_finger": [ + 0.04725419729948044, + -0.41917023062705994, + 0.8111371397972107 + ], + "closest_active_finger_button": [ + 0.1736040860414505, + -0.35757815837860096, + 0.7766116857528687 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12634988874197006, + -0.06159207224845897, + 0.03452545404434204 + ], + "min_contact_pad_to_button": 0.021179315034506985, + "closest_contact_pad": [ + 0.17358367145061493, + -0.3575817942619323, + 0.7905206646362526 + ], + "closest_contact_pad_button": [ + 0.17358367145061493, + -0.3575817942619323, + 0.7693413496017456 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021179315034506985 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "02d33a14aa1edc5eee5484fe23f8e11592678a4d00b797851a1afa12198902e2", + "visual_seed": 8867574440313302269, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60c0ae3963a53be2ca9264ab13f7360a83b89a14 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24976964801783147, + -0.03433831402099359, + 1.1654143697413408 + ], + "current_z": 1.1654143697413408, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3043079809358644, + "gripper_z": 1.1587972914454825, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24499368671217323, + -0.0390929293733176, + 1.1587972914454825 + ], + "object_minus_gripper": [ + 0.004775961305658244, + 0.004754615352324007, + 0.006617078295858336 + ], + "object_to_gripper_xy": 0.0067391522865787755, + "object_to_gripper_z": 0.006617078295858336, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24976964801783147, + -0.058080468408745485, + 1.1654143697413408 + ], + "finger_b": [ + 0.23878913776498512, + -0.03433831402099359, + 1.1654143697413408 + ], + "finger_midpoint": [ + 0.2442793928914083, + -0.04620939121486954, + 1.1654143697413408 + ], + "object_minus_finger_midpoint": [ + 0.005490255126423177, + 0.01187107719387595, + 0.0 + ], + "finger_gap": 0.026158392542064018, + "fingertip_max_gap": 0.09199888608840834, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013079196271032012, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654143697413408, + "object_top_z": 1.2155523358245879, + "finger_top_clearance": 0.050137966083247054, + "fingertip_min_top_clearance": 0.015041389824974149, + "object_projection_between_fingers": 0.823793088833618, + "object_to_finger_line_xy": 0.00996624579511721, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04849944304420417, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.241923578271392, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32766388062482943, + -0.3056766440765579, + 0.8515395703447315 + ], + "target_position": [ + 0.3183015289117221, + -0.3074766560698022, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009533817324437631, + "xy_threshold": 0.08, + "gripper_dist": 0.1843844937547738, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395703447315, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544203593831027, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513141623223668, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15273396914534393, + "release_required_pad_clearance": 0.05256570811611834, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.19782343379211056, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007405102252960205, + "max_z_decrease": 0.007405102252960205, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505556100138268, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007405102252960205, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02122675303766985, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007405102252960205, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007405119618117434, + "max_button_displacement": 0.12, + "button_start": [ + 0.17400145530700684, + -0.36373811960220337, + 0.7768088579177856 + ], + "button_final": [ + 0.17400145530700684, + -0.36373811960220337, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17297298271492978, + -0.3641633044676301, + 0.8072823025402006 + ], + "closest_button": [ + 0.17399021983146667, + -0.36374202370643616, + 0.7722440361976624 + ], + "closest_ee_minus_button": [ + -0.0010172371165368954, + -0.00042128076119396507, + 0.03503826634253826 + ], + "button_min_z_position": [ + 0.17398610711097715, + -0.36374276876449585, + 0.7694037556648254 + ], + "min_active_finger_to_button": 0.1471457618598539, + "closest_active_finger": [ + 0.03191665560007095, + -0.3475714325904846, + 0.8086794018745422 + ], + "closest_active_finger_button": [ + 0.17400729656219477, + -0.3637450933456421, + 0.7740306258201599 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14209064096212382, + 0.01617366075515747, + 0.034648776054382324 + ], + "min_contact_pad_to_button": 0.02122675303766985, + "closest_contact_pad": [ + 0.17398610711097715, + -0.36552500360638257, + 0.7905555566162951 + ], + "closest_contact_pad_button": [ + 0.17398610711097715, + -0.36374276876449585, + 0.7694037556648254 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017822348418867207, + 0.021151800951469624 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2cd8aa4dd81616c6116556669c68eac599ca0da8059775abd1157f08a9194d55", + "visual_seed": 6802170850220059674, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ce5c20e0fad0bda204d89bb9b56acb767faba1ef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2507346726256904, + -0.026789064567984182, + 1.1639720783176641 + ], + "current_z": 1.1639720783176641, + "required_z": 0.8611065676194111, + "initial_z": 0.7611065676194111, + "lift_margin": 0.30286551069825307, + "gripper_z": 1.1574748004420754, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24572956319619463, + -0.031565411305225236, + 1.1574748004420754 + ], + "object_minus_gripper": [ + 0.005005109429495752, + 0.004776346737241054, + 0.006497277875588736 + ], + "object_to_gripper_xy": 0.006918425294500227, + "object_to_gripper_z": 0.006497277875588736, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2507346726256904, + -0.05091150027885995, + 1.1639720783176641 + ], + "finger_b": [ + 0.23997990754791562, + -0.026789064567984182, + 1.1639720783176641 + ], + "finger_midpoint": [ + 0.24535729008680301, + -0.03885028242342206, + 1.1639720783176641 + ], + "object_minus_finger_midpoint": [ + 0.005377382538887365, + 0.01206121785543788, + 0.0 + ], + "finger_gap": 0.02641130205997913, + "fingertip_max_gap": 0.09177639135591367, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013205651029989557, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1639720783176641, + "object_top_z": 1.2141329317891063, + "finger_top_clearance": 0.05016085347144217, + "fingertip_min_top_clearance": 0.01504825604143265, + "object_projection_between_fingers": 0.8341856043941528, + "object_to_finger_line_xy": 0.009822731517932538, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838819567795684, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0819683741281259, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3261735164692725, + -0.30113802749973995, + 0.8515396091743465 + ], + "target_position": [ + 0.3165838508466603, + -0.3030912669559742, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009786563805897387, + "xy_threshold": 0.08, + "gripper_dist": 0.18482149743020854, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396091743465, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580424953060767, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08666273738363627, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1524228779730975, + "release_required_pad_clearance": 0.053331368691818135, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6800005755436571, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007393479347229004, + "max_z_decrease": 0.007393479347229004, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035156351628454145, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007393479347229004, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021356272350488075, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007393479347229004, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00739349871222918, + "max_button_displacement": 0.12, + "button_start": [ + 0.17228378355503082, + -0.3593527376651763, + 0.7768088579177856 + ], + "button_final": [ + 0.17228378355503082, + -0.3593527376651763, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17401155246313654, + -0.360970351461192, + 0.8077815867801008 + ], + "closest_button": [ + 0.17227360606193542, + -0.3593592941761016, + 0.7727051973342896 + ], + "closest_ee_minus_button": [ + 0.001737946401201118, + -0.0016110572850904226, + 0.03507638944581126 + ], + "button_min_z_position": [ + 0.1722675561904907, + -0.3593575358390807, + 0.7694153785705566 + ], + "min_active_finger_to_button": 0.14439647406650147, + "closest_active_finger": [ + 0.03273557126522064, + -0.34584754705429077, + 0.8091273307800293 + ], + "closest_active_finger_button": [ + 0.17228882014751432, + -0.35936003923416127, + 0.7745926380157471 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13955324888229367, + 0.013512492179870494, + 0.03453469276428223 + ], + "min_contact_pad_to_button": 0.021356272350488075, + "closest_contact_pad": [ + 0.1722675561904907, + -0.36222642255641857, + 0.7905780782497399 + ], + "closest_contact_pad_button": [ + 0.1722675561904907, + -0.3593575358390807, + 0.7694153785705566 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028688867173378707, + 0.021162699679183272 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f5281edd2e8e4b9d6c87b9f5457b3b35dbff359f0ddab60fe30e30c2dcfc8ed1", + "visual_seed": 1461337911775699371, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..88d2234366a07acb1a3ca1a8401f016c895507a3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2559734184464868, + -0.0273411314540499, + 1.164846049505719 + ], + "current_z": 1.164846049505719, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30373954149095295, + "gripper_z": 1.15820576567464, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2509988378766873, + -0.03220878108418142, + 1.15820576567464 + ], + "object_minus_gripper": [ + 0.004974580569799492, + 0.004867649630131518, + 0.0066402838310788415 + ], + "object_to_gripper_xy": 0.006959918445437858, + "object_to_gripper_z": 0.0066402838310788415, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2559734184464868, + -0.05131271729969279, + 1.164846049505719 + ], + "finger_b": [ + 0.24489487038746666, + -0.0273411314540499, + 1.164846049505719 + ], + "finger_midpoint": [ + 0.25043414441697676, + -0.039326924376871346, + 1.164846049505719 + ], + "object_minus_finger_midpoint": [ + 0.005539274029510044, + 0.011985792922821446, + 0.0 + ], + "finger_gap": 0.026407785879377425, + "fingertip_max_gap": 0.0915704574820474, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0132038929396887, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164846049505719, + "object_top_z": 1.21494110632098, + "finger_top_clearance": 0.05009505681526116, + "fingertip_min_top_clearance": 0.015028517044578348, + "object_projection_between_fingers": 0.8240044398064683, + "object_to_finger_line_xy": 0.010056517689704263, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482852287410237, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9135815945461168, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32196020111696766, + -0.3068419447698816, + 0.8515395839623673 + ], + "target_position": [ + 0.3119916471239122, + -0.3088128849938794, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010161529121103501, + "xy_threshold": 0.08, + "gripper_dist": 0.187465027128262, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395839623673, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530792324812258, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853682779314223, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1561701318828929, + "release_required_pad_clearance": 0.052684138965711155, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.42428418518391775, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007635295391082764, + "max_z_decrease": 0.007635295391082764, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035148782540155944, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007635295391082764, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021135480339412514, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007635295391082764, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007635317675323331, + "max_button_displacement": 0.12, + "button_start": [ + 0.16769157350063327, + -0.3650743365287781, + 0.7768088579177856 + ], + "button_final": [ + 0.16769157350063327, + -0.3650743365287781, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16895445127632674, + -0.36413913420546334, + 0.8067925318243264 + ], + "closest_button": [ + 0.16767859458923343, + -0.36507794260978693, + 0.7716794610023499 + ], + "closest_ee_minus_button": [ + 0.0012758566870933186, + 0.0009388084043235878, + 0.035113070821976566 + ], + "button_min_z_position": [ + 0.167673721909523, + -0.3650789856910705, + 0.7691735625267029 + ], + "min_active_finger_to_button": 0.14454175045851325, + "closest_active_finger": [ + 0.04200010746717453, + -0.42764008045196533, + 0.8108288049697876 + ], + "closest_active_finger_button": [ + 0.16769492626190188, + -0.3650771677494049, + 0.7764920592308044 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12569481879472735, + -0.06256291270256042, + 0.034336745738983154 + ], + "min_contact_pad_to_button": 0.021135480339412514, + "closest_contact_pad": [ + 0.167673721909523, + -0.3653660819360225, + 0.7903070928736143 + ], + "closest_contact_pad_button": [ + 0.167673721909523, + -0.3650789856910705, + 0.7691735625267029 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002870962449519898, + 0.021133530346911455 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a3eeaa246e4635548ebbf4ebc5bc2a0e915df3216cd51c624234b9f45cc8112c", + "visual_seed": 5096375252889061646, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8e55d3fd4d4587d173522b9eae0f3ab430eda6e6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2558038881249637, + -0.03375899781880647, + 1.1631408200584326 + ], + "current_z": 1.1631408200584326, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30203437164831126, + "gripper_z": 1.1563896294669476, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2510503867261621, + -0.03846679835612331, + 1.1563896294669476 + ], + "object_minus_gripper": [ + 0.004753501398801596, + 0.004707800537316835, + 0.00675119059148499 + ], + "object_to_gripper_xy": 0.006690228803827968, + "object_to_gripper_z": 0.00675119059148499, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2558038881249637, + -0.05761720346853555, + 1.1631408200584326 + ], + "finger_b": [ + 0.24501147413769778, + -0.03375899781880647, + 1.1631408200584326 + ], + "finger_midpoint": [ + 0.2504076811313307, + -0.045688100643671015, + 1.1631408200584326 + ], + "object_minus_finger_midpoint": [ + 0.005396206993632968, + 0.011929102824864542, + 0.0 + ], + "finger_gap": 0.026185686481306866, + "fingertip_max_gap": 0.09180501924564499, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013092843240653443, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1631408200584326, + "object_top_z": 1.2131985951870494, + "finger_top_clearance": 0.050057775128616866, + "fingertip_min_top_clearance": 0.01501733253858506, + "object_projection_between_fingers": 0.8301329030736203, + "object_to_finger_line_xy": 0.009833144246533868, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0484025096228225, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0816917944218938, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32814306797463516, + -0.30096805034752183, + 0.8515395041008644 + ], + "target_position": [ + 0.31863055294350795, + -0.3030376479073184, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00973504885847714, + "xy_threshold": 0.08, + "gripper_dist": 0.18720410094353354, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395041008644, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574071442995806, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08576406364657672, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15488089583858988, + "release_required_pad_clearance": 0.052882031823288364, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8050238394775386, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007459759712219238, + "max_z_decrease": 0.007459759712219238, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511079140836908, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007459759712219238, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021404269528862117, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007459759712219238, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007459779433722966, + "max_button_displacement": 0.12, + "button_start": [ + 0.174330472946167, + -0.3592990934848785, + 0.7768088579177856 + ], + "button_final": [ + 0.174330472946167, + -0.3592990934848785, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1759624684072319, + -0.3609043314248273, + 0.807624936918851 + ], + "closest_button": [ + 0.1743203103542328, + -0.3593055605888366, + 0.7725890278816223 + ], + "closest_ee_minus_button": [ + 0.0016421580529991098, + -0.0015987708359906927, + 0.03503590903722864 + ], + "button_min_z_position": [ + 0.17431414127349854, + -0.3593043386936187, + 0.7693490982055664 + ], + "min_active_finger_to_button": 0.14452595276565702, + "closest_active_finger": [ + 0.03477552533149719, + -0.34498438239097595, + 0.8076810240745544 + ], + "closest_active_finger_button": [ + 0.17433816194534302, + -0.3593060374259948, + 0.7729691863059998 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13956263661384583, + 0.014321655035018865, + 0.03471183776855469 + ], + "min_contact_pad_to_button": 0.021404269528862117, + "closest_contact_pad": [ + 0.17431414127349854, + -0.3622450866631544, + 0.7905503895682133 + ], + "closest_contact_pad_button": [ + 0.17431414127349854, + -0.3593043386936187, + 0.7693490982055664 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029407479695356953, + 0.021201291362646923 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "744be4cdffe0427a8f3e1742ad3ea2d8a6cd4f3caf1b02874afaa23af6a35b7d", + "visual_seed": 4042111611844652821, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4719dc1451c83d22958163288a38f3c47e56e47 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25023650360673166, + -0.02888374641193525, + 1.163079987333079 + ], + "current_z": 1.163079987333079, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.3019734197136684, + "gripper_z": 1.1565209892131445, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24549309396153163, + -0.03371121841845222, + 1.1565209892131445 + ], + "object_minus_gripper": [ + 0.004743409645200036, + 0.004827472006516967, + 0.006558998119934545 + ], + "object_to_gripper_xy": 0.0067678963523299975, + "object_to_gripper_z": 0.006558998119934545, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25023650360673166, + -0.05249026379012926, + 1.163079987333079 + ], + "finger_b": [ + 0.23899777287368387, + -0.02888374641193525, + 1.163079987333079 + ], + "finger_midpoint": [ + 0.24461713824020775, + -0.04068700510103226, + 1.163079987333079 + ], + "object_minus_finger_midpoint": [ + 0.00561936536652391, + 0.011803258689097006, + 0.0 + ], + "finger_gap": 0.026145300365781395, + "fingertip_max_gap": 0.09206305312567356, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013072650182890704, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163079987333079, + "object_top_z": 1.2131684234880598, + "finger_top_clearance": 0.05008843615498071, + "fingertip_min_top_clearance": 0.015026530846494246, + "object_projection_between_fingers": 0.8152232767415989, + "object_to_finger_line_xy": 0.01014741803103423, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853152656283678, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.379475091182229, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.324018140554162, + -0.30673014523708675, + 0.8515395617457835 + ], + "target_position": [ + 0.314874284089001, + -0.3085119403409094, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009315841607040852, + "xy_threshold": 0.08, + "gripper_dist": 0.18444940941126858, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395617457835, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524939931598629, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08576809067030981, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15331912868076822, + "release_required_pad_clearance": 0.05288404533515491, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.808903510840857, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007236123085021973, + "max_z_decrease": 0.007236123085021973, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502234819273613, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007236123085021973, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021257452030005956, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007236123085021973, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007236143279785075, + "max_button_displacement": 0.12, + "button_start": [ + 0.17057420313358304, + -0.3647733926773071, + 0.7768088579177856 + ], + "button_final": [ + 0.17057420313358304, + -0.3647733926773071, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17098425270989798, + -0.3644315580009828, + 0.8073388389887433 + ], + "closest_button": [ + 0.17056213319301605, + -0.3647778928279876, + 0.7723207473754883 + ], + "closest_ee_minus_button": [ + 0.00042211951688192473, + 0.00034633482700480167, + 0.035018091613254976 + ], + "button_min_z_position": [ + 0.17055799067020416, + -0.36477881669998163, + 0.7695727348327637 + ], + "min_active_finger_to_button": 0.14570950279014028, + "closest_active_finger": [ + 0.042694151401519775, + -0.42534416913986206, + 0.8078732490539551 + ], + "closest_active_finger_button": [ + 0.1705851703882217, + -0.3647796809673309, + 0.7731300592422485 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12789101898670194, + -0.06056448817253118, + 0.03474318981170654 + ], + "min_contact_pad_to_button": 0.021257452030005956, + "closest_contact_pad": [ + 0.17055799067020416, + -0.3659715212945532, + 0.7907967005922086 + ], + "closest_contact_pad_button": [ + 0.17055799067020416, + -0.36477881669998163, + 0.7695727348327637 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011927045945715475, + 0.021223965759444963 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d1d956d5cd89e51062cbd594c26897edf9f418f0c44566995360515be0b6357", + "visual_seed": 1673932797177625113, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d6e70bc7c0ea7f1ef22989e7f857f256e8f5f9d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24702620490260477, + -0.034534565714082636, + 1.161744079319602 + ], + "current_z": 1.161744079319602, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3006376309094809, + "gripper_z": 1.1552628123945752, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24211959866472305, + -0.03939510104679962, + 1.1552628123945752 + ], + "object_minus_gripper": [ + 0.004906606237881722, + 0.004860535332716985, + 0.0064812669250269295 + ], + "object_to_gripper_xy": 0.006906488868753068, + "object_to_gripper_z": 0.0064812669250269295, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24702620490260477, + -0.058331541849081354, + 1.161744079319602 + ], + "finger_b": [ + 0.23587157834314526, + -0.034534565714082636, + 1.161744079319602 + ], + "finger_midpoint": [ + 0.24144889162287503, + -0.046433053781581995, + 1.161744079319602 + ], + "object_minus_finger_midpoint": [ + 0.00557731327972974, + 0.011898488067499359, + 0.0 + ], + "finger_gap": 0.02628158607943398, + "fingertip_max_gap": 0.09221015277014313, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013140793039716984, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161744079319602, + "object_top_z": 1.211898944947991, + "finger_top_clearance": 0.050154865628389, + "fingertip_min_top_clearance": 0.015046459688516665, + "object_projection_between_fingers": 0.819861339757236, + "object_to_finger_line_xy": 0.01010008989670527, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04860507638507157, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3808108658218732, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 335, + "max_stable_success_frames": 335, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32389322303532003, + -0.30517907071561584, + 0.8515395113892301 + ], + "target_position": [ + 0.31428057109285495, + -0.30703806551172647, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00979075783680426, + "xy_threshold": 0.08, + "gripper_dist": 0.18594577696070377, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395113892301, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537202454469231, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539980849629346, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1544865330158414, + "release_required_pad_clearance": 0.05269990424814673, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.45456388503691947, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007638692855834961, + "max_z_decrease": 0.007638692855834961, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035100743827558255, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007638692855834961, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02115036309368344, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007638692855834961, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00763871487070037, + "max_button_displacement": 0.12, + "button_start": [ + 0.16998049616813657, + -0.3632995188236236, + 0.7768088579177856 + ], + "button_final": [ + 0.16998049616813657, + -0.3632995188236236, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16956476982818444, + -0.3629477291338512, + 0.8075720994808738 + ], + "closest_button": [ + 0.1699709445238113, + -0.3633066117763518, + 0.77247554063797 + ], + "closest_ee_minus_button": [ + -0.0004061746956268708, + 0.0003588826425006131, + 0.03509655884290386 + ], + "button_min_z_position": [ + 0.1699627637863159, + -0.3633041977882384, + 0.7691701650619507 + ], + "min_active_finger_to_button": 0.14637513815505254, + "closest_active_finger": [ + 0.04243557155132294, + -0.426358699798584, + 0.8108242750167847 + ], + "closest_active_finger_button": [ + 0.16998356580734247, + -0.3633018732070922, + 0.776458203792572 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12754799425601954, + -0.06305682659149181, + 0.034366071224212646 + ], + "min_contact_pad_to_button": 0.02115036309368344, + "closest_contact_pad": [ + 0.1699627637863159, + -0.3642344603925858, + 0.790300060245827 + ], + "closest_contact_pad_button": [ + 0.1699627637863159, + -0.3633041977882384, + 0.7691701650619507 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000930262604347365, + 0.021129895183876313 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2441b01600a792aab62e02bd2cb6e6e273e9185c632d1ae0a70aa48c5ca74289", + "visual_seed": 5317173078675310387, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..17c5537d15d59ee9be94cc3a8c9675147c965df6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25459916833694424, + -0.026030124082257133, + 1.1631081358685478 + ], + "current_z": 1.1631081358685478, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3020016278537816, + "gripper_z": 1.1563879969673836, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24965186387532393, + -0.03075328304166773, + 1.1563879969673836 + ], + "object_minus_gripper": [ + 0.004947304461620311, + 0.004723158959410598, + 0.0067201389011641854 + ], + "object_to_gripper_xy": 0.006839886840571914, + "object_to_gripper_z": 0.0067201389011641854, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25459916833694424, + -0.0500730232014642, + 1.1631081358685478 + ], + "finger_b": [ + 0.24385047828438108, + -0.026030124082257133, + 1.1631081358685478 + ], + "finger_midpoint": [ + 0.24922482331066265, + -0.03805157364186067, + 1.1631081358685478 + ], + "object_minus_finger_midpoint": [ + 0.005374345026281591, + 0.012021449559603534, + 0.0 + ], + "finger_gap": 0.026336198205178327, + "fingertip_max_gap": 0.09158795562987065, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013168099102589169, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1631081358685478, + "object_top_z": 1.2131518952189404, + "finger_top_clearance": 0.050043759350392625, + "fingertip_min_top_clearance": 0.015013127805117786, + "object_projection_between_fingers": 0.8334268818348551, + "object_to_finger_line_xy": 0.009812717408338273, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829397781493533, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0170412692857038, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32080598404695476, + -0.30041216311041324, + 0.8515395603227658 + ], + "target_position": [ + 0.31110136967664526, + -0.3023536008330082, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009896904592201166, + "xy_threshold": 0.08, + "gripper_dist": 0.1858484695526897, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395603227658, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587370348035606, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08727827368137152, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15313790519832424, + "release_required_pad_clearance": 0.05363913684068576, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2882999701929934, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00720524787902832, + "max_z_decrease": 0.00720524787902832, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515499709905929, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00720524787902832, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02111481757620204, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00720524787902832, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007205265913214854, + "max_button_displacement": 0.12, + "button_start": [ + 0.16680128872394562, + -0.3586150705814361, + 0.7768088579177856 + ], + "button_final": [ + 0.16680128872394562, + -0.3586150705814361, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1663545043660325, + -0.35718238103804795, + 0.8081561771528865 + ], + "closest_button": [ + 0.16679561138153076, + -0.35862493515014643, + 0.7730335593223572 + ], + "closest_ee_minus_button": [ + -0.0004411070154982655, + 0.001442554112098482, + 0.03512261783052928 + ], + "button_min_z_position": [ + 0.16678579151630402, + -0.3586195111274719, + 0.7696036100387573 + ], + "min_active_finger_to_button": 0.14591841396138383, + "closest_active_finger": [ + 0.03950496017932892, + -0.4211890399456024, + 0.8105023503303528 + ], + "closest_active_finger_button": [ + 0.16680338978767395, + -0.35861760377883906, + 0.7762662768363953 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12729842960834503, + -0.06257143616676336, + 0.03423607349395752 + ], + "min_contact_pad_to_button": 0.02111481757620204, + "closest_contact_pad": [ + 0.16678579151630402, + -0.3586195111274719, + 0.7907184276149594 + ], + "closest_contact_pad_button": [ + 0.16678579151630402, + -0.3586195111274719, + 0.7696036100387573 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02111481757620204 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eb53f3bfde2d868542fe5f112850bd8d7fcb31c95a27920bcbd3aff5c8278283", + "visual_seed": 4710929174628526201, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ce33b77b0c9921036f2833ba3982a2660750796d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25406096764774544, + -0.029967636429774683, + 1.1651366924358713 + ], + "current_z": 1.1651366924358713, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.3040301248164603, + "gripper_z": 1.1585956810457803, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24901321690303274, + -0.03482203551698414, + 1.1585956810457803 + ], + "object_minus_gripper": [ + 0.005047750744712698, + 0.004854399087209454, + 0.0065410113900910005 + ], + "object_to_gripper_xy": 0.007003211982986634, + "object_to_gripper_z": 0.0065410113900910005, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25406096764774544, + -0.05399037131380034, + 1.1651366924358713 + ], + "finger_b": [ + 0.24300568249205162, + -0.029967636429774683, + 1.1651366924358713 + ], + "finger_midpoint": [ + 0.24853332506989853, + -0.04197900387178751, + 1.1651366924358713 + ], + "object_minus_finger_midpoint": [ + 0.0055276425778469085, + 0.012011367442012828, + 0.0 + ], + "finger_gap": 0.026444491320157536, + "fingertip_max_gap": 0.09150336279528243, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013222245660078768, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651366924358713, + "object_top_z": 1.2151668774089368, + "finger_top_clearance": 0.05003018497306555, + "fingertip_min_top_clearance": 0.015009055491919665, + "object_projection_between_fingers": 0.8252289629440694, + "object_to_finger_line_xy": 0.010042854715836314, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048251681397641216, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9238892933647337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32012433304043997, + -0.3065731281866104, + 0.8515395693735058 + ], + "target_position": [ + 0.3099202375582889, + -0.3087299275474691, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010429542084476006, + "xy_threshold": 0.08, + "gripper_dist": 0.1863657488676812, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395693735058, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577045729905087, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08602689984879518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15403912412520393, + "release_required_pad_clearance": 0.05301344992439759, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.059421549196666, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007543027400970459, + "max_z_decrease": 0.007543027400970459, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035165667010137056, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007543027400970459, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021179500128362894, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007543027400970459, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007543047117892339, + "max_button_displacement": 0.12, + "button_start": [ + 0.1656201630830765, + -0.364991396665573, + 0.7768088579177856 + ], + "button_final": [ + 0.1656201630830765, + -0.364991396665573, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16685665168693556, + -0.3630912405004413, + 0.8043574736755267 + ], + "closest_button": [ + 0.16560377180576324, + -0.3649967610836028, + 0.7692658305168152 + ], + "closest_ee_minus_button": [ + 0.001252879881172314, + 0.001905520583161513, + 0.035091643158711494 + ], + "button_min_z_position": [ + 0.16560377180576324, + -0.3649967610836028, + 0.7692658305168152 + ], + "min_active_finger_to_button": 0.14386528965877649, + "closest_active_finger": [ + 0.03924821317195892, + -0.4244539737701416, + 0.8110157251358032 + ], + "closest_active_finger_button": [ + 0.1656242460012436, + -0.3649939894676208, + 0.7765073180198669 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12637603282928467, + -0.05945998430252081, + 0.03450840711593628 + ], + "min_contact_pad_to_button": 0.021179500128362894, + "closest_contact_pad": [ + 0.16560377180576324, + -0.3649967610836028, + 0.7904453306451781 + ], + "closest_contact_pad_button": [ + 0.16560377180576324, + -0.3649967610836028, + 0.7692658305168152 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021179500128362894 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "40ef766d1006c507dc9971416f42ba72b7a0cece3fa4cefe439cb8ae6c38442e", + "visual_seed": 47680447766406401, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c8acaf20e7747e2ffe2f95c08fd2215171a4d3dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24818416758513598, + -0.02894988253290685, + 1.1621378229079502 + ], + "current_z": 1.1621378229079502, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3010313744978288, + "gripper_z": 1.1556728201175717, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24315355893920296, + -0.03372421809571985, + 1.1556728201175717 + ], + "object_minus_gripper": [ + 0.005030608645933021, + 0.004774335562812999, + 0.006465002790378538 + ], + "object_to_gripper_xy": 0.006935510321157122, + "object_to_gripper_z": 0.006465002790378538, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24818416758513598, + -0.053050213804306044, + 1.1621378229079502 + ], + "finger_b": [ + 0.2373795630086484, + -0.02894988253290685, + 1.1621378229079502 + ], + "finger_midpoint": [ + 0.2427818652968922, + -0.041000048168606446, + 1.1621378229079502 + ], + "object_minus_finger_midpoint": [ + 0.005402302288243788, + 0.012050165635699595, + 0.0 + ], + "finger_gap": 0.026411464318462884, + "fingertip_max_gap": 0.0916453778319255, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01320573215923144, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621378229079502, + "object_top_z": 1.2122476248065155, + "finger_top_clearance": 0.05010980189856529, + "fingertip_min_top_clearance": 0.015032940569569553, + "object_projection_between_fingers": 0.8326472727659188, + "object_to_finger_line_xy": 0.009859148527701965, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832268891596275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9985076093893348, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3193674506563833, + -0.3040897433002845, + 0.8515395013993335 + ], + "target_position": [ + 0.3094425198783939, + -0.3057878301391472, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010069148417825602, + "xy_threshold": 0.08, + "gripper_dist": 0.18627516291466983, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395013993335, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516835559336035, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506772993686061, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15521720999159785, + "release_required_pad_clearance": 0.05253386496843031, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.13705608468679845, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007429599761962891, + "max_z_decrease": 0.007429599761962891, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514034092801679, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007429599761962891, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0211860638921461, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007429599761962891, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007429620091437901, + "max_button_displacement": 0.12, + "button_start": [ + 0.16514244675636286, + -0.36204928159713745, + 0.7768088579177856 + ], + "button_final": [ + 0.16514244675636286, + -0.36204928159713745, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16675903644533116, + -0.36153134609882975, + 0.8045386466853782 + ], + "closest_button": [ + 0.16512592136859888, + -0.36205452680587763, + 0.7694401741027832 + ], + "closest_ee_minus_button": [ + 0.0016331150767322777, + 0.0005231807070478767, + 0.03509847258259502 + ], + "button_min_z_position": [ + 0.1651258766651153, + -0.3620545268058777, + 0.7693792581558228 + ], + "min_active_finger_to_button": 0.14410967847046785, + "closest_active_finger": [ + 0.03932102024555206, + -0.42326366901397705, + 0.8110836744308472 + ], + "closest_active_finger_button": [ + 0.1651466786861419, + -0.36205142736434937, + 0.7766081094741821 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12582565844058985, + -0.061212241649627686, + 0.03447556495666504 + ], + "min_contact_pad_to_button": 0.0211860638921461, + "closest_contact_pad": [ + 0.1651258766651153, + -0.3628317323605458, + 0.7905510614509578 + ], + "closest_contact_pad_button": [ + 0.1651258766651153, + -0.3620545268058777, + 0.7693792581558228 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007772055546680923, + 0.021171803295135017 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "94460b2bb8f49548e0ec22e79a70092e027d089fc327e3ce7e974ef42f45f922", + "visual_seed": 1083490911593544535, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8603659fa626c3dc5a67f9053b84b53bdaa6836b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2471136023785146, + -0.03656828025184885, + 1.1632213351506335 + ], + "current_z": 1.1632213351506335, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.30211488674051257, + "gripper_z": 1.1565898841247024, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2422678672931816, + -0.04127873910135771, + 1.1565898841247024 + ], + "object_minus_gripper": [ + 0.004845735085333008, + 0.00471045884950886, + 0.006631451025931101 + ], + "object_to_gripper_xy": 0.00675792653778832, + "object_to_gripper_z": 0.006631451025931101, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2471136023785146, + -0.06047512672267216, + 1.1632213351506335 + ], + "finger_b": [ + 0.23634969435905898, + -0.03656828025184885, + 1.1632213351506335 + ], + "finger_midpoint": [ + 0.2417316483687868, + -0.04852170348726051, + 1.1632213351506335 + ], + "object_minus_finger_midpoint": [ + 0.005381954009727796, + 0.01195342323541166, + 0.0 + ], + "finger_gap": 0.026218295597365174, + "fingertip_max_gap": 0.091671529022953, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013109147798682585, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1632213351506335, + "object_top_z": 1.2133435508691983, + "finger_top_clearance": 0.05012221571856479, + "fingertip_min_top_clearance": 0.01503666471556947, + "object_projection_between_fingers": 0.8314491120864514, + "object_to_finger_line_xy": 0.009814943747642017, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483357645114765, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9743869939520396, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3244526306599147, + -0.30781602764789956, + 0.8515396221670609 + ], + "target_position": [ + 0.31532932134345704, + -0.30953697313562967, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009284203049023745, + "xy_threshold": 0.08, + "gripper_dist": 0.18496642829922763, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396221670609, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565412879338376, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08621320615543114, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1527962726450428, + "release_required_pad_clearance": 0.05310660307771557, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2404708332587775, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00748366117477417, + "max_z_decrease": 0.00748366117477417, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508010899455646, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00748366117477417, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021307429795331866, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00748366117477417, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007483680859994598, + "max_button_displacement": 0.12, + "button_start": [ + 0.17102925479412076, + -0.3657984435558318, + 0.7768088579177856 + ], + "button_final": [ + 0.17102925479412076, + -0.3657984435558318, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1716270736066541, + -0.36680851538397474, + 0.8077107183987792 + ], + "closest_button": [ + 0.17101964354515073, + -0.36580449342727656, + 0.7726502418518066 + ], + "closest_ee_minus_button": [ + 0.0006074300615033779, + -0.0010040219566981867, + 0.03506047654697253 + ], + "button_min_z_position": [ + 0.17101277410984037, + -0.3658032417297362, + 0.7693251967430115 + ], + "min_active_finger_to_button": 0.14555709865835395, + "closest_active_finger": [ + 0.030532613396644592, + -0.35003146529197693, + 0.8086003661155701 + ], + "closest_active_finger_button": [ + 0.1710343062877655, + -0.3658046126365661, + 0.7739976048469543 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1405016928911209, + 0.015773147344589178, + 0.03460276126861572 + ], + "min_contact_pad_to_button": 0.021307429795331866, + "closest_contact_pad": [ + 0.17101277410984037, + -0.368203734166441, + 0.7904969751412547 + ], + "closest_contact_pad_button": [ + 0.17101277410984037, + -0.3658032417297362, + 0.7693251967430115 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024004924367047598, + 0.021171778398243246 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d1b6206ac703b918648e61c1ec1764c9a065d8c4c0c6cb6ad098feb4176301c5", + "visual_seed": 2898080253176549600, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4266a16ba51a71dbbecba22ba7f5bfc16a71ce4b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24953691402673792, + -0.02803624350325938, + 1.1650313134802524 + ], + "current_z": 1.1650313134802524, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30392486507013117, + "gripper_z": 1.158586413762865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24468227084402472, + -0.032930256575360015, + 1.158586413762865 + ], + "object_minus_gripper": [ + 0.0048546431827131975, + 0.004894013072100634, + 0.006444899717387376 + ], + "object_to_gripper_xy": 0.006893397158249016, + "object_to_gripper_z": 0.006444899717387376, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24953691402673792, + -0.05175108689673914, + 1.1650313134802524 + ], + "finger_b": [ + 0.238245500126036, + -0.02803624350325938, + 1.1650313134802524 + ], + "finger_midpoint": [ + 0.24389120707638695, + -0.03989366519999926, + 1.1650313134802524 + ], + "object_minus_finger_midpoint": [ + 0.005645706950350965, + 0.011857421696739881, + 0.0 + ], + "finger_gap": 0.026265753845154255, + "fingertip_max_gap": 0.09173427927458036, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013132876922577127, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650313134802524, + "object_top_z": 1.2151554662995414, + "finger_top_clearance": 0.05012415281928906, + "fingertip_min_top_clearance": 0.015037245845786716, + "object_projection_between_fingers": 0.815193639264151, + "object_to_finger_line_xy": 0.0101948001920953, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04836713963729018, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9748455482354208, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3219435670094401, + -0.3018312734840803, + 0.8515394964821004 + ], + "target_position": [ + 0.31262099580978076, + -0.30355250375763115, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009480135411865482, + "xy_threshold": 0.08, + "gripper_dist": 0.18681011978807663, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394964821004, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542912783279528, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855121097627237, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1551412432036007, + "release_required_pad_clearance": 0.052756054881361855, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5623203459901366, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007378578186035156, + "max_z_decrease": 0.007378578186035156, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351095468197915, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007378578186035156, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021232870780322544, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007378578186035156, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073785991512959, + "max_button_displacement": 0.12, + "button_start": [ + 0.16832092404365545, + -0.3598139584064483, + 0.7768088579177856 + ], + "button_final": [ + 0.16832092404365545, + -0.3598139584064483, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16943185169879518, + -0.3578822072536098, + 0.8044681810872942 + ], + "closest_button": [ + 0.1683043539524079, + -0.3598198592662811, + 0.7694302797317505 + ], + "closest_ee_minus_button": [ + 0.0011274977463872904, + 0.0019376520126712649, + 0.035037901355543744 + ], + "button_min_z_position": [ + 0.1683043539524079, + -0.3598198592662811, + 0.7694302797317505 + ], + "min_active_finger_to_button": 0.14403241531389419, + "closest_active_finger": [ + 0.04155336320400238, + -0.418700635433197, + 0.8075173497200012 + ], + "closest_active_finger_button": [ + 0.16833233833312994, + -0.3598217964172363, + 0.7727940082550049 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12677897512912756, + -0.05887883901596075, + 0.03472334146499634 + ], + "min_contact_pad_to_button": 0.021232870780322544, + "closest_contact_pad": [ + 0.1683043539524079, + -0.3598198592662811, + 0.790663150512073 + ], + "closest_contact_pad_button": [ + 0.1683043539524079, + -0.3598198592662811, + 0.7694302797317505 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021232870780322544 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "42cff944e1cab8c34cb310fa766e941372713f82c8d36d7ae29e42f00ac1e655", + "visual_seed": 3994565110729166387, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bfdfe51790fdba9d9b95d065ea308b89747380a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2541765025314744, + -0.03610811022680235, + 1.1636556689706394 + ], + "current_z": 1.1636556689706394, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30254922056051825, + "gripper_z": 1.156827359044216, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24941988548917424, + -0.040882464235222266, + 1.156827359044216 + ], + "object_minus_gripper": [ + 0.004756617042300154, + 0.004774354008419919, + 0.00682830992642347 + ], + "object_to_gripper_xy": 0.006739425931399173, + "object_to_gripper_z": 0.00682830992642347, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2541765025314744, + -0.059885313567332205, + 1.1636556689706394 + ], + "finger_b": [ + 0.24320398747011918, + -0.03610811022680235, + 1.1636556689706394 + ], + "finger_midpoint": [ + 0.24869024500079678, + -0.04799671189706728, + 1.1636556689706394 + ], + "object_minus_finger_midpoint": [ + 0.005486257530677607, + 0.011888601670264932, + 0.0 + ], + "finger_gap": 0.02618685711322707, + "fingertip_max_gap": 0.09141265721374842, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013093428556613539, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636556689706394, + "object_top_z": 1.213708470485085, + "finger_top_clearance": 0.050052801514445466, + "fingertip_min_top_clearance": 0.01501584045433364, + "object_projection_between_fingers": 0.8244318979646091, + "object_to_finger_line_xy": 0.009962849709027891, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04820632860687421, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8315040110281893, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32684080809295335, + -0.30109830823326444, + 0.8515395748011109 + ], + "target_position": [ + 0.3167392628732974, + -0.3030676910916743, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.01029172894453369, + "xy_threshold": 0.08, + "gripper_dist": 0.1866134416184532, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395748011109, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522457442310945, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08579374060376475, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15555280034222257, + "release_required_pad_clearance": 0.05289687030188238, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8336814163075087, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074037909507751465, + "max_z_decrease": 0.0074037909507751465, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506450335833482, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074037909507751465, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021196119213602573, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074037909507751465, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007403814302488804, + "max_button_displacement": 0.12, + "button_start": [ + 0.1724391877651214, + -0.35932916402816767, + 0.7768088579177856 + ], + "button_final": [ + 0.1724391877651214, + -0.35932916402816767, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17165843164059533, + -0.3580906268757713, + 0.8073580506129089 + ], + "closest_button": [ + 0.17242835462093348, + -0.3593347668647766, + 0.7723240852355957 + ], + "closest_ee_minus_button": [ + -0.0007699229803381502, + 0.0012441399890052995, + 0.03503396537731318 + ], + "button_min_z_position": [ + 0.1724214851856231, + -0.3593348562717437, + 0.7694050669670105 + ], + "min_active_finger_to_button": 0.1463882972386758, + "closest_active_finger": [ + 0.04383525252342224, + -0.42006152868270874, + 0.8107008934020996 + ], + "closest_active_finger_button": [ + 0.17244412004947657, + -0.35933327674865717, + 0.7760400772094727 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12860886752605433, + -0.06072825193405157, + 0.03466081619262695 + ], + "min_contact_pad_to_button": 0.021196119213602573, + "closest_contact_pad": [ + 0.1724214851856231, + -0.3595628156002881, + 0.7905999603204054 + ], + "closest_contact_pad_button": [ + 0.1724214851856231, + -0.3593348562717437, + 0.7694050669670105 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00022795932854435819, + 0.02119489335339486 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3fb407f7a7f072bc2b7296e619c23e8a9fdb2a4e25735ed9ead10b6d0a1e3dd1", + "visual_seed": 3577005015989977385, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..03d4fd6927419c84a02b576fa43698c1a57b0150 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24822136923714155, + -0.03006374407926709, + 1.1629285155186695 + ], + "current_z": 1.1629285155186695, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3018220671085481, + "gripper_z": 1.1564787353571964, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2433828759963835, + -0.03490207771134195, + 1.1564787353571964 + ], + "object_minus_gripper": [ + 0.004838493240758052, + 0.004838333632074858, + 0.006449780161473129 + ], + "object_to_gripper_xy": 0.006842549903079117, + "object_to_gripper_z": 0.006449780161473129, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24822136923714155, + -0.05381299869839798, + 1.1629285155186695 + ], + "finger_b": [ + 0.23706654131097482, + -0.03006374407926709, + 1.1629285155186695 + ], + "finger_midpoint": [ + 0.2426439552740582, + -0.04193837138883254, + 1.1629285155186695 + ], + "object_minus_finger_midpoint": [ + 0.005577413963083366, + 0.011874627309565448, + 0.0 + ], + "finger_gap": 0.026238469487123276, + "fingertip_max_gap": 0.09209817707961793, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013119234743561642, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1629285155186695, + "object_top_z": 1.2130579925313154, + "finger_top_clearance": 0.05012947701264592, + "fingertip_min_top_clearance": 0.015038843103793775, + "object_projection_between_fingers": 0.8192622992136476, + "object_to_finger_line_xy": 0.010096581615826961, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048549088539808966, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.29796335728494, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32709307316876335, + -0.3047440784961116, + 0.8515396102164703 + ], + "target_position": [ + 0.3173627286021783, + -0.30665584903336546, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009916373932621902, + "xy_threshold": 0.08, + "gripper_dist": 0.1872682714716488, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396102164703, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530743068783007, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548544678286195, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15594916511304344, + "release_required_pad_clearance": 0.052742723391430976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5366819442171104, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007419288158416748, + "max_z_decrease": 0.007419288158416748, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035131999762284136, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007419288158416748, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02122778422688776, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007419288158416748, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007419307490411091, + "max_button_displacement": 0.12, + "button_start": [ + 0.1730626523494721, + -0.36291730403900135, + 0.7768088579177856 + ], + "button_final": [ + 0.1730626523494721, + -0.36291730403900135, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1720651497995288, + -0.36417572576562274, + 0.8079254134766729 + ], + "closest_button": [ + 0.1730533987283707, + -0.36292341351509083, + 0.7728296518325806 + ], + "closest_ee_minus_button": [ + -0.0009882489288418894, + -0.0012523122505319062, + 0.03509576164409234 + ], + "button_min_z_position": [ + 0.17304627597332006, + -0.3629216253757475, + 0.7693895697593689 + ], + "min_active_finger_to_button": 0.14703418809531413, + "closest_active_finger": [ + 0.030705958604812622, + -0.3498477041721344, + 0.8106837272644043 + ], + "closest_active_finger_button": [ + 0.17306554317474368, + -0.3629201650619505, + 0.7763047814369202 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14235958456993106, + 0.013072460889816118, + 0.03437894582748413 + ], + "min_contact_pad_to_button": 0.02122778422688776, + "closest_contact_pad": [ + 0.17304627597332006, + -0.36530963302762093, + 0.7904826075357988 + ], + "closest_contact_pad_button": [ + 0.17304627597332006, + -0.3629216253757475, + 0.7693895697593689 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002388007651873414, + 0.0210930377764299 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37f1f0c208d34f20c4b628c4051bd1ebc4963a6f392157b1020cf1b4a57669a0", + "visual_seed": 8805742875584751643, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7fa3cc61b8ecf28612351f922064e1adbdcf7b5d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2554321409566056, + -0.028487640408369024, + 1.1625008024133008 + ], + "current_z": 1.1625008024133008, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30139429439853493, + "gripper_z": 1.1557970129331936, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2505377935530694, + -0.03328341976940501, + 1.1557970129331936 + ], + "object_minus_gripper": [ + 0.0048943474035362255, + 0.004795779361035982, + 0.006703789480107192 + ], + "object_to_gripper_xy": 0.006852308821575432, + "object_to_gripper_z": 0.006703789480107192, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2554321409566056, + -0.05237225065279173, + 1.1625008024133008 + ], + "finger_b": [ + 0.24442099677638796, + -0.028487640408369024, + 1.1625008024133008 + ], + "finger_midpoint": [ + 0.24992656886649678, + -0.04042994553058038, + 1.1625008024133008 + ], + "object_minus_finger_midpoint": [ + 0.005505572090108823, + 0.011942305122211356, + 0.0 + ], + "finger_gap": 0.026300568485976176, + "fingertip_max_gap": 0.09168766388646604, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01315028424298809, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1625008024133008, + "object_top_z": 1.2126215142206616, + "finger_top_clearance": 0.050120711807360774, + "fingertip_min_top_clearance": 0.015036213542208198, + "object_projection_between_fingers": 0.8247190868922233, + "object_to_finger_line_xy": 0.009999665491256417, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834383194323302, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9397896636886857, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3278314199337833, + -0.30393225970251586, + 0.851539617474587 + ], + "target_position": [ + 0.31837614772531453, + -0.30583220228386016, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009644270545181053, + "xy_threshold": 0.08, + "gripper_dist": 0.1853041158926411, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539617474587, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545930134448584, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496536858892888, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15359522821516308, + "release_required_pad_clearance": 0.05248268429446444, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956466998212797, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00749659538269043, + "max_z_decrease": 0.00749659538269043, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510129546296834, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00749659538269043, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021195618735827253, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00749659538269043, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007496614774896627, + "max_button_displacement": 0.12, + "button_start": [ + 0.1740760803222656, + -0.3620936572551727, + 0.7768088579177856 + ], + "button_final": [ + 0.1740760803222656, + -0.3620936572551727, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17546440353595738, + -0.3619590968321298, + 0.807137508081765 + ], + "closest_button": [ + 0.17406365275382996, + -0.36209785938262934, + 0.7720644474029541 + ], + "closest_ee_minus_button": [ + 0.0014007507821274245, + 0.00013876255049954933, + 0.035073060678810886 + ], + "button_min_z_position": [ + 0.1740598082542419, + -0.36209875345230097, + 0.7693122625350952 + ], + "min_active_finger_to_button": 0.14483536684405338, + "closest_active_finger": [ + 0.034244462847709656, + -0.3470176160335541, + 0.8080351948738098 + ], + "closest_active_finger_button": [ + 0.17408293485641474, + -0.36210197210311884, + 0.7734671831130981 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13983847200870508, + 0.015084356069564764, + 0.03456801176071167 + ], + "min_contact_pad_to_button": 0.021195618735827253, + "closest_contact_pad": [ + 0.1740598082542419, + -0.3631542860293574, + 0.7904815824243435 + ], + "closest_contact_pad_button": [ + 0.1740598082542419, + -0.36209875345230097, + 0.7693122625350952 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010555325770564283, + 0.021169319889248306 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "16d31f961d4bd396960df20cbc4fa552d34cf3be9c8edaa78f1caa614d2f8543", + "visual_seed": 5206723220762357533, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dbff4f259034af4f9202e22781638c86fdcbabd2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25036043260177315, + -0.03328587810255111, + 1.16481681843092 + ], + "current_z": 1.16481681843092, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3037103700207986, + "gripper_z": 1.1582587111896576, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2455774072661488, + -0.03810802560857289, + 1.1582587111896576 + ], + "object_minus_gripper": [ + 0.004783025335624358, + 0.004822147506021779, + 0.006558107241262379 + ], + "object_to_gripper_xy": 0.006791939187820851, + "object_to_gripper_z": 0.006558107241262379, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25036043260177315, + -0.057044473588917295, + 1.16481681843092 + ], + "finger_b": [ + 0.23928046630497157, + -0.03328587810255111, + 1.16481681843092 + ], + "finger_midpoint": [ + 0.24482044945337236, + -0.04516517584573421, + 1.16481681843092 + ], + "object_minus_finger_midpoint": [ + 0.00553998314840079, + 0.011879297743183095, + 0.0 + ], + "finger_gap": 0.026215196215612017, + "fingertip_max_gap": 0.09192352094285458, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01310759810780601, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16481681843092, + "object_top_z": 1.2148822864282427, + "finger_top_clearance": 0.0500654679973227, + "fingertip_min_top_clearance": 0.015019640399196775, + "object_projection_between_fingers": 0.8213633139635029, + "object_to_finger_line_xy": 0.010041673351714566, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846176047142729, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1809516537453937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31865110273569663, + -0.3067957378194831, + 0.8515395663869284 + ], + "target_position": [ + 0.3088838250484491, + -0.3086995241537495, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009951086163145382, + "xy_threshold": 0.08, + "gripper_dist": 0.18625998812318928, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395663869284, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532887045525259, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499576557486503, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15493538175134577, + "release_required_pad_clearance": 0.05249788278743252, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06852803976659781, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007330477237701416, + "max_z_decrease": 0.007330477237701416, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517470640984974, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007330477237701416, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021114607266543794, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007330477237701416, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007330496981637682, + "max_button_displacement": 0.12, + "button_start": [ + 0.164583757519722, + -0.3649609684944152, + 0.7768088579177856 + ], + "button_final": [ + 0.164583757519722, + -0.3649609684944152, + 0.7768088579177856 + ], + "closest_ee": [ + 0.163657138339796, + -0.36312588535004114, + 0.808056735194764 + ], + "closest_button": [ + 0.16457770764827734, + -0.36497142910957336, + 0.7729425430297852 + ], + "closest_ee_minus_button": [ + -0.0009205693084813338, + 0.00184554375953222, + 0.0351141921649788 + ], + "button_min_z_position": [ + 0.16456736624240878, + -0.36496552824974055, + 0.7694783806800842 + ], + "min_active_finger_to_button": 0.14619792969929146, + "closest_active_finger": [ + 0.03605535626411438, + -0.42561596632003784, + 0.8110402226448059 + ], + "closest_active_finger_button": [ + 0.164589136838913, + -0.3649630844593048, + 0.7767746448516846 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1285337805747986, + -0.06065288186073303, + 0.03426557779312134 + ], + "min_contact_pad_to_button": 0.021114607266543794, + "closest_contact_pad": [ + 0.16456736624240878, + -0.36496552824974055, + 0.790592987946628 + ], + "closest_contact_pad_button": [ + 0.16456736624240878, + -0.36496552824974055, + 0.7694783806800842 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021114607266543794 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8c8b407c54114550e051ffaba64161a0f3ee6d662ce2c36ad839af0ca4bd9fbd", + "visual_seed": 8513299729827051769, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a10fac99d141ef457bf8df2422b4e5af7c3301c6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2537226411618685, + -0.02753810423855534, + 1.1624747252542527 + ], + "current_z": 1.1624747252542527, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3013682768441315, + "gripper_z": 1.155831220973218, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24872373435089515, + -0.032281405115772446, + 1.155831220973218 + ], + "object_minus_gripper": [ + 0.0049989068109733414, + 0.004743300877217107, + 0.006643504281034662 + ], + "object_to_gripper_xy": 0.006891151755447288, + "object_to_gripper_z": 0.006643504281034662, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2537226411618685, + -0.051674495395833964, + 1.1624747252542527 + ], + "finger_b": [ + 0.24301362978525337, + -0.02753810423855534, + 1.1624747252542527 + ], + "finger_midpoint": [ + 0.24836813547356093, + -0.03960629981719465, + 1.1624747252542527 + ], + "object_minus_finger_midpoint": [ + 0.005354505688307559, + 0.01206819557863931, + 0.0 + ], + "finger_gap": 0.026405459715021624, + "fingertip_max_gap": 0.09161723130035382, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013202729857510809, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624747252542527, + "object_top_z": 1.2124800540239877, + "finger_top_clearance": 0.05000532876973507, + "fingertip_min_top_clearance": 0.015001598630920487, + "object_projection_between_fingers": 0.8355206829328361, + "object_to_finger_line_xy": 0.009788766803657896, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830861565017691, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0702338910425258, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31826104566763536, + -0.2985859928087251, + 0.8515395743144205 + ], + "target_position": [ + 0.30903357946284393, + -0.30050364911477684, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00942462403858678, + "xy_threshold": 0.08, + "gripper_dist": 0.18500224015559497, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395743144205, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586119611821167, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08720442688342432, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1524993419275777, + "release_required_pad_clearance": 0.05360221344171216, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.214950039868171, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007109701633453369, + "max_z_decrease": 0.007109701633453369, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035185972370675216, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007109701633453369, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02115671214973247, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007109701633453369, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00710972014455951, + "max_button_displacement": 0.12, + "button_start": [ + 0.16473349928855896, + -0.3567651212215423, + 0.7768088579177856 + ], + "button_final": [ + 0.16473349928855896, + -0.3567651212215423, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16624062054736077, + -0.3554046256546215, + 0.804825637463709 + ], + "closest_button": [ + 0.16471810638904572, + -0.356770247220993, + 0.7696991562843323 + ], + "closest_ee_minus_button": [ + 0.001522514158315058, + 0.0013656215663714888, + 0.03512648117937678 + ], + "button_min_z_position": [ + 0.16471810638904572, + -0.356770247220993, + 0.7696991562843323 + ], + "min_active_finger_to_button": 0.14376979254927194, + "closest_active_finger": [ + 0.039284780621528625, + -0.4180094599723816, + 0.8106973767280579 + ], + "closest_active_finger_button": [ + 0.16473664343357083, + -0.3567675054073334, + 0.7763316035270691 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1254518628120422, + -0.06124195456504822, + 0.03436577320098877 + ], + "min_contact_pad_to_button": 0.02115671214973247, + "closest_contact_pad": [ + 0.16471810638904572, + -0.356770247220993, + 0.7908558684340647 + ], + "closest_contact_pad_button": [ + 0.16471810638904572, + -0.356770247220993, + 0.7696991562843323 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02115671214973247 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d8c14b3c9c71bab06479a47337422f7fc8b092ce78bf857f9e45edcaaa69593d", + "visual_seed": 5539659569524084585, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..645c2fe16ca854608e46867d039e405d9d42824a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24714917933602829, + -0.03392851647490233, + 1.1646241174672798 + ], + "current_z": 1.1646241174672798, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3035176690571586, + "gripper_z": 1.1580758555052033, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2422594111306016, + -0.03881646724586123, + 1.1580758555052033 + ], + "object_minus_gripper": [ + 0.004889768205426692, + 0.004887950770958896, + 0.006548261962076474 + ], + "object_to_gripper_xy": 0.006913891512174561, + "object_to_gripper_z": 0.006548261962076474, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24714917933602829, + -0.057644657640775636, + 1.1646241174672798 + ], + "finger_b": [ + 0.23588109915004277, + -0.03392851647490233, + 1.1646241174672798 + ], + "finger_midpoint": [ + 0.24151513924303553, + -0.04578658705783899, + 1.1646241174672798 + ], + "object_minus_finger_midpoint": [ + 0.005634040092992759, + 0.011858070582936656, + 0.0 + ], + "finger_gap": 0.026256903527975835, + "fingertip_max_gap": 0.09218738224599018, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01312845176398792, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646241174672798, + "object_top_z": 1.2147974959539782, + "finger_top_clearance": 0.05017337848669845, + "fingertip_min_top_clearance": 0.015052013546009534, + "object_projection_between_fingers": 0.8158325644831282, + "object_to_finger_line_xy": 0.010177718788298172, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048593691122995095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3741827492131866, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3236631931563936, + -0.29925212910075516, + 0.8515396092411114 + ], + "target_position": [ + 0.3135121263917772, + -0.30149454894870215, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010395797383277791, + "xy_threshold": 0.08, + "gripper_dist": 0.18752135679448204, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396092411114, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587638782130891, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861210702499846, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1547867198987526, + "release_required_pad_clearance": 0.0530605351249923, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1507863025106762, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007334649562835693, + "max_z_decrease": 0.007334649562835693, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035110470082307194, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007334649562835693, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021165618004346576, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007334649562835693, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073346701516088025, + "max_button_displacement": 0.12, + "button_start": [ + 0.16921205818653107, + -0.35775601863861073, + 0.7768088579177856 + ], + "button_final": [ + 0.16921205818653107, + -0.35775601863861073, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16904302067489158, + -0.3563136115725471, + 0.8072532775228183 + ], + "closest_button": [ + 0.16919973492622375, + -0.3577606081962585, + 0.7721729874610901 + ], + "closest_ee_minus_button": [ + -0.00015671425133217953, + 0.001446996623711394, + 0.03508029006172819 + ], + "button_min_z_position": [ + 0.16919560730457306, + -0.3577616214752196, + 0.76947420835495 + ], + "min_active_finger_to_button": 0.1456589603367822, + "closest_active_finger": [ + 0.04160658270120621, + -0.41895318031311035, + 0.8105905652046204 + ], + "closest_active_finger_button": [ + 0.169216051697731, + -0.3577598333358764, + 0.7761270999908447 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12760946899652478, + -0.06119334697723394, + 0.034463465213775635 + ], + "min_contact_pad_to_button": 0.021165618004346576, + "closest_contact_pad": [ + 0.16919560730457306, + -0.3577616214752196, + 0.7906398263592965 + ], + "closest_contact_pad_button": [ + 0.16919560730457306, + -0.3577616214752196, + 0.76947420835495 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021165618004346576 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3ae285aa350351dc3bb575e2991c33ef2075304a4d7f0d0a7a28fc45d866c5bc", + "visual_seed": 3881551471502028625, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..89f9af9d3ae61cfecf171ca90d12968867224b34 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2503958362869453, + -0.033580476721934774, + 1.1644980027795013 + ], + "current_z": 1.1644980027795013, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3033916139740249, + "gripper_z": 1.1578939488511824, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24554278523541515, + -0.038377465420353196, + 1.1578939488511824 + ], + "object_minus_gripper": [ + 0.004853051051530138, + 0.004796988698418422, + 0.006604053928318976 + ], + "object_to_gripper_xy": 0.006823723696158268, + "object_to_gripper_z": 0.006604053928318976, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2503958362869453, + -0.057416257076032984, + 1.1644980027795013 + ], + "finger_b": [ + 0.23939871203753765, + -0.033580476721934774, + 1.1644980027795013 + ], + "finger_midpoint": [ + 0.24489727416224147, + -0.04549836689898388, + 1.1644980027795013 + ], + "object_minus_finger_midpoint": [ + 0.005498562124703815, + 0.011917890177049105, + 0.0 + ], + "finger_gap": 0.026250355556558153, + "fingertip_max_gap": 0.09176287640990666, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013125177778279077, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644980027795013, + "object_top_z": 1.2146423102045272, + "finger_top_clearance": 0.05014430742502585, + "fingertip_min_top_clearance": 0.015043292227507754, + "object_projection_between_fingers": 0.8244956507656441, + "object_to_finger_line_xy": 0.009985580483694467, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838143820495333, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.013205574900986, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3269124383928964, + -0.3069814151932815, + 0.851539561699316 + ], + "target_position": [ + 0.317915908083054, + -0.30852800711734946, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009128499558827061, + "xy_threshold": 0.08, + "gripper_dist": 0.18464386635898639, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539561699316, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751918943321298, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549592796248061, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15364788384529804, + "release_required_pad_clearance": 0.052747963981240306, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5467953004094348, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074596405029296875, + "max_z_decrease": 0.0074596405029296875, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505050593517839, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074596405029296875, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02131763186581318, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074596405029296875, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007459661126793724, + "max_button_displacement": 0.12, + "button_start": [ + 0.17361582815647125, + -0.36478945612907404, + 0.7768088579177856 + ], + "button_final": [ + 0.17361582815647125, + -0.36478945612907404, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17236653689472323, + -0.36592533321726906, + 0.8071967398284734 + ], + "closest_button": [ + 0.17360454797744745, + -0.3647933900356292, + 0.7721863985061646 + ], + "closest_ee_minus_button": [ + -0.0012380110827242274, + -0.0011319431816398384, + 0.03501034132230885 + ], + "button_min_z_position": [ + 0.17359903454780576, + -0.36479452252387995, + 0.769349217414856 + ], + "min_active_finger_to_button": 0.14729811037358767, + "closest_active_finger": [ + 0.031430527567863464, + -0.3483259379863739, + 0.8076817989349365 + ], + "closest_active_finger_button": [ + 0.1736231446266174, + -0.3647967875003814, + 0.7729441523551941 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14219261705875394, + 0.016470849514007513, + 0.03473764657974243 + ], + "min_contact_pad_to_button": 0.02131763186581318, + "closest_contact_pad": [ + 0.17359903454780576, + -0.36738386303305476, + 0.7905090081532796 + ], + "closest_contact_pad_button": [ + 0.17359903454780576, + -0.36479452252387995, + 0.769349217414856 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002589340509174809, + 0.021159790738423667 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "384a1823f66f179abd0dc7ca7df99a0de95f56f2680c8699a47191c2947f25f2", + "visual_seed": 5587715929222617410, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..245716b36018f19953397d62b88bc9f05e839b76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2472648010100281, + -0.038337401967939506, + 1.161296342694587 + ], + "current_z": 1.161296342694587, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.3001899538891104, + "gripper_z": 1.1547682026579347, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24237609574225707, + -0.04314999682577261, + 1.1547682026579347 + ], + "object_minus_gripper": [ + 0.004888705267771021, + 0.0048125948578331065, + 0.006528140036652363 + ], + "object_to_gripper_xy": 0.006860066214022558, + "object_to_gripper_z": 0.006528140036652363, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2472648010100281, + -0.06210721263409547, + 1.161296342694587 + ], + "finger_b": [ + 0.23618569783208113, + -0.038337401967939506, + 1.161296342694587 + ], + "finger_midpoint": [ + 0.2417252494210546, + -0.05022230730101749, + 1.161296342694587 + ], + "object_minus_finger_midpoint": [ + 0.005539551588973485, + 0.011884905333077983, + 0.0 + ], + "finger_gap": 0.026224996212249423, + "fingertip_max_gap": 0.09220993153866988, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013112498106124712, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161296342694587, + "object_top_z": 1.2115009794432092, + "finger_top_clearance": 0.05020463674862219, + "fingertip_min_top_clearance": 0.015061391024586656, + "object_projection_between_fingers": 0.8215246075787206, + "object_to_finger_line_xy": 0.010041876946681851, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04860496576933494, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4337162720973515, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 331, + "max_stable_success_frames": 331, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3260364950458, + -0.30644806577117667, + 0.8515395799333062 + ], + "target_position": [ + 0.31663655848165473, + -0.30823426426373, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009568140491482935, + "xy_threshold": 0.08, + "gripper_dist": 0.18663199990793058, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395799333062, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562013505597148, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539624127062616, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15450734496963717, + "release_required_pad_clearance": 0.05269812063531308, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.45110706993494953, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007404327392578125, + "max_z_decrease": 0.007404327392578125, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350693716895268, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007404327392578125, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02121594011050646, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007404327392578125, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007404347467521487, + "max_button_displacement": 0.12, + "button_start": [ + 0.17233648896217352, + -0.3644957244396209, + 0.7768088579177856 + ], + "button_final": [ + 0.17233648896217352, + -0.3644957244396209, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17326696019473106, + -0.3638810244255538, + 0.8049621754709486 + ], + "closest_button": [ + 0.1723208129405976, + -0.3645009398460387, + 0.7699110507965088 + ], + "closest_ee_minus_button": [ + 0.0009461472541334726, + 0.0006199154204848956, + 0.035051124674439826 + ], + "button_min_z_position": [ + 0.17232011258602148, + -0.3645011186599731, + 0.7694045305252075 + ], + "min_active_finger_to_button": 0.14479430341440677, + "closest_active_finger": [ + 0.045940153300762177, + -0.4260292053222656, + 0.8109951019287109 + ], + "closest_active_finger_button": [ + 0.17234100401401525, + -0.3644977509975432, + 0.7763238549232483 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12640085071325308, + -0.0615314543247224, + 0.034671247005462646 + ], + "min_contact_pad_to_button": 0.02121594011050646, + "closest_contact_pad": [ + 0.17232011258602148, + -0.36516197982279786, + 0.7906101754646114 + ], + "closest_contact_pad_button": [ + 0.17232011258602148, + -0.3645011186599731, + 0.7694045305252075 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006608611628247663, + 0.02120564493940391 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 8196756798222636436, + "physical_seed": 7200438613396186103, + "layout_id": "layout_00003", + "step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "workflow_spec_digest": "350f36863cb87294b482320707928559418356d7af7774185119f0173e228439", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6361bcde6d8ba253d442e00a732d86f6d12142c30dc35fc729a784ab1518209e", + "visual_seed": 3575173830508143426, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6038634529671703149, + 2665526681626151468, + 4292576788232893539 + ], + "runtime_workflow_digest": "b0eb4c3d803b001f977e2de855050df8b7b1de2194493c42148880b62b3a910a" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..fe9ef9db5b6f450e156ef775f6ce2ce182d26211 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00003/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_hta_00003", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e353170b694e13056045cb326ac3559418761584 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06bd56567fabac04e7fefe1ecbd2f59d8027542ead780d0b9f7d7a071ae120ae +size 4257524 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0965435aa16d93178767c43c4d6b37dc4cad47c4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb20bd46e88e7a472af4f28cf5fe34f499f7b2d649a3f0eec05f72372eaea259 +size 5572473 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..17d593e7ad924823e8aebd62629e6b4a2fc5ffd1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76843835ab0375d4074c6d8d2208365f90fe070c02f325d8bcc83768a3d02ae8 +size 4521914 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e8474e9c3b9afdc060ea9de8d18ab3c075cbabd4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94d31938f6a37c2c13581dddaf91acd22a30b89d37c41f9f1345db931aaaaacf +size 3861413 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d8196eba67f4aa01a81d6c891e28a2554013c80 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:353be880be7adc7d9351287e21bfa56909382e9194d97b99476b82b10e6fb26a +size 4278138 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..47307ff50bff0598fbb1726dd915c5e7f897356f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:563d77074af3ee6de7170ad68470f6de7432f6c8a0da7680fdcba33513a67b67 +size 5901424 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f65c0c4bec669a527c0932a542ddd120ba479153 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53566abf4d2a41bd3c3018ba6d6f40add4b85c7e9cd63ac291a9c117051a1225 +size 5041358 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4f096365b043845a4d41c71d4fbfef18113076d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8c53a1baf5bf4d2ea94fd3d019e8c327a2feba3184ad814e99d32ec038a03a3 +size 4312394 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e9401062807ec25fabbd743249d340276dd7644 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6a2e9ee980e7b6fb6eb0560e0e6d4740013f89b29eabb8f65fd04b7cdcf1b0d +size 6293010 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f1e460715afd6d9b3030499f8ec7e3dd1cde706d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6cbbe47ad054397bebd77298d07959edff76489f36db4622ddadc68ffd66af5 +size 5713698 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8ba0a62d3a26f0237894261c2712d826bd2581b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:962091b04a8827843774496454ed2015bb0873b90ed4f28d433d39d7d7b797bf +size 5581841 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3f3a772c7ec71cc83b53340519fd87cbdb2cfcf5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a938b3353002149c506200855dd14a880c2b171bbbe35129e257f575411c7b64 +size 5580152 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..519eee82f9ec85035a54e622dda65513ca1f5d76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73f5054f41981b048dd231970fa2b7ff2252faaa34772e770878d8ea169212ac +size 5796245 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..64e867d1e9a65a205dd18e5d69c1328784396dc2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:379f7d2d073c1a0721c3be92e63c22779559fc295173f201addda7e123432807 +size 4150377 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..44d4c8e36cf1ea4a8eadd5eb8f7e27895f060880 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:612865c487e6a9968af16129720638e2f94161db6f8d068cce064b55f012ad3c +size 6284975 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..37f62168ab0b75abb32d632776500feda27691a0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7140d5385b1f56d80198fe7293e0b5f9e93ef5627c191524790041188c447a6a +size 6184260 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0b4b48b4b71cba04742990906dd24efc19027dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e49ad52d63422626f471447e1d67fa15c9c8be88116f7dbb2e7ffd2e7ddbd8d +size 4476061 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c09b178d96acbd2e2dde5bffc4e802f107a98ee0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93307a0ba08717dd41e2d02b4fff773533e81dece238563c7df13092f535fa24 +size 3977877 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..28a0c58a37119387d3152d0d8a4c68ba3a5f86c4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2db9baeb841b470d919085cfe14e195dff5b0ce74e61b24eb8a371c42cb3d324 +size 4873286 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c22df16c151423c511e75a90eef7abefe9a02127 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bf9a425af3f413a0754d349c1cb1ad3417faa5fe6ff9f56b1964bba0a9a906a +size 4864240 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fd04241c2b2a42b5612eb7d0abbc302c693dc236 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:058bdddba2bce59a278e11ad6888c062722305f759020ba1a5e55342aaa5b6b4 +size 5051050 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b1d71007ab4a3d19858171e5552dbda87a7a076 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cc492f8f4bac4aea06aaf30fae72d337c7e59380b572fd0faf4732d6b0c3b16 +size 5109890 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..27eccadd9184db37f115bc0362af9117f667808e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:318e259d69471debfbf43c049d09a2ebd2760a4d9078809c5a454651c736171b +size 5972798 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bb8ae5fc9e65709d80ab567908bb89448eedbc71 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fe60ae5e4fc399f5f30954ebf80f5e080995354536f2ca8b63a05ba44beb2d9 +size 5302086 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9be6620b456d3dec2c036ab907f70be39d57ab86 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:353c5c33de893c173881a687bc9e00296a44ee75abde4e7d673ca5f9a0f8f88b +size 4996814 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a7b21870fcd69001b618583fe5c02c216d599e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28b04a0fe4d3eac52412bf108577542590a9d84d731a92172e5164dd6d4c5147 +size 5065947 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b3ce722987788be61ac247a20c5fa6693c11f62 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ed17e75725a0debab484bf9ad69808c15a67c8a0940ca11e32b2d60be67800c +size 5065303 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5596d410f5ac2d270067cc3a29658752e884c1f3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b1667ff27811b10311a55395593d68bc8abea549b45c1e05d4f9da70250af5f +size 4906466 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..64da5a38bb217be14b8fa171864cfbae9acebe63 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fbc8993e72afeb190c2c03824f84b8d5b5efd1addd63304340830789ae9fccc +size 5447012 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cac838da08f82ae8e14d7cf938e2991019a4f98b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1f16475376181e9010bcc1cf890b31779aba8ab0c23075432d0feab8d300aee +size 5574251 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..48472ee8e9a8e84fd8e0fbd9580feb0509dbdbe9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fa5badd1ce0c07ba51a6f6dbc80bc8c3d630698a13b140e64fce0a45b9e7a91 +size 4430794 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2e890def4110e7cc0f70a1853e5bea39d27d8bf5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa5ef0b130be5c6c5c8b40795ead5086dd06eb7301f684c4d83f462f3402eb85 +size 4698729 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5fd29af68ee0be5d7d1f374564f3bb1809897fc5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:164aa2a63d720e55859fe36de9d380aaabb9845ab23bf5861d4b15037050e74d +size 5292917 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38bf3cd12e3459e8d5a374259fa191f16f7da880 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:173007fbcf7aaa2a9eadf35876781e1edcc4ecc94b56a2f8365fc668bde1de73 +size 5113663 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a112805d1add2524d9f2f0cb9eb6d2bbe312e958 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34452d992fd158604ea45ec2d06912164567090d1b631f55a7ec2311534c4a17 +size 4832591 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd1c73cfe47986548e3ce59aa41618fe67b0ada5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf3a488bd480bc7c032c1ccddab3235cb784d4d26709184b282817a2a4c35f07 +size 6765991 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f4bcc3f4c6537d18b301e43a018ddb9108a08e9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d11a7eec8372b5568adb32c3575b7b0aedb29120c6aa5c98d3cbff272c9dad4 +size 5305351 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb14de32b7fd021e9a95ffa62642389bf85ddb71 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:961326927df07ec5854c86d9c41e4c907fb4478adafd11ed61e8a66cbe7861fc +size 4358668 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5fbba3c1bac5999f7f73882484adc02e2146d680 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22bf7f1d7a71135d35e8d5db627d1e033ea16e9963264758fa10e9d4e1ae6f12 +size 5185818 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95c56506e9b369978f9cea260ca2414b521aa36b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e337bb9562c1ad6bc458edc2dd7ffb497b722f8a4f34170119758d642a04b27 +size 5706040 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a1f94989dca52be87a03c194364222694b9ae894 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e28e83d4a05e4e9528df8da56c7f8f9b0002e6b13293c1ccaa01678c02bc8c53 +size 5529338 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..21ed47b283e6eb055d7c943e40a407e79e194c57 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3bcb8ed93c59d3435e7b38707354af081edc4f2b29008ecf668c7ea2711f60e +size 5006475 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7544c801920c77a848e572292a384a817dc0d9e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a52b31b70c54053725733391fc4074667c4f63feff5c9f3885f9bddcd6e8c1ec +size 4239279 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..639ee8bdec095b036c7c65bd59ef0f7cf76a14b2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c0e64ea72521fe84090205e33e26b95daebebf6c6cbe8ce85815f0823e1cf18 +size 4337242 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e6742c05d05efedc4b3eb5ab5dff7ca95fa2deef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21581507a1e1820f79c1f8f14a6b5815422576f1ee8da53603ed72ad65968713 +size 5093295 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6e278943b8ece66dcb3cfe467af760963aab4d93 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9790c28060e2eba334266108a1f3738e2e78c38cdb940917d0666c5731abf9b9 +size 4731017 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9101a9d3d92b20e3290553fa5f9df6c6e31a9a29 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec38551b1f29bcd5849a7485b0b4ee00844cbda2a20fbddc7bf12cd2db49ec29 +size 4537378 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e0afc82d18ff8fe66cb126c77ad382dcfd7e6c03 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a29fc725c7056374c82c8c3cef0ef8aeab2a0b6b253310124a1e581216c33bf7 +size 4605867 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0971843ab7c371a820d0ae7f31ed5845a8f317a0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36b0c29d1adf10ad0602a8d03734fae0ee80d0d8d1a0f30d3bd3a058fc1208e2 +size 4857418 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b05054aaee7f39b064f4091d59c66ea29f531c05 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6ea629d4bd486e735ac6ad9370e6dee97c73910b7d5e3f7b4655d4ba76e72b9 +size 5439608 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5089065d861e60aef56bf21018a2f7673a4561f2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ae78f40e3667224e7981e186292f184e44de489c8803700045f500f880f3245 +size 6758432 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..105ab533c721040009a8e28792845ee9be2d34c1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f6e55edf4c806d18b279be7e1b8df4c24be402cb1321f0d8d5b3f93b161cdfa +size 5717641 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bcd715d042cb093c8a8e55e81fe098357dcaa76a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03cbb1422f56304858bf1bcfd53d9de248a5da5baa6ff63289a00be86ac70b8d +size 4426975 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2993988bf100594a6f2f20a5adf1276ca87f8e38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df57bfb28faac425af64b2ba2759cf042ebff6509ad603d521c31034a5626703 +size 4804171 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..34824fbebb7cfff658194da145bc6d56668d2a4c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aef7dab1e59222caca11aa2850bcba94b2928bd047a94aed755ca37536995b88 +size 5457734 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a6448fb48680aff14d5b54eb29b61704d917370 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fe519316df102197eea8ebca45bf0179c272b07497fe4bfbccbfd11ba3dacc5 +size 6006508 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ac7bec3ac9bf96fb317d4d6e2aec048fc1b6cbe7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:332970bd70ebe2dc0b9caadbf5df3899a7e9148b2218bb17cd6f6a9d0247c1aa +size 4305421 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b145f6c3acd41fdfbe258d73749849de4edc3db3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6423b3b041743473225bc67cfacb7daa1428f2c7f33e6318d19594377918a6f8 +size 5145839 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1e66326569b9d7de55bc49a5b6bea6805c0d33ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5dd50fba0fc414ff208853fc117241f31b8ff32b2557c5d41a8ec04447b55e99 +size 4188411 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa7f6130a1d1de595ec8c27c6478fe95a137cbd9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:888ab91aa5bc5860d93ca675f75a39e5a4fdbb26d7ee0f59e0825e3ba4d50416 +size 4234822 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..281bd49bff76c3923b7d20de5ae85bd2d162548b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d004007e83b3c4a276853911fc3e2719bc6b2e9df4b7877d855b2202e5de002 +size 4354092 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1e4e9846febde596a22cad97c20f3365fe373087 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a2ae2521fb5717116631b9d5c0df287cef26b6a710d8436727794bbd34bd4ea +size 5039322 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f66b692d8b3abdd2a29a0fa631f1d29c01e11a6a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:506c8086690eec2cd4653a42ef60eba60159f6cb60ab1ffb9ab639eec6ea97e2 +size 4888846 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4718c454131281176238dcf3b81aea0dde493586 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bea717ed4e9e1bbe5cf8ed416f943856a5e1de8e956cbd1c518b77e133e10950 +size 5396487 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a336538af746a8901abab62c018dec0991dd7042 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cd05e3ec967fe35b55eabe073ffce8df9bd10b166af543bf64c2580460c436a +size 6710179 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1713dafac3e984fdedef069b409fba0d843822e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08d300e064a2bc208bb3613f2507a4468e6fba17f63ddb48c052bb43788cac33 +size 5518118 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc7d3502c1b22cbe11d29d59186aed6c99f6dcfe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccdf2478fb21eae6463fc18b33d5e01bf5bad80da4e5beb488104b1575fec43d +size 4550567 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cde33e8fce6e66ca277c96f745070c0da1a85208 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f7d1c2e5ba3dfffe589492dac5bb2ba1fcdceee7174871f5dc78fe60c2a8a1f +size 6339966 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f20a4c07ae5ad17086d3ac944703c807aea370a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3ab8be5d0932a28206eeb6ce1737ef3ff76a9566fb7663459a133f5ce036cd3 +size 6710276 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..45b2406b6fd1e3ad62a7cfd673de1c63d49674b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05a819723dbc0b4b4ff12a8e7bed5d04b497b1c0eaa321badb7bee5900b8d626 +size 5700304 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2e39e1600abfd9f5243043064693cd5c0ef7546a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:240bb9b68e8bca297651ba4ffe9e590687af31d84f413c72f795d71500ba7327 +size 4322224 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..479ab54f6438131845e3e8ce85852704fab171d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:504a31da1c840f90106a019025ddb2afbc236eb48a7c82ff9f3afadaabe20fb2 +size 5081928 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..242a493eb9731836d99cfc201f6ccf395fbef87e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2992e8ff0125d34afd13731798e19607ec158ad9de8c57d07cefd8bc6c8b131f +size 4336881 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bde90cf7cddad30794735430b77ae4424ddf73cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d87ac41a5bebe22df8c85f5bf17e26d2dcc3b08d7edbad0ba03a66dfc2817900 +size 4960250 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d18f73ee21247bc06759ea6c2500b599496ed55d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abcd3f01c741c3f2ed06a279f19b54c884e08dc71bbfcead615e3c02f314a68b +size 4472597 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f5fee2bd35e1e138c6fd8f9354c0dd778fdf6454 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7271bb67e56b747aef2da6850db554d675cefd53ff786ee8eb5451034935650a +size 4035566 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..401ffc8056282e69c3af7239196bcdaa7c18a4d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f34ce21aed3ba33337146913ab34a5b139fe888a1d8df4e6111c422ffe28269 +size 5591749 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f24f2e8672a50f82856a1b609e95a01de237f84d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ff74af8196e2e1c1ca2780e7ed181988e84a0c24dfddadca1259fefb56ffdaf +size 4958326 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8464f8eca9855daaa281d26797344179b4a8560c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a64e9d16abd9422ce5188673a838d860c9cc33965f8103f1ddd84cf9c8a691c +size 4556363 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0c2ddb5416718ee07c8f3d8b77cb751cbc063d4f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06f1c932614dbdd0648b5fc0731df904a7ab7ddd2957669432b20647f445ecca +size 5016979 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4ed85afd102b4bd9661adcf264879a2c369dcbcd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf344c56947e4a46b2e88f316aaf726aee0faea929c637151abef1cfcf5c3286 +size 4879934 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0786a2e7a28a5f2b5a438260c94fff5ee4bb4469 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cadc55f3df239af2cef81b33d644a1973559220b119674f4f5604766f11feb16 +size 6545096 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f358bc473bb2718b45aa7b210653418a0743fecf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdad63239ad3cc54166a8647b582a8e799ba48e483a316fb30564be9a7cab028 +size 4786303 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a7bfdab393024b4acc474928d983bddd2793c75 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9838d0764238f7cb378ce86a26736e958a7976e065285e951f3e342353062877 +size 4904970 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..592748cca649f25dcf33d9846bbd0cb855456624 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01f18da26c36ce713978053a839148679c743c9af295e5c87704a4ca8f5149c3 +size 5906095 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d2f0e6373a9be7db3aa70376e65859d141cbd30c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea81f4d40d5a74b361bc086446290f864d1996d346f8aa442f40b7edc29e414d +size 5343234 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9cb906451087855a1f4c314923318cefadf1dc96 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c0bdb62322c9938355294aaa8c374adf6187ae99fc3c6abe1002a7b47bd5d08 +size 4833277 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b100d7021d8236a5f71c9e81b47f9cfc37bb53c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:675f7bc05e08599a21f2cd7dd963b0234206c1bffa4485480084c6067a1dbbf6 +size 6448408 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7973ff6b956c6027225c9553b457d04b3176bbf3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55b6895459a94af4965fc82120e3371f8aa2a6eb40003daa4e6777a8f2b53790 +size 5727397 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7bf1e69d1eb24a77722fa31ca66ebdc96ab967c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f24243ddb4403e68128b6824a85927484f94459896e36686679ef8ff5e697968 +size 5326666 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0c0b005c7f9218d2cda3a97b8038720a1acea63 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee2f3c46636f227a9a85290f39e041772dde51de633c20fe64929fe04eab9066 +size 4905692 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3457ced5405ac7c1ff02338d0518218b506b9880 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b3ac22571f97f1d035e721a3e9a27feba4478c0af4094233a67c0d64f53273b +size 4207825 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..09f65094eaf35ddbd6daca93efdef3445498555b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0f083763c3b8ad73c3af7c5e755ef71e752fc874a458b2ac64b0c96c73331a3 +size 4794751 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3027fe5b9b53cd230c85b2b475562c8db5349de1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a76f334db15641e620af837bebb0fce35fc83e02bf7a116a315d121a5db2ca7 +size 6279342 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c089f3fe377d40847fb45a940f019b0956ec9d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:863a7131318761bad82c03fad4f634108aca380f82072856c89c4c9bc0a25d59 +size 4766980 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..932b2b01994acde4480d79ea8a39323f10cc9140 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88f14e1e1030d60d7a59c6334866fbd5ed2a8fdba2a91ae683777ca1b305afa9 +size 4502231 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..613f3ea8bfa7b9953f85d48d70b2ce6def06672b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:380f8d2cc9091877a2231133da4174c261dc1096d9e65e630001d6b149ca807e +size 4672068 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cc252eddcf938cfb3eb3cc59fbdd77b44416dc2a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5de6c2d00f35d47605bc7cb434bb0ce7cd5a3a2cb0192f3b55849275bc271481 +size 4645037 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5e11c40d9f2c494d720c99aae2bd09d8b572e59c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4e3763416df610af6cb4b43ccef0c655a71f9806162b3cd40e7a754820e10a4 +size 5786561 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7de8da80a6da5ee8b98bbddb207342e6a7f756cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea0f5e481cc13da9079e6c4d92776eca99d55c81249f865a548f1792cc4b994a +size 4359273 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31e934a4c21c5c1b0b4aff922e8a6e146e1bca2e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":964,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":963,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":958,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":965,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":961,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":958,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":958,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":963,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":956,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":965,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":958,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":961,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":955,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":954,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":966,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":961,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":953,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":956,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":961,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":955,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":958,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":958,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":956,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":963,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":961,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":956,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":966,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":956,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":958,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":961,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":961,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":955,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":961,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":964,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":955,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":964,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":954,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":956,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":964,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":956,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":961,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":965,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":964,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":954,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":956,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":965,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":956,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":955,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":956,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":964,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":958,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":961,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f71601d1b210080d50f4898123d27b29d983fdf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T18:58:56","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.6644938021310824,-1.9243315403500365,0.71338606911949],"aabb_xy":[[0.6547378126219086,-1.9340940744092705],[0.6742497916402563,-1.9145690062908016]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.7114316746497589,-1.758526968362744,0.71338606911949],"aabb_xy":[[0.7032171295340747,-1.767203558660385],[0.7196462197654426,-1.7498503780651022]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.6796319387313507,-1.4925257417737405,0.71338606911949],"aabb_xy":[[0.6517869019507436,-1.5233102405120522],[0.7074769755119579,-1.4617412430354288]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.3274941970435884,-0.1143865950662688,0.71338606911949],"aabb_xy":[[-0.349994197555629,-0.13687845343166716],[-0.3049941965315478,-0.09189473670087045]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[-0.22743706354596377,-2.306035693835116,0.71338606911949],"aabb_xy":[[-0.2825622691755545,-2.366035695276403],[-0.172311857916373,-2.2460356923938285]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.5552235741209819,-0.38215741593014796,0.71338606911949],"aabb_xy":[[-0.5633512623142951,-0.39107102434085567],[-0.5470958859276687,-0.37324380751944036]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[0.02387528930030003,-2.340894711662264,0.71338606911949],"aabb_xy":[[-0.01112470989251824,-2.3518617576599254],[0.058875288493118294,-2.3299276656646004]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.4447888710964072,-0.8927352715465315,0.71338606911949],"aabb_xy":[[0.4401537559441738,-0.89660260662368],[0.4494239862486405,-0.8888679364693827]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[-0.1582391617968929,-0.6500711431322967,0.71338606911949],"aabb_xy":[[-0.170111244808394,-0.7350711428259472],[-0.1463670787853918,-0.5650711434386465]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[0.07499547033972842,-1.79498687466675,0.71338606911949],"aabb_xy":[[0.010995468661731067,-1.8435042661460646],[0.13899547201772577,-1.7464694831874361]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.2809785297870103,1.6382121343808644,0.71338606911949],"aabb_xy":[[0.2746664302506719,1.6324451951276453],[0.28729062932334876,1.6439790736340831]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[-0.5323736214228676,1.7168752924372996,0.71338606911949],"aabb_xy":[[-0.5963736187085162,1.675368573484456],[-0.46837362413721895,1.7583820113901438]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[0.5424705877987344,-2.2180771029152893,0.71338606911949],"aabb_xy":[[0.5385567146033119,-2.2268261183218456],[0.5463844609941568,-2.209328087508732]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[0.014320237863250429,-2.0284702538724995,0.71338606911949],"aabb_xy":[[-0.06567976356687677,-2.1079874088851085],[0.09432023929337763,-1.9489530988598895]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[-0.236056852059214,-1.2080119058356729,0.71338606911949],"aabb_xy":[[-0.32105685075128865,-1.2399977692305517],[-0.15105685336713937,-1.176026042440794]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.21587792465413524,1.304148462249218,0.71338606911949],"aabb_xy":[[0.14587792126257326,1.268832688545787],[0.2858779280456972,1.3394642359526487]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.2820502870084708,-2.52191103887256,0.71338606911949],"aabb_xy":[[-0.3320233525409863,-2.5719110386850934],[-0.2320772214759554,-2.4719110390600276]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.44090514920627155,0.09672900603781143,0.71338606911949],"aabb_xy":[[-0.4746807083969645,0.0826905108246464],[-0.4071295900155786,0.11076750125097645]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[-0.4054911661278035,-1.0453753795846874,0.71338606911949],"aabb_xy":[[-0.45549116570413833,-1.0953559585367934],[-0.3554911665514689,-0.9953948006325815]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[-0.30954923727202616,0.7297464558964499,0.71338606911949],"aabb_xy":[[-0.3168315536486897,0.6397464522869408],[-0.3022669208953624,0.8197464595059588]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[-0.5583210138617328,-1.1776676824922154,0.71338606911949],"aabb_xy":[[-0.6383210108759808,-1.1978022341656267],[-0.47832101684748485,-1.1575331308188042]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.49052688551666224,-1.9069373822056117,0.71338606911949],"aabb_xy":[[0.486096256161822,-1.9123857539402942],[0.49495751487150236,-1.9014890104709292]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[0.34789767293034624,-1.0293483407672166,0.71338606911949],"aabb_xy":[[0.30181258167561476,-1.0933483380197717],[0.3939827641850777,-0.9653483435146616]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[0.4945034857305808,-0.2645106781536488,0.71338606911949],"aabb_xy":[[0.48393600607248183,-0.2750557082666574],[0.5050709653886798,-0.25396564804064026]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.12085858122562088,-0.1726592500041284,0.71338606911949],"aabb_xy":[[-0.14537220532262674,-0.19692384330616486],[-0.09634495712861503,-0.14839465670209195]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.18143909463275865,0.9154185152428331,0.71338606911949],"aabb_xy":[[-0.1878529082759436,0.9090086949951647],[-0.1750252809895737,0.9218283354905014]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[-0.3344418601779445,1.2486890497334366,0.71338606911949],"aabb_xy":[[-0.41443568375650275,1.168689047140595],[-0.2544480365993863,1.3286890523262782]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6993607710347438,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8873.png","name":"8873"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8873.png","name":"8873"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8536.png","name":"8536"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3138.png","name":"3138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6341.png","name":"6341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5253.png","name":"5253"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":616.9408395957596,"rotation_z_degrees":206.84422776275827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012610066780176786,0.01808254541732802,0.0037558389839845233]},{"name":"camera_2","offset_m":[-0.006423584003906906,0.015637674556417933,-0.0006516427320358356]},{"name":"camera_3","offset_m":[-2.4514290233937364e-06,-0.0015360528647605232,0.012060392429156085]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014418248792474764,8.706854584038769e-05,0.0005731455614921303],"end_effector_yaw_offset_degrees":-0.15530028200994495},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00043775961913235673,0.0010092136306113723,0.0016236481309725298],"end_effector_yaw_offset_degrees":0.09374939256847581},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00024303503918961895,-0.0004317716862386764,-0.001781906540947049],"end_effector_yaw_offset_degrees":0.9295289697993352}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004448682353882026,0.0015286305174032492],"position_m":[0.15684868235388202,0.22512863051740326,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00251958477199102,-0.0017647661462760113],"position_m":[0.239880415228009,-0.311464766146276,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004564185219902739,0.00034166068147541487],"position_m":[0.32906418521990277,-0.04125833931852459,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000707845121694646,0.00462185274175179],"position_m":[0.35029215487830534,0.3230218527417518,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7aef3829666d88ea99a588620b7be60d89019679c964b6cb917a4c4d560384ee","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8873/tex_ceiling_textures_5253/tex_floor_textures_6341/tex_table_textures_8536/tex_wall_textures_3138","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":291601525807229432,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":291601525807229432,"visual_seed":291601525807229432,"scene_id":"lab_003","finished_at":"2026-09-03T19:01:36"} +{"episode_id":"ep_000001","started_at":"2026-09-03T19:01:41","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[-0.6505881288739177,-1.4541322235717578,0.71338606911949],"aabb_xy":[[-0.6789178388224579,-1.4585929657654748],[-0.6222584189253775,-1.4496714813780407]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.38279597556905665,-0.4356860354457406,0.71338606911949],"aabb_xy":[[0.31779597461192943,-0.48763424737944616],[0.44779597652618386,-0.383737823512035]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[-0.3851732570998921,-1.241119305475858,0.71338606911949],"aabb_xy":[[-0.41565750722692224,-1.291119305257354],[-0.35468900697286193,-1.191119305694362]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[0.2503400463503751,0.8117594140476649,0.71338606911949],"aabb_xy":[[0.18034004994041322,0.7913214783959831],[0.3203400427603368,0.8321973496993466]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.13963878327825396,-1.2046906823224637,0.71338606911949],"aabb_xy":[[0.1357249100828314,-1.2134396977290203],[0.14355265647367646,-1.1959416669159066]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[-0.45315306352088247,0.0701627153683364,0.71338606911949],"aabb_xy":[[-0.5031263575241427,0.02016271481378905],[-0.40317976951762186,0.12016271592288373]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[0.33976467650854136,-0.839152057793044,0.71338606911949],"aabb_xy":[[0.30226467793292056,-0.851888353456602],[0.37726467508416217,-0.8264157621294861]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[0.12093293455943877,1.4199406149374396,0.71338606911949],"aabb_xy":[[0.056932933151448074,1.3681516634135147],[0.18493293596742938,1.471729566461364]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[-0.5308318090916284,-1.3359368633175048,0.71338606911949],"aabb_xy":[[-0.5948318111413604,-1.3760313464068126],[-0.4668318070418964,-1.2958423802281966]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.1374092230274031,0.4278932315768449,0.71338606911949],"aabb_xy":[[-0.192382945063736,0.37289323201261176],[-0.08243550099107022,0.4828932311410781]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[-0.1769655563868502,-0.9095318813598323,0.71338606911949],"aabb_xy":[[-0.19913808336350097,-0.9317075485159555],[-0.15479302941019932,-0.8873562142037091]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.07827215625382611,-1.9867811316713062,0.71338606911949],"aabb_xy":[[0.014272153911024555,-2.031721982915439],[0.14227215859662767,-1.9418402804271737]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.18572698391704245,-0.20266153584154667,0.71338606911949],"aabb_xy":[[-0.19385467211035567,-0.21157514425225432],[-0.17759929572372923,-0.19374792743083902]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.037970321304509835,1.6417119989253135,0.71338606911949],"aabb_xy":[[-0.05685470507302004,1.6228260741449605],[-0.01908593753599963,1.660597923705666]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.16156836996659496,-1.8284547346577593,0.71338606911949],"aabb_xy":[[-0.21558396624849493,-1.8924547375500165],[-0.10755277368469493,-1.7644547317655022]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.34796910717946516,0.946655735922437,0.71338606911949],"aabb_xy":[[-0.3573161147617604,0.932352113704793],[-0.33862209959716993,0.960959358140081]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[0.4389234825220456,-1.3146539930306065,0.71338606911949],"aabb_xy":[[0.37492347930340775,-1.3613771049296148],[0.5029234857406835,-1.2679308811315981]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.43094389884960715,-0.33866571370525866,0.71338606911949],"aabb_xy":[[-0.4684438972730075,-0.35182992767308924],[-0.3934439004262068,-0.325501499737428]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[0.5372627836319845,-0.9484660549890567,0.71338606911949],"aabb_xy":[[0.5268512249515008,-0.9538117883249551],[0.5476743423124683,-0.9431203216531581]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[-0.13611254622572455,-1.9957157953256353,0.71338606911949],"aabb_xy":[[-0.20611254835715406,-2.0184777609513307],[-0.06611254409429498,-1.9729538296999392]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[0.636852720347308,-1.7857023592597683,0.71338606911949],"aabb_xy":[[0.5868527189864208,-1.8356802638351837],[0.6868527217081952,-1.7357244546843524]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[-0.5907601414666596,0.45027710406293275,0.71338606911949],"aabb_xy":[[-0.6707601386262347,0.4387295031051157],[-0.5107601443070842,0.4618247050207498]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[0.3391784822164614,-1.108418871795201,0.71338606911949],"aabb_xy":[[0.3216317873003425,-1.1459188733594523],[0.35672517713258034,-1.0709188702309498]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.6032276261375548,-0.03965807874984728,0.71338606911949],"aabb_xy":[[-0.6295164504579953,-0.0659295124044985],[-0.576938801817114,-0.013386645095196046]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_24","position":[-0.4298250134753545,0.8008576728200967,0.71338606911949],"aabb_xy":[[-0.47982501442588726,0.7693085258165752],[-0.37982501252482165,0.832406819823618]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6976798318886367,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/275.png","name":"275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/275.png","name":"275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2367.png","name":"2367"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2413.png","name":"2413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5936.png","name":"5936"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/677.png","name":"677"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":807.8085464402652,"rotation_z_degrees":16.536411599378997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009130452998940034,-0.01159746203094175,0.01493163736981835]},{"name":"camera_2","offset_m":[0.005280826210230516,-0.017206188982872846,0.013768003710589404]},{"name":"camera_3","offset_m":[-0.0009319214724030286,0.004944843527276234,0.00398673329726567]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013231281446496436,0.000881319268185327,0.0016073390978247892],"end_effector_yaw_offset_degrees":-0.29093645708997684},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008263624473642947,0.0009671274844200556,-0.0018265616889472983],"end_effector_yaw_offset_degrees":0.0718016425464083},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017783856575954342,0.0018221080755400978,-0.000871961672596048],"end_effector_yaw_offset_degrees":0.8305434815533774}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029261913705960784,0.003234387699289544],"position_m":[0.14947380862940393,0.22683438769928954,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00024473049391307133,-0.0039019945882186125],"position_m":[0.24215526950608693,-0.3136019945882186,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005914659210180979,-0.0020099892481902294],"position_m":[0.3239085340789819,-0.04360998924819023,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004254601367726027,0.00041714976082262746],"position_m":[0.3505745398632274,0.31881714976082265,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dabfbfc29024b789716f877374f75670dac71c12cbef8ab354c2e30a41c1f83e","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_275/tex_ceiling_textures_677/tex_floor_textures_5936/tex_table_textures_2367/tex_wall_textures_2413","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8279849904862808392,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8279849904862808392,"visual_seed":8279849904862808392,"scene_id":"lab_003","finished_at":"2026-09-03T19:04:54"} +{"episode_id":"ep_000002","started_at":"2026-09-03T19:04:57","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.5518947071124165,0.47351938399838467,0.71338606911949],"aabb_xy":[[0.5347926291540483,0.4564125784671149],[0.5689967850707847,0.4906261895296544]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.6025027592014509,0.15228531026824044,0.71338606911949],"aabb_xy":[[0.5448722903141798,0.0922853113415298],[0.6601332280887215,0.21228530919495095]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[0.11238292470603306,-1.8710885978221619,0.71338606911949],"aabb_xy":[[0.06256614524119829,-1.921088596306465],[0.16219970417086782,-1.8210885993378583]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.24479724152823917,-0.9866472622741842,0.71338606911949],"aabb_xy":[[-0.30979724416603266,-1.0381268609736312],[-0.1797972388904457,-0.9351676635747374]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_4","position":[0.422983802516532,-2.0108177595653194,0.71338606911949],"aabb_xy":[[0.34298997893797384,-2.090817762158161],[0.5029776260950902,-1.9308177569724778]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.3390638243192359,-0.17258242533811297,0.71338606911949],"aabb_xy":[[-0.3990638251800487,-0.2240088553445993],[-0.27906382345842307,-0.12115599533162653]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[0.45592516405273287,0.6794978115303838,0.71338606911949],"aabb_xy":[[0.4443561833057964,0.6544978114134522],[0.46749414479966955,0.7044978116473156]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[0.4775324729287811,1.5464259599031833,0.71338606911949],"aabb_xy":[[0.4562544647853088,1.48142595757711],[0.4988104810722533,1.6114259622292562]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.053218022909942264,1.7258822060798447,0.71338606911949],"aabb_xy":[[-0.07571802315345766,1.713677571420073],[-0.030718022666426877,1.7380868407396168]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.37257467017901974,1.518715746729065,0.71338606911949],"aabb_xy":[[-0.3790763066870244,1.5089479247027555],[-0.3660730336710151,1.528483568755375]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.468630382871551,1.3728397026329513,0.71338606911949],"aabb_xy":[[0.4511996677925444,1.3555675879691003],[0.4860610979505574,1.3901118172968019]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[0.010888806122408057,1.0031105403293687,0.71338606911949],"aabb_xy":[[0.006045211361178082,0.9982588878503849],[0.01573240088363803,1.007962192808353]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.359546770924977,0.3064861433198143,0.71338606911949],"aabb_xy":[[-0.38994488202412053,0.2760792413181447],[-0.32914865982583336,0.33689304532148373]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[0.09777935318984843,-1.6677552418732655,0.71338606911949],"aabb_xy":[[0.007779353771477537,-1.701130738717455],[0.18777935260821932,-1.6343797450290756]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[0.6258283592882341,0.7617608029978671,0.71338606911949],"aabb_xy":[[0.6133610011784985,0.7492954783645436],[0.6382957173979698,0.7742261276311906]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[0.05904417189090083,-1.4998578995817942,0.71338606911949],"aabb_xy":[[0.024044171994881968,-1.508232135093734],[0.0940441717869197,-1.4914836640698543]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.02330771397073017,0.6108487216364593,0.71338606911949],"aabb_xy":[[-0.0408077142300668,0.5967571794476868],[-0.005807713711393548,0.624940263825232]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.40376691709084733,-2.46344303852222,0.71338606911949],"aabb_xy":[[0.3787669179252142,-2.4703952842275765],[0.42876691625648045,-2.4564907928168633]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[0.4148628441154938,-1.6447239869630579,0.71338606911949],"aabb_xy":[[0.4061488750655592,-1.6672239876222457],[0.42357681316542817,-1.6222239863038692]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[-0.45980220672753014,1.1727815445784082,0.71338606911949],"aabb_xy":[[-0.5098022083890248,1.1227831023227055],[-0.4098022050660354,1.222779986834111]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[-0.21438134020199018,-2.5444515336934272,0.71338606911949],"aabb_xy":[[-0.23427238008233048,-2.5571073449781245],[-0.19449030032165,-2.531795722408731]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[0.018746655668463674,-2.413302864919636,0.71338606911949],"aabb_xy":[[0.012332842025278732,-2.4197126851673043],[0.02516046931164861,-2.406893044671967]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.01743350513927877,1.1613106571505445,0.71338606911949],"aabb_xy":[[-0.06743350615841405,1.1248444414127168],[0.03256649587985651,1.1977768728883726]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[0.2518856995054627,-2.2845783138925677,0.71338606911949],"aabb_xy":[[0.21438569832066987,-2.288996536588628],[0.28938570069025543,-2.2801600911965068]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.16527430721323944,1.1567242728781428,0.71338606911949],"aabb_xy":[[0.13027430890254396,1.1490092579545974],[0.20027430552393485,1.1644392878016887]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951673532294012,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2735.png","name":"2735"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2735.png","name":"2735"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7384.png","name":"7384"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1861.png","name":"1861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/564.png","name":"564"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3996.png","name":"3996"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":507.1974124790661,"rotation_z_degrees":350.726126263454,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032358216249627723,-0.01472819987071146,-0.015602157590022557]},{"name":"camera_2","offset_m":[-0.019427068949819395,0.006537115154615858,0.016104683979020182]},{"name":"camera_3","offset_m":[0.01941737042303286,-0.01943734946909454,-0.017599160981677093]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013133264058333921,0.0008893426361875731,0.0010051760569675132],"end_effector_yaw_offset_degrees":-0.0018283097276088345},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013678329964360567,0.0009331965937323804,-0.00010101575536013911],"end_effector_yaw_offset_degrees":0.030846063971873283},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006080730859297381,-0.0004904115988443745,-0.0006161574096765342],"end_effector_yaw_offset_degrees":0.14291172442088618}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026751553745436242,0.0014105909165032272],"position_m":[0.14972484462545638,0.22501059091650322,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030509444305681704,-0.001022341699140901],"position_m":[0.24545094443056817,-0.31072234169914087,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003474919277234948,-0.0015832813017404778],"position_m":[0.3210250807227651,-0.04318328130174048,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004684704268240272,0.003179060292104601],"position_m":[0.34631529573175973,0.3215790602921046,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e31542d68ed2a6eb34b74523367a438f96a21dc335efc8cddd4282082a21ecb8","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2735/tex_ceiling_textures_3996/tex_floor_textures_564/tex_table_textures_7384/tex_wall_textures_1861","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7093557146139522504,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7093557146139522504,"visual_seed":7093557146139522504,"scene_id":"lab_003","finished_at":"2026-09-03T19:08:11"} +{"episode_id":"ep_000003","started_at":"2026-09-03T19:08:14","dimensions":{"distractor":{"count":22,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.06286348888881732,-2.099595673628313,0.71338606911949],"aabb_xy":[[0.029384321627776384,-2.13307478699942],[0.09634265614985826,-2.066116560257206]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[0.22116897545667102,0.7046471120403495,0.71338606911949],"aabb_xy":[[0.18262328263146999,0.666101340984161],[0.25971466828187206,0.7431928830965382]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.45257337281806653,0.10776856537979596,0.71338606911949],"aabb_xy":[[0.442491665739493,0.027768567487681292],[0.46265507989663995,0.1877685632719106]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[-0.5764655002703072,-1.8860911338251545,0.71338606911949],"aabb_xy":[[-0.584680045385991,-1.8947677241227956],[-0.5682509551546231,-1.877414543527513]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.48100209005799566,-1.1869272628198437,0.71338606911949],"aabb_xy":[[-0.5610020933158386,-1.2669237706118277],[-0.40100208680015276,-1.1069307550278598]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[-0.5743795630026084,-2.1815128381731754,0.71338606911949],"aabb_xy":[[-0.5820827536766855,-2.189222208871913],[-0.5666763723285313,-2.173803467474437]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.524068132988655,-1.5076340975780975,0.71338606911949],"aabb_xy":[[0.5027901248451827,-1.5726340999041706],[0.5453461411321272,-1.4426340952520245]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[0.5566607892629931,-1.2903090057881756,0.71338606911949],"aabb_xy":[[0.5154119782330783,-1.345309005300393],[0.5979096002929077,-1.2353090062759582]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[-0.23198824395137552,-2.174006029624771,0.71338606911949],"aabb_xy":[[-0.23924949152178293,-2.1867930398882804],[-0.2247269963809681,-2.1612190193612615]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[0.4642967202566093,-0.34119940987507125,0.71338606911949],"aabb_xy":[[0.4491245509749759,-0.35636826680327466],[0.47946888953824257,-0.32603055294686795]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.5745718887072675,0.5675051532492805,0.71338606911949],"aabb_xy":[[-0.6245718897264028,0.5310389375114526],[-0.5245718876881322,0.6039713689871085]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.540708044512344,1.510936287457072,0.71338606911949],"aabb_xy":[[-0.5585015514472604,1.4931365418612743],[-0.5229145375774276,1.5287360330528696]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.0023814079961457235,1.1809146570035298,0.71338606911949],"aabb_xy":[[-0.00852436809141699,1.1009146606047007],[0.013287184083708437,1.260914653402359]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.5842071525369985,0.9823444191845958,0.71338606911949],"aabb_xy":[[-0.5929883796842349,0.9735646718960658],[-0.5754259253897623,0.9911241664731261]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[0.6712500714169973,1.786396766466718,0.71338606911949],"aabb_xy":[[0.6513590315366572,1.7737409551820216],[0.6911411112973377,1.7990525777514152]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[-0.4246205824454664,1.2759234258191365,0.71338606911949],"aabb_xy":[[-0.43112221895347114,1.266155603792827],[-0.4181189459374619,1.2856912478454465]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[-0.4621140163429175,1.4193914491966555,0.71338606911949],"aabb_xy":[[-0.4945757172248449,1.3892586170817527],[-0.42965231546099,1.4495242813115579]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[0.544057708006046,-0.5059086652009013,0.71338606911949],"aabb_xy":[[0.5090577081100272,-0.5142829007128411],[0.5790577079020649,-0.4975344296889613]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.5740949846617733,-2.113700366798138,0.71338606911949],"aabb_xy":[[0.5100949854920034,-2.1604670539171003],[0.6380949838315433,-2.0669336796791753]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[-0.14324535857807896,-0.828281540061444,0.71338606911949],"aabb_xy":[[-0.20724535569018465,-0.8773139098558547],[-0.07924536146597327,-0.7792491702670334]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[0.2760353961893103,-0.974225349484126,0.71338606911949],"aabb_xy":[[0.1960353992262711,-1.0513009911278992],[0.35603539315234944,-0.8971497078403524]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.6176579949697725,-2.3638150394526463,0.71338606911949],"aabb_xy":[[-0.6532871508697322,-2.3994477062094997],[-0.5820288390698127,-2.3281823726957938]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697807147345294,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9080.png","name":"9080"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9080.png","name":"9080"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8136.png","name":"8136"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8746.png","name":"8746"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2659.png","name":"2659"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6210.png","name":"6210"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":746.5589030801148,"rotation_z_degrees":128.3080475966226,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009435986696183587,0.0044928322731148315,-0.008365375836257023]},{"name":"camera_2","offset_m":[-0.010946927989068779,-0.005156721557681827,0.003760731667043233]},{"name":"camera_3","offset_m":[0.019049962670935696,0.008856451997099665,-0.007657763648616563]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012716177848929979,-0.0018152389480740423,0.0018075687681286534],"end_effector_yaw_offset_degrees":-0.8232983466000223},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000919305353025738,-0.00038716675945854205,-0.0018280747522181385],"end_effector_yaw_offset_degrees":-0.0463649925622609},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007353816259328112,-0.0007500100570412931,0.0012246937945558467],"end_effector_yaw_offset_degrees":0.731567658677307}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020404344553554467,0.002054846195179868],"position_m":[0.15444043445535546,0.22565484619517986,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00244049895342063,0.0028878380380133973],"position_m":[0.24484049895342064,-0.3068121619619866,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038859801743737744,-0.001231502018779901],"position_m":[0.32061401982562626,-0.0428315020187799,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020878697277266394,-0.004240314307635749],"position_m":[0.3530878697277266,0.31415968569236424,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"97b6ee5de619229449a6dd0d25cafa98ab516f94529e59ef87f5d8e4dfc8ebb5","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9080/tex_ceiling_textures_6210/tex_floor_textures_2659/tex_table_textures_8136/tex_wall_textures_8746","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4596541776037808375,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4596541776037808375,"visual_seed":4596541776037808375,"scene_id":"lab_003","finished_at":"2026-09-03T19:11:02"} +{"episode_id":"ep_000004","started_at":"2026-09-03T19:11:06","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[0.25049920315581864,0.700284118381691,0.71338606911949],"aabb_xy":[[0.2161829259812007,0.6502841184085133],[0.2848154803304366,0.7502841183548687]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.3435949978723083,1.3792217195272487,0.71338606911949],"aabb_xy":[[0.31859499832056976,1.3690792356621138],[0.3685949974240467,1.3893642033923832]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[-0.23345612964233453,-0.10171093837307543,0.71338606911949],"aabb_xy":[[-0.30345613177376396,-0.12447290399877108],[-0.1634561275109049,-0.07894897274737976]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[0.07636442652079645,-1.808886518760095,0.71338606911949],"aabb_xy":[[0.07240394275106209,-1.8165543833456157],[0.08032491029053083,-1.8012186541745745]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.5741844674635368,1.1427805512999707,0.71338606911949],"aabb_xy":[[0.510184467203066,1.0977717519470425],[0.6381844677240076,1.1877893506528985]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.3897099941352098,1.801003833839053,0.71338606911949],"aabb_xy":[[0.3753755690090464,1.788943618284514],[0.4040444192613733,1.8130640493935917]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[-0.10808960555489211,1.464002676108056,0.71338606911949],"aabb_xy":[[-0.15589577316866077,1.3990026734009968],[-0.06028343794112345,1.5290026788151145]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.227005770234757,0.9653880102383452,0.71338606911949],"aabb_xy":[[0.21737413401432734,0.9557506974586362],[0.23663740645518658,0.975025323018054]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[0.5907164320080143,-0.4335567274647594,0.71338606911949],"aabb_xy":[[0.5728473242535587,-0.4473896354419703],[0.6085855397624697,-0.41972381948754844]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[-0.46006618219464,1.6102726871800068,0.71338606911949],"aabb_xy":[[-0.5100661834784799,1.5602938327893847],[-0.4100661809108,1.660251541570629]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[0.41472248394294486,-0.8312229669490654,0.71338606911949],"aabb_xy":[[0.37768837451488513,-0.8656001742827747],[0.4517565933710046,-0.7968457596153559]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.5565456725103337,-0.6991649848318255,0.71338606911949],"aabb_xy":[[0.5346559249213929,-0.7891649821210748],[0.5784354200992745,-0.6091649875425765]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[-0.2546600653621228,0.7698499712883704,0.71338606911949],"aabb_xy":[[-0.3186600660655922,0.7238315888154495],[-0.19066006465865354,0.8158683537612916]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.4454121101345412,-0.24277019394208432,0.71338606911949],"aabb_xy":[[0.4373757754332563,-0.2508083132465011],[0.45344844483582597,-0.23473207463766754]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[0.12182372031300814,-1.617276236805225,0.71338606911949],"aabb_xy":[[0.07469434131117246,-1.6812762378496264],[0.1689530993148438,-1.5532762357608225]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.13231336426350082,0.9505508250562325,0.71338606911949],"aabb_xy":[[-0.22231336076437255,0.9046391826377741],[-0.042313367762629055,0.9964624674746906]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[-0.5947892701342901,1.412921850016486,0.71338606911949],"aabb_xy":[[-0.6597892711347907,1.362135484861811],[-0.5297892691337897,1.463708215171161]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.5167387059107491,-0.05583761984957647,0.71338606911949],"aabb_xy":[[0.5102370694027446,-0.06560544187588625],[0.5232403424187538,-0.04606979782326671]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.556178248966047,-1.875448897578003,0.71338606911949],"aabb_xy":[[-0.5648762112567622,-1.887573871885478],[-0.5474802866753317,-1.8633239232705285]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.5346416696796283,-1.2975933625840161,0.71338606911949],"aabb_xy":[[0.5194787967026914,-1.312758819879135],[0.5498045426565655,-1.2824279052888974]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.4509317811866166,-1.501694253112268,0.71338606911949],"aabb_xy":[[-0.5309317816568326,-1.5100049607266168],[-0.3709317807164007,-1.4933835454979196]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[-0.1050373470498791,-0.6835491593576091,0.71338606911949],"aabb_xy":[[-0.11764004618695556,-0.6961445555824747],[-0.09243464791280265,-0.6709537631327437]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[-0.37493629977966847,-0.8871345441182366,0.71338606911949],"aabb_xy":[[-0.454936301942431,-0.9670897277443802],[-0.29493629761690604,-0.8071793604920929]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[0.15962929038224816,-1.0274579429220132,0.71338606911949],"aabb_xy":[[0.07962929010864118,-1.1004074907477297],[0.23962929065585514,-0.9545083950962964]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[-0.2065623464809241,0.18110314216386847,0.71338606911949],"aabb_xy":[[-0.22406234561529123,0.17122351512628062],[-0.18906234734655689,0.19098276920145627]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[-0.2134741520139618,-1.9882257420492784,0.71338606911949],"aabb_xy":[[-0.2684664026494728,-2.0432257437925916],[-0.1584819013784509,-1.9332257403059658]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[-0.36744063454636816,0.3420880720820416,0.71338606911949],"aabb_xy":[[-0.38994063478988356,0.3298834374222697],[-0.34494063430285277,0.3542927067418136]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[-0.25236517011988485,-2.2027180165638875,0.71338606911949],"aabb_xy":[[-0.30224786699758105,-2.2527180158101627],[-0.20248247324218865,-2.1527180173176133]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6987531824796882,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9732.png","name":"9732"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9732.png","name":"9732"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9709.png","name":"9709"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1568.png","name":"1568"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6057.png","name":"6057"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/721.png","name":"721"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":788.3603330235242,"rotation_z_degrees":323.27733737447085,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011444015804583265,0.009604040547701604,0.00284250108840706]},{"name":"camera_2","offset_m":[0.001471223329651706,0.018968407426935317,0.015395983434218347]},{"name":"camera_3","offset_m":[0.006339315864525633,-0.01905425883955285,0.0007096950816932041]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001287228201451304,0.0015428256014126018,0.0019366621458755014],"end_effector_yaw_offset_degrees":-0.3774525987597852},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006731972530414927,0.0002670185246950196,-0.0007076723927028378],"end_effector_yaw_offset_degrees":-0.44057969864327706},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005601032411606619,-0.0008188999481247641,-0.00039070243058825856],"end_effector_yaw_offset_degrees":0.16665423627574127}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004765889252169332,-0.004331589094872979],"position_m":[0.14763411074783067,0.21926841090512703,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00433225848234279,0.003137199486540344],"position_m":[0.2467322584823428,-0.30656280051345963,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014707095150184079,-0.002947545442320577],"position_m":[0.32597070951501844,-0.04454754544232058,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001187136535556286,-0.0003761584338527789],"position_m":[0.3521871365355563,0.3180238415661472,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bc8d02a2a2a1a0ece85e04830cb84ee2dbf26b739584261f1b982e9baa1c97d4","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9732/tex_ceiling_textures_721/tex_floor_textures_6057/tex_table_textures_9709/tex_wall_textures_1568","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4473821884481771153,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4473821884481771153,"visual_seed":4473821884481771153,"scene_id":"lab_003","finished_at":"2026-09-03T19:14:35"} +{"episode_id":"ep_000005","started_at":"2026-09-03T19:14:39","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.5093004296680067,1.179634897610561,0.71338606911949],"aabb_xy":[[-0.589300426827582,1.168087296652744],[-0.4293004325084314,1.191182498568378]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[0.17632197461261512,-2.354791716257794,0.71338606911949],"aabb_xy":[[0.12230637833071509,-2.4187917191500508],[0.2303375708945151,-2.2907917133655364]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[0.5286405076196468,-0.3579238692737956,0.71338606911949],"aabb_xy":[[0.4586405049830604,-0.37802873426966105],[0.5986405102562331,-0.33781900427793005]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.03179224240924006,-0.6772615412788265,0.71338606911949],"aabb_xy":[[0.020223261662303482,-0.7022615413957584],[0.04336122315617663,-0.6522615411618949]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.4476391108138502,0.7782087484129239,0.71338606911949],"aabb_xy":[[0.4111432901865714,0.7417248059861662],[0.4841349314411289,0.8146926908396813]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[-0.36816655427637346,-0.5743085822222351,0.71338606911949],"aabb_xy":[[-0.37280166942860676,-0.5781759172993837],[-0.36353143912414004,-0.5704412471450864]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[-0.14612484972982553,-1.1370852501782838,0.71338606911949],"aabb_xy":[[-0.22611867330838376,-1.2170852527711256],[-0.06613102615126731,-1.0570852475854424]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.2946238309016736,0.3156202184241357,0.71338606911949],"aabb_xy":[[-0.3321238311938484,0.31157874302353206],[-0.2571238306094988,0.3196616938247393]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.4893635264261105,-0.009849689997109667,0.71338606911949],"aabb_xy":[[0.4588792762990804,-0.05984968977860561],[0.5198477765531406,0.04015030978438627]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[0.5209216575889912,-2.536892322712994,0.71338606911949],"aabb_xy":[[0.48342165724076347,-2.5486837182940776],[0.558421657937219,-2.5251009271319105]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[0.3827290851651406,-1.1487125704823564,0.71338606911949],"aabb_xy":[[0.37188860693862563,-1.1658988517730051],[0.39356956339165544,-1.1315262891917073]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.27748598755012555,-1.676769285728036,0.71338606911949],"aabb_xy":[[0.22750303736264618,-1.7267692853705965],[0.3274689377376048,-1.6267692860854757]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.18966685397485117,-1.89489861198269,0.71338606911949],"aabb_xy":[[-0.2796668507104614,-1.9480820752999843],[-0.09966685723924093,-1.8417151486653953]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.5099335133853888,-0.25639627695150713,0.71338606911949],"aabb_xy":[[0.47493351348937,-0.26477051246344707],[0.5449335132814077,-0.24802204143956721]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[-0.23674022713013054,-0.16424384007008141,0.71338606911949],"aabb_xy":[[-0.2702193943911715,-0.19772295344118843],[-0.2032610598690896,-0.1307647266989744]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.3929205195894587,-0.40989820073947936,0.71338606911949],"aabb_xy":[[0.37542052031137185,-0.4272363008058253],[0.4104205188675456,-0.3925601006731334]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[-0.11315220219706568,-1.5594541967101918,0.71338606911949],"aabb_xy":[[-0.16028158119890135,-1.6234541977545935],[-0.06602282319523,-1.4954541956657896]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[-0.04347751525292165,-2.0337717229003305,0.71338606911949],"aabb_xy":[[-0.07212684761333787,-2.062417282177406],[-0.014828182892505419,-2.0051261636232542]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.2554612101763152,-1.430659785351842,0.71338606911949],"aabb_xy":[[-0.28046120944827746,-1.4470051489480042],[-0.23046121090435293,-1.4143144217556796]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[0.3868423309953264,1.3353802939548673,0.71338606911949],"aabb_xy":[[0.3228423302918571,1.2893619114819466],[0.45084233169879584,1.3813986764277886]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.2072089512612848,0.981735060776411,0.71338606911949],"aabb_xy":[[0.2030930011492121,0.9776195057435653],[0.21132490137335744,0.9858506158092564]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.07929253009143833,-0.866828133060144,0.71338606911949],"aabb_xy":[[0.07059456780072304,-0.8789531073676188],[0.08799049238215362,-0.8547031587526693]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[-0.3242890996616364,1.1380939683557059,0.71338606911949],"aabb_xy":[[-0.36530704304800726,1.0880939677247485],[-0.2832711562752655,1.1880939689866632]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[-0.21693874068265795,-2.4359026481708486,0.71338606911949],"aabb_xy":[[-0.2669318527918499,-2.485902648845044],[-0.1669456285734661,-2.385902647496653]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[0.6861858344700806,1.6023982364164575,0.71338606911949],"aabb_xy":[[0.6727393078360372,1.588928384763366],[0.6996323611041239,1.6158680880695486]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[0.11099669927771616,-2.122418999001273,0.71338606911949],"aabb_xy":[[0.09912461626621506,-2.2074189986949233],[0.12286878228921728,-2.0374189993076226]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_26","position":[-0.3232391608681886,0.596669922010757,0.71338606911949],"aabb_xy":[[-0.3832391617290013,0.5452434920042704],[-0.2632391600073757,0.6480963520172431]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[-0.37214115029426187,-0.34564729865939947,0.71338606911949],"aabb_xy":[[-0.3903469739555096,-0.3566726992413911],[-0.35393532663301425,-0.33462189807740783]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_28","position":[-0.2143968328046067,0.9943090329447752,0.71338606911949],"aabb_xy":[[-0.227023620091803,0.9847629592432022],[-0.2017700455174103,1.003855106646348]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_29","position":[0.2398499563242943,-0.9489889629915469,0.71338606911949],"aabb_xy":[[0.1598499560506873,-1.0219385108172636],[0.3198499565979013,-0.8760394151658302]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_30","position":[0.5749599445847273,0.6918335756486647,0.71338606911949],"aabb_xy":[[0.5504463204877216,0.6675689823466282],[0.5994735686817333,0.7160981689507011]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_31","position":[-0.5396959965588054,0.17151858392959962,0.71338606911949],"aabb_xy":[[-0.6296960002357235,0.11008617735249523],[-0.4496959928818871,0.23295099050670393]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_32","position":[0.47378377395538207,-0.6569583050183687,0.71338606911949],"aabb_xy":[[0.466159505865204,-0.6645915285549124],[0.4814080420455605,-0.649325081481825]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_33","position":[-0.5216917419894216,-2.135098578977239,0.71338606911949],"aabb_xy":[[-0.5289355080356669,-2.215098577180841],[-0.5144479759431763,-2.0550985807736364]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_34","position":[0.5033726922913941,1.6157286752309905,0.71338606911949],"aabb_xy":[[0.4393726919138605,1.5659834083801782],[0.5673726926689278,1.6654739420818028]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956690751797079,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9241.png","name":"9241"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9241.png","name":"9241"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4730.png","name":"4730"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6994.png","name":"6994"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2647.png","name":"2647"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9252.png","name":"9252"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":526.9921855430597,"rotation_z_degrees":135.05260922020452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007912516370900407,0.01422321787462057,-0.009205667416686696]},{"name":"camera_2","offset_m":[0.001813305560576333,0.015117531406190262,0.01431977011256778]},{"name":"camera_3","offset_m":[0.01846784881582068,-0.016504121625809644,-0.0025844076894027714]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009258910924719514,0.0007651352039611606,-0.0019520065704519123],"end_effector_yaw_offset_degrees":0.2882503065311206},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001730434811198135,0.001607176794587451,0.0016008398511037497],"end_effector_yaw_offset_degrees":-0.14784324214701017},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002466675717592284,0.0010177871600865248,-0.0015803567232764114],"end_effector_yaw_offset_degrees":0.1526871721075611}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003272981081342673,-0.001961063104389544],"position_m":[0.14912701891865734,0.22163893689561046,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006312450464487892,0.0010554782839401582],"position_m":[0.2430312450464488,-0.3086445217160598,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036670922008384807,-0.0017179470894295346],"position_m":[0.3281670922008385,-0.043317947089429536,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00314011604713612,0.001294561582315044],"position_m":[0.3478598839528639,0.3196945615823151,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"759bf65e8845116bd2bccfbb56d58d4d98c147336b0d25da1bd4f81e6e97f167","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0005.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9241/tex_ceiling_textures_9252/tex_floor_textures_2647/tex_table_textures_4730/tex_wall_textures_6994","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6767254049064152980,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6767254049064152980,"visual_seed":6767254049064152980,"scene_id":"lab_003","finished_at":"2026-09-03T19:17:36"} +{"episode_id":"ep_000006","started_at":"2026-09-03T19:17:40","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[0.5691384323702278,0.9450952291581562,0.71338606911949],"aabb_xy":[[0.5051384330760595,0.8811090887893022],[0.633138431664396,1.0090813695270104]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.10674438915454199,1.5490583043794017,0.71338606911949],"aabb_xy":[[-0.186744387811428,1.534553445455139],[-0.026744390497655993,1.5635631633036648]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.1898680450043425,0.8408433730805083,0.71338606911949],"aabb_xy":[[-0.19476733731090598,0.8131664537779394],[-0.184968752697779,0.8685202923830769]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[-0.6701689862238345,-2.100059318647279,0.71338606911949],"aabb_xy":[[-0.6934508284219658,-2.185059319944507],[-0.6468871440257031,-2.015059317350051]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.45838159984113336,-2.5262444846849674,0.71338606911949],"aabb_xy":[[-0.47084895795086906,-2.5387098093182905],[-0.44591424173139776,-2.5137791600516435]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.5362868534878811,0.2263964474086202,0.71338606911949],"aabb_xy":[[0.5325835921587421,0.2226944290999023],[0.5399901148170199,0.23009846571733802]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.28184285519339536,-0.6966970342671077,0.71338606911949],"aabb_xy":[[0.2644121401143888,-0.7139691489309584],[0.2992735702724018,-0.6794249196032568]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.47117609619491563,-1.9994946576106463,0.71338606911949],"aabb_xy":[[0.4486760961847673,-2.013590877250249],[0.49367609620506386,-1.9853984379710428]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[0.5407553709458606,-1.2662252323103307,0.71338606911949],"aabb_xy":[[0.5299823970244928,-1.3012252305293697],[0.5515283448672283,-1.2312252340912917]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[-0.28826458209523065,0.901901231544004,0.71338606911949],"aabb_xy":[[-0.33836204607630427,0.8379012310341921],[-0.23816711811415703,0.9659012320538157]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[-0.3920700061795754,0.38262289951717854,0.71338606911949],"aabb_xy":[[-0.4720700076097026,0.303105744504569],[-0.3120700047494482,0.46214005452978796]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.3154608125270289,1.486845269613156,0.71338606911949],"aabb_xy":[[-0.3242420396742651,1.478065522324626],[-0.3066795853797927,1.4956250169016865]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.6490831375766025,-0.17804969707577767,0.71338606911949],"aabb_xy":[[-0.6599889136641652,-0.2580496934746068],[-0.6381773614890398,-0.09804970067694851]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[0.3958577963942871,-2.0809110140805744,0.71338606911949],"aabb_xy":[[0.36085779808359164,-2.08862602900412],[0.43085779470498253,-2.073195999157029]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[0.36581531899137754,-0.4688333080606828,0.71338606911949],"aabb_xy":[[0.3283153186431497,-0.48062470364176624],[0.40331531933960524,-0.45704191247959913]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.6464708817436231,-1.8351276653863542,0.71338606911949],"aabb_xy":[[-0.6551848507935575,-1.8576276660455422],[-0.6377569126936885,-1.8126276647271657]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[-0.024202169703971488,-2.433117929769963,0.71338606911949],"aabb_xy":[[-0.05666387058589894,-2.4632507618848645],[0.008259531177955968,-2.402985097655059]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[0.576594061214448,1.233610441793941,0.71338606911949],"aabb_xy":[[0.5125940589940409,1.1892373576686528],[0.6405940634348549,1.2779835259192294]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[0.11614609709729773,-0.6971422424070692,0.71338606911949],"aabb_xy":[[0.09835259016238129,-0.7149419880028669],[0.13393960403221417,-0.6793424968112716]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[0.5946116237839885,0.6992130283915547,0.71338606911949],"aabb_xy":[[0.5785496963254707,0.6142130265789628],[0.610673551242506,0.7842130302041465]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[-0.20836747114582416,0.30205994253688884,0.71338606911949],"aabb_xy":[[-0.23086747095972657,0.29758532616640815],[-0.1858674713319218,0.3065345589073695]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[0.5121515623603232,-1.0842527640231685,0.71338606911949],"aabb_xy":[[0.4621565514008713,-1.1342527630587602],[0.5621465733197754,-1.0342527649875768]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.008859633180178128,-2.1521869055486973,0.71338606911949],"aabb_xy":[[-0.0456542663050844,-2.1890927806452796],[0.027934999944728145,-2.115281030452115]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[0.6432260490967834,1.6709543894561292,0.71338606911949],"aabb_xy":[[0.5632260458389404,1.5909578816641452],[0.7232260523546263,1.7509508972481131]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[-0.036969729332030465,-1.2936914532120392,0.71338606911949],"aabb_xy":[[-0.0591422563086813,-1.3158671203681624],[-0.014797202355379627,-1.2715157860559159]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[0.19573420099125938,1.0503655890628383,0.71338606911949],"aabb_xy":[[0.14573492582282324,1.0003655877868913],[0.24573347615969557,1.1003655903387857]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_26","position":[0.2690954994691177,-0.9684974326954605,0.71338606911949],"aabb_xy":[[0.17909549579219944,-1.0299298392725649],[0.3590955031460358,-0.907065026118356]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[0.3600816697833278,-1.2473206348115196,0.71338606911949],"aabb_xy":[[0.34497936832230963,-1.262422156442581],[0.3751839712443458,-1.2322191131804572]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[-0.07679297270358143,-1.1454946162249184,0.71338606911949],"aabb_xy":[[-0.14079297296405224,-1.1905034155778462],[-0.01279297244311063,-1.1004858168719902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957920108777046,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9028.png","name":"9028"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9028.png","name":"9028"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4152.png","name":"4152"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1432.png","name":"1432"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9206.png","name":"9206"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5516.png","name":"5516"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":813.563595612515,"rotation_z_degrees":66.84069366567824,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009487259779171132,-0.015232567397198436,0.012003843707150134]},{"name":"camera_2","offset_m":[0.010817073968429857,-0.008941137667514636,0.003634266459779583]},{"name":"camera_3","offset_m":[-0.007010778808955514,0.009671497240181709,-0.0028445375158750036]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011014912738576813,0.0007652217942174444,-0.00016232119287422223],"end_effector_yaw_offset_degrees":0.38228078607261007},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.067381323348773e-05,0.0007322538522204431,0.00018973843973276372],"end_effector_yaw_offset_degrees":0.4473874450157662},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010763697276109548,-0.0018731513196089736,-0.0007862560270674751],"end_effector_yaw_offset_degrees":0.19260674177283166}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001090755896584702,-0.0031594883957154563],"position_m":[0.1513092441034153,0.22044051160428454,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003098117530186244,0.002017478671733848],"position_m":[0.24549811753018624,-0.3076825213282661,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024173586321003353,-0.0037929455190700723],"position_m":[0.32691735863210036,-0.04539294551907007,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026866193108137804,0.0006847417135192298],"position_m":[0.3483133806891862,0.31908474171351925,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6b8a4d0ac88e0ded24978be850e07dd18e5c0b79df18efddffe0e4d958f66f6c","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0006.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9028/tex_ceiling_textures_5516/tex_floor_textures_9206/tex_table_textures_4152/tex_wall_textures_1432","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4840395683140491510,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4840395683140491510,"visual_seed":4840395683140491510,"scene_id":"lab_003","finished_at":"2026-09-03T19:20:46"} +{"episode_id":"ep_000007","started_at":"2026-09-03T19:20:49","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[-0.3410525415688838,-1.28126379010569,0.71338606911949],"aabb_xy":[[-0.40505254086305204,-1.3452499304745442],[-0.2770525422747156,-1.2172776497368358]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.5898301276126517,0.5844206615943892,0.71338606911949],"aabb_xy":[[-0.6698301255934368,0.5768191206325373],[-0.5098301296318667,0.5920222025562412]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.5274665135859535,-0.9121066672305542,0.71338606911949],"aabb_xy":[[0.4909706929586748,-0.9485906096573118],[0.5639623342132323,-0.8756227248037967]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.05664303785750091,-1.8581783541466046,0.71338606911949],"aabb_xy":[[-0.07653407773784117,-1.8708341654313017],[-0.03675199797716067,-1.845522542861908]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[-0.4817272467528375,0.3429072294588207,0.71338606911949],"aabb_xy":[[-0.49050847390007385,0.3341274821702906],[-0.4729460196056014,0.3516869767473509]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[0.6916793988361296,0.729066992773411,0.71338606911949],"aabb_xy":[[0.6836859090408477,0.7210688608329354],[0.6996728886314117,0.7370651247138866]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[-0.5980430399627091,0.9382292247606108,0.71338606911949],"aabb_xy":[[-0.6147201759558047,0.9215293007866806],[-0.5813659039696137,0.9549291487345412]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[0.057672192627279295,1.5710712652850076,0.71338606911949],"aabb_xy":[[0.016654249240908414,1.5210712646540503],[0.09869013601365018,1.621071265915965]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.2433494239055048,-0.28249293047933444,0.71338606911949],"aabb_xy":[[-0.3133494255077843,-0.29592572368099196],[-0.1733494223032253,-0.2690601372776768]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.31902622663976915,-2.0270276757019685,0.71338606911949],"aabb_xy":[[-0.3840262277457125,-2.051993048770097],[-0.2540262255338259,-2.00206230263384]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.10069583208257449,1.2047744242374705,0.71338606911949],"aabb_xy":[[0.08314913716645557,1.1672744226732192],[0.11824252699869343,1.2422744258017218]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[-0.45865383699573764,-0.15137286210688972,0.71338606911949],"aabb_xy":[[-0.5008382511565683,-0.21537286238410092],[-0.4164694228349069,-0.08737286182967852]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.45284412904180793,-1.4206645646448173,0.71338606911949],"aabb_xy":[[0.4278441297698456,-1.4370099282409794],[0.47784412831377016,-1.4043192010486547]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.3167458926185726,-2.1595481528228326,0.71338606911949],"aabb_xy":[[-0.3667409035780247,-2.209548151858425],[-0.26675088165912064,-2.1095481537872414]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.4767164894954654,-0.40360696549505626,0.71338606911949],"aabb_xy":[[0.46384458599452527,-0.48360696590889235],[0.48958839299640555,-0.32360696508122005]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.47604697861346534,0.27571925263788044,0.71338606911949],"aabb_xy":[[0.462600451979422,0.2622494009847892],[0.4894935052475087,0.28918910429097167]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.32991315987874376,1.0870300410063014,0.71338606911949],"aabb_xy":[[-0.35491315943048224,1.0768875571411665],[-0.3049131603270053,1.097172524871436]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[0.558239028819592,0.3299323545538577,0.71338606911949],"aabb_xy":[[0.5450877828483026,0.3049323547971712],[0.5713902747908813,0.35493235431054426]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[0.2405973301030282,-1.3063688840114076,0.71338606911949],"aabb_xy":[[0.22349525214466007,-1.3234756895426774],[0.25769940806139635,-1.2892620784801379]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.36716925283852125,-2.3105551187212585,0.71338606911949],"aabb_xy":[[-0.4311692542465119,-2.3623440702451823],[-0.3031692514305306,-2.258766167197333]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.4527724649750473,0.49696672056452185,0.71338606911949],"aabb_xy":[[0.4446447767817341,0.4880531121538142],[0.4609001531683605,0.5058803289752295]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[0.40766680381745,-2.5051279651953475,0.71338606911949],"aabb_xy":[[0.3720376479174903,-2.540760631952201],[0.44329595971740976,-2.469495298438495]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931482687651956,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9424.png","name":"9424"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9424.png","name":"9424"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9491.png","name":"9491"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1844.png","name":"1844"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1412.png","name":"1412"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7432.png","name":"7432"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":793.2686523096504,"rotation_z_degrees":248.60625068584164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019169215164905332,-0.00719956098195694,0.019512390697974415]},{"name":"camera_2","offset_m":[0.01566423924339756,0.01486021014405128,0.006337287011634839]},{"name":"camera_3","offset_m":[0.0015413116931722558,0.0011439557114958643,0.007405747554939914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000934837298958159,0.0015833760710938583,-0.0001190075238554091],"end_effector_yaw_offset_degrees":-0.34082261043530004},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00022754935244788995,-0.0008164560432417302,-0.0007612713574274492],"end_effector_yaw_offset_degrees":-0.2091586778436778},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00028705469751377733,-0.0015715433229969468,-0.0010345747954518271],"end_effector_yaw_offset_degrees":0.40368138932896414}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00029535949746889185,-0.003282333603695513],"position_m":[0.1521046405025311,0.22031766639630448,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012069951157595835,-0.004877838208819989],"position_m":[0.24119300488424042,-0.31457783820881996,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037472338031644013,0.0025295302193956617],"position_m":[0.3282472338031644,-0.039070469780604335,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004450385596510595,-0.0016649652448014387],"position_m":[0.34654961440348936,0.3167350347551986,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"941b36256e32f34d46079d50602ca239067d005d648cd9eaac73894aa93c1b78","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9424/tex_ceiling_textures_7432/tex_floor_textures_1412/tex_table_textures_9491/tex_wall_textures_1844","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7081182755226926811,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7081182755226926811,"visual_seed":7081182755226926811,"scene_id":"lab_003","finished_at":"2026-09-03T19:23:42"} +{"episode_id":"ep_000008","started_at":"2026-09-03T19:23:47","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[-0.36679183478598076,0.4858245538580386,0.71338606911949],"aabb_xy":[[-0.3716354295472108,0.4809729013790545],[-0.36194824002475084,0.49067620633702275]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[0.18935309642788467,-1.3967348543724425,0.71338606911949],"aabb_xy":[[0.17185309729351747,-1.40661448141003],[0.20685309556225182,-1.3868552273348544]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.5217704815662101,0.4177137894574483,0.71338606911949],"aabb_xy":[[-0.5343972688534065,0.40816771575587535],[-0.5091436942790138,0.42725986315902115]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.20121976242534156,1.4406018019737679,0.71338606911949],"aabb_xy":[[0.12121976195512565,1.4322910943594198],[0.28121976289555756,1.4489125095881163]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.364716822258825,-1.843581968799966,0.71338606911949],"aabb_xy":[[-0.38258593001328045,-1.8574148767771768],[-0.34684771450436946,-1.8297490608227547]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.05187218456620735,-1.98370755628437,0.71338606911949],"aabb_xy":[[-0.058912494499744346,-2.063707555684042],[-0.044831874632670354,-1.903707556884699]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[0.5545645337162273,0.5495639014834879,0.71338606911949],"aabb_xy":[[0.5444115181620777,0.5134943599107473],[0.5647175492703764,0.585633443056228]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.5549090011363014,1.532500773125578,0.71338606911949],"aabb_xy":[[0.5099089996700725,1.487500916264097],[0.5999090026025302,1.5775006299870586]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[-0.5637629937594253,0.9762085632436173,0.71338606911949],"aabb_xy":[[-0.6287629947599258,0.9254221980889424],[-0.4987629927589248,1.0269949283982922]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.11842580312034268,-2.389671286806858,0.71338606911949],"aabb_xy":[[-0.15342580447182436,-2.4100310227636785],[-0.08342580176886091,-2.369311550850037]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.31704892191769374,-0.8173983595781771,0.71338606911949],"aabb_xy":[[0.26695145793662006,-0.8813983600879888],[0.3671463858987673,-0.7533983590683652]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[-0.5109930313257697,-0.512598397964565,0.71338606911949],"aabb_xy":[[-0.5298774150942799,-0.5314843227449177],[-0.49210864755725947,-0.4937124731842122]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[-0.36795840106559236,0.8612202244834535,0.71338606911949],"aabb_xy":[[-0.37291442125047364,0.838720224281332],[-0.3630023808807112,0.8837202246855752]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.19529528863976192,0.9146920891867198,0.71338606911949],"aabb_xy":[[-0.19941123875183456,0.9105765341538741],[-0.19117933852768923,0.9188076442195652]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[0.1944952134901491,-1.6947772259356797,0.71338606911949],"aabb_xy":[[0.14449521253961625,-1.7263263729392009],[0.24449521444068187,-1.663228078932158]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[0.6291668781979525,-0.28323290343900975,0.71338606911949],"aabb_xy":[[0.54916687603519,-0.3631880870651533],[0.709166880360715,-0.20327771981286608]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.31459263962937484,-2.0926404925404403,0.71338606911949],"aabb_xy":[[-0.33709264014141543,-2.115132350905838],[-0.29209263911733424,-2.0701486341750415]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.012060269942280044,-1.4086236732169901,0.71338606911949],"aabb_xy":[[-0.01669538509451343,-1.4124910082941389],[-0.0074251547900466555,-1.4047563381398414]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.33545391694118976,-0.8225384948833607,0.71338606911949],"aabb_xy":[[-0.3497883420673532,-0.8345987104378995],[-0.3211194918150263,-0.8104782793288218]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[-0.03379586286494718,1.1032629717466325,0.71338606911949],"aabb_xy":[[-0.03913343853095175,1.0782629708174927],[-0.02845828719894261,1.1282629726757722]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[-0.5680776424847251,1.5197495019634437,0.71338606911949],"aabb_xy":[[-0.618056450995041,1.4697495019577247],[-0.5180988339744093,1.5697495019691623]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[0.46559870010344295,-0.24838692929752648,0.71338606911949],"aabb_xy":[[0.4369493677430267,-0.2770324885746023],[0.4942480324638591,-0.2197413700204507]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[-0.5350833027912404,1.2842580163599995,0.71338606911949],"aabb_xy":[[-0.5427864934653174,1.2765486456612614],[-0.5273801121171632,1.2919673870587376]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[0.49126505051858516,-1.2971388780998363,0.71338606911949],"aabb_xy":[[0.4012650507954109,-1.320212230635016],[0.5812650502417592,-1.2740655255646562]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_24","position":[0.2803967407186809,-1.8407599756595687,0.71338606911949],"aabb_xy":[[0.23042367518616547,-1.8907599754721018],[0.3303698062511964,-1.790759975847036]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.2413708146286318,1.5293907111173524,0.71338606911949],"aabb_xy":[[-0.27840492405669154,1.4950135037836427],[-0.2043367052005721,1.5637679184510616]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_26","position":[-0.14126480914196649,0.29865704200306764,0.71338606911949],"aabb_xy":[[-0.17981050196716752,0.26011127094687897],[-0.10271911631676545,0.3372028130592563]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_27","position":[-0.5777787118047546,-1.279286646485579,0.71338606911949],"aabb_xy":[[-0.5906506153056947,-1.359286646899415],[-0.5649068083038145,-1.1992866460717426]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[-0.5112534327869872,0.22519656776776964,0.71338606911949],"aabb_xy":[[-0.5912534330605941,0.15224701994205292],[-0.43125343251338016,0.29814611559348636]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_29","position":[0.6807971433971225,0.2607457858693123,0.71338606911949],"aabb_xy":[[0.645797145086427,0.25303077094576665],[0.7157971417078179,0.26846080079285795]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_30","position":[0.017941461445485696,-1.713224860839731,0.71338606911949],"aabb_xy":[[-0.0320516506637062,-1.763224861513927],[0.0679345735546776,-1.6632248601655357]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_31","position":[0.569710131364251,0.8445758617940666,0.71338606911949],"aabb_xy":[[0.4797101290302318,0.767093507208954],[0.6597101336982699,0.9220582163791793]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_32","position":[-0.6118158565840656,-2.1529808538879025,0.71338606911949],"aabb_xy":[[-0.6452560317800851,-2.1864244797188315],[-0.5783756813880458,-2.1195372280569718]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7003574252533179,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4557.png","name":"4557"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4557.png","name":"4557"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2119.png","name":"2119"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1080.png","name":"1080"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6075.png","name":"6075"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9145.png","name":"9145"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":839.9802885864731,"rotation_z_degrees":156.72548381918932,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005908058069504226,-0.010545513057282819,0.0026139917460869452]},{"name":"camera_2","offset_m":[0.005911863167406724,0.0018328439210057897,-0.0057504145361635655]},{"name":"camera_3","offset_m":[0.007267570137648217,0.0014084674732998959,0.0034604346935239345]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002505505435399921,-0.00013163527915431767,-0.0008144546867795946],"end_effector_yaw_offset_degrees":0.8242987192310856},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014460875054486517,-0.0007261341398214999,0.001013260521600971],"end_effector_yaw_offset_degrees":-0.37918068001908556},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007112166832516865,0.001995637825646477,0.0015318876713999053],"end_effector_yaw_offset_degrees":0.8010660053734071}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031689967685685294,-0.001822474712978429],"position_m":[0.15556899676856853,0.22177752528702158,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002779078018555671,0.004472050128224378],"position_m":[0.23962092198144433,-0.3052279498717756,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004293929290115951,-0.004454714591425815],"position_m":[0.32879392929011597,-0.046054714591425815,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022097018632189023,0.0011468310567091348],"position_m":[0.3532097018632189,0.31954683105670917,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e022a1043ca0f1e39001e7d6914a5d183d8be5ed98c5e9c08e7dd71206d47052","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0008.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4557/tex_ceiling_textures_9145/tex_floor_textures_6075/tex_table_textures_2119/tex_wall_textures_1080","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4619027442556486055,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4619027442556486055,"visual_seed":4619027442556486055,"scene_id":"lab_003","finished_at":"2026-09-03T19:26:37"} +{"episode_id":"ep_000009","started_at":"2026-09-03T19:26:41","dimensions":{"distractor":{"count":21,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.6447136943761842,0.7665294247516061,0.71338606911949],"aabb_xy":[[0.6333519597228979,0.7551609583453179],[0.6560754290294702,0.7778978911578941]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.33089826460090516,-1.3700413652982337,0.71338606911949],"aabb_xy":[[-0.3437701681018453,-1.4500413657120697],[-0.318026361099965,-1.2900413648843974]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[-0.42235136282584596,0.11204993301353428,0.71338606911949],"aabb_xy":[[-0.4823513633336989,0.05520319932761298],[-0.36235136231799303,0.16889666669945558]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.5569224962987663,-0.31388924284391795,0.71338606911949],"aabb_xy":[[-0.5919224946094618,-0.3216042577674636],[-0.5219224979880709,-0.3061742279203723]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[0.21319224343868703,1.3986439093378142,0.71338606911949],"aabb_xy":[[0.12819224502126378,1.3137696138755293],[0.29819224185611026,1.4835182048000992]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[0.4875628183176861,1.3724672301167788,0.71338606911949],"aabb_xy":[[0.4375785826095088,1.3224672313032833],[0.5375470540258633,1.4224672289302744]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.38519060852002895,-1.9847979369736155,0.71338606911949],"aabb_xy":[[0.3802913162134654,-2.012474856276184],[0.3900899008265924,-1.9571210176710463]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.5978646270892785,1.0226367801292775,0.71338606911949],"aabb_xy":[[0.5787523197312996,1.0035020012520355],[0.6169769344472573,1.0417715590065195]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[0.45464598088245345,0.333653035432671,0.71338606911949],"aabb_xy":[[0.40466717237213756,0.28365303542695225],[0.5046247893927693,0.38365303543838986]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[0.6050638888945274,-0.45234906633533933,0.71338606911949],"aabb_xy":[[0.5675638887889344,-0.4591712281883204],[0.6425638890001203,-0.44552690448235815]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[-0.11914078264051398,1.6083893336137858,0.71338606911949],"aabb_xy":[[-0.15258095783653355,1.5749457077828557],[-0.08570060744449436,1.6418329594447159]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[0.07798493793070682,0.9117572443639519,0.71338606911949],"aabb_xy":[[0.06538223879363037,0.8991618481390865],[0.09058763706778328,0.9243526405888175]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.3507110967330991,-2.466409698210398,0.71338606911949],"aabb_xy":[[0.2957373746967662,-2.5214096977746316],[0.40568481876943197,-2.4114096986461653]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.6708398399621365,-1.9622175579991956,0.71338606911949],"aabb_xy":[[-0.6887089477165921,-1.9760504659764067],[-0.6529707322076811,-1.9483846500219846]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[0.4953961229155843,-1.7101722966183082,0.71338606911949],"aabb_xy":[[0.4303961219584571,-1.7621205085520135],[0.5603961238727115,-1.6582240846846024]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.655751493790423,-0.7300637903220841,0.71338606911949],"aabb_xy":[[0.6448457177028603,-0.8100637867209133],[0.6666572698779857,-0.650063793923255]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.7088361041513431,0.6903899196950096,0.71338606911949],"aabb_xy":[[0.7015923381050979,0.6103899214914073],[0.7160798701975886,0.770389917898612]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.029499661575667635,1.7342623077135522,0.71338606911949],"aabb_xy":[[-0.0639621395887554,1.7275986305306292],[0.004962816437420137,1.7409259848964747]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[-0.39608609202113376,1.0599972050248474,0.71338606911949],"aabb_xy":[[-0.47608609000191876,1.0523956640629952],[-0.31608609404034865,1.0675987459866991]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.19597114877227673,1.8011710902561329,0.71338606911949],"aabb_xy":[[-0.21847114901579212,1.7889664555963611],[-0.17347114852876133,1.813375724915905]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[-0.5509105750017389,-1.2277804800950731,0.71338606911949],"aabb_xy":[[-0.5574122115097435,-1.2375483021213831],[-0.5444089384937343,-1.2180126580687636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6988075777498579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6242.png","name":"6242"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6242.png","name":"6242"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/738.png","name":"738"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2347.png","name":"2347"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5063.png","name":"5063"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8257.png","name":"8257"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":627.9616578737765,"rotation_z_degrees":91.19224199602208,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016260670511532849,-0.015070503779337482,0.01329983579041152]},{"name":"camera_2","offset_m":[-0.01333664241897572,-0.005288518073711139,0.016792728720708906]},{"name":"camera_3","offset_m":[0.014629078993641107,0.013383776136898933,-0.0168991761683527]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001546873882280923,0.0008071184640683826,0.001992187946333563],"end_effector_yaw_offset_degrees":-0.24240307780795778},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00031342680655372214,-1.2551198738950178e-05,5.319235119181269e-05],"end_effector_yaw_offset_degrees":-0.8574250563432486},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00023621138475050083,-0.0018809006056145958,0.0004867614450236365],"end_effector_yaw_offset_degrees":-0.8007610616950096}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002945951316470412,-0.0014863551697958202],"position_m":[0.1494540486835296,0.22211364483020418,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002887624784865461,0.004608768215251485],"position_m":[0.24268876247848656,-0.3050912317847485,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003858811589642546,0.0022291122088166134],"position_m":[0.32835881158964253,-0.03937088779118338,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002677979831124796,-0.0031892850620188363],"position_m":[0.35367797983112476,0.3152107149379812,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3a142787d04df670450d026d4146f8142a465f76b8861560e9dc50c98efa3523","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6242/tex_ceiling_textures_8257/tex_floor_textures_5063/tex_table_textures_738/tex_wall_textures_2347","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2740899351337176634,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2740899351337176634,"visual_seed":2740899351337176634,"scene_id":"lab_003","finished_at":"2026-09-03T19:29:53"} +{"episode_id":"ep_000010","started_at":"2026-09-03T19:29:55","dimensions":{"distractor":{"count":25,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.29690697449953535,1.4149587491062898,0.71338606911949],"aabb_xy":[[-0.38690697100040705,1.3690471066878314],[-0.20690697799866356,1.4608703915247478]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.5314147562057701,-1.188657467502738,0.71338606911949],"aabb_xy":[[0.509506074066419,-1.2105581343228287],[0.5533234383451211,-1.1667568006826472]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.624484787442162,0.4790178323015053,0.71338606911949],"aabb_xy":[[-0.6326993325578457,0.4703412420038639],[-0.6162702423264778,0.48769442259914647]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[0.3602715915016934,1.2363691107606845,0.71338606911949],"aabb_xy":[[0.3521439033083802,1.2274555023499767],[0.36839927969500663,1.2452827191713922]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[-0.1730899831913747,-0.13148051511164693,0.71338606911949],"aabb_xy":[[-0.18386295711274248,-0.1664805133306859],[-0.16231700927000692,-0.09648051689260792]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.11224127569626119,-2.2113596213462072,0.71338606911949],"aabb_xy":[[-0.1171972958811424,-2.2338596215483295],[-0.10728525551138,-2.188859621144086]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.2929315709316181,1.1202108973100415,0.71338606911949],"aabb_xy":[[-0.3240784897752012,1.0502108986232341],[-0.261784652088035,1.1902108959968485]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[0.5571154836254768,-1.4211059433736861,0.71338606911949],"aabb_xy":[[0.4931154843313086,-1.4850920837425405],[0.621115482919645,-1.3571198030048321]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.3580914106315779,-1.7139038238006419,0.71338606911949],"aabb_xy":[[-0.3923883216493185,-1.748200710010583],[-0.32379449961383727,-1.6796069375907003]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[0.5279943117404162,1.2832409308222688,0.71338606911949],"aabb_xy":[[0.5147633662057349,1.2700135118002691],[0.5412252572750975,1.296468349844268]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.38081317803498954,1.794931379851088,0.71338606911949],"aabb_xy":[[-0.39044481425541916,1.7852940670713786],[-0.3711815418145599,1.8045686926307964]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.03852726991457234,-1.7535473155615824,0.71338606911949],"aabb_xy":[[-0.10852727151685182,-1.76698010876324],[0.031472731687707145,-1.7401145223599248]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.4799684887093254,-1.8768623685390105,0.71338606911949],"aabb_xy":[[0.43015170924449064,-1.9268623670233136],[0.5297852681741602,-1.8268623700547069]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.2315147755956145,0.8780841154295942,0.71338606911949],"aabb_xy":[[-0.2765073623140649,0.8330841161551454],[-0.1865221888771641,0.923084114704043]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.1469437774875152,-1.684060294670347,0.71338606911949],"aabb_xy":[[-0.22694377546830025,-1.6916618356321986],[-0.06694377950673015,-1.6764587537084947]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[0.6253536562635027,0.16009019658018575,0.71338606911949],"aabb_xy":[[0.6124817527625624,0.08009019616634959],[0.6382255597644427,0.24009019699402187]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[0.4903854731621964,0.21756141562622844,0.71338606911949],"aabb_xy":[[0.41038546989818325,0.2040013833173151],[0.5703854764262095,0.23112144793514178]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.2854425381877873,-0.6837376843705003,0.71338606911949],"aabb_xy":[[0.26089632256503653,-0.7139865809195375],[0.309988753810538,-0.6534887878214634]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[0.10769480916216356,0.7014403485420018,0.71338606911949],"aabb_xy":[[0.0701948083701681,0.6950725075838116],[0.145194809954159,0.7078081895001918]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.657790463535582,-1.6762039816089487,0.71338606911949],"aabb_xy":[[0.6079077666578859,-1.7262039808552239],[0.7076731604132783,-1.6262039823626744]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.3835974526848555,0.42454410739052717,0.71338606911949],"aabb_xy":[[-0.3915909424801376,0.41654597545005156],[-0.37560396288957354,0.4325422393310029]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[0.4372879592577088,1.052484770384912,0.71338606911949],"aabb_xy":[[0.37328795888017513,1.0027395035340998],[0.5012879596352424,1.1022300372357243]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.5035835842380434,0.7110905746434919,0.71338606911949],"aabb_xy":[[-0.553556649770559,0.6610905748309591],[-0.45361051870552804,0.761090574456025]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[-0.6403896159457114,-2.1533807473747584,0.71338606911949],"aabb_xy":[[-0.6562741092110366,-2.167733687673582],[-0.6245051226803863,-2.1390278070759345]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[0.32267551978896103,-0.8078239592253558,0.71338606911949],"aabb_xy":[[0.3005029928123102,-0.8299996263814788],[0.34484804676561187,-0.7856482920692325]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6952873915324599,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9635.png","name":"9635"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9635.png","name":"9635"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6923.png","name":"6923"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9931.png","name":"9931"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/505.png","name":"505"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8556.png","name":"8556"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":750.3745651855875,"rotation_z_degrees":49.04080066986801,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0062363195553212895,0.002434218559634934,0.012914998120983002]},{"name":"camera_2","offset_m":[0.010734029698153257,-0.016012977584139707,-0.010272148194240414]},{"name":"camera_3","offset_m":[-0.009663588448939837,-0.0010406526744283565,0.003951135060011515]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018547700934527774,-0.0011673511780762942,-0.0015558051255882522],"end_effector_yaw_offset_degrees":0.21459483824368264},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001292605015236998,-0.0005441479467863575,-0.00038811016838369923],"end_effector_yaw_offset_degrees":0.4684848416768812},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008694026689792245,0.0005086936830100744,0.0018571935050056138],"end_effector_yaw_offset_degrees":-0.6727391393834206}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007982196472809643,-0.003767361982251618],"position_m":[0.15319821964728098,0.21983263801774838,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001774596741595135,0.0008534131861235384],"position_m":[0.24062540325840487,-0.30884658681387644,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002435292202686936,-0.003101747410653616],"position_m":[0.32206470779731305,-0.044701747410653615,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031083181527618324,0.0004015261404597733],"position_m":[0.3478916818472381,0.3188015261404598,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0f7cef1d356dc29468f03236c6240699ad91aa36fdc8c909cf0f74479b991620","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9635/tex_ceiling_textures_8556/tex_floor_textures_505/tex_table_textures_6923/tex_wall_textures_9931","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3923588995843861635,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3923588995843861635,"visual_seed":3923588995843861635,"scene_id":"lab_003","finished_at":"2026-09-03T19:33:17"} +{"episode_id":"ep_000011","started_at":"2026-09-03T19:33:20","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.6311652118697494,-0.36570263996225627,0.71338606911949],"aabb_xy":[[-0.6371317508104852,-0.37166378462162025],[-0.6251986729290135,-0.3597414953028922]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[-0.5615676184978875,1.158710612270117,0.71338606911949],"aabb_xy":[[-0.6265676194550146,1.1067624003364112],[-0.49656761754076023,1.2106588242038223]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.10668565161679833,-2.214181340369125,0.71338606911949],"aabb_xy":[[-0.12918565212883892,-2.236673198734523],[-0.08418565110475773,-2.1916894820037265]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.26953411585266285,-1.771117086816951,0.71338606911949],"aabb_xy":[[0.23203411742926244,-1.784281300784781],[0.30703411427606314,-1.75795287284912]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_4","position":[-0.19650643373373822,-1.7984611586133472,0.71338606911949],"aabb_xy":[[-0.27650025731229644,-1.8784611612061888],[-0.11651261015518,-1.7184611560205056]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.5048800930689832,0.8290898457491642,0.71338606911949],"aabb_xy":[[0.4548800921184504,0.7975406987456427],[0.554880094019516,0.8606389927526855]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.13362165217635924,1.5723104670194155,0.71338606911949],"aabb_xy":[[-0.19362165268421216,1.5154637333334942],[-0.07362165166850633,1.6291572007053368]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.61545477827389,-1.2908807248130316,0.71338606911949],"aabb_xy":[[0.5804547790810717,-1.3018477708106941],[0.6504547774667082,-1.2799136788153687]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.14599459504309886,0.7338452584939712,0.71338606911949],"aabb_xy":[[-0.1536977857171759,0.7261358877952331],[-0.13829140436902182,0.7415546291927091]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.5092144899500226,-2.255437644489016,0.71338606911949],"aabb_xy":[[-0.5592144885959437,-2.3053571881484785],[-0.4592144913041013,-2.2055181008295537]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.4335002931323082,1.0186250581107874,0.71338606911949],"aabb_xy":[[0.39600029302671524,1.011802896257806],[0.47100029323790116,1.0254472199637683]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.6100060812028709,-2.3729837322811314,0.71338606911949],"aabb_xy":[[0.5600112482749293,-2.4229837311763744],[0.6600009141308125,-2.3229837333858874]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[0.004343514563312945,-1.7317967343078107,0.71338606911949],"aabb_xy":[[-0.030118963449774827,-1.7384604114907334],[0.038805992576400716,-1.725133057124888]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.49604767272892986,-0.5831629465560475,0.71338606911949],"aabb_xy":[[-0.5068881509554448,-0.6003492278466962],[-0.48520719450241495,-0.5659766652653986]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[0.5026958725820339,1.1644936773689007,0.71338606911949],"aabb_xy":[[0.4376958725477311,1.1177930006885735],[0.5676958726163366,1.211194354049228]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.3669616823127757,1.4977767488849962,0.71338606911949],"aabb_xy":[[-0.3816050878668087,1.4831180292282118],[-0.3523182767587427,1.5124354685417802]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[0.26720248298850835,1.5250738044407117,0.71338606911949],"aabb_xy":[[0.20320248228503907,1.479055421967791],[0.33120248369197774,1.5710921869136332]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[-0.12654796762323628,1.6903320491075902,0.71338606911949],"aabb_xy":[[-0.16154796675319194,1.684586828031926],[-0.09154796849328062,1.6960772701832543]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[-0.06878253871074791,-0.8846463261779178,0.71338606911949],"aabb_xy":[[-0.09169825159579781,-0.9075506233143414],[-0.045866825825698,-0.8617420290414944]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.3335604593279728,0.4290060347471134,0.71338606911949],"aabb_xy":[[-0.3395974723286375,0.42297933367816526],[-0.32752344632730807,0.43503273581606167]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.43267161215726113,1.3425755149526744,0.71338606911949],"aabb_xy":[[0.38269280364694525,1.2925755149469553],[0.482650420667577,1.392575514958393]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[0.2978586571284052,-2.4825801985658935,0.71338606911949],"aabb_xy":[[0.23385865507867326,-2.5226746816552015],[0.36185865917813725,-2.4424857154765856]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[0.5105194895005725,-0.5533666619199731,0.71338606911949],"aabb_xy":[[0.4748903336006127,-0.588999328676826],[0.5461486454005322,-0.5177339951631201]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[-0.4994782176829646,1.5129681273936257,0.71338606911949],"aabb_xy":[[-0.5153627109482897,1.4986151870948017],[-0.48359372441763937,1.5273210676924498]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7014730498566548,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3159.png","name":"3159"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3159.png","name":"3159"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5567.png","name":"5567"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6258.png","name":"6258"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8388.png","name":"8388"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/188.png","name":"188"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":724.2780380100598,"rotation_z_degrees":186.61322302066722,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01567737591283964,-0.004033802375810212,0.002933702399097963]},{"name":"camera_2","offset_m":[0.0003652938102956804,0.017740173531835445,-0.006973581045014398]},{"name":"camera_3","offset_m":[-0.011109813157090498,0.01575571882030084,-0.001727256422171003]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00110293720391652,0.0010698169730797252,0.0009594223113935725],"end_effector_yaw_offset_degrees":0.3931946462878164},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007629821813595048,-0.0005368914962215565,0.0015481380500402594],"end_effector_yaw_offset_degrees":-0.30346810101565524},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[8.860790594097424e-05,-0.0017900942625923007,0.0006615716291117841],"end_effector_yaw_offset_degrees":0.7839220883712388}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004848072663074638,-0.002010542951831382],"position_m":[0.14755192733692538,0.2215894570481686,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028702875883975893,0.00039079227307509123],"position_m":[0.24527028758839758,-0.3093092077269249,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009075728303619569,0.0025929687045912198],"position_m":[0.32359242716963804,-0.03900703129540878,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025102317326633388,0.0030022669814249612],"position_m":[0.3535102317326633,0.321402266981425,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c7bc788212c1fc982d80729e74a288dd2cf697c8d6d5781f56a10759cd9a3a95","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0011.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3159/tex_ceiling_textures_188/tex_floor_textures_8388/tex_table_textures_5567/tex_wall_textures_6258","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5975357443356673096,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5975357443356673096,"visual_seed":5975357443356673096,"scene_id":"lab_003","finished_at":"2026-09-03T19:36:16"} +{"episode_id":"ep_000012","started_at":"2026-09-03T19:36:19","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[0.6528579441465285,-0.47335959079550083,0.71338606911949],"aabb_xy":[[0.6434404695766659,-0.4827757679332198],[0.6622754187163914,-0.46394341365778174]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.4858969475977758,-2.1828129585130176,0.71338606911949],"aabb_xy":[[-0.49524395518007097,-2.197116580730662],[-0.4765499400154805,-2.168509336295374]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[-0.22131670608003312,-2.234247637190741,0.71338606911949],"aabb_xy":[[-0.2262727262649144,-2.256747637392863],[-0.216360685895152,-2.2117476369886195]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[-0.5130514518134809,-0.5902123461868178,0.71338606911949],"aabb_xy":[[-0.5217494141041962,-0.6023373204942927],[-0.5043534895227656,-0.5780873718793432]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[0.12106628433744315,-1.42912434926226,0.71338606911949],"aabb_xy":[[0.06606628516085365,-1.4841140240372177],[0.17606628351403264,-1.3741346744873024]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.07877157760298903,0.40817585644373944,0.71338606911949],"aabb_xy":[[-0.10991849644657214,0.3381758577569322],[-0.04762465875940591,0.47817585513054656]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.35906148926774556,-0.3745236861453667,0.71338606911949],"aabb_xy":[[-0.3809512368566863,-0.46452368343461575],[-0.3371717416788047,-0.2845236888561175]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.2526282683515921,1.1079966783328632,0.71338606911949],"aabb_xy":[[-0.2882574242515519,1.0723640115760102],[-0.2169991124516324,1.1436293450897161]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[-0.6317406287800836,-0.9235593689048318,0.71338606911949],"aabb_xy":[[-0.6493734643736111,-0.9411823149204547],[-0.614107793186556,-0.9059364228892087]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.0944463540407724,-0.9956655460806183,0.71338606911949],"aabb_xy":[[-0.15844635571876975,-1.0441829375599325],[-0.030446352362775042,-0.9471481546013041]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.38204783776807205,0.5798670332972655,0.71338606911949],"aabb_xy":[[-0.43202525463332564,0.5298670318080169],[-0.33207042090281846,0.629867034786514]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.048285642291826414,-1.3927067491010396,0.71338606911949],"aabb_xy":[[-0.054597741828164854,-1.3984736883542583],[-0.04197354275548799,-1.3869398098478205]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_12","position":[-0.22240522299723908,-0.2210445609020666,0.71338606911949],"aabb_xy":[[-0.23828971626256426,-0.23539750120089065],[-0.20652072973191396,-0.20669162060324253]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.20886821042136328,-1.6054954657219072,0.71338606911949],"aabb_xy":[[0.2040246156601333,-1.6103471182008915],[0.21371180518259325,-1.6006438132429233]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[-0.39352923096106274,-1.5118439667056518,0.71338606911949],"aabb_xy":[[-0.4064011344620028,-1.5918439671194877],[-0.38065732746012254,-1.4318439662918154]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[0.4330188787364877,0.5806316085690804,0.71338606911949],"aabb_xy":[[0.38353845752252896,0.5166316106562286],[0.48249929995044655,0.6446316064819323]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.11211684995433335,-1.1560062548758139,0.71338606911949],"aabb_xy":[[0.06201938597325972,-1.2200062553856257],[0.16221431393540697,-1.092006254366002]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.3264638129216946,-1.8846829414205155,0.71338606911949],"aabb_xy":[[0.31562333469517967,-1.901869222711164],[0.3373042911482095,-1.8674966601298666]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[-0.07731267283660903,-2.316634839504576,0.71338606911949],"aabb_xy":[[-0.1373126734326252,-2.3714473120497996],[-0.017312672240592852,-2.2618223669593527]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.5290465207399788,-0.11790349093458508,0.71338606911949],"aabb_xy":[[0.4590465173484169,-0.1532192646380159],[0.5990465241315408,-0.0825877172311542]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.042792280082565415,-1.7283514447675372,0.71338606911949],"aabb_xy":[[-0.05320383876304912,-1.7336971781034352],[-0.032380721402081696,-1.7230057114316384]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[-0.10563891916422474,1.2854914339755052,0.71338606911949],"aabb_xy":[[-0.16563891941562592,1.2312101089390406],[-0.04563891891282355,1.33977275901197]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[0.602907650363667,-1.6303444437797399,0.71338606911949],"aabb_xy":[[0.5852320197750686,-1.6480246600591424],[0.6205832809522652,-1.6126642275003369]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[0.38513076889615894,-1.4745508727771908,0.71338606911949],"aabb_xy":[[0.32013077074023993,-1.500847117327103],[0.45013076705207805,-1.4482546282272786]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_24","position":[0.5257516747733235,0.20723661252793413,0.71338606911949],"aabb_xy":[[0.4617516724305219,0.16229576128380163],[0.589751677116125,0.2521774637720666]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[0.442495422909716,-0.973331930746971,0.71338606911949],"aabb_xy":[[0.4049954225614881,-0.9851233263280544],[0.47999542325794364,-0.9615405351658873]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_26","position":[0.5858637860832872,-1.488669498510528,0.71338606911949],"aabb_xy":[[0.5485325095580444,-1.5233225533053802],[0.6231950626085296,-1.4540164437156757]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[-0.4091485489228269,-2.424802824562627,0.71338606911949],"aabb_xy":[[-0.4503973599527416,-2.4798028240748446],[-0.36789973789291214,-2.3698028250504097]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7032333624958886,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9543.png","name":"9543"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9543.png","name":"9543"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4682.png","name":"4682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3595.png","name":"3595"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/523.png","name":"523"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4323.png","name":"4323"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":758.5981678859282,"rotation_z_degrees":7.635156202572215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00325679892484804,0.007222676997331451,0.006753149589229589]},{"name":"camera_2","offset_m":[-0.01633621830196496,0.0010491277690572315,0.008315263837371956]},{"name":"camera_3","offset_m":[-0.004851002414181153,-0.00017920495858273627,0.0005261726618726939]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010169146047794583,-0.00010914360576775293,0.0002831344315500366],"end_effector_yaw_offset_degrees":-0.4653594198412301},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003174173825982534,-0.0014584310365971629,0.0004450442733127959],"end_effector_yaw_offset_degrees":0.6163536480873943},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[8.875524553933305e-05,-0.0011698032157103082,-0.0008475189773238575],"end_effector_yaw_offset_degrees":-0.6552127885726959}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018470556143401536,0.0031504917656693813],"position_m":[0.15424705561434016,0.2267504917656694,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002444271411748515,0.0037401428581118655],"position_m":[0.24484427141174853,-0.3059598571418881,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007285342722626632,0.002472726240154273],"position_m":[0.32522853427226267,-0.039127273759845725,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004781031818924908,0.002435236398858169],"position_m":[0.3557810318189249,0.3208352363988582,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fc6a9a7aa3bde292388792a19653dcb8943b6c63c14b818b47880fa5e2ef0f44","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9543/tex_ceiling_textures_4323/tex_floor_textures_523/tex_table_textures_4682/tex_wall_textures_3595","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2856068189479085144,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2856068189479085144,"visual_seed":2856068189479085144,"scene_id":"lab_003","finished_at":"2026-09-03T19:39:15"} +{"episode_id":"ep_000013","started_at":"2026-09-03T19:39:18","dimensions":{"distractor":{"count":31,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.5886446873917603,1.2199726972542426,0.71338606911949],"aabb_xy":[[0.5757727838908202,1.1399726968404065],[0.6015165908927005,1.2999726976680788]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.6688037364157866,-1.0740147171809515,0.71338606911949],"aabb_xy":[[-0.691303736659302,-1.0862193518407235],[-0.6463037361722712,-1.0618100825211796]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[-0.5455537514845795,-2.3523095359025845,0.71338606911949],"aabb_xy":[[-0.559888176610743,-2.364369751457123],[-0.5312193263584161,-2.340249320348046]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.10302500154696304,1.2431229054997766,0.71338606911949],"aabb_xy":[[-0.16702500359669503,1.2030284224104686],[-0.039024999497231025,1.2832173885890845]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[-0.0733668801670202,-1.5373782448065154,0.71338606911949],"aabb_xy":[[-0.13736687656259328,-1.6013415332252487],[-0.009366883771447107,-1.4734149563877816]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.22821494348455434,-1.0186779569810702,0.71338606911949],"aabb_xy":[[-0.27430003473928577,-1.0826779542336253],[-0.18212985222982286,-0.9546779597285152]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.5982746127651546,-2.4677063130298835,0.71338606911949],"aabb_xy":[[-0.6245634370855951,-2.4939777466845348],[-0.5719857884447138,-2.4414348793752323]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.4863566316858585,0.6999772110444491,0.71338606911949],"aabb_xy":[[-0.5463566325466711,0.6485507810379625],[-0.4263566308250456,0.7514036410509353]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[-0.564786473556924,-1.953447868279087,0.71338606911949],"aabb_xy":[[-0.5897864728288862,-1.9697932318752494],[-0.5397864742849616,-1.9371025046829247]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.46731736918390626,-1.121246513810388,0.71338606911949],"aabb_xy":[[-0.48196077473793925,-1.135905233467172],[-0.4526739636298733,-1.1065877941536035]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.29412295864529714,1.7673204260451665,0.71338606911949],"aabb_xy":[[0.25662295870153073,1.7590273360103297],[0.33162295858906354,1.7756135160800028]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.06887105005703198,-2.4728152324967927,0.71338606911949],"aabb_xy":[[-0.132871052277439,-2.517188316622081],[-0.004871047836624953,-2.4284421483715044]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.31451221445042576,1.2475969927874644,0.71338606911949],"aabb_xy":[[-0.3316142924087939,1.2304901872561946],[-0.2974101364920576,1.2647037983187341]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.45759737617525675,-0.47353184907445556,0.71338606911949],"aabb_xy":[[-0.5025899628937072,-0.5185318483489043],[-0.41260478945680634,-0.42853184980000675]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[-0.32028830237086475,1.5739701273605662,0.71338606911949],"aabb_xy":[[-0.33917268613937496,1.5550842025802136],[-0.30140391860235455,1.5928560521409192]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.24845082056231427,-2.0803963162223864,0.71338606911949],"aabb_xy":[[-0.31245081767441996,-2.1294286860167966],[-0.18445082345020858,-2.0313639464279754]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[-0.18964079653381627,0.27799249931870884,0.71338606911949],"aabb_xy":[[-0.2349194114149655,0.2139924999705251],[-0.14436218165266698,0.34199249866689246]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[-0.6234914090204215,-2.3049020671864486,0.71338606911949],"aabb_xy":[[-0.6354241433822496,-2.317284219994308],[-0.6115586746585935,-2.2925199143785893]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.19905901058214592,-1.9120752162741708,0.71338606911949],"aabb_xy":[[-0.21648972566115238,-1.9293473309380211],[-0.18162829550313936,-1.8948031016103195]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.10083980545776638,1.4815127175264995,0.71338606911949],"aabb_xy":[[0.020839804027639172,1.40199556251389],[0.18083980688789358,1.561029872539109]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.2801086478259138,-0.8059333078513364,0.71338606911949],"aabb_xy":[[0.25760951209968685,-0.8284333086295992],[0.3026077835521408,-0.7834333070730732]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[-0.22450078735351692,0.13317860840994777,0.71338606911949],"aabb_xy":[[-0.2309146009967018,0.1267687881622794],[-0.21808697371033192,0.1395884286576161]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[-0.5085562461336082,-2.256738187183562,0.71338606911949],"aabb_xy":[[-0.5444697505585978,-2.292651695400316],[-0.4726427417086185,-2.2208246789668067]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[0.5274136177931203,-1.2289832544232235,0.71338606911949],"aabb_xy":[[0.4624136168359932,-1.280931466356929],[0.5924136187502476,-1.1770350424895177]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[-0.24338115427060697,0.9617182032479419,0.71338606911949],"aabb_xy":[[-0.29337616523005905,0.9117182042123503],[-0.19338614331115497,1.0117182022835336]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[0.4842858508246821,-0.5441446930471932,0.71338606911949],"aabb_xy":[[0.43430290063720267,-0.5941446926897535],[0.5342688010121612,-0.4941446934046327]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[0.01544999621041765,1.050476203520002,0.71338606911949],"aabb_xy":[[-0.019550002919538012,1.0447309824443378],[0.05044999534037331,1.056221424595666]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[-0.5035482899595971,-0.23202417473016235,0.71338606911949],"aabb_xy":[[-0.5585482881613418,-0.2725461413565999],[-0.4485482917578522,-0.19150220810372473]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_28","position":[0.6615706011887226,-1.513177544843614,0.71338606911949],"aabb_xy":[[0.6065783505532117,-1.5681775465869272],[0.7165628518242336,-1.4581775431003015]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_29","position":[-0.03269611816824247,-1.1876176552507998,0.71338606911949],"aabb_xy":[[-0.09032658705551332,-1.2476176541775101],[0.02493435071902838,-1.127617656324089]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_30","position":[-0.4650710263287191,-0.01939944802511162,0.71338606911949],"aabb_xy":[[-0.47591150455523396,-0.03658572931576043],[-0.45423054810220415,-0.0022131667344628125]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6992498117658872,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8367.png","name":"8367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8367.png","name":"8367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7435.png","name":"7435"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8712.png","name":"8712"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7623.png","name":"7623"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9842.png","name":"9842"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":578.1900458152412,"rotation_z_degrees":148.2130164545,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01833837299844238,0.002905012646663971,0.008937513347431966]},{"name":"camera_2","offset_m":[4.491062440058202e-05,-0.0051958146983459175,0.014001584723857385]},{"name":"camera_3","offset_m":[-0.0009426098617721472,0.017473110774361016,0.019431819661599566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006540711406213787,-0.001037618230828179,-0.0014703254951027778],"end_effector_yaw_offset_degrees":0.34450101080221796},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.1264103678392673e-06,-0.0002849961256222056,0.0006304567004973465],"end_effector_yaw_offset_degrees":0.9202962213884052},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00015786594178842685,0.0012921888584613572,-0.0019541005456783942],"end_effector_yaw_offset_degrees":-0.49231312494585144}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010725283829623499,-0.0039019848511661903],"position_m":[0.15132747161703766,0.2196980151488338,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037335772173774074,-0.0030105657685098575],"position_m":[0.2386664227826226,-0.3127105657685098,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010209114936930398,-0.0039319241851790586],"position_m":[0.32552091149369305,-0.045531924185179054,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023120322962127413,-0.001489292900084389],"position_m":[0.3533120322962127,0.31691070709991565,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b75f898cdbd34d186f9903c3e4c4e3a724614c898d19aa58733396b99a7b22b0","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8367/tex_ceiling_textures_9842/tex_floor_textures_7623/tex_table_textures_7435/tex_wall_textures_8712","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8059836606244101394,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8059836606244101394,"visual_seed":8059836606244101394,"scene_id":"lab_003","finished_at":"2026-09-03T19:42:16"} +{"episode_id":"ep_000014","started_at":"2026-09-03T19:42:19","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.23957934133168957,1.6879273428402208,0.71338606911949],"aabb_xy":[[-0.28957417425963117,1.6379273439449775],[-0.18958450840374796,1.7379273417354646]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.0009909234046285853,-0.9029080466550645,0.71338606911949],"aabb_xy":[[-0.0625816826286214,-0.9669080447641115],[0.060599835819364234,-0.8389080485460177]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[-0.43662330079599254,-0.037364248411324574,0.71338606911949],"aabb_xy":[[-0.4446172893736959,-0.04536432850641491],[-0.4286293122182891,-0.029364168316234222]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.6098521751866435,1.4429810429230439,0.71338606911949],"aabb_xy":[[0.5458521779009948,1.4014743239701997],[0.6738521724722921,1.4844877618758876]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[0.24651051887647335,1.1948511134840016,0.71338606911949],"aabb_xy":[[0.23388373158927703,1.1853050397824287],[0.2591373061636697,1.2043971871855745]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[-0.04763012080609674,-1.2352414900449031,0.71338606911949],"aabb_xy":[[-0.05533331148017378,-1.2429508607436413],[-0.03992693013201969,-1.227532119346165]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[0.08390031247678542,1.6516718571420195,0.71338606911949],"aabb_xy":[[0.03380284849571179,1.5876718566322077],[0.13399777645785904,1.7156718576518313]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[0.5893337869879836,0.8226774378297756,0.71338606911949],"aabb_xy":[[0.5253337878182136,0.7759107507108132],[0.6533337861577535,0.8694441249487381]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[0.5732382198144028,-1.8776128423171392,0.71338606911949],"aabb_xy":[[0.5032382164228408,-1.9129286160205698],[0.6432382232059648,-1.8422970686137081]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.5533000041669662,-0.9381517103368693,0.71338606911949],"aabb_xy":[[0.5158000036696079,-0.9421203938849878],[0.5908000046643244,-0.934183026788751]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.6753674881907887,-1.5936624541657298,0.71338606911949],"aabb_xy":[[0.6665654328818159,-1.6014737803206585],[0.6841695434997613,-1.5858511280108003]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[-0.39672781560665565,-2.3707437543635703,0.71338606911949],"aabb_xy":[[-0.4126123088719808,-2.385096694662394],[-0.3808433223413305,-2.3563908140647465]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.02185570573218054,-2.083346280244878,0.71338606911949],"aabb_xy":[[-0.04814453005262119,-2.109617713899529],[0.0044331185882601236,-2.0570748465902264]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.42775396925477505,1.0993653453911092,0.71338606911949],"aabb_xy":[[-0.49175396636688073,1.0503329755966986],[-0.36375397214266936,1.1483977151855198]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[0.406332679219068,1.437844518645774,0.71338606911949],"aabb_xy":[[0.35633766825961605,1.3878445196101825],[0.45632769017852015,1.487844517681366]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[-0.2197560877061751,-1.5560509391442425,0.71338606911949],"aabb_xy":[[-0.2697291532386906,-1.6060509389567756],[-0.16978302217365965,-1.5060509393317099]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[0.6179621990917286,0.7032671131781032,0.71338606911949],"aabb_xy":[[0.5988498917337496,0.6841323343008612],[0.6370745064497073,0.7224018920553452]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[0.6034285261196661,0.06893347337848565,0.71338606911949],"aabb_xy":[[0.5994680423499317,0.06126560879296507],[0.6073890098894004,0.07660133796400627]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.2562788945585489,-1.155337172403178,0.71338606911949],"aabb_xy":[[0.21924478513048914,-1.1897143797368874],[0.2933130039866086,-1.1209599650694686]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.23831344414145383,1.0786360351968196,0.71338606911949],"aabb_xy":[[-0.27581344271707464,1.0658997395332614],[-0.20081344556583305,1.0913723308603773]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.5507296540129915,-2.047812006235745,0.71338606911949],"aabb_xy":[[-0.5957222407314419,-2.092812005510194],[-0.505737067294541,-2.0028120069612965]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[-0.20345058939672422,-0.7394988376327063,0.71338606911949],"aabb_xy":[[-0.21214855168743948,-0.7516238119401811],[-0.1947526271060089,-0.7273738633252316]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.5031522461145307,-0.8516078534016354,0.71338606911949],"aabb_xy":[[-0.5080515384210942,-0.8792847727042041],[-0.4982529538079672,-0.8239309340990666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6981677364822927,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5089.png","name":"5089"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5089.png","name":"5089"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9375.png","name":"9375"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2369.png","name":"2369"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6683.png","name":"6683"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5608.png","name":"5608"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":579.0998218979863,"rotation_z_degrees":40.59635561050837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01279574760353468,-0.0027337201818877777,-0.012199250762068351]},{"name":"camera_2","offset_m":[0.013891309236031397,-0.0005978476838204606,0.015579734020758147]},{"name":"camera_3","offset_m":[-0.008678698299626527,0.003056404117205029,-0.012827185475312485]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00010851204740817272,-0.0004562660849610394,0.0015024683266491308],"end_effector_yaw_offset_degrees":0.44270279649360034},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006114920375381717,0.0009844977221266887,0.0001312981836748034],"end_effector_yaw_offset_degrees":0.7387366823159007},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015620152011695256,-0.001638976962124171,-0.00163981476413065],"end_effector_yaw_offset_degrees":-0.32344043356499097}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011823006086960916,0.002034830380813141],"position_m":[0.1535823006086961,0.22563483038081314,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002229265551226053,0.002647003317863803],"position_m":[0.24017073444877396,-0.30705299668213615,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004670892845734048,-0.004720926066307556],"position_m":[0.31982910715426593,-0.046320926066307555,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024003505394794037,-0.0040591375030254815],"position_m":[0.3534003505394794,0.3143408624969745,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba6e806655e075da535137158d70a388ff6af1445d846931171728e2f086c8d5","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5089/tex_ceiling_textures_5608/tex_floor_textures_6683/tex_table_textures_9375/tex_wall_textures_2369","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2908231335314138612,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2908231335314138612,"visual_seed":2908231335314138612,"scene_id":"lab_003","finished_at":"2026-09-03T19:45:24"} +{"episode_id":"ep_000015","started_at":"2026-09-03T19:45:27","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[0.36908820256674213,1.4167941611093782,0.71338606911949],"aabb_xy":[[0.3240956158482917,1.3717941618349292],[0.41408078928519254,1.4617941603838267]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.23654017171622732,1.4461692357926421,0.71338606911949],"aabb_xy":[[-0.25242466498155247,1.4318162954938183],[-0.22065567845090217,1.4605221760914664]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[0.5843827658489915,-2.2595302666533055,0.71338606911949],"aabb_xy":[[0.5652704584910125,-2.2786650455305475],[0.6034950732069703,-2.2403954877760635]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[0.6156706122646132,-0.6274361894370439,0.71338606911949],"aabb_xy":[[0.5781706121590201,-0.6342583512900248],[0.653170612370206,-0.6206140275840626]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[-0.028600870228616904,-2.0044071946000614,0.71338606911949],"aabb_xy":[[-0.09860087236004644,-2.0271691602257564],[0.041399131902812636,-1.9816452289743653]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[-0.10323193195198921,0.36490996028778877,0.71338606911949],"aabb_xy":[[-0.15323193290252202,0.3333608132842673],[-0.05323193100145639,0.3964591072913101]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.651283206163989,1.6491779034146758,0.71338606911949],"aabb_xy":[[0.6201362873204059,1.5791779047278687],[0.6824301250075722,1.719177902101483]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.5974886319324566,-1.1367676799453295,0.71338606911949],"aabb_xy":[[-0.6824886306245311,-1.1687535433402083],[-0.5124886332403819,-1.1047818165504506]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[0.5809377660232447,-1.9720769056927177,0.71338606911949],"aabb_xy":[[0.516937768737596,-2.0135836246455616],[0.6449377633088933,-1.9305701867398735]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.13473121697622648,0.659921173816417,0.71338606911949],"aabb_xy":[[-0.1697312183277082,0.6395614378595962],[-0.09973121562474475,0.6802809097732379]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[-0.09892322317382973,-1.3369359148912745,0.71338606911949],"aabb_xy":[[-0.14891805610177133,-1.386935913786518],[-0.048928390245888145,-1.286935915996031]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.4071366256059512,-2.310657969134959,0.71338606911949],"aabb_xy":[[0.40369594936589415,-2.314519402109324],[0.4105773018460085,-2.306796536160595]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[0.5713071734459212,-2.1615482557837624,0.71338606911949],"aabb_xy":[[0.5588398153361855,-2.1740135804170864],[0.5837745315556568,-2.1490829311504394]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[-0.6239338631267256,-2.289364178032728,0.71338606911949],"aabb_xy":[[-0.6371648086614068,-2.302591597054727],[-0.6107029175920442,-2.276136759010728]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[0.6056164439792169,-0.3717539115932129,0.71338606911949],"aabb_xy":[[0.555623331870025,-0.4217539122674086],[0.6556095560884088,-0.3217539109190173]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[-0.12882465421396605,-1.6493516152695906,0.71338606911949],"aabb_xy":[[-0.15382465414648394,-1.6562342834905142],[-0.10382465428144816,-1.6424689470486675]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[-0.31966294421471086,0.8591800424495992,0.71338606911949],"aabb_xy":[[-0.3276892148453369,0.8504285474722466],[-0.3116366735840849,0.8679315374269518]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.4802216362841607,-1.5092387672548648,0.71338606911949],"aabb_xy":[[0.4515723039237444,-1.5378843265319406],[0.5088709686445769,-1.480593207977789]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[0.04215981265669422,-1.0229975882636475,0.71338606911949],"aabb_xy":[[0.03731621789546424,-1.0278492407426316],[0.04700340741792419,-1.0181459357846634]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[0.5789748908391352,-1.451580686591162,0.71338606911949],"aabb_xy":[[0.5729378778384705,-1.45760738766011],[0.5850119038398,-1.445553985522214]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[-0.600642999818911,0.2509330946533055,0.71338606911949],"aabb_xy":[[-0.6906430021529301,0.17345074006819283],[-0.510642997484892,0.32841544923841814]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[0.6962127293661418,0.4072725779431976,0.71338606911949],"aabb_xy":[[0.6874315022189056,0.3984928306546675],[0.7049939565133782,0.4160523252317278]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[-0.39060499818660527,-1.8197038993243044,0.71338606911949],"aabb_xy":[[-0.4406042733550415,-1.8697039006002518],[-0.34060572301816916,-1.7697038980483575]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[-0.21992317298917297,-2.203136529710009,0.71338606911949],"aabb_xy":[[-0.2839231753319745,-2.2480773809541414],[-0.15592317064637137,-2.1581956784658765]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[-0.3772115214594278,1.032260607324047,0.71338606911949],"aabb_xy":[[-0.3835236209957663,1.0264936680708279],[-0.37089942192308945,1.0380275465772657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6984977378369721,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8072.png","name":"8072"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8072.png","name":"8072"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1281.png","name":"1281"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1283.png","name":"1283"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2068.png","name":"2068"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/777.png","name":"777"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":819.5746511875764,"rotation_z_degrees":255.1084485871187,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005409028319700488,-0.01719667184986912,0.0015199955314681296]},{"name":"camera_2","offset_m":[-0.007292002096923244,-0.009778063787143751,0.005035260755571619]},{"name":"camera_3","offset_m":[-0.00536675712295597,-0.018724432829057985,-0.0003657437315491528]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017374027884100051,0.0008376478824547529,-0.001582761836903766],"end_effector_yaw_offset_degrees":0.7990006096211932},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017995392738855173,-0.0015313078943682164,0.00178554988753973],"end_effector_yaw_offset_degrees":0.30698738468509923},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014340728473761413,-0.0001977398741448205,-0.00024616890813887243],"end_effector_yaw_offset_degrees":-0.0008656955627670548}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004427065088590302,0.0028571802305488144],"position_m":[0.15682706508859032,0.2264571802305488,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011619959753325906,0.003261036322740939],"position_m":[0.2435619959753326,-0.30643896367725904,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[6.226551269330333e-06,-0.0038056588771961997],"position_m":[0.3245062265512693,-0.0454056588771962,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002143667981577848,-0.0028195103517648645],"position_m":[0.3531436679815778,0.31558048964823515,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bcfe162467c9c7070b5ecc49384084ddd120869d8fbffb556bfdf32e885a1a94","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8072/tex_ceiling_textures_777/tex_floor_textures_2068/tex_table_textures_1281/tex_wall_textures_1283","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":814599337586646593,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":814599337586646593,"visual_seed":814599337586646593,"scene_id":"lab_003","finished_at":"2026-09-03T19:48:22"} +{"episode_id":"ep_000016","started_at":"2026-09-03T19:48:25","dimensions":{"distractor":{"count":31,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.19184613154120256,-0.9355396358524137,0.71338606911949],"aabb_xy":[[0.18456381516453887,-1.0255396394619223],[0.19912844791786619,-0.8455396322429045]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[0.5598681136150134,-0.07196297958221054,0.71338606911949],"aabb_xy":[[0.5510660583060407,-0.07977430573713962],[0.5686701689239861,-0.06415165342728146]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.18186040041513596,-2.185233294714451,0.71338606911949],"aabb_xy":[[0.1473980530169941,-2.2197271771122726],[0.2163227478132777,-2.1507394123166272]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.4028235082855989,1.4026615505023896,0.71338606911949],"aabb_xy":[[-0.42271454816593923,1.390005739217693],[-0.38293246840525874,1.4153173617870867]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[-0.1942719684144123,-0.46702618813430297,0.71338606911949],"aabb_xy":[[-0.21170268349341878,-0.4842983027981537],[-0.17684125333540576,-0.4497540734704521]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[-0.3314126310231747,-2.139308911531774,0.71338606911949],"aabb_xy":[[-0.3539090524570388,-2.1618089113385213],[-0.3089162095893106,-2.1168089117250264]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[-0.5651479650098294,-2.4696885216366704,0.71338606911949],"aabb_xy":[[-0.5803108379867665,-2.4848539789317896],[-0.5499850920328924,-2.454523064341552]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.31125367722397357,-0.9284057879655419,0.71338606911949],"aabb_xy":[[0.2737536764319782,-0.934773628923732],[0.34875367801596907,-0.9220379470073518]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.6055028257029812,0.7848249448969766,0.71338606911949],"aabb_xy":[[-0.616747881273599,0.7735831471728813],[-0.5942577701323634,0.7960667426210719]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.03862138368119583,-2.421803788348993,0.71338606911949],"aabb_xy":[[-0.05572346163956399,-2.438910593880263],[-0.021519305722827675,-2.4046969828177236]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.4326861650077445,-2.0994634278009054,0.71338606911949],"aabb_xy":[[0.42664915200707987,-2.1054901288698535],[0.4387231780084093,-2.0934367267319574]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[0.3490001401323046,0.8567248026384684,0.71338606911949],"aabb_xy":[[0.28740938090831186,0.7927248045294215],[0.4105908993562975,0.9207248007475153]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[-0.04711018443211468,-0.6720005146851293,0.71338606911949],"aabb_xy":[[-0.08461018285551503,-0.68516472865296],[-0.009610186008714328,-0.6588363007172987]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[-0.43878259872799047,0.36489485415377265,0.71338606911949],"aabb_xy":[[-0.44269647192341305,0.3561458387472159],[-0.434868725532568,0.3736438695603294]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[-0.5105357981981815,-1.4323177759313277,0.71338606911949],"aabb_xy":[[-0.5144962819679159,-1.4399856405168485],[-0.5065753144284472,-1.4246499113458073]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[-0.1873274347684245,-2.2136157486923365,0.71338606911949],"aabb_xy":[[-0.2073858463816648,-2.2336808356014934],[-0.16726902315518422,-2.1935506617831786]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.4655645969013468,-1.0279894271487224,0.71338606911949],"aabb_xy":[[-0.5156620608824205,-1.0919894276585342],[-0.4154671329202732,-0.9639894266389106]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[0.5603353290598962,-1.6334349055099988,0.71338606911949],"aabb_xy":[[0.551637366769181,-1.6455598798174735],[0.5690332913506115,-1.621309931202524]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.5485556452733387,0.572446039019638,0.71338606911949],"aabb_xy":[[-0.6125556444431086,0.5256793519006754],[-0.48455564610356877,0.6192127261386003]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.39180012871590447,-2.249765320396015,0.71338606911949],"aabb_xy":[[-0.4109124360738834,-2.2689000992732575],[-0.37268782135792566,-2.2306305415187735]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[0.6831592109793163,0.62330920001971,0.71338606911949],"aabb_xy":[[0.6481592118493605,0.6175639789440459],[0.7181592101092719,0.6290544210953741]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.1258434033453928,0.6915531264075887,0.71338606911949],"aabb_xy":[[0.11397132033389168,0.6065531267139384],[0.1377154863568939,0.776553126101239]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[0.49651373429767,-1.9453904765468184,0.71338606911949],"aabb_xy":[[0.432513737870348,-1.9925601003689148],[0.5605137307249919,-1.898220852724722]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.6042008350960183,-1.6733565409586277,0.71338606911949],"aabb_xy":[[-0.6083167852080908,-1.677472095991473],[-0.6000848849839455,-1.669240985925782]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.05789191382493519,0.9276610681763819,0.71338606911949],"aabb_xy":[[-0.12189191604534222,0.8832879840510937],[0.0061080883954718335,0.9720341523016702]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[0.45360010601492373,1.0938266970563837,0.71338606911949],"aabb_xy":[[0.3986078553794129,1.038826695313071],[0.5085923566504348,1.1488266987996965]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.14789926773122308,-0.2018689998485108,0.71338606911949],"aabb_xy":[[-0.22789926800483004,-0.2748185476742275],[-0.06789926745761608,-0.12891945202279406]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[-0.2742362827039826,-0.7105620906103622,0.71338606911949],"aabb_xy":[[-0.3542362797182306,-0.7306966422837734],[-0.1942362856897346,-0.6904275389369509]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[-0.42018770210156725,1.5953876279610557,0.71338606911949],"aabb_xy":[[-0.4376877023466166,1.5778878401214886],[-0.4026877018565178,1.6128874158006223]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_29","position":[0.1298921697494959,-1.6655375019318535,0.71338606911949],"aabb_xy":[[0.11702026624855576,-1.7455375023456894],[0.14276407325043602,-1.585537501518017]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_30","position":[-0.633509974364603,-1.9534461078941598,0.71338606911949],"aabb_xy":[[-0.6466612203358924,-1.9784461076508466],[-0.6203587283933136,-1.9284461081374735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950109191143311,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3881.png","name":"3881"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3881.png","name":"3881"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5009.png","name":"5009"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1525.png","name":"1525"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3395.png","name":"3395"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2072.png","name":"2072"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":778.6854360661798,"rotation_z_degrees":88.13334038216286,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0035509362216958225,0.003747119764973248,-0.01638455722152706]},{"name":"camera_2","offset_m":[0.008007460083490382,0.001048094045772864,0.009773319859885117]},{"name":"camera_3","offset_m":[0.011314337536164076,0.010863275581247583,0.004745958672651162]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007605544915396906,-0.00044637034090739343,-0.0018749459410648318],"end_effector_yaw_offset_degrees":-0.19201035694635893},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007713887502010471,-0.00039636247500073377,0.0009661576481781228],"end_effector_yaw_offset_degrees":-0.08525783555434141},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005999979687371071,-0.0012706548408827878,0.0004454737445301754],"end_effector_yaw_offset_degrees":-0.9296315533704578}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002376951654950556,-0.0035753676163407843],"position_m":[0.15263769516549505,0.2200246323836592,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009710733893823851,-0.0012195223810689015],"position_m":[0.24142892661061763,-0.3109195223810689,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013605212386414655,0.0020959571070063012],"position_m":[0.32313947876135857,-0.039504042892993696,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009820271192886535,-0.004365164848072387],"position_m":[0.35001797288071135,0.31403483515192765,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"61c69438d14d50cc57692b75f7513316a3075d7a6a295fcf9a0e800fad789d49","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3881/tex_ceiling_textures_2072/tex_floor_textures_3395/tex_table_textures_5009/tex_wall_textures_1525","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4563266395664371212,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4563266395664371212,"visual_seed":4563266395664371212,"scene_id":"lab_003","finished_at":"2026-09-03T19:51:22"} +{"episode_id":"ep_000017","started_at":"2026-09-03T19:51:25","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.47321722954742196,-0.43880036581378024,0.71338606911949],"aabb_xy":[[0.43672140892014316,-0.4752843082405378],[0.5097130501747007,-0.40231642338702267]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.12040770135793755,-1.7029553141086162,0.71338606911949],"aabb_xy":[[-0.12769001773460115,-1.792955317718125],[-0.11312538498127385,-1.612955310499107]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[-0.3424156288874267,-0.13234157505442523,0.71338606911949],"aabb_xy":[[-0.39241562990656204,-0.1688077907922532],[-0.29241562786829145,-0.09587535931659733]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.23238338370655276,0.6945429367434066,0.71338606911949],"aabb_xy":[[0.18238338506063156,0.6446233930839442],[0.28238338235247396,0.744462480402869]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.3873927005467577,-1.6457640090630554,0.71338606911949],"aabb_xy":[[0.3635564829061526,-1.7357640098715421],[0.4112289181873628,-1.5557640082545692]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[0.3838112640020295,-2.3523150328302425,0.71338606911949],"aabb_xy":[[0.34526557117682843,-2.3908608038864316],[0.4223569568272305,-2.313769261774054]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[0.498159388511771,-1.1655556180736342,0.71338606911949],"aabb_xy":[[0.43315938740582777,-1.1905209911417625],[0.5631593896177143,-1.1405902450055059]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.0239416255245809,1.0799945231085206,0.71338606911949],"aabb_xy":[[0.013788609970431517,1.0439249815357798],[0.034094641078730274,1.1160640646812605]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[-0.5623371790711499,1.2421334997629327,0.71338606911949],"aabb_xy":[[-0.570330668866432,1.2341353678224571],[-0.554343689275868,1.2501316317034084]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[-0.037411503207643304,0.9812160073909015,0.71338606911949],"aabb_xy":[[-0.04797898286574231,0.9706709772778929],[-0.026844023549544287,0.99176103750391]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[-0.5254992229775779,0.06828668143517458,0.71338606911949],"aabb_xy":[[-0.5754992242614178,0.018307827044552468],[-0.4754992216937379,0.11826553582579667]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[0.6504472970840471,0.17573127575504177,0.71338606911949],"aabb_xy":[[0.6448656254499182,0.16323127593726627],[0.6560289687181758,0.18823127557281727]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.5370710069849169,-1.5068531938371252,0.71338606911949],"aabb_xy":[[-0.5479114852114318,-1.524039475127774],[-0.526230528758402,-1.489666912546476]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[-0.07544282212494313,-1.9483339977709146,0.71338606911949],"aabb_xy":[[-0.11229337006193073,-1.9858339985939482],[-0.03859227418795551,-1.9108339969478807]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[-0.6096980060220899,-2.469174240212471,0.71338606911949],"aabb_xy":[[-0.6279038296833376,-2.480199640794463],[-0.5914921823608422,-2.45814883963048]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.4504775877174766,-0.2717098384841532,0.71338606911949],"aabb_xy":[[-0.5004775886680093,-0.30325898548767455],[-0.4004775867669437,-0.24016069148063174]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.40197663410209805,1.1701661017969953,0.71338606911949],"aabb_xy":[[0.39020844730744064,1.085166101891774],[0.4137448208967557,1.255166101702217]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.46083757254427415,0.478269007083711,0.71338606911949],"aabb_xy":[[0.4321882401838579,0.4496234478066351],[0.4894869049046903,0.5069145663607867]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.4907280321921641,-1.6936531415908609,0.71338606911949],"aabb_xy":[[-0.5033307313292406,-1.7062485378157264],[-0.47812533305508764,-1.6810577453659954]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[-0.6353774143903093,-2.101468130794424,0.71338606911949],"aabb_xy":[[-0.6414720422784276,-2.1100375253460926],[-0.6292827865021909,-2.092898736242755]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.04728342913446304,-1.6026436335549024,0.71338606911949],"aabb_xy":[[-0.0027165703057325866,-1.6526115580392187],[0.09728342857465866,-1.552675709070586]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[0.49519673237633355,-0.7005218004616762,0.71338606911949],"aabb_xy":[[0.4311967316728642,-0.7465401829345972],[0.5591967330798029,-0.6545034179887552]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.6738679962296448,-1.3795164042510386,0.71338606911949],"aabb_xy":[[0.6388679970368264,-1.390483450248701],[0.7088679954224629,-1.3685493582533759]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.696366727534644,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/416.png","name":"416"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/416.png","name":"416"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9843.png","name":"9843"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7914.png","name":"7914"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8202.png","name":"8202"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3826.png","name":"3826"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":809.2680965400924,"rotation_z_degrees":151.8384758234204,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01616635480985234,-0.011047322451247035,0.009982337987816236]},{"name":"camera_2","offset_m":[-0.0077772653045195695,0.009177175856061877,-0.016449034205645852]},{"name":"camera_3","offset_m":[0.005724051939653859,-0.015230350040588201,0.006004794037663682]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011427631854455935,0.0006388969101904307,0.00010554312226342078],"end_effector_yaw_offset_degrees":-0.22259093952312536},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008016888436767028,0.0006146970231329825,-0.001882808617047786],"end_effector_yaw_offset_degrees":0.906443215170637},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011059736074519456,0.0013673387227986743,-0.0007242777254855986],"end_effector_yaw_offset_degrees":0.3380194137027934}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007520155993941289,-0.0024478023081727363],"position_m":[0.15315201559939415,0.22115219769182726,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003854377842065988,-0.0018065751840985146],"position_m":[0.246254377842066,-0.31150657518409847,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019016478797396616,-0.0029658055389114603],"position_m":[0.3264016478797397,-0.04456580553891146,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005515514442295611,-0.002219152084337658],"position_m":[0.3504484485557704,0.31618084791566237,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"886edcb8214c9ff7d4bee845ec000a9211f0606ad8fc7fcf7cb3f98a70664f43","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_416/tex_ceiling_textures_3826/tex_floor_textures_8202/tex_table_textures_9843/tex_wall_textures_7914","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2489115894837027339,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2489115894837027339,"visual_seed":2489115894837027339,"scene_id":"lab_003","finished_at":"2026-09-03T19:54:23"} +{"episode_id":"ep_000018","started_at":"2026-09-03T19:54:28","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.6162072241281458,1.1559642519729785,0.71338606911949],"aabb_xy":[[-0.6215397387827587,1.1506399237277427],[-0.6108747094735326,1.1612885802182138]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[-0.37625015672510026,0.36809715967741186,0.71338606911949],"aabb_xy":[[-0.3843778449184134,0.3591835512667042],[-0.368122468531787,0.3770107680881195]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.14966771427931536,-2.4609962524404283,0.71338606911949],"aabb_xy":[[-0.1996677159408101,-2.5109946946961306],[-0.09966771261782058,-2.410997810184725]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.6110072065777387,0.017351089019653543,0.71338606911949],"aabb_xy":[[-0.6810072029877002,-0.003086846632028187],[-0.5410072101677766,0.037789024671335256]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[-0.3405761064503868,1.4467482527447157,0.71338606911949],"aabb_xy":[[-0.40457610966902463,1.4000251408457074],[-0.2765761032317489,1.493471364643724]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.07667829707971485,-0.8571023802383586,0.71338606911949],"aabb_xy":[[0.012678296376245516,-0.9031207627112797],[0.14067829778318422,-0.8110839977654377]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.5373334718518878,0.5255255572162052,0.71338606911949],"aabb_xy":[[-0.5723334717479067,0.5171513217042651],[-0.502333471955869,0.533899792728145]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[-0.38545435123404,-1.8345179702498662,0.71338606911949],"aabb_xy":[[-0.42675889429777597,-1.8985179698179833],[-0.344149808170304,-1.770517970681749]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.2053498392335773,-1.1338599727161154,0.71338606911949],"aabb_xy":[[0.18283614741012008,-1.203859973317123],[0.22786353105703447,-1.0638599721151079]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.43365004875668345,0.5253477182497153,0.71338606911949],"aabb_xy":[[0.37865004958009396,0.4703580434747575],[0.48865004793327294,0.5803373930246728]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[-0.2683044874128559,-1.9908634476219285,0.71338606911949],"aabb_xy":[[-0.2933044869645944,-2.001005931487063],[-0.2433044878611174,-1.9807209637567937]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.5576105642584961,1.3402868183442416,0.71338606911949],"aabb_xy":[[0.49361056398451786,1.2902207181469536],[0.6216105645324743,1.3903529185415295]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[0.07367544049459784,-1.7416277264912605,0.71338606911949],"aabb_xy":[[0.061208082384862195,-1.7540930511245842],[0.08614279860433349,-1.7291624018579372]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[0.460460922006936,-1.9032830932003304,0.71338606911949],"aabb_xy":[[0.3954609241252882,-1.9544067569068715],[0.5254609198885838,-1.8521594294937898]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[-0.5260236588764746,0.24119773439031889,0.71338606911949],"aabb_xy":[[-0.6157107351845902,0.15119773413586837],[-0.4363365825683593,0.3311977346447694]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[0.5084037434534538,-0.9896189409767384,0.71338606911949],"aabb_xy":[[0.49376033789942086,-1.0042776606335226],[0.5230471490074868,-0.9749602213199541]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[-0.3099289616510233,-1.1674897887608064,0.71338606911949],"aabb_xy":[[-0.33120696979449554,-1.2324897910868795],[-0.28865095350755104,-1.1024897864347334]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.49148684114813257,-1.5863207019094985,0.71338606911949],"aabb_xy":[[0.42148683851154617,-1.6064255669053638],[0.5614868437847189,-1.5662158369136328]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.3582264931644606,0.4864672556076415,0.71338606911949],"aabb_xy":[[-0.38274011726146645,0.4622026623056051],[-0.33371286906745473,0.5107318489096779]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.5751186794781677,0.15381463936875717,0.71338606911949],"aabb_xy":[[0.48511868005979686,0.12043914252456742],[0.6651186788965386,0.18719013621294686]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.3034252102546326,-1.474987657611752,0.71338606911949],"aabb_xy":[[-0.38342520884195197,-1.5543032595499127],[-0.22342521166731313,-1.3956720556735909]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.5842754624375031,-0.6820873435822057,0.71338606911949],"aabb_xy":[[0.5682135349789853,-0.7670873453947975],[0.6003373898960206,-0.5970873417696139]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[-0.4297232909870979,-0.12885913424394868,0.71338606911949],"aabb_xy":[[-0.45222329080100027,-0.13333375061442937],[-0.4072232911731955,-0.12438451787346799]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[-0.2453186453942085,-0.2766858909986074,0.71338606911949],"aabb_xy":[[-0.25324192563295683,-0.29918589123661077],[-0.23739536515546017,-0.25418589076060405]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[-0.1006801599020094,0.8887201865562626,0.71338606911949],"aabb_xy":[[-0.13717598052928814,0.8522362441295049],[-0.06418433927473068,0.9252041289830201]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[0.6561416881136894,0.5859867531691232,0.71338606911949],"aabb_xy":[[0.648880440543282,0.5731997429056137],[0.6634029356840969,0.5987737634326327]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_26","position":[0.25588412636004165,-2.5272730455534784,0.71338606911949],"aabb_xy":[[0.24243759972599832,-2.5407428972065698],[0.269330652994085,-2.513803193900387]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_27","position":[-0.6089380853981181,-1.2152749341423463,0.71338606911949],"aabb_xy":[[-0.6739380863986185,-1.2660612992970213],[-0.5439380843976175,-1.1644885689876714]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[0.029641200220208996,-1.006617957156272,0.71338606911949],"aabb_xy":[[-0.05035879693936629,-1.018165558114089],[0.10964119737978428,-0.9950703561984549]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_29","position":[-0.6518531523317308,-2.402915945102358,0.71338606911949],"aabb_xy":[[-0.6805024846921469,-2.431561504379433],[-0.6232038199713145,-2.3742703858252816]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_30","position":[0.6494170959883405,-1.299662242224508,0.71338606911949],"aabb_xy":[[0.6119170954909823,-1.3036309257726266],[0.6869170964856988,-1.2956935586763896]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_31","position":[0.20787238027756905,1.7949514768745183,0.71338606911949],"aabb_xy":[[0.2025348046115645,1.7699514759453787],[0.21320995594357364,1.8199514778036583]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_32","position":[0.09759970156974451,-1.2184699982469,0.71338606911949],"aabb_xy":[[0.09389644024060564,-1.2221720165556176],[0.10130296289888338,-1.214767979938182]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_33","position":[0.5457011327356074,-0.1043369386372075,0.71338606911949],"aabb_xy":[[0.5088505847986199,-0.14183693946024123],[0.5825516806725951,-0.06683693781417378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6975086633115506,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3811.png","name":"3811"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3811.png","name":"3811"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5606.png","name":"5606"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6138.png","name":"6138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2797.png","name":"2797"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9747.png","name":"9747"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":674.2667774567855,"rotation_z_degrees":288.27756995331214,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017600798110283037,0.009888589696495344,0.017911643598487684]},{"name":"camera_2","offset_m":[0.007738581126994215,-0.015416247179411613,0.011430915516977332]},{"name":"camera_3","offset_m":[0.008751553529731844,-0.010807607987837633,0.0010308574903565189]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00038252476702296465,-0.0009531522764936265,-0.0008731389414144398],"end_effector_yaw_offset_degrees":-0.48769379844063065},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008879757636376944,-0.001709908934969956,-0.0014518601193728563],"end_effector_yaw_offset_degrees":0.15188991544151564},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00029373905515473224,-0.0010423455705668508,-0.0015404930603315084],"end_effector_yaw_offset_degrees":0.025453314660188076}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002542649594130729,-0.0028429223105014257],"position_m":[0.15494264959413073,0.22075707768949857,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013609136346204509,0.0007503841725171314],"position_m":[0.24103908636537955,-0.30894961582748287,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002038183024261021,0.0018538012330092538],"position_m":[0.326538183024261,-0.039746198766990745,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025574365001811363,0.0041633546702114525],"position_m":[0.34844256349981884,0.32256335467021147,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"63bac8fc83d1c7ed4c2ae95fa040c78b786e36d4da73b9d3fdc5229d36268da6","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3811/tex_ceiling_textures_9747/tex_floor_textures_2797/tex_table_textures_5606/tex_wall_textures_6138","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4809190620818814031,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4809190620818814031,"visual_seed":4809190620818814031,"scene_id":"lab_003","finished_at":"2026-09-03T19:57:22"} +{"episode_id":"ep_000019","started_at":"2026-09-03T19:57:25","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.06227612277901451,1.7982311314482913,0.71338606911949],"aabb_xy":[[-0.09673860079210228,1.7915674542653681],[-0.02781364476592673,1.8048948086312135]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.5279486173229739,-2.1324741478921965,0.71338606911949],"aabb_xy":[[0.5076643145995752,-2.1527567730349055],[0.5482329200463727,-2.1121915227494874]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[0.47319046925950103,-1.0827343803558955,0.71338606911949],"aabb_xy":[[0.40919046888196736,-1.1324796472067078],[0.5371904696370347,-1.0329891135050833]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[-0.11430943289921813,-2.3563867016735722,0.71338606911949],"aabb_xy":[[-0.12230342147692151,-2.3643867817686623],[-0.10631544432151473,-2.348386621578481]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[0.32799789317818706,-1.471527265788459,0.71338606911949],"aabb_xy":[[0.23799789644257685,-1.5247107291057538],[0.41799788991379727,-1.4183438024711648]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[-0.46095287245861827,0.15965992814517893,0.71338606911949],"aabb_xy":[[-0.4696508347493336,0.1475349538377042],[-0.45225491016790303,0.17178490245265365]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[-0.2720847218880824,-1.5137129457325027,0.71338606911949],"aabb_xy":[[-0.2902905455493301,-1.5247383463144943],[-0.25387889822683474,-1.502687545150511]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[0.45806063207041103,1.7185498377620134,0.71338606911949],"aabb_xy":[[0.3683735557622956,1.6285498375075627],[0.5477477083785265,1.8085498380164637]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[0.6058275658418473,0.9580270108720339,0.71338606911949],"aabb_xy":[[0.5994137521986622,0.9516171906243654],[0.6122413794850321,0.9644368311197021]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.5202242237178674,-1.075631041392224,0.71338606911949],"aabb_xy":[[-0.542724224229908,-1.0981228997576225],[-0.49772422320582677,-1.0531391830268257]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.47117638924878924,0.03858560405770772,0.71338606911949],"aabb_xy":[[0.4594082024541317,-0.04641439584751384],[0.48294457604344676,0.12358560396292931]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[0.46375037598929314,0.3928271023684542,0.71338606911949],"aabb_xy":[[0.4528445999017305,0.31282710596962504],[0.4746561520768559,0.47282709876728335]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.550920713186995,0.5064047611445472,0.71338606911949],"aabb_xy":[[-0.5660928824686283,0.4912359042163439],[-0.5357485439053616,0.5215736180727506]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.3821624143108804,0.9740584132404395,0.71338606911949],"aabb_xy":[[0.364662480876897,0.956558413320205],[0.39966234774486376,0.9915584131606741]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.11637267023372377,0.45721105315687005,0.71338606911949],"aabb_xy":[[-0.15200182613368352,0.4215783864000171],[-0.08074351433376403,0.492843719913723]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[0.3752320774625548,0.627806775583637,0.71338606911949],"aabb_xy":[[0.34145651827186185,0.6137682803704719],[0.4090076366532478,0.641845270796802]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[-0.005287254117363194,-1.0938487340660754,0.71338606911949],"aabb_xy":[[-0.09528725353573408,-1.1272242309102651],[0.0847127453010077,-1.0604732372218857]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.5935803703913187,-1.8081419284140887,0.71338606911949],"aabb_xy":[[-0.6300761910185975,-1.844625870840846],[-0.55708454976404,-1.771657985987331]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[-0.15629849551826258,-1.427288161325111,0.71338606911949],"aabb_xy":[[-0.20629849646879536,-1.4588373083286323],[-0.10629849456772975,-1.3957390143215895]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[0.2964752314319271,-0.7858750429192496,0.71338606911949],"aabb_xy":[[0.236475230835911,-0.8406875154644731],[0.35647523202794335,-0.7310625703740261]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[0.3805034437029098,-1.766677779825121,0.71338606911949],"aabb_xy":[[0.3305103315937179,-1.8166777804993168],[0.4304965558121017,-1.7166777791509256]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[-0.43824540910690546,1.535169424171992,0.71338606911949],"aabb_xy":[[-0.46152725130503675,1.4501694228747637],[-0.41496356690877406,1.6201694254692198]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[-0.5024556169099685,0.7963100813126331,0.71338606911949],"aabb_xy":[[-0.5624556177707812,0.7448836513061466],[-0.4424556160491557,0.8477365113191194]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[0.6138481550764989,-1.811347602758833,0.71338606911949],"aabb_xy":[[0.6073465185684944,-1.821115424785143],[0.6203497915845037,-1.8015797807325236]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[0.5887602635318958,-2.2480576606882354,0.71338606911949],"aabb_xy":[[0.5718495310955538,-2.26152986628085],[0.6056709959682374,-2.234585455095621]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6959189016601287,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/712.png","name":"712"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/712.png","name":"712"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2923.png","name":"2923"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4197.png","name":"4197"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/185.png","name":"185"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3696.png","name":"3696"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":706.3190921439125,"rotation_z_degrees":0.04169769740228091,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017668167710528784,0.009981657233945916,-0.006964087413327222]},{"name":"camera_2","offset_m":[-0.003973608735473741,-0.015658146319132125,0.004067595705411882]},{"name":"camera_3","offset_m":[0.009813318760849218,-0.01134460947028292,0.003811540100897272]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013868676371704934,0.0017884233117948277,0.0005603840690482178],"end_effector_yaw_offset_degrees":-0.7002514015975185},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001433517557974872,-0.0004250709217857498,0.0005691409197721461],"end_effector_yaw_offset_degrees":0.7141078067981044},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006359297105852039,-0.0004029906878619837,0.001827164788006013],"end_effector_yaw_offset_degrees":0.7161112496174402}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011247950503973023,-0.0007506444959162221],"position_m":[0.15352479505039732,0.22284935550408377,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035662781230563862,0.0001592641885790804],"position_m":[0.24596627812305638,-0.3095407358114209,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022434477144280393,0.0048531443156764565],"position_m":[0.32674344771442804,-0.036746855684323544,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002473747374524535,0.0005488661663381996],"position_m":[0.34852625262547543,0.3189488661663382,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"345ba28ecef451aace29672b4065eb046817bbdb9c2fb068443f54bfaa24d537","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_712/tex_ceiling_textures_3696/tex_floor_textures_185/tex_table_textures_2923/tex_wall_textures_4197","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":707958218159557001,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":707958218159557001,"visual_seed":707958218159557001,"scene_id":"lab_003","finished_at":"2026-09-03T20:00:28"} +{"episode_id":"ep_000020","started_at":"2026-09-03T20:00:32","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.32097979949845645,-1.0697380571814066,0.71338606911949],"aabb_xy":[[0.30581692652151937,-1.0849035144765253],[0.33614267247539353,-1.0545725998862878]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_1","position":[-0.14601800971908674,1.5722100819656748,0.71338606911949],"aabb_xy":[[-0.20099173175541965,1.5172100824014414],[-0.09104428768275388,1.6272100815299078]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.19391469392873872,0.22394386133634336,0.71338606911949],"aabb_xy":[[-0.20476630017761435,0.21308457060869235],[-0.18306308767986315,0.23480315206399438]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[-0.5389989976868519,-2.4477387166405995,0.71338606911949],"aabb_xy":[[-0.6239989963789265,-2.4797245800354784],[-0.45399899899477725,-2.4157528532457206]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.23086548907546856,0.6147404588383534,0.71338606911949],"aabb_xy":[[-0.2646410482661615,0.6007019636251884],[-0.19708992988477558,0.6287789540515184]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.10452016623784344,-1.1637300104473722,0.71338606911949],"aabb_xy":[[0.04292940701385063,-1.2277300085564196],[0.16611092546183626,-1.0997300123383258]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[0.007386811171672059,-0.7994997059132218,0.71338606911949],"aabb_xy":[[-0.03011318725172829,-0.8126639198810524],[0.04488680959507241,-0.7863354919453911]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[0.6038387607265374,-0.6835708116538393,0.71338606911949],"aabb_xy":[[0.5138387621320675,-0.6998213979672603],[0.6938387593210074,-0.6673202253404182]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[-0.31266104665551087,-0.17194705115006315,0.71338606911949],"aabb_xy":[[-0.36266104831700563,-0.22194549340576583],[-0.2626610449940161,-0.12194860889436042]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.4585533147730072,-0.7128072429994035,0.71338606911949],"aabb_xy":[[0.45297164313887844,-0.725307242817179],[0.46413498640713596,-0.700307243181628]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.3252748571167343,-1.4686241466857177,0.71338606911949],"aabb_xy":[[0.27746868950296566,-1.5336241493927765],[0.373081024730503,-1.4036241439786588]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[-0.18730105551619503,-2.2391311912230996,0.71338606911949],"aabb_xy":[[-0.2098010550399024,-2.26162713867372],[-0.1648010559924876,-2.2166352437724783]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.4712326128579841,0.49944683845658533,0.71338606911949],"aabb_xy":[[-0.5512326161219973,0.48588680614767205],[-0.391232609593971,0.5130068707654987]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.4429109917139642,0.3039527490977125,0.71338606911949],"aabb_xy":[[-0.5069109881412861,0.2567831252756161],[-0.3789109952866423,0.35112237291980897]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[-0.3775309605329513,-1.5090516822321158,0.71338606911949],"aabb_xy":[[-0.46753095995132216,-1.5424271790763053],[-0.2875309611145804,-1.4756761853879259]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.6248733351594385,0.3730115142299799,0.71338606911949],"aabb_xy":[[-0.6748521436697544,0.3230115142242611],[-0.5748945266491227,0.4230115142356987]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.029943632102305773,-2.0828916653374936,0.71338606911949],"aabb_xy":[[-0.10994362950589918,-2.1628842365356764],[0.050056365301287646,-2.0028990941393108]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.37708470346862005,1.0911388803384607,0.71338606911949],"aabb_xy":[[-0.3805253797086773,1.0872774473640965],[-0.3736440272285629,1.0950003133128254]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[-0.41103137401151685,-2.121772758675865,0.71338606911949],"aabb_xy":[[-0.4335313738254193,-2.1262473750463458],[-0.3885313741976145,-2.1172981423053847]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.31682576777767735,0.5452001873184678,0.71338606911949],"aabb_xy":[[0.26685270224516194,0.495200187505935],[0.36679883331019286,0.5952001871310008]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[0.45004462110753285,-1.9664363628638413,0.71338606911949],"aabb_xy":[[0.42998620949429245,-1.9865014497729987],[0.47010303272077303,-1.9463712759546834]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[0.6832408899992408,0.9242291445693134,0.71338606911949],"aabb_xy":[[0.6779033143332364,0.8992291436401737],[0.6885784656652455,0.9492291454984533]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[0.5256982749365744,-2.302819585307277,0.71338606911949],"aabb_xy":[[0.5164046566994238,-2.3403195837954107],[0.534991893173725,-2.265319586819143]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.3633458041094598,-1.8476027497773182,0.71338606911949],"aabb_xy":[[-0.38584493983568685,-1.870102750555581],[-0.3408466683832329,-1.825102748999055]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[0.3595928977084204,-1.2828808238397544,0.71338606911949],"aabb_xy":[[0.34696611042122405,-1.2924268975413271],[0.37221968499561675,-1.2733347501381813]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_25","position":[-0.036079331935520376,-2.4000817485168917,0.71338606911949],"aabb_xy":[[-0.10007932923786678,-2.444448175484748],[0.027920665366826032,-2.3557153215490345]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_26","position":[0.6023107703472919,0.13302419842762347,0.71338606911949],"aabb_xy":[[0.5123107736116816,0.07984073511032896],[0.6923107670829021,0.18620766174491798]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[0.6401481024694091,-0.32984926830608785,0.71338606911949],"aabb_xy":[[0.6297365437889253,-0.3351950016419863],[0.6505596611498927,-0.3245035349701893]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_28","position":[-0.6512833256370095,0.7122151503366263,0.71338606911949],"aabb_xy":[[-0.6606303332193046,0.6979115281189823],[-0.6419363180547142,0.7265187725542703]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[0.3614667978405617,-1.6976663437221062,0.71338606911949],"aabb_xy":[[0.29746679643257096,-1.749455295246031],[0.4254667992485523,-1.6458773921981815]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_30","position":[-0.08291650759671476,0.3042885175184522,0.71338606911949],"aabb_xy":[[-0.09163047664664924,0.2817885168592639],[-0.07420253854678026,0.3267885181776404]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_31","position":[0.5871302145244763,0.4621005760706858,0.71338606911949],"aabb_xy":[[0.5817976998698633,0.45677624782545023],[0.5924627291790894,0.46742490431592143]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941772800258801,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5389.png","name":"5389"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5389.png","name":"5389"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9850.png","name":"9850"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9941.png","name":"9941"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6642.png","name":"6642"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3509.png","name":"3509"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":805.5643621828037,"rotation_z_degrees":213.32342053122528,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007759618816265142,0.0025757747956138936,0.007852593844591783]},{"name":"camera_2","offset_m":[-0.005893728942433301,-0.015001176833012064,0.012812481887400116]},{"name":"camera_3","offset_m":[-0.016128536698275235,-0.014762155449419789,0.00991971519821776]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00040582523788212617,0.0016270575930261936,0.0005678744946481158],"end_effector_yaw_offset_degrees":0.41455184001427425},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009255500507710313,0.00018775915411228545,0.0016363045702715386],"end_effector_yaw_offset_degrees":0.9149465155467427},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007360334915319797,0.0003529980803125745,0.0006191391263000836],"end_effector_yaw_offset_degrees":0.8075468400973342}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003462030338059907,-0.0035592337978718647],"position_m":[0.15586203033805993,0.22004076620212812,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008172784596417286,0.0009382559598190496],"position_m":[0.24321727845964172,-0.3087617440401809,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003959777571583686,0.0015845558985041943],"position_m":[0.3241040222428416,-0.0400154441014958,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035579784353228917,-0.0011502043162431386],"position_m":[0.3474420215646771,0.3172497956837569,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"58693e3278849f5af04694a752afd71f39699d03f5368ae62d2865517968262a","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0020.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5389/tex_ceiling_textures_3509/tex_floor_textures_6642/tex_table_textures_9850/tex_wall_textures_9941","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1079479729887096318,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1079479729887096318,"visual_seed":1079479729887096318,"scene_id":"lab_003","finished_at":"2026-09-03T20:03:32"} +{"episode_id":"ep_000021","started_at":"2026-09-03T20:03:35","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.6498133824119088,1.6362500074940178,0.71338606911949],"aabb_xy":[[0.6070466755324886,1.5722500040722154],[0.692580089291329,1.7002500109158203]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.5834929013891712,-2.3461437256566096,0.71338606911949],"aabb_xy":[[-0.5981363069432043,-2.3608024453133933],[-0.5688494958351383,-2.331485005999825]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.4422072651793172,-0.24324340309679382,0.71338606911949],"aabb_xy":[[0.4357056286713126,-0.2530112251231036],[0.4487089016873218,-0.23347558107048408]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.28169273566432773,0.9392545575522249,0.71338606911949],"aabb_xy":[[-0.3616927336451128,0.9316530165903729],[-0.2016927376835427,0.9468560985140768]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.6258779450015728,-2.014604745553794,0.71338606911949],"aabb_xy":[[0.6204199993645527,-2.0946047488614528],[0.6313358906385929,-1.9346047422461345]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.512859408657695,-1.7126408292143456,0.71338606911949],"aabb_xy":[[-0.5471563196754354,-1.7469377154242864],[-0.47856249763995423,-1.6783439430044038]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.5841569526467274,1.517076427031839,0.71338606911949],"aabb_xy":[[0.5761629640690239,1.5090763469367485],[0.5921509412244307,1.5250765071269292]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[0.0403601943012154,1.285651357513284,0.71338606911949],"aabb_xy":[[-0.03963980786154708,1.2056961738871403],[0.12036019646397789,1.3656065411394276]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.6257911958472713,0.6393522736040853,0.71338606911949],"aabb_xy":[[0.5617911935044697,0.5944114223599528],[0.6897911981900728,0.6842931248482178]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[0.600688490336216,0.44607785835600344,0.71338606911949],"aabb_xy":[[0.5638379423992284,0.4085778575329697],[0.6375390382732036,0.4835778591790372]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[-0.5172887029755378,-2.2079960321822765,0.71338606911949],"aabb_xy":[[-0.5281403092244134,-2.2188553229099277],[-0.5064370967266622,-2.1971367414546252]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.33296747162791746,-2.502128087352737,0.71338606911949],"aabb_xy":[[-0.35546747144181984,-2.5066027037232175],[-0.3104674718140151,-2.4976534709822564]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.1510276142398549,-1.0315241834207516,0.71338606911949],"aabb_xy":[[-0.23102761750386802,-1.0450842157296651],[-0.07102761097584176,-1.0179641511118385]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.25843628547688835,-1.146113384009912,0.71338606911949],"aabb_xy":[[-0.2718828121109317,-1.1595832356630034],[-0.24498975884284502,-1.1326435323568207]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.3298413472788926,0.8286966617314078,0.71338606911949],"aabb_xy":[[0.3079515996899517,0.7386966644421585],[0.3517310948678333,0.9186966590206568]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[0.542618355272015,-0.6774706911833999,0.71338606911949],"aabb_xy":[[0.5013695442421001,-0.7324706906956173],[0.5838671663019296,-0.6224706916711824]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[0.4231954152574373,-1.790193346590234,0.71338606911949],"aabb_xy":[[0.3431954138273101,-1.8697105016028432],[0.5031954166875645,-1.7106761915776243]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[0.26824948823197003,1.4011514782720411,0.71338606911949],"aabb_xy":[[0.2557821301222344,1.3886861536387176],[0.2807168463417057,1.4136168029053646]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[0.5963733389036561,-2.176334718160712,0.71338606911949],"aabb_xy":[[0.5659752278045125,-2.206741620162381],[0.6267714500027997,-2.145927816159042]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.4651835333001372,1.343767950108862,0.71338606911949],"aabb_xy":[[-0.5025148098253798,1.30911489531401],[-0.4278522567748946,1.3784210049037144]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[-0.1859446655100584,-0.44617362253421566,0.71338606911949],"aabb_xy":[[-0.21972022470075137,-0.46021211774738074],[-0.15216910631936542,-0.4321351273210507]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[-0.0759960298707858,0.3097483641718406,0.71338606911949],"aabb_xy":[[-0.09300612716083645,0.29361387567356667],[-0.058985932580735145,0.3258828526701145]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[0.025692992640049317,-0.7863890055108618,0.71338606911949],"aabb_xy":[[-0.01110164048485696,-0.8232948806074439],[0.06248762576495559,-0.7494831304142794]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[-0.3657757970747496,0.3249897795674044,0.71338606911949],"aabb_xy":[[-0.37381213177603445,0.3169516602629876],[-0.35773946237346477,0.33302789887182116]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_24","position":[-0.5781041160508669,-0.29523337459448395,0.71338606911949],"aabb_xy":[[-0.6421041146374392,-0.34224033799399267],[-0.5141041174642943,-0.24822641119497524]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[-0.6515055180791886,1.1732212136851312,0.71338606911949],"aabb_xy":[[-0.6874190225041781,1.1373077054683767],[-0.6155920136541988,1.2091347219018858]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[-0.32875867009734056,-0.09647935174345879,0.71338606911949],"aabb_xy":[[-0.345435806090436,-0.11317927571738907],[-0.312081534104245,-0.07977942776952852]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_27","position":[0.4727186754361774,1.1868575244402764,0.71338606911949],"aabb_xy":[[0.42272366447672544,1.1368575254046847],[0.5227136863956294,1.236857523475868]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_28","position":[0.6244104981082585,0.9510660981218191,0.71338606911949],"aabb_xy":[[0.5604105008226099,0.909559379168975],[0.6884104953939072,0.9925728170746629]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_29","position":[-0.479858107125853,-0.013642709404885878,0.71338606911949],"aabb_xy":[[-0.49728882220485937,-0.030914824068736683],[-0.46242739204684635,0.0036294052589649363]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_30","position":[0.10554558227897914,0.9090337859940156,0.71338606911949],"aabb_xy":[[0.04154557898927103,0.865698866990098],[0.16954558556868726,0.9523687049979332]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_31","position":[0.07663891060909667,-0.9765797756111978,0.71338606911949],"aabb_xy":[[0.07022509696591171,-0.982989595858866],[0.08305272425228159,-0.9701699553635293]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7014052376240387,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6079.png","name":"6079"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6079.png","name":"6079"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9714.png","name":"9714"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4992.png","name":"4992"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4139.png","name":"4139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8194.png","name":"8194"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":781.843463619136,"rotation_z_degrees":283.69967299931994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004020601843876946,0.013450799305951982,0.011992516481049483]},{"name":"camera_2","offset_m":[-0.017161418351056133,0.0198952508594939,0.011258390727315295]},{"name":"camera_3","offset_m":[-0.01663252013640798,-0.0025805241096766157,0.006159102224120704]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00013003410193691313,-0.00038001605912526496,-8.254585623855082e-05],"end_effector_yaw_offset_degrees":-0.28807786483883846},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00140038894505672,0.0017481662932143744,-0.0015965736440804608],"end_effector_yaw_offset_degrees":0.6917290586132367},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019489934738556348,0.0006706538525352501,-0.001623148160516326],"end_effector_yaw_offset_degrees":-0.49573034835213203}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0047053351507039065,-0.002758112811677206],"position_m":[0.1476946648492961,0.2208418871883228,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001717914961832533,0.003582428244444643],"position_m":[0.24411791496183255,-0.3061175717555553,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024108677248298946,0.0019800521794876456],"position_m":[0.3269108677248299,-0.039619947820512355,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001720387724509249,0.00438260906768339],"position_m":[0.35272038772450925,0.3227826090676834,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2ac349acea9ee9c978c938f550d75c064e6ae8250da5bc3d71b5db078111dbec","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6079/tex_ceiling_textures_8194/tex_floor_textures_4139/tex_table_textures_9714/tex_wall_textures_4992","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1336895480939962507,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1336895480939962507,"visual_seed":1336895480939962507,"scene_id":"lab_003","finished_at":"2026-09-03T20:06:37"} +{"episode_id":"ep_000022","started_at":"2026-09-03T20:06:41","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.04420046954393497,-2.2128339251256373,0.71338606911949],"aabb_xy":[[0.031733111434199324,-2.225299249758961],[0.05666782765367062,-2.200368600492314]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.6101822826594137,-1.8407221753094825,0.71338606911949],"aabb_xy":[[0.5451822845034946,-1.8670184198593947],[0.6751822808153327,-1.8144259307595703]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[-0.5217686277355276,1.4824072192616824,0.71338606911949],"aabb_xy":[[-0.5716513246132238,1.4324072200154079],[-0.47188593085783137,1.5324072185079576]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.03334231273748878,0.948959709351922,0.71338606911949],"aabb_xy":[[-0.12334231215585967,0.9155842125077321],[0.05665768668088212,0.9823352061961116]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.6139185628404357,0.5959371811192415,0.71338606911949],"aabb_xy":[[-0.6939185598546836,0.5758026294458303],[-0.5339185658261877,0.6160717327926528]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[-0.3883088898488297,-1.410835950625343,0.71338606911949],"aabb_xy":[[-0.45330888840590255,-1.4405884840392256],[-0.3233088912917569,-1.3810834172114603]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[0.3950873855293231,1.4948592244695988,0.71338606911949],"aabb_xy":[[0.3857403779470278,1.4805556022519548],[0.4044343931116183,1.5091628466872429]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.4008619742851418,1.766816370414237,0.71338606911949],"aabb_xy":[[0.38336197402580524,1.7527248282254646],[0.4183619745444785,1.7809079126030098]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[-0.3397847366954457,0.9302513428333463,0.71338606911949],"aabb_xy":[[-0.3458217496961104,0.9242246417643982],[-0.33374772369478095,0.9362780439022946]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.36074655774450326,-1.898258796015813,0.71338606911949],"aabb_xy":[[0.32959963890092014,-1.96825879470262],[0.3918934765880864,-1.8282587973290056]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.33529364962542174,-1.150862303734938,0.71338606911949],"aabb_xy":[[0.2803013989899108,-1.205862305478251],[0.39028590026093274,-1.0958623019916254]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[0.40895817704157444,-2.476526932267828,0.71338606911949],"aabb_xy":[[0.37395817873087894,-2.4842419471913737],[0.44395817535226983,-2.4688119173442824]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.6451931864479148,-2.000644110182546,0.71338606911949],"aabb_xy":[[-0.6714820107683553,-2.026915543837197],[-0.618904362127474,-1.9743726765278946]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[-0.6091693069954822,-1.6267094135079343,0.71338606911949],"aabb_xy":[[-0.6591522571829614,-1.6767094131504943],[-0.5591863568080028,-1.5767094138653734]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.11552536006913983,0.6364355725412141,0.71338606911949],"aabb_xy":[[0.08122844905139918,0.6021386863312727],[0.14982227108688045,0.6707324587511553]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[-0.24886306945963294,0.4462884760343595,0.71338606911949],"aabb_xy":[[-0.26640976437575187,0.40878847447010824],[-0.231316374543514,0.48378847759861077]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.14396249092634683,-2.192732587764094,0.71338606911949],"aabb_xy":[[-0.19344291214030562,-2.256732585676946],[-0.09448206971238804,-2.1287325898512424]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[-0.6682154410880928,-2.1630444121826975,0.71338606911949],"aabb_xy":[[-0.6735530167540974,-2.1880444131118377],[-0.6628778654220883,-2.138044411253558]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[0.644982475207815,-0.18010409374251513,0.71338606911949],"aabb_xy":[[0.6105201278096731,-0.21459797614033777],[0.6794448226059567,-0.14561021134469238]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.6802486497936453,0.6449784670600609,0.71338606911949],"aabb_xy":[[0.6497643996666151,0.5949784672785648],[0.7107328999206755,0.6949784668415567]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6946800757442966,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5489.png","name":"5489"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5489.png","name":"5489"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6213.png","name":"6213"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4940.png","name":"4940"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9118.png","name":"9118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2933.png","name":"2933"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":546.146576796832,"rotation_z_degrees":340.016001821235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003407866637488946,0.0041943291961653376,0.006905781575156648]},{"name":"camera_2","offset_m":[0.0007348337601571497,0.01933117311754352,-0.007007371962225966]},{"name":"camera_3","offset_m":[-0.007911444611407692,0.0018003571646869575,-0.00770318367311539]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018658371150434073,-0.00032233636348427143,0.0018280918048897655],"end_effector_yaw_offset_degrees":0.4240441001335955},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016445547227545566,-0.001821592599051786,0.000962564354291259],"end_effector_yaw_offset_degrees":-0.7924874472830516},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00011255421918745893,0.0018048413399771135,0.0015016356098974917],"end_effector_yaw_offset_degrees":0.272351703838021}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003777748228508987,0.001761462387031022],"position_m":[0.14862225177149102,0.225361462387031,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004129391793045764,0.002119236492068968],"position_m":[0.23827060820695423,-0.307580763507931,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0041580694443622114,-0.0036620034232178124],"position_m":[0.3203419305556378,-0.04526200342321781,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021767307267796256,-0.002744878445480915],"position_m":[0.3488232692732203,0.3156551215545191,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae5ae55135f7eb297335c61c755856bf90f949e0ab3c96f639e3bdc12f0fdbaa","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5489/tex_ceiling_textures_2933/tex_floor_textures_9118/tex_table_textures_6213/tex_wall_textures_4940","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8403982501126230762,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8403982501126230762,"visual_seed":8403982501126230762,"scene_id":"lab_003","finished_at":"2026-09-03T20:09:34"} +{"episode_id":"ep_000023","started_at":"2026-09-03T20:09:37","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.16782418162935986,1.787384455208286,0.71338606911949],"aabb_xy":[[-0.17245929678159325,1.783517120131137],[-0.16318906647712647,1.7912517902854346]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.14969720986075152,-2.0900517041259437,0.71338606911949],"aabb_xy":[[-0.22969721033096752,-2.0983624117402924],[-0.0696972093905356,-2.081740996511596]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.639832718479564,1.821720679727823,0.71338606911949],"aabb_xy":[[-0.6437932022492984,1.8140528151423025],[-0.6358722347098297,1.8293885443133437]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.7116384892512144,-0.7597229831575443,0.71338606911949],"aabb_xy":[[0.7051368527432099,-0.7694908051838542],[0.7181401257592192,-0.7499551611312345]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[0.21341334879003981,-1.9989944270704911,0.71338606911949],"aabb_xy":[[0.1584396267537069,-2.0539944266347243],[0.2683870708263727,-1.9439944275062582]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.0923145955951018,1.2147661499925242,0.71338606911949],"aabb_xy":[[0.042314596018767095,1.1647855710404182],[0.14231459517143652,1.2647467289446301]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[0.5261156568729195,-0.40068412065325365,0.71338606911949],"aabb_xy":[[0.48393124271208887,-0.4646841209304648],[0.5683000710337504,-0.3366841203760424]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[-0.07569268286500797,-0.19652319463332368,0.71338606911949],"aabb_xy":[[-0.14069268382213515,-0.24847140656702923],[-0.01069268190788075,-0.14457498269961808]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[-0.23952770501614096,-2.298244439287141,0.71338606911949],"aabb_xy":[[-0.24486528068214553,-2.3232444402162806],[-0.2341901293501364,-2.273244438358001]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.08111125381204531,-0.5324541018092375,0.71338606911949],"aabb_xy":[[-0.09196286006092091,-0.5433133925368885],[-0.07025964756316971,-0.5215948110815865]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[0.07045956501760287,1.4653554346613071,0.71338606911949],"aabb_xy":[[0.06304710947621439,1.4595042242396792],[0.07787202055899134,1.471206645082935]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[0.15271531297885443,1.59270807817281,0.71338606911949],"aabb_xy":[[0.13580458054251263,1.5792358725801952],[0.16962604541519619,1.6061802837654244]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.5670297529769082,1.2404975974517565,0.71338606911949],"aabb_xy":[[0.5070297521160952,1.1890711674452699],[0.6270297538377209,1.2919240274582426]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.2506978066609657,1.1677390500458449,0.71338606911949],"aabb_xy":[[-0.3156978092987592,1.116259451346398],[-0.1856978040231722,1.2192186487452918]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[-0.1727681043588063,0.5286303840572888,0.71338606911949],"aabb_xy":[[-0.23276810461020744,0.474349059020824],[-0.11276810410740509,0.5829117090937533]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.08620576220780996,1.0203079575065175,0.71338606911949],"aabb_xy":[[-0.13620576164800557,0.9703400330222012],[-0.03620576276761432,1.0702758819908338]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.07857777448318481,-0.8824543956348574,0.71338606911949],"aabb_xy":[[-0.08583902205359223,-0.8952414058983669],[-0.0713165269127774,-0.8696673853713479]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.24955576873084206,-1.2434023894612836,0.71338606911949],"aabb_xy":[[-0.25596958237402695,-1.2498122097089517],[-0.2431419550876571,-1.236992569213615]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[0.06244377951037805,0.8686711265353266,0.71338606911949],"aabb_xy":[[-0.007556222091901425,0.855238333333669],[0.13244378111265753,0.8821039197369842]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.11878351740580684,1.615638018450801,0.71338606911949],"aabb_xy":[[-0.18278351380137992,1.5516747300320675],[-0.054783521010233746,1.6796013068695346]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[0.40748340887134105,-1.282949853799505,0.71338606911949],"aabb_xy":[[0.3981897906341904,-1.320449852287639],[0.41677702710849157,-1.245449855311371]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[0.0974609472089224,-0.9801272442708742,0.71338606911949],"aabb_xy":[[0.05218233232777314,-1.0441272436190578],[0.14273956209007166,-0.9161272449226906]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[-0.03562851849675497,1.1953522687694287,0.71338606911949],"aabb_xy":[[-0.05814221032021216,1.125352268168421],[-0.013114826673297775,1.265352269370436]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[0.2603422489474797,1.0262291686616667,0.71338606911949],"aabb_xy":[[0.22284224845012146,1.0222604851135482],[0.29784224944483795,1.0301978522097852]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[0.3092052119414641,-0.5999570305279878,0.71338606911949],"aabb_xy":[[0.26312012068673263,-0.6639570277805429],[0.3552903031961956,-0.5359570332754326]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[-0.557119351065793,-0.21981866247401616,0.71338606911949],"aabb_xy":[[-0.6421193494832163,-0.30469295793630113],[-0.4721193526483698,-0.1349443670117312]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[0.0659258157448438,-1.2843744220941933,0.71338606911949],"aabb_xy":[[0.058002535506095465,-1.3068744223321969],[0.07384909598359213,-1.2618744218561901]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[-0.3636033631109912,-0.2621318016153116,0.71338606911949],"aabb_xy":[[-0.39923251901095086,-0.2977644683721645],[-0.3279742072110314,-0.22649913485845863]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_28","position":[0.6167942040067809,-1.5251618486466358,0.71338606911949],"aabb_xy":[[0.5792942032147853,-1.5315296896048258],[0.6542942047987762,-1.5187940076884454]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_29","position":[0.6412302910261323,-0.8513442743201547,0.71338606911949],"aabb_xy":[[0.6037302906779045,-0.8631356699012381],[0.67873029137436,-0.839552878739071]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_30","position":[-0.6486247003626745,0.29762572488505157,0.71338606911949],"aabb_xy":[[-0.6711211217965387,0.2751257250783041],[-0.6261282789288105,0.32012572469179895]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_31","position":[-0.5157474551556845,-1.880910743909524,0.71338606911949],"aabb_xy":[[-0.6054345314638,-1.9709107441639746],[-0.4260603788475691,-1.7909107436550735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6994487529735205,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5981.png","name":"5981"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5981.png","name":"5981"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5577.png","name":"5577"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3004.png","name":"3004"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8519.png","name":"8519"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8755.png","name":"8755"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":786.9182054567316,"rotation_z_degrees":87.41431024892543,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0167261102118372,0.009554530841655945,0.010287469766066905]},{"name":"camera_2","offset_m":[0.0030799433891709437,0.019089524984631717,-0.010008033492120849]},{"name":"camera_3","offset_m":[0.007952355953297775,-0.019541874323602847,0.015342364977847456]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006665921447181295,0.0011124647466501623,0.0010849126059776634],"end_effector_yaw_offset_degrees":-0.4773059804689612},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004245332450022526,0.0009445690227647061,0.0010041938030812022],"end_effector_yaw_offset_degrees":-0.11803110690876406},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00012683520130504864,0.001972937094028962,0.00027814919597019244],"end_effector_yaw_offset_degrees":0.3141194385113186}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002576642557697263,-0.0004463229069725126],"position_m":[0.15497664255769728,0.22315367709302747,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018974342148188016,0.00044706126891158604],"position_m":[0.2442974342148188,-0.3092529387310884,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004490289404702277,0.002560240525374652],"position_m":[0.32000971059529776,-0.039039759474625346,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003313857644971728,-0.0030260128159825183],"position_m":[0.3543138576449717,0.3153739871840175,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d82d93ea7da34da051740b1ed086fb6168778b559503f7a545916a29fc402e1","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0023.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5981/tex_ceiling_textures_8755/tex_floor_textures_8519/tex_table_textures_5577/tex_wall_textures_3004","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8865352385246571013,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8865352385246571013,"visual_seed":8865352385246571013,"scene_id":"lab_003","finished_at":"2026-09-03T20:12:34"} +{"episode_id":"ep_000024","started_at":"2026-09-03T20:12:36","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.016740707032992685,1.3767560705283066,0.71338606911949],"aabb_xy":[[-0.03924070704314098,1.3626598508887033],[0.005759292977155606,1.39085229016791]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.4546667920354892,-0.7193640039344886,0.71338606911949],"aabb_xy":[[0.40949547418732024,-0.7833640010790272],[0.4998381098836582,-0.6553640067899502]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[-0.30567033557103934,0.770299195278664,0.71338606911949],"aabb_xy":[[-0.3556477524362929,0.7202991937894154],[-0.2556929187057857,0.8202991967679125]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.24097749041155525,-2.2833158924733272,0.71338606911949],"aabb_xy":[[0.21848106897769112,-2.3058158922800747],[0.26347391184541935,-2.26081589266658]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[-0.12240102571235012,-0.3139256330176674,0.71338606911949],"aabb_xy":[[-0.14691464980935598,-0.33819022631970386],[-0.09788740161534427,-0.28966103971563095]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.20468436745308016,1.727573328637432,0.71338606911949],"aabb_xy":[[0.12468436602295294,1.6480561736248223],[0.28468436888320736,1.8070904836500412]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.07984190856213724,-2.133997571647622,0.71338606911949],"aabb_xy":[[0.029841907201250028,-2.1839754762230372],[0.12984190992302447,-2.084019667072206]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.2719107408127712,1.2948058367833033,0.71338606911949],"aabb_xy":[[-0.32139116202673,1.2308058388704515],[-0.22243031959881243,1.3588058346961551]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[-0.12219834954756459,-0.6662105309283015,0.71338606911949],"aabb_xy":[[-0.12704194430879456,-0.6710621834072857],[-0.11735475478633461,-0.6613588784493175]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.192985098828801,-0.8615495277327954,0.71338606911949],"aabb_xy":[[0.18884924249610077,-0.8990495271771524],[0.19712095516150116,-0.8240495282884384]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.3971556832427768,1.7542339126874444,0.71338606911949],"aabb_xy":[[-0.4346556844275695,1.7498156899913835],[-0.3596556820579839,1.7586521353835045]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.1479915598872119,0.3091309661772361,0.71338606911949],"aabb_xy":[[-0.19799155946354663,0.25915038722513023],[-0.09799156031087719,0.3591115451293421]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[-0.5278140017921138,1.1659885002967427,0.71338606911949],"aabb_xy":[[-0.5612541769881333,1.1325448744658124],[-0.49437382659609413,1.1994321261276726]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[0.2074484172286961,1.1397081764266184,0.71338606911949],"aabb_xy":[[0.17745675449482576,1.1097081770898176],[0.2374400799625664,1.1697081757634187]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.6710304856237719,0.394346755927919,0.71338606911949],"aabb_xy":[[-0.693495255595177,0.3718467550490585],[-0.6485657156523668,0.4168467568067795]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[0.5988897229558714,1.530068062871495,0.71338606911949],"aabb_xy":[[0.5924759093126863,1.5236582426238268],[0.6053035365990562,1.5364778831191634]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.47109173357230083,-1.2652996913124097,0.71338606911949],"aabb_xy":[[-0.5360917314539486,-1.3164233550189508],[-0.4060917356906531,-1.214176027605869]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.12814525597262227,0.6419804796550368,0.71338606911949],"aabb_xy":[[-0.19214525819302927,0.5976073955297485],[-0.06414525375221522,0.6863535637803251]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.07791204033132104,-0.08524041991478226,0.71338606911949],"aabb_xy":[[-0.08532449587270952,-0.0910916303364102],[-0.07049958478993257,-0.0793892094931543]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.19906537406775626,-1.9681930618757866,0.71338606911949],"aabb_xy":[[-0.27906537103079543,-2.04526870351956],[-0.1190653771047171,-1.891117420232013]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.06204292444974713,-1.2588338130282832,0.71338606911949],"aabb_xy":[[-0.001957077893054437,-1.3037746642724157],[0.12604292679254867,-1.2138929617841507]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[-0.38975969626470347,0.26624684449910285,0.71338606911949],"aabb_xy":[[-0.40017125494518707,0.2609011111632043],[-0.37934813758421965,0.2715925778350013]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[0.15534633293854172,-2.3431360938921224,0.71338606911949],"aabb_xy":[[0.14664837064782643,-2.355261068199597],[0.164044295229257,-2.3310111195846477]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[0.20836225304768918,-0.964941676964346,0.71338606911949],"aabb_xy":[[0.19135215575763856,-0.9810761654626199],[0.22537235033773986,-0.948807188466072]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_24","position":[-0.2703416986454921,-0.9924121106431885,0.71338606911949],"aabb_xy":[[-0.2922503807848431,-1.014312777463279],[-0.24843301650614102,-0.9705114438230975]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964250568342658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1378.png","name":"1378"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1378.png","name":"1378"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4547.png","name":"4547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3721.png","name":"3721"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1160.png","name":"1160"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6185.png","name":"6185"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":808.154373565536,"rotation_z_degrees":211.84393821139304,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009263767025277002,-0.015389988438077151,0.011297402297580524]},{"name":"camera_2","offset_m":[-0.006499248023508649,0.013495298212130014,-0.011022846012348273]},{"name":"camera_3","offset_m":[0.017270555603796523,0.013830378193410545,0.001944774436139253]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00139051461875103,-0.0011883927001925484,-0.001180882132750185],"end_effector_yaw_offset_degrees":0.26001632390470264},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012085974231829018,0.001478166592286345,-0.0002487838295193198],"end_effector_yaw_offset_degrees":-0.1208373636508202},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00047121169014986957,0.001179125495686707,0.001076228360664872],"end_effector_yaw_offset_degrees":-0.3851523096286853}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005033883039808219,0.0023673883923602725],"position_m":[0.15290338830398084,0.22596738839236027,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009725214923031224,0.0001612251816611402],"position_m":[0.24337252149230312,-0.30953877481833886,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005885106593648036,-0.0011096900044038384],"position_m":[0.3239114893406352,-0.04270969000440383,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001659628219886876,-0.003502091005248905],"position_m":[0.35116596282198864,0.3148979089947511,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"95d28554d2c456a8d68ee81df9f18ceb874ddec0f0ac1d4eb7b10aa48327c85d","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1378/tex_ceiling_textures_6185/tex_floor_textures_1160/tex_table_textures_4547/tex_wall_textures_3721","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":636694830475723983,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":636694830475723983,"visual_seed":636694830475723983,"scene_id":"lab_003","finished_at":"2026-09-03T20:15:34"} +{"episode_id":"ep_000025","started_at":"2026-09-03T20:15:37","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.20023289644940617,-0.8049102655296376,0.71338606911949],"aabb_xy":[[-0.21773289669445553,-0.8224100533692045],[-0.18273289620435676,-0.7874104776900708]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[0.5615499060395981,0.8662898592081598,0.71338606911949],"aabb_xy":[[0.5240499055422398,0.8623211756600414],[0.5990499065369563,0.8702585427562782]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.5921827483103979,-1.1712209510219178,0.71338606911949],"aabb_xy":[[0.5450533693085621,-1.2352209520663195],[0.6393121273122334,-1.1072209499775156]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.510117364437058,-1.7161290221468732,0.71338606911949],"aabb_xy":[[-0.5901173665998205,-1.7960842057730166],[-0.43011736227429553,-1.6361738385207294]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.2899611585465818,1.8119186540887857,0.71338606911949],"aabb_xy":[[-0.30884554231509204,1.7930327293084327],[-0.2710767747780716,1.8308045788691383]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.4664059236140016,0.31314606487718066,0.71338606911949],"aabb_xy":[[-0.5304059258344087,0.2687729807518924],[-0.40240592139359455,0.35751914900246895]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[0.38247306653163293,-0.9347604117374535,0.71338606911949],"aabb_xy":[[0.374446795901007,-0.9435119067148061],[0.390499337162259,-0.9260089167601009]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[-0.08228139566809045,-1.9788025610424405,0.71338606911949],"aabb_xy":[[-0.1622813989259334,-2.058799068834425],[-0.002281392410247482,-1.8988060532504567]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.6052265212350072,-0.012297584485519764,0.71338606911949],"aabb_xy":[[-0.6402265195051271,-0.019371712180507924],[-0.5702265229648873,-0.005223456790531596]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.5748573089059688,-0.8728950870593795,0.71338606911949],"aabb_xy":[[-0.6248415446141461,-0.922895085872875],[-0.5248730731977916,-0.8228950882458839]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.19577157405528384,-0.11868492525197194,0.71338606911949],"aabb_xy":[[-0.2507715722570286,-0.1592068918784095],[-0.14077157585353897,-0.07816295862553434]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.1957784787515111,1.3969533665520926,0.71338606911949],"aabb_xy":[[0.19166252863943845,1.3928378115192468],[0.19989442886358377,1.401068921584938]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[0.31655381011998074,-0.8071788314909984,0.71338606911949],"aabb_xy":[[0.2940401182965235,-0.8771788320920059],[0.3390675019434379,-0.7371788308899908]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.6588290283889106,-1.3072822155272728,0.71338606911949],"aabb_xy":[[-0.6668653630901953,-1.3153203348316895],[-0.6507926936876256,-1.299244096222856]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.24139409646365773,0.49804316445244057,0.71338606911949],"aabb_xy":[[-0.30539409505023013,0.45103620105293174],[-0.1773940978770852,0.5450501278519492]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[0.4213227331792939,0.5896693933564987,0.71338606911949],"aabb_xy":[[0.39267340081887764,0.5610238340794229],[0.4499720655397101,0.6183149526335745]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[0.6193555466710423,-1.4240625303817143,0.71338606911949],"aabb_xy":[[0.6123152367375054,-1.504062529781386],[0.6263958566045794,-1.344062530982043]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[0.6117243117383617,-2.2804777395778695,0.71338606911949],"aabb_xy":[[0.604682860787614,-2.287504491315664],[0.6187657626891092,-2.273450987840075]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.3673685228129237,-0.3626398611560293,0.71338606911949],"aabb_xy":[[-0.3850013584064512,-0.3802628071716523],[-0.3497356872193961,-0.34501691514040633]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.3239607797785262,-2.4396139705934616,0.71338606911949],"aabb_xy":[[0.27868216489737696,-2.5036139699416453],[0.3692393946596755,-2.375613971245278]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.02276304838123977,1.720788271453085,0.71338606911949],"aabb_xy":[[0.0002630481377243789,1.7085836367933132],[0.045263048624755164,1.732992906112857]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.40974486814660577,-1.922197575110833,0.71338606911949],"aabb_xy":[[-0.47374487019633776,-1.962292058200141],[-0.34574486609687377,-1.8821030920215251]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[-0.3307281495979512,1.5183324908808156,0.71338606911949],"aabb_xy":[[-0.4107281470015446,1.4383399196826325],[-0.25072815219435773,1.5983250620789982]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.40334088449390654,-2.4987746591021365,0.71338606911949],"aabb_xy":[[-0.42584088430780886,-2.503249275472617],[-0.3808408846800041,-2.494300042731656]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.48022343824802527,0.18156319033987467,0.71338606911949],"aabb_xy":[[-0.5442234355336739,0.1400564713870307],[-0.4162234409623766,0.22306990929271864]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[-0.5073385862893286,0.0477525501366598,0.71338606911949],"aabb_xy":[[-0.5356682962378689,0.04329180794294274],[-0.4790088763407885,0.05221329233037686]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.061358798924831315,-2.242087366426017,0.71338606911949],"aabb_xy":[[0.05645950661826782,-2.2697642857285856],[0.06625809123139481,-2.214410447123448]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[-0.29717300060686425,0.6368402955827572,0.71338606911949],"aabb_xy":[[-0.3771729976211122,0.6167057439093458],[-0.21717300359261626,0.6569748472561684]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[-0.496437488049269,-2.0914900216224264,0.71338606911949],"aabb_xy":[[-0.5764374860300541,-2.099091562584278],[-0.416437490068484,-2.083888480660574]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[0.20294518309858045,1.475621030504389,0.71338606911949],"aabb_xy":[[0.18473935943733283,1.4645956299223974],[0.22115100675982818,1.4866464310863807]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_30","position":[0.4271410954167032,-1.1958324379194805,0.71338606911949],"aabb_xy":[[0.37715814522922375,-1.2458324375620407],[0.4771240456041824,-1.1458324382769198]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6940990967043008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8800.png","name":"8800"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8800.png","name":"8800"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4538.png","name":"4538"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3707.png","name":"3707"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7103.png","name":"7103"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3293.png","name":"3293"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":628.5032475303705,"rotation_z_degrees":235.44497173212275,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009283013774949857,0.002797889067035507,-0.01720405568871646]},{"name":"camera_2","offset_m":[0.00016174165888847153,0.01161536598709573,0.015014783686689206]},{"name":"camera_3","offset_m":[0.007525043863547208,-0.0083393525042767,-0.002523877281822077]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012806208115278325,-0.00032476190667247323,0.0003237082616453046],"end_effector_yaw_offset_degrees":0.9849620096220091},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019293964853078537,0.00045387125517191767,-0.0017171533264785177],"end_effector_yaw_offset_degrees":-0.4745084388926617},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011789929140201398,8.534716005546708e-05,-0.0010754132720800858],"end_effector_yaw_offset_degrees":0.3062898066672781}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001845131001609564,0.0004773940469392458],"position_m":[0.15424513100160958,0.22407739404693924,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033041521376303623,-0.004666839343768823],"position_m":[0.24570415213763036,-0.3143668393437688,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001237145530390212,0.0023493587225645474],"position_m":[0.32573714553039024,-0.03925064127743545,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037137262682592144,-0.001018212459217991],"position_m":[0.34728627373174076,0.317381787540782,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e4b16c81e56223a0e8c2c267aff3ec203ccd110e6fb4a6d1fc75eb0f641b833b","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8800/tex_ceiling_textures_3293/tex_floor_textures_7103/tex_table_textures_4538/tex_wall_textures_3707","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1665637096012451904,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1665637096012451904,"visual_seed":1665637096012451904,"scene_id":"lab_003","finished_at":"2026-09-03T20:18:44"} +{"episode_id":"ep_000026","started_at":"2026-09-03T20:18:48","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.20348504382799548,-1.1274278021954072,0.71338606911949],"aabb_xy":[[0.18832217085105843,-1.1425932594905261],[0.2186479168049326,-1.1122623449002886]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[0.6768359828363191,-2.274475383615272,0.71338606911949],"aabb_xy":[[0.6418359828598232,-2.2839399996628886],[0.7118359828128149,-2.265010767567655]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.11504296663439006,0.6710697283237796,0.71338606911949],"aabb_xy":[[-0.16501603216690552,0.6210697285112469],[-0.06506990110187459,0.7210697281363126]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[-0.3325163844658756,1.7356846766999037,0.71338606911949],"aabb_xy":[[-0.3825112173938172,1.6856846778046601],[-0.282521551537934,1.7856846755951472]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[0.50015481472515,1.2832067066031247,0.71338606911949],"aabb_xy":[[0.44516256408963906,1.228206704859812],[0.5551470653606609,1.3382067083464375]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.51117320060923,-0.3313953754127672,0.71338606911949],"aabb_xy":[[0.5017557260393672,-0.34081155255048623],[0.5205906751790927,-0.3219791982750482]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.33771274548021424,-1.7281442315107864,0.71338606911949],"aabb_xy":[[-0.37362624990520393,-1.764057739727541],[-0.30179924105522454,-1.692230723294032]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[0.03781340503043917,-1.86764125640147,0.71338606911949],"aabb_xy":[[-0.008271686224292299,-1.931641253654025],[0.08389849628517065,-1.8036412591489148]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[-0.20158655136900383,-2.327442473298428,0.71338606911949],"aabb_xy":[[-0.21121818758943342,-2.3370797860781365],[-0.19195491514857418,-2.3178051605187187]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[0.06364950693159366,-1.1543185153459878,0.71338606911949],"aabb_xy":[[-0.0003504894639794337,-1.2182818037647214],[0.12764950332716674,-1.0903552269272543]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[-0.3937667544243811,0.1843586549370988,0.71338606911949],"aabb_xy":[[-0.4312667543681475,0.1760655649022622],[-0.3562667544806147,0.19265174497193535]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.5069796440725103,-1.8896770425304585,0.71338606911949],"aabb_xy":[[-0.5869796414761036,-1.9696696137286411],[-0.4269796466689168,-1.8096844713322755]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.10399464116865442,-2.3840446154548394,0.71338606911949],"aabb_xy":[[-0.10842527052349463,-2.3894929871895223],[-0.09956401181381427,-2.3785962437201573]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.5484853783109285,-0.918033758730864,0.71338606911949],"aabb_xy":[[0.5356134748099883,-0.9980337591447002],[0.5613572818118686,-0.8380337583170279]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[-0.5186931737626712,1.2424516910498036,0.71338606911949],"aabb_xy":[[-0.5385842136430116,1.229795879765107],[-0.4988021338823311,1.2551075023345006]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.6267974182000191,-0.32495013284243335,0.71338606911949],"aabb_xy":[[-0.6387301525618472,-0.3373322856502928],[-0.614864683838191,-0.31256798003457403]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.32198455162111284,-2.0101463310781384,0.71338606911949],"aabb_xy":[[0.28448455010548107,-2.0213731040942835],[0.3594845531367445,-1.9989195580619934]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[-0.4732911517041517,-0.7382316017632193,0.71338606911949],"aabb_xy":[[-0.5284163573337424,-0.7982316032045065],[-0.4181659460745609,-0.6782316003219322]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[-0.2669728424260744,-2.413413724210114,0.71338606911949],"aabb_xy":[[-0.29562217478649055,-2.4420592834871893],[-0.2383235100656581,-2.3847681649330377]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.4678848491433967,-0.9070907613258274,0.71338606911949],"aabb_xy":[[0.4507827711850285,-0.9241975668570972],[0.48498692710176483,-0.8899839557945577]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[-0.6489372435188264,-1.9329464803274319,0.71338606911949],"aabb_xy":[[-0.665614379511922,-1.9496464043013622],[-0.632260107525731,-1.9162465563535016]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.6494833375653435,-1.0389092809646618,0.71338606911949],"aabb_xy":[[-0.6829625048263845,-1.0723883943357688],[-0.6160041703043027,-1.0054301675935549]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[0.3902610306555727,-1.400114005052099,0.71338606911949],"aabb_xy":[[0.31026103364132473,-1.4202485567255103],[0.4702610276698207,-1.3799794533786878]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[-0.38213133034538344,0.33176948511793514,0.71338606911949],"aabb_xy":[[-0.44713132850130255,0.30547324056802294],[-0.31713133218946443,0.35806572966784733]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7014807619774324,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2401.png","name":"2401"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2401.png","name":"2401"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6216.png","name":"6216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9952.png","name":"9952"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2509.png","name":"2509"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8789.png","name":"8789"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":814.3692603833525,"rotation_z_degrees":79.27119038919335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018335789494740323,-0.004049921058978088,0.01765340438802705]},{"name":"camera_2","offset_m":[0.0019075742514477294,0.006013899889057695,-0.004787074143864136]},{"name":"camera_3","offset_m":[-0.0028114601511637777,0.0025693131373397023,-0.01740441659385565]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00012528703377859556,0.0018937859943734653,0.00036020994913780807],"end_effector_yaw_offset_degrees":0.9383630266594967},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008554555213952568,-0.0010866984838381621,0.0008876124808411454],"end_effector_yaw_offset_degrees":0.9909478754961238},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006182536354930818,0.0017056936691906052,0.0013180813013730602],"end_effector_yaw_offset_degrees":-0.8347916149632217}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008622961875323978,-0.0022726883282455233],"position_m":[0.1532622961875324,0.22132731167175446,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0043186217702931885,-0.0004948282627454679],"position_m":[0.23808137822970682,-0.31019482826274547,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029566530026235013,-0.0004552232500747086],"position_m":[0.3274566530026235,-0.04205522325007471,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004096130860167776,-7.61504458404675e-05],"position_m":[0.3550961308601678,0.31832384955415954,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f31d15abc674b79547f8c71f4fe1fac6206ebf305f188c81b6a5ac754ec9c619","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2401/tex_ceiling_textures_8789/tex_floor_textures_2509/tex_table_textures_6216/tex_wall_textures_9952","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7410720316313936864,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7410720316313936864,"visual_seed":7410720316313936864,"scene_id":"lab_003","finished_at":"2026-09-03T20:21:41"} +{"episode_id":"ep_000027","started_at":"2026-09-03T20:21:44","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.11410938589175523,-1.1303338009937423,0.71338606911949],"aabb_xy":[[0.05010938367134821,-1.1747068851190305],[0.17810938811216226,-1.085960716868454]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.6636904812186836,1.7702018835548272,0.71338606911949],"aabb_xy":[[-0.6818963048799312,1.7591764829728358],[-0.6454846575574359,1.781227284136819]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[0.03240989374961345,0.9536845281327677,0.71338606911949],"aabb_xy":[[0.025148646179206036,0.9408975178692581],[0.039671141320020864,0.9664715383962771]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.03132850502047935,-1.157122243539427,0.71338606911949],"aabb_xy":[[-0.04074597959034209,-1.166538420677146],[-0.02191103045061659,-1.147706066401708]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[-0.44200412695500185,-1.821611427532339,0.71338606911949],"aabb_xy":[[-0.5070041248366497,-1.8727350912388803],[-0.3770041290733541,-1.7704877638257985]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.09934502150997637,-0.5379425528521091,0.71338606911949],"aabb_xy":[[-0.10675747705136483,-0.5437937632737371],[-0.09193256596858788,-0.5320913424304812]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[-0.4854762814726126,-2.553810657240186,0.71338606911949],"aabb_xy":[[-0.49178838100895106,-2.559577596493405],[-0.4791641819362742,-2.5480437179869675]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[-0.4477591070209004,-0.3742518240259831,0.71338606911949],"aabb_xy":[[-0.4680434097442991,-0.3945344491686919],[-0.42747480429750156,-0.3539691988832742]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.11858357478527004,1.2802357401317654,0.71338606911949],"aabb_xy":[[-0.15608357336089085,1.2674994444682075],[-0.08108357620964923,1.2929720357953234]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.296475041149185,1.7110225536480326,0.71338606911949],"aabb_xy":[[0.27658400126884475,1.698366742363336],[0.31636608102952524,1.7236783649327296]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.24186859171957031,-2.099127787749147,0.71338606911949],"aabb_xy":[[-0.2550198376908597,-2.1241277875058335],[-0.22871734574828098,-2.0741277879924604]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.298572766513564,-0.6533154043296845,0.71338606911949],"aabb_xy":[[0.27357276696182553,-0.6634578881948192],[0.3235727660653025,-0.6431729204645498]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.472388609253212,0.12880887133760943,0.71338606911949],"aabb_xy":[[-0.5023561661630376,0.09880887103972369],[-0.4424210523433863,0.15880887163549517]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[0.27749996315025405,1.2671780010220481,0.71338606911949],"aabb_xy":[[0.21590920392626123,1.2031780029130015],[0.33909072237424687,1.3311779991310952]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.20373413231161186,-1.3377415258702108,0.71338606911949],"aabb_xy":[[0.17508479995119564,-1.3663870851472864],[0.23238346467202808,-1.3090959665931348]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.02766031120288881,1.5741896077901463,0.71338606911949],"aabb_xy":[[-0.03587485631857278,1.5655130174925045],[-0.019445766087204826,1.5828661980877872]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[-0.014389926287427524,1.4555346484506022,0.71338606911949],"aabb_xy":[[-0.03685469625883264,1.4330346475717417],[0.008074843683977595,1.4780346493294627]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[0.2569993545546876,0.6998951710907515,0.71338606911949],"aabb_xy":[[0.20298375827278753,0.6358951681984943],[0.31101495083658753,0.7638951739830087]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.6608949024527258,-0.7186192339411352,0.71338606911949],"aabb_xy":[[0.6264324244396379,-0.7252829111240581],[0.6953573804658134,-0.7119555567582124]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.37286020390531566,0.25612858464968813,0.71338606911949],"aabb_xy":[[-0.43686020558331295,0.20761119317037385],[-0.30886020222731825,0.3046459761290023]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[0.6990622332297893,0.6787605155515162,0.71338606911949],"aabb_xy":[[0.6910687434345074,0.6707623836110407],[0.7070557230250715,0.6867586474919919]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.5350116696201965,-0.6933813572770076,0.71338606911949],"aabb_xy":[[0.5269853989895705,-0.7021328522543603],[0.5430379402508225,-0.6846298622996551]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[-0.27732313617945975,1.5455838909057698,0.71338606911949],"aabb_xy":[[-0.2998222719056867,1.5230838901275068],[-0.2548240004532328,1.5680838916840327]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[0.04527818933962635,-1.6079566849670002,0.71338606911949],"aabb_xy":[[0.032675490202549895,-1.6205520811918657],[0.05788088847670281,-1.5953612887421347]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.5597367226394827,-0.9893227234736641,0.71338606911949],"aabb_xy":[[0.49573671934977454,-1.0326576424775817],[0.6237367259291907,-0.9459878044697465]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.20672651259400843,-0.5646711608335249,0.71338606911949],"aabb_xy":[[-0.2193532998812048,-0.5742172345350978],[-0.1940997253068121,-0.555125087131952]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.2819126659493767,1.7811732643096039,0.71338606911949],"aabb_xy":[[-0.2997817737038322,1.7673403563323926],[-0.2640435581949212,1.7950061722868147]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[0.5438156227588162,1.7718681161354932,0.71338606911949],"aabb_xy":[[0.5175267984383755,1.7455966824808418],[0.5701044470792568,1.7981395497901442]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_28","position":[-0.5219051234278967,1.4873292679946126,0.71338606911949],"aabb_xy":[[-0.5629230668142676,1.4373292673636553],[-0.48088718004152586,1.53732926862557]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[-0.026143343436548783,-1.367841895884251,0.71338606911949],"aabb_xy":[[-0.03791153023120631,-1.4528418957894726],[-0.014375156641891266,-1.2828418959790295]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7011270464934374,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2078.png","name":"2078"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2078.png","name":"2078"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5770.png","name":"5770"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1809.png","name":"1809"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7582.png","name":"7582"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8702.png","name":"8702"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":652.6287719630607,"rotation_z_degrees":334.157834540409,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007497049224881026,0.01258287358460396,0.0029282399725670157]},{"name":"camera_2","offset_m":[-0.009983565649289781,-0.005268756311969512,0.0052095030959550676]},{"name":"camera_3","offset_m":[0.011644947926932946,0.009461888927200991,0.014371423828821079]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007846153826552437,-0.001041536058120808,-0.00043046321246547454],"end_effector_yaw_offset_degrees":0.9873926698505111},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001295475798631194,-0.001618856278770502,-0.0018503240864456295],"end_effector_yaw_offset_degrees":-0.9269757796080356},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005873091969305871,-0.0012641625349310904,0.0014904140108992592],"end_effector_yaw_offset_degrees":0.9738423331500345}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007166877648881308,-0.002237482501219257],"position_m":[0.15311668776488813,0.22136251749878075,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003959056450631204,-0.003540033081211983],"position_m":[0.2384409435493688,-0.31324003308121195,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026459976243285704,0.0018771221151710135],"position_m":[0.32714599762432856,-0.039722877884828985,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004447225989506081,-0.0015484741933522038],"position_m":[0.35544722598950607,0.3168515258066478,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"757c4b58bbdd644faba9617ba2924020cfca3203f05c4d80c7529be7ea7d1b5b","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2078/tex_ceiling_textures_8702/tex_floor_textures_7582/tex_table_textures_5770/tex_wall_textures_1809","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3046893618888240088,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3046893618888240088,"visual_seed":3046893618888240088,"scene_id":"lab_003","finished_at":"2026-09-03T20:24:45"} +{"episode_id":"ep_000028","started_at":"2026-09-03T20:24:48","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.5980032397300168,-0.1619618154821163,0.71338606911949],"aabb_xy":[[-0.6178942796103571,-0.17461762676681317],[-0.5781121998496767,-0.1493060041974195]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.41291084494890784,-0.2912355900306043,0.71338606911949],"aabb_xy":[[-0.4494066655761865,-0.32771953245736185],[-0.37641502432162904,-0.2547516476038467]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[-0.5946106353514091,1.7903791119432975,0.71338606911949],"aabb_xy":[[-0.6006476483520738,1.7843524108743498],[-0.5885736223507444,1.796405813012246]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.20583938522872397,-0.785661004413069,0.71338606911949],"aabb_xy":[[-0.26983938550270214,-0.8357271046103568],[-0.1418393849547457,-0.7355949042157809]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.12455454190086557,-0.8318568805215762,0.71338606911949],"aabb_xy":[[0.08705454140350732,-0.8358255640696945],[0.1620545423982238,-0.8278881969734577]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[-0.1261022564886778,1.3002018348247835,0.71338606911949],"aabb_xy":[[-0.16056473450176553,1.2935381576418605],[-0.09163977847558999,1.306865512007706]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[-0.4940338536565646,-1.8185686921112456,0.71338606911949],"aabb_xy":[[-0.5315338544485599,-1.8249365330694358],[-0.4565338528645691,-1.8122008511530554]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.6122819296565636,0.2262597605907164,0.71338606911949],"aabb_xy":[[-0.6672819278583083,0.1857377939642788],[-0.5572819314548186,0.266781727217154]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[0.14103927165834118,-2.3715020650725416,0.71338606911949],"aabb_xy":[[0.09103927029745394,-2.4214799696479568],[0.19103927301922838,-2.3215241604971255]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.008319069609721397,-1.4994406008411951,0.71338606911949],"aabb_xy":[[-0.04581907079451419,-1.5038588235372554],[0.029180931575071397,-1.4950223781451344]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[-0.46492535369378307,1.4556492933362946,0.71338606911949],"aabb_xy":[[-0.47363932274371745,1.4331492926771061],[-0.45621138464384847,1.4781492939954826]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.5673406705439482,-1.5862783601349548,0.71338606911949],"aabb_xy":[[-0.5761218976911845,-1.5950581074234853],[-0.5585594433967122,-1.5774986128464248]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[-0.4712138768103251,1.2128249204308177,0.71338606911949],"aabb_xy":[[-0.5412138732202867,1.1923869847791355],[-0.4012138804003632,1.233262856082499]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[0.40203076718716235,-1.3073906561459785,0.71338606911949],"aabb_xy":[[0.37154651706013214,-1.3573906559274742],[0.43251501731419245,-1.2573906563644823]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[-0.029266444177912576,-2.445078156586545,0.71338606911949],"aabb_xy":[[-0.036510210224157895,-2.5250781547901475],[-0.022022678131667243,-2.3650781583829428]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[0.41474949523660976,-0.6897734674738651,0.71338606911949],"aabb_xy":[[0.4067061353106546,-0.7747734685692315],[0.42279285516256493,-0.6047734663784986]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.43273883281324044,1.7449207522979262,0.71338606911949],"aabb_xy":[[0.39419313998803945,1.7063749812417375],[0.47128452563844153,1.783466523354115]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.5104500687859752,-0.52559328007509,0.71338606911949],"aabb_xy":[[0.49343997149592456,-0.5417277685733639],[0.5274601660760259,-0.5094587915768161]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.16682454358551124,0.7733910387797636,0.71338606911949],"aabb_xy":[[-0.1913381676825171,0.7491264454777271],[-0.14231091948850538,0.7976556320818]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.4660098480645183,1.1301653678876091,0.71338606911949],"aabb_xy":[[0.4020098460147863,1.0900708847983012],[0.5300098501142503,1.170259850976917]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.599664912983831,0.6995260834749684,0.71338606911949],"aabb_xy":[[-0.6355784174088206,0.6636125752582136],[-0.5637514085588413,0.7354395916917229]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[-0.5757170929200539,1.64343224356378,0.71338606911949],"aabb_xy":[[-0.5982170931635693,1.631227608904008],[-0.5532170926765385,1.655636878223552]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_22","position":[0.552953023242148,-1.8060644475781569,0.71338606911949],"aabb_xy":[[0.48295302111071836,-1.8288264132038523],[0.6229530253735774,-1.783302481952461]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.632312876277614,-2.2480477746793306,0.71338606911949],"aabb_xy":[[-0.6454641222489035,-2.2730477744360176],[-0.6191616303063248,-2.2230477749226445]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[-0.2240063324124651,-2.0732967166090575,0.71338606911949],"aabb_xy":[[-0.2741037963935387,-2.1372967171188693],[-0.17390886843139147,-2.0092967160992456]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_25","position":[0.03928260480246171,-2.1445664736302144,0.71338606911949],"aabb_xy":[[-0.01473299147943831,-2.2085664765224715],[0.0932982010843617,-2.080566470737957]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[-0.31844045476664185,-1.313885456904517,0.71338606911949],"aabb_xy":[[-0.33554253272501,-1.3309922624357868],[-0.3013383768082737,-1.2967786513732473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6955782190406553,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5526.png","name":"5526"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5526.png","name":"5526"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7568.png","name":"7568"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3709.png","name":"3709"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1900.png","name":"1900"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3123.png","name":"3123"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":605.6043231809367,"rotation_z_degrees":90.25561642237003,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01505052285811358,0.012775077570220467,0.018257999083550084]},{"name":"camera_2","offset_m":[-0.012608664398599298,-0.002974641660487779,0.0017330893036262528]},{"name":"camera_3","offset_m":[-0.004864906851553533,0.015530872475492948,-0.01551413171840001]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001141950849418098,-0.001625302352142955,0.0003904103348919938],"end_effector_yaw_offset_degrees":-0.3413614622328778},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001089050683798154,-4.176314505557714e-05,0.001992846020169822],"end_effector_yaw_offset_degrees":-0.6337836160556862},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016221680164803746,0.00132070633275889,-0.0017514502296024767],"end_effector_yaw_offset_degrees":-0.46365564687537875}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003273230934633951,4.991769937123455e-05],"position_m":[0.15567323093463395,0.22364991769937123,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[3.45122309774017e-05,0.004709599592504102],"position_m":[0.2424345122309774,-0.30499040040749587,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003597592935186621,-0.0017575121396739093],"position_m":[0.3209024070648134,-0.043357512139673905,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036249447541825,0.002032655509019562],"position_m":[0.34737505524581747,0.32043265550901956,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f26a1d1407fc2a0f4a14f31eceee00e3437c3ed47087ebc336570654d78615dd","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5526/tex_ceiling_textures_3123/tex_floor_textures_1900/tex_table_textures_7568/tex_wall_textures_3709","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1459724672831699226,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1459724672831699226,"visual_seed":1459724672831699226,"scene_id":"lab_003","finished_at":"2026-09-03T20:27:46"} +{"episode_id":"ep_000029","started_at":"2026-09-03T20:27:49","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.139129377072704,-2.237746685982417,0.71338606911949],"aabb_xy":[[-0.19412937527444882,-2.2782686526088543],[-0.08412937887095916,-2.197224719355979]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[0.09849334644668595,-0.8583336786801523,0.71338606911949],"aabb_xy":[[0.05572663956726576,-0.9223336821019549],[0.14126005332610614,-0.79433367525835]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.574992928334082,-1.3794791958324866,0.71338606911949],"aabb_xy":[[0.51099292628435,-1.4195736789217945],[0.638992930383814,-1.3393847127431786]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.3317133936858707,-1.2211835536564286,0.71338606911949],"aabb_xy":[[-0.3435854766973718,-1.306183553350079],[-0.3198413106743696,-1.1361835539627783]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[0.6387618717161805,0.061542638850990095,0.71338606911949],"aabb_xy":[[0.5747618684975427,0.014819526951981743],[0.7027618749348185,0.10826575074999845]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.4320054045143095,1.348338662783926,0.71338606911949],"aabb_xy":[[-0.5120054059444368,1.2688215077713165],[-0.35200540308418227,1.4278558177965355]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.3042693189866976,-1.8590158740451521,0.71338606911949],"aabb_xy":[[0.25646315137292897,-1.9240158767522106],[0.3520754866004663,-1.7940158713380927]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.26480067292521403,0.5339973346215627,0.71338606911949],"aabb_xy":[[-0.3298006755630076,0.4825177359221158],[-0.1998006702874206,0.5854769333210097]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[0.1440555362762207,-1.0294825679378863,0.71338606911949],"aabb_xy":[[0.11950932065346996,-1.0597314644869233],[0.1686017518989714,-0.9992336713888493]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[-0.1615529833385122,1.7805175624727476,0.71338606911949],"aabb_xy":[[-0.2315529854699417,1.7577555968470517],[-0.09155298120708263,1.803279528098443]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.6052196355825464,-1.9880956637053213,0.71338606911949],"aabb_xy":[[-0.6502196370487753,-2.0330955205668024],[-0.5602196341163176,-1.9430958068438409]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[-0.32684291670160426,-0.8882222325997886,0.71338606911949],"aabb_xy":[[-0.3766596961664391,-0.9382222310840921],[-0.27702613723676955,-0.8382222341154854]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.3212948000337481,1.4807209748619443,0.71338606911949],"aabb_xy":[[-0.3283362509844957,1.47369422312415],[-0.3142533490830005,1.487747726599739]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.6205310400090316,-1.370865981931107,0.71338606911949],"aabb_xy":[[-0.6380310391433986,-1.380745608968695],[-0.6030310408746643,-1.3609863548935193]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.2263574419658142,-1.2748541555404125,0.71338606911949],"aabb_xy":[[0.13635743963179514,-1.3523365101255251],[0.31635744429983326,-1.1973718009552998]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.035150503715591364,-1.56645722397451,0.71338606911949],"aabb_xy":[[0.012685733744186238,-1.5889572248533708],[0.057615273686996475,-1.5439572230956498]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[0.6104353033978243,-1.0598946160021299,0.71338606911949],"aabb_xy":[[0.5554398255771648,-1.1148946174360368],[0.6654307812184835,-1.004894614568223]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.2751585606727587,-0.3929800692322236,0.71338606911949],"aabb_xy":[[-0.29427086803073754,-0.4121148481094657],[-0.2560462533147798,-0.37384529035498165]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.46409593078125844,-0.7852141286232128,0.71338606911949],"aabb_xy":[[0.4440375191680181,-0.8052792155323704],[0.48415434239449867,-0.7651490417140553]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.6305538295498931,0.5547534171904758,0.71338606911949],"aabb_xy":[[0.6153909565729561,0.539587959895357],[0.6457167025268302,0.5699188744855945]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.4101320943646913,-0.375099167747567,0.71338606911949],"aabb_xy":[[-0.45961251557865007,-0.43909916566041884],[-0.3606516731507325,-0.3110991698347152]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[0.6743365740361034,-0.3943465653755118,0.71338606911949],"aabb_xy":[[0.6641835584819538,-0.43041610694825205],[0.6844895895902525,-0.35827702380277143]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[-0.463319311871654,-2.5353780764168308,0.71338606911949],"aabb_xy":[[-0.5083118985901044,-2.5803780756912795],[-0.41832672515320357,-2.490378077142382]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[-0.20729870404288037,0.3220854797550472,0.71338606911949],"aabb_xy":[[-0.25729353697082197,0.27208548085980366],[-0.15730387111493876,0.37208547865029074]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[0.6782495500436725,1.251653238994435,0.71338606911949],"aabb_xy":[[0.6694683228964363,1.242873491705905],[0.6870307771909089,1.2604329862829655]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[-0.6356376970526485,0.6876805355353284,0.71338606911949],"aabb_xy":[[-0.6409702117072615,0.6823562072900928],[-0.6303051823980355,0.6930048637805639]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[-0.5464768655889736,-1.4743304205814045,0.71338606911949],"aabb_xy":[[-0.5537206316352188,-1.5543304187850069],[-0.5392330995427281,-1.3943304223778021]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[-0.19616503023300647,-1.3643928939140766,0.71338606911949],"aabb_xy":[[-0.21374333242195334,-1.3819673834881816],[-0.17858672804405964,-1.3468184043399716]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_28","position":[0.6080226933109938,-2.375564453930234,0.71338606911949],"aabb_xy":[[0.5580438848006779,-2.425564453935953],[0.6580015018213097,-2.3255644539245153]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_29","position":[0.4088363127361523,0.41107933805067143,0.71338606911949],"aabb_xy":[[0.3238363140440776,0.3790934746557926],[0.49383631142822687,0.4430652014455503]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_30","position":[0.4351437023684279,-0.6790476272496848,0.71338606911949],"aabb_xy":[[0.3711437050827793,-0.7205543462025288],[0.49914369965407657,-0.6375409082968408]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_31","position":[-0.24054113210619388,1.0079853608873353,0.71338606911949],"aabb_xy":[[-0.264377349746799,0.917985360078849],[-0.21670491446558887,1.097985361695822]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6985897375911236,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8239.png","name":"8239"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8239.png","name":"8239"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9659.png","name":"9659"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3268.png","name":"3268"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4189.png","name":"4189"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5909.png","name":"5909"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":613.7802006614189,"rotation_z_degrees":149.07464537225752,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006406929687983797,0.01922381165218109,0.017820975790383307]},{"name":"camera_2","offset_m":[0.00963545311465483,0.0016284399074316808,0.017039087778379935]},{"name":"camera_3","offset_m":[-0.0033616992946698815,0.013026056176008858,-0.01102966719299948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007154788686394484,-0.0014766196904845766,-0.0016416699420480486],"end_effector_yaw_offset_degrees":-0.038026035997852814},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011697503517804388,0.0018149897600877808,-0.0014013100883572811],"end_effector_yaw_offset_degrees":0.8766042250399817},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001031876058738421,-0.0017937425124371661,0.0011435511345529604],"end_effector_yaw_offset_degrees":0.9634883666639815}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032854467887399675,0.0014436776124443981],"position_m":[0.15568544678873997,0.2250436776124444,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009966040728367322,0.004440356302511743],"position_m":[0.24140339592716328,-0.30525964369748826,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003566820891740116,-0.0010960986995577995],"position_m":[0.324143317910826,-0.042696098699557795,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016006438293739858,-0.0015466484139335115],"position_m":[0.35260064382937395,0.3168533515860665,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2d2c140a8f5e3a9ae2d8c89ff9eba37c4fef5a7dc0a2a44aef4660979caca919","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8239/tex_ceiling_textures_5909/tex_floor_textures_4189/tex_table_textures_9659/tex_wall_textures_3268","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":614038678943735942,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":614038678943735942,"visual_seed":614038678943735942,"scene_id":"lab_003","finished_at":"2026-09-03T20:30:51"} +{"episode_id":"ep_000030","started_at":"2026-09-03T20:30:54","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.6324218097505996,-2.43546197073492,0.71338606911949],"aabb_xy":[[-0.649921743184583,-2.452961970655154],[-0.6149218763166162,-2.417961970814685]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.5617238845887151,1.2170186955754727,0.71338606911949],"aabb_xy":[[0.4967238864327961,1.1907224510255607],[0.6267238827446342,1.2433149401253851]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[-0.023510182624804643,-1.8367646613979751,0.71338606911949],"aabb_xy":[[-0.07350501555274624,-1.8867646602932187],[0.02648465030313696,-1.7867646625027316]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.09259656139561234,1.0643664761061826,0.71338606911949],"aabb_xy":[[-0.14257397826086587,1.0143664746169339],[-0.042619144530358734,1.114366477595431]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.30917084042411663,-0.3948041813743841,0.71338606911949],"aabb_xy":[[-0.3171643302193987,-0.40280231331485983],[-0.30117735062883466,-0.3868060494339085]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[0.5901579013581615,1.3301546210044681,0.71338606911949],"aabb_xy":[[0.5820302131648483,1.3212410125937604],[0.5982855895514747,1.339068229415176]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[-0.022714685053332295,-1.3073447176094748,0.71338606911949],"aabb_xy":[[-0.06004596157857492,-1.3419977724043268],[0.014616591471910328,-1.2726916628146223]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[-0.3208603271295106,0.21342602270671218,0.71338606911949],"aabb_xy":[[-0.33015394536666126,0.17592602421857825],[-0.3115667088923601,0.2509260211948461]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.5782021534435877,-1.527511779725061,0.71338606911949],"aabb_xy":[[0.543202152092106,-1.5478715156818816],[0.6132021547950695,-1.50715204376824]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[-0.6491875578436159,1.0395547201246549,0.71338606911949],"aabb_xy":[[-0.6593405733977652,1.003485178551914],[-0.6390345422894664,1.0756242616973948]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[-0.15708082018079106,-0.5683374589979331,0.71338606911949],"aabb_xy":[[-0.22708082231222057,-0.5910994246236286],[-0.08708081804936149,-0.5455754933722373]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.27199305615005165,-2.1393924763377026,0.71338606911949],"aabb_xy":[[0.1882708306499692,-2.229392479872398],[0.3557152816501341,-2.049392472803006]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[0.09757200524872467,-1.320897272434746,0.71338606911949],"aabb_xy":[[0.08434105971404336,-1.3341246914567453],[0.11080295078340595,-1.3076698534127464]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[0.6264313135185957,1.6494693114336791,0.71338606911949],"aabb_xy":[[0.6203366856304775,1.6408999168820104],[0.6325259414067141,1.6580387059853479]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.0425821019377669,-2.307263631396721,0.71338606911949],"aabb_xy":[[0.03454576723648206,-2.315301750701137],[0.050618436639051745,-2.299225512092304]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_15","position":[-0.5955483657518342,-0.6990976673648279,0.71338606911949],"aabb_xy":[[-0.6595483680946356,-0.7440385186089603],[-0.5315483634090324,-0.6541568161206953]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.13175215988765465,-2.5501144171787398,0.71338606911949],"aabb_xy":[[-0.1967521609935979,-2.575079790246868],[-0.06675215878171134,-2.5251490441106115]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[-0.2759763209449135,0.4098412110801819,0.71338606911949],"aabb_xy":[[-0.3311015265745042,0.3498412096388947],[-0.22085111531532267,0.469841212521469]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.31163228303248675,-1.3095334377020627,0.71338606911949],"aabb_xy":[[-0.35663228449871565,-1.3545332945635433],[-0.26663228156625796,-1.264533580840582]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.06321092202549594,1.5173485639254287,0.71338606911949],"aabb_xy":[[-0.016789075134079345,1.5058009629676117],[0.14321091918507123,1.5288961648832458]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[0.38734134493586714,-2.5566661571857985,0.71338606911949],"aabb_xy":[[0.38137480599513135,-2.5626273018451626],[0.3933078838766029,-2.5507050125264343]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941608772572629,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/188.png","name":"188"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/188.png","name":"188"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3142.png","name":"3142"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6719.png","name":"6719"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1880.png","name":"1880"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5526.png","name":"5526"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":685.1257029552106,"rotation_z_degrees":196.85725374709682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009465731153637594,0.014848429690194506,-0.0033498380894456947]},{"name":"camera_2","offset_m":[-0.01799128782168223,-0.007513060497617685,-0.016239240856785183]},{"name":"camera_3","offset_m":[-0.014192611350545562,0.018941691718660118,-0.009696065364658675]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017693517099465071,-0.0016804131295947381,-0.0008334604070541487],"end_effector_yaw_offset_degrees":0.5611903785795604},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016114531849829455,0.00113850939014703,0.0002596090852672434],"end_effector_yaw_offset_degrees":0.7762599431518893},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019480019249983414,0.0008970557275773468,-0.0015368860959835975],"end_effector_yaw_offset_degrees":0.31715933463099}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035000310041626735,-0.0025348280622942555],"position_m":[0.14889996899583732,0.22106517193770575,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00335352749125781,-0.0021193413593071364],"position_m":[0.2457535274912578,-0.3118193413593071,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008250776915315616,0.003325151570401843],"position_m":[0.32367492230846845,-0.038274848429598156,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004707330481727743,0.0010411617002551608],"position_m":[0.34629266951827226,0.31944116170025516,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e9ffa74834f3b52b025dabb9ac62f6acd59f68ac7a70b0446d8f1e021771473e","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_188/tex_ceiling_textures_5526/tex_floor_textures_1880/tex_table_textures_3142/tex_wall_textures_6719","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5918028942390160965,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5918028942390160965,"visual_seed":5918028942390160965,"scene_id":"lab_003","finished_at":"2026-09-03T20:33:51"} +{"episode_id":"ep_000031","started_at":"2026-09-03T20:33:54","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.09840451220741397,-1.356826844761239,0.71338606911949],"aabb_xy":[[0.04438891592551397,-1.420826847653496],[0.15242010848931398,-1.2928268418689817]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[0.5188197769044149,-0.3805686076731849,0.71338606911949],"aabb_xy":[[0.5101058078544802,-0.4030686083323731],[0.5275337459543492,-0.3580686070139967]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.3495436027247232,-1.0744932323225274,0.71338606911949],"aabb_xy":[[0.30454360125849433,-1.119493089184008],[0.3945436041909521,-1.0294933754610467]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.6395869143481236,-0.09572946336157662,0.71338606911949],"aabb_xy":[[0.6020869140559488,-0.09977093876218021],[0.6770869146402985,-0.09168798796097302]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[0.5618197856129654,-0.5982692776214127,0.71338606911949],"aabb_xy":[[0.5517380785343918,-0.6782692755135272],[0.5719014926915388,-0.5182692797292979]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.12319943046342163,-1.0014983054655373,0.71338606911949],"aabb_xy":[[-0.20319943093363763,-1.0098090130798858],[-0.04319942999320569,-0.9931875978511889]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.5644197805719026,-0.55161863453811,0.71338606911949],"aabb_xy":[[-0.5863284627112536,-0.5735193013582006],[-0.5425110984325515,-0.5297179677180192]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[-0.6531049118568446,1.7556121322542588,0.71338606911949],"aabb_xy":[[-0.659417011393183,1.74984519300104],[-0.6467928123205062,1.7613790715074777]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.10480369978731696,-1.5244793260708607,0.71338606911949],"aabb_xy":[[0.09602247264008075,-1.533259073359391],[0.1135849269345532,-1.5156995787823309]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[0.40087888741343836,-1.342767302769959,0.71338606911949],"aabb_xy":[[0.3408788871620371,-1.3970486278064236],[0.4608788876648395,-1.2884859777334943]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.55986187753468,-1.384792532387625,0.71338606911949],"aabb_xy":[[-0.584861877467198,-1.391675200608548],[-0.5348618776021622,-1.3779098641667014]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.5262155753491571,0.0326137173172687,0.71338606911949],"aabb_xy":[[0.4462155773683721,0.025012176355416745],[0.6062155733299421,0.04021525827912064]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[0.43834864316051303,-1.6775068192206206,0.71338606911949],"aabb_xy":[[0.38837557762799757,-1.727506819033154],[0.4883217086930285,-1.6275068194080882]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[0.6241919055180629,1.5967086497336624,0.71338606911949],"aabb_xy":[[0.6200560491853628,1.5592086502893057],[0.6283277618507632,1.6342086491780197]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[0.43245383552737793,-1.913742045633877,0.71338606911949],"aabb_xy":[[0.4173515340663597,-1.9288435672649382],[0.4475561369883959,-1.8986405240028148]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.16785848463240938,-1.7440855350894122,0.71338606911949],"aabb_xy":[[-0.17871009088128498,-1.754944825817063],[-0.15700687838353378,-1.733226244361761]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.5120828705456983,-2.22318752704182,0.71338606911949],"aabb_xy":[[0.5076522411908582,-2.2286358987765027],[0.5165134999005385,-2.2177391553071377]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[-0.533746780460187,-1.607729042211436,0.71338606911949],"aabb_xy":[[-0.5387028006450683,-1.630229042413558],[-0.5287907602753059,-1.5852290420093147]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[0.4133206146731254,-0.7930998464916081,0.71338606911949],"aabb_xy":[[0.38880699057611956,-0.8173644397936447],[0.4378342387701313,-0.7688352531895718]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[0.4948541041477037,-1.5293662422423902,0.71338606911949],"aabb_xy":[[0.4698541049820706,-1.5363184879477467],[0.5198541033133368,-1.5224139965370336]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[-0.2118023952295628,-1.9733116956485273,0.71338606911949],"aabb_xy":[[-0.28180239862112477,-2.008627469351958],[-0.1418023918380008,-1.9379959219450964]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.2700229286420056,1.5597940012001046,0.71338606911949],"aabb_xy":[[0.24480209178216591,1.5345702503472176],[0.2952437655018452,1.5850177520529911]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.1518842429406302,1.694295652501268,0.71338606911949],"aabb_xy":[[-0.21588424528343172,1.6493548012571353],[-0.08788424059782861,1.7392365037454003]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[-0.3686427072225881,1.4871442591705581,0.71338606911949],"aabb_xy":[[-0.4061427056459884,1.4739800452027272],[-0.3311427087991877,1.5003084731383887]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[0.1899261476841536,0.8824672161177354,0.71338606911949],"aabb_xy":[[0.1710417639156434,0.8635812913373827],[0.20881053145266382,0.9013531408980883]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_25","position":[0.13609822352339795,1.1094092115703358,0.71338606911949],"aabb_xy":[[0.08610321256394592,1.0594092125347443],[0.18609323448284998,1.1594092106059277]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[-0.3573066003626779,-0.563395140857728,0.71338606911949],"aabb_xy":[[-0.4073058755311141,-0.6133951421336752],[-0.30730732519424175,-0.5133951395817808]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[-0.13591309763150838,-2.5684137029065215,0.71338606911949],"aabb_xy":[[-0.1642428075800486,-2.5728744451002385],[-0.10758338768296816,-2.5639529607128044]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_28","position":[-0.11058953752240419,1.062175108521978,0.71338606911949],"aabb_xy":[[-0.15183834855231887,1.0071751090097603],[-0.06934072649248943,1.1171751080341952]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[-0.46469348875635236,0.7313905035944561,0.71338606911949],"aabb_xy":[[-0.528693490164343,0.6796015520705313],[-0.40069348734836174,0.7831794551183807]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_30","position":[0.49238844064902954,1.1980596576409837,0.71338606911949],"aabb_xy":[[0.455057164123787,1.1634066028461314],[0.5297197171742722,1.232712712435836]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6993751194520091,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2764.png","name":"2764"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2764.png","name":"2764"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8432.png","name":"8432"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7084.png","name":"7084"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9703.png","name":"9703"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/114.png","name":"114"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":823.3278498646823,"rotation_z_degrees":344.15080348685734,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012157742034281748,8.269567244332393e-05,-0.01869147228035017]},{"name":"camera_2","offset_m":[0.004756094000216836,0.0012928889539097488,-0.013253134899010147]},{"name":"camera_3","offset_m":[0.0026726379746701903,-0.016544247371264125,-0.015772703691619493]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013204607410757874,-0.0016720561915592178,-0.000359570447662346],"end_effector_yaw_offset_degrees":0.9667584650946837},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001358772909582663,-0.0012277378688771532,0.0002618442758686181],"end_effector_yaw_offset_degrees":-0.046421698287637314},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[7.850240884729135e-05,0.0017266607395951808,0.0008840347283210477],"end_effector_yaw_offset_degrees":-0.4947808241552474}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[2.86224556687387e-05,0.002898604669618359],"position_m":[0.15242862245566874,0.22649860466961835,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[7.537670527292713e-05,-0.002024000201496975],"position_m":[0.24247537670527294,-0.31172400020149693,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[6.636000700392317e-05,-0.004297419033437786],"position_m":[0.32456636000700395,-0.04589741903343778,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008212469948465761,0.0016997987369713474],"position_m":[0.35182124699484657,0.32009979873697136,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3713d4edf92e9ba6a2d415a167c57ca224af86b7971b8cc47aed05eaeac0b626","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0031.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2764/tex_ceiling_textures_114/tex_floor_textures_9703/tex_table_textures_8432/tex_wall_textures_7084","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8360187673810676287,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8360187673810676287,"visual_seed":8360187673810676287,"scene_id":"lab_003","finished_at":"2026-09-03T20:36:46"} +{"episode_id":"ep_000032","started_at":"2026-09-03T20:36:49","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.27683604966489606,-0.4499350348439397,0.71338606911949],"aabb_xy":[[-0.3368360499162972,-0.5042163598804044],[-0.21683604941349482,-0.39565370980747505]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.20484240177040192,1.540902230871184,0.71338606911949],"aabb_xy":[[-0.2476091086498221,1.4769022274493815],[-0.16207569489098173,1.6049022342929864]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.2772799805862451,0.8846312113850043,0.71338606911949],"aabb_xy":[[-0.34727998322283143,0.8645263463891387],[-0.20727997794965874,0.9047360763808697]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.2804438988077382,0.5482818069605191,0.71338606911949],"aabb_xy":[[-0.2838845750477954,0.5444203739861547],[-0.27700322256768106,0.5521432399348837]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[0.3059682546353253,1.3948478760766716,0.71338606911949],"aabb_xy":[[0.22096825621790206,1.3099735806143868],[0.3909682530527485,1.4797221715389568]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.09132271326436514,-1.384740705189542,0.71338606911949],"aabb_xy":[[0.06840700037931526,-1.4076450023259655],[0.11423842614941507,-1.3618364080531185]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[-0.5453436253326136,-0.9145514697470476,0.71338606911949],"aabb_xy":[[-0.582843626124609,-0.9209193107052375],[-0.5078436245406182,-0.9081836287888573]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[0.6807811936048651,0.45169742916307287,0.71338606911949],"aabb_xy":[[0.6461901107508199,0.3866974288780418],[0.7153722764589103,0.5166974294481039]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[0.38749020637423937,0.4932852015122471,0.71338606911949],"aabb_xy":[[0.3787762373243048,0.47078520085305886],[0.3962041754241738,0.5157852021714353]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.15669498601709897,-2.34911571554288,0.71338606911949],"aabb_xy":[[0.11919498620006538,-2.3537539268540217],[0.1941949858341325,-2.344477504231738]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.3587901017992896,0.9758902635597875,0.71338606911949],"aabb_xy":[[0.26879010238091866,0.9425147667155975],[0.44879010121766044,1.009265760403977]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.532754180609599,-1.196371725312465,0.71338606911949],"aabb_xy":[[-0.6127541838736121,-1.2099317576213784],[-0.4527541773455859,-1.1828116930035517]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[0.6164024910675756,-0.579468230733986,0.71338606911949],"aabb_xy":[[0.5614070132469161,-0.6344682321678928],[0.6713979688882349,-0.524468229300079]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[-0.49203477726906336,-1.9280702006374848,0.71338606911949],"aabb_xy":[[-0.5370347787352923,-1.9730700574989657],[-0.4470347758028345,-1.8830703437760044]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[0.04862020501187714,-0.7428869806679592,0.71338606911949],"aabb_xy":[[0.031189489932870632,-0.7601590953318099],[0.06605092009088365,-0.7256148660041083]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.03672916625372846,-1.372727021811429,0.71338606911949],"aabb_xy":[[-0.07172916544654673,-1.3836940678090912],[-0.0017291670609101903,-1.3617599758137662]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[-0.48530810463613183,-1.0452939227120954,0.71338606911949],"aabb_xy":[[-0.5493081063141292,-1.0938113141914096],[-0.4213081029581345,-0.9967765312327812]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.2613090455240311,0.7194670544001305,0.71338606911949],"aabb_xy":[[-0.26855281157027644,0.6394670561965281],[-0.2540652794777858,0.7994670526037329]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[-0.36181523563099194,0.022602229678601038,0.71338606911949],"aabb_xy":[[-0.3955907948216849,0.008563734465436013],[-0.32803967644029897,0.03664072489176606]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[-0.5437232225621209,-2.1775127115787045,0.71338606911949],"aabb_xy":[[-0.5502248590701255,-2.1872805336050143],[-0.5372215860541163,-2.1677448895523947]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[0.12060894571571734,0.7659166244423021,0.71338606911949],"aabb_xy":[[0.030608947121247412,0.749666038128881],[0.21060894431018728,0.782167210755723]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.6797482934309003,1.0649903133017604,0.71338606911949],"aabb_xy":[[0.6717543048531969,1.0569902332066698],[0.6877422820086037,1.0729903933968505]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[0.6772147858373097,-1.976398599437081,0.71338606911949],"aabb_xy":[[0.6485654534768932,-2.0050441587141568],[0.7058641181977257,-1.9477530401600052]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[0.643439680618547,-1.8886213169794352,0.71338606911949],"aabb_xy":[[0.6252338569572993,-1.8996467175614273],[0.6616455042797946,-1.877595916397444]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962273461377545,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1297.png","name":"1297"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1297.png","name":"1297"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1235.png","name":"1235"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2633.png","name":"2633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8524.png","name":"8524"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5844.png","name":"5844"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":819.0665004767054,"rotation_z_degrees":6.952218027657948,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014568581956995869,-0.01431033443804908,-0.008760290325985581]},{"name":"camera_2","offset_m":[0.011921424662589965,0.016658731507962484,-0.0067831834220282924]},{"name":"camera_3","offset_m":[0.007343423814429876,-0.0005786361485714056,-0.004321290628256525]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00019465951547385655,0.0013803216650334943,0.001618268099191324],"end_effector_yaw_offset_degrees":0.9217169590905951},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009502759853595786,0.0005725460189575614,0.0014650864953878046],"end_effector_yaw_offset_degrees":0.8298771299072818},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011805133720260378,0.0015230812002353204,9.717989844097111e-05],"end_effector_yaw_offset_degrees":0.8008194941765872}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008489021149942176,0.0017588324349566984],"position_m":[0.1515510978850058,0.2253588324349567,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001161919984328259,-0.0006528368673409998],"position_m":[0.24123808001567174,-0.310352836867341,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00361012356047431,0.0018299610707515805],"position_m":[0.3208898764395257,-0.039770038929248415,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00034733949163021083,-0.004298124991228697],"position_m":[0.3513473394916302,0.3141018750087713,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7375578039076e9b10525931df8854c07c3afb153a28b20f1bf57b38330ae0c5","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1297/tex_ceiling_textures_5844/tex_floor_textures_8524/tex_table_textures_1235/tex_wall_textures_2633","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8759147962599995199,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8759147962599995199,"visual_seed":8759147962599995199,"scene_id":"lab_003","finished_at":"2026-09-03T20:39:49"} +{"episode_id":"ep_000033","started_at":"2026-09-03T20:39:52","dimensions":{"distractor":{"count":21,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[-0.23283957059545457,-1.110339542621086,0.71338606911949],"aabb_xy":[[-0.24088293052140974,-1.1953395437164525],[-0.2247962106694994,-1.0253395415257196]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[0.06961474730512462,-2.4152726362781705,0.71338606911949],"aabb_xy":[[0.03962308457125428,-2.4452726356149705],[0.09960641003899494,-2.3852726369413695]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.011687990816564464,0.7805870955836491,0.71338606911949],"aabb_xy":[[-0.04668798908668437,0.773512967888661],[0.02331200745355544,0.7876612232786373]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.4038218252902199,-1.3178346300668031,0.71338606911949],"aabb_xy":[[0.3922528445432834,-1.342834630183735],[0.41539080603715656,-1.2928346299498716]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[0.542649502377311,-0.2617046651016315,0.71338606911949],"aabb_xy":[[0.528006096823278,-0.27636338475841576],[0.557292907931344,-0.2470459454448472]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.6480563757906052,-2.3735820627853026,0.71338606911949],"aabb_xy":[[-0.6705563756045075,-2.378056679155783],[-0.6255563759767028,-2.369107446414822]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[0.37872078112963625,-0.5405012814214731,0.71338606911949],"aabb_xy":[[0.350391071181096,-0.5449620236151903],[0.4070504910781765,-0.5360405392277562]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.47094681908711933,-1.8656567459024245,0.71338606911949],"aabb_xy":[[0.4615293445172566,-1.8750729230401435],[0.4803642936569821,-1.8562405687647054]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[-0.3000282154517988,0.6426955940825283,0.71338606911949],"aabb_xy":[[-0.3495086366657576,0.5786955961696765],[-0.25054779423784,0.7066955919953801]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.4379681621992262,0.599031621042259,0.71338606911949],"aabb_xy":[[0.38815138273439137,0.5490316225579556],[0.4877849416640609,0.6490316195265623]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[-0.4856900625741081,-2.4802839777923444,0.71338606911949],"aabb_xy":[[-0.4938177507674213,-2.4891975862030518],[-0.47756237438079485,-2.4713703693816362]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[-0.2084490512212947,-1.8344581454009559,0.71338606911949],"aabb_xy":[[-0.24594905116506113,-1.8427512354357927],[-0.17094905127752832,-1.8261650553661195]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[0.6399499058479428,-1.8543259763396427,0.71338606911949],"aabb_xy":[[0.6049499066551244,-1.865293022337305],[0.6749499050407609,-1.84335893034198]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.057867160830018305,-1.3036086837931746,0.71338606911949],"aabb_xy":[[0.022867159478536573,-1.3239684197499955],[0.09286716218150004,-1.2832489478363538]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[0.0860050780622621,0.9046580890058862,0.71338606911949],"aabb_xy":[[0.05354337718033463,0.8745252568909835],[0.11846677894418954,0.9347909211207887]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[0.31635224808892204,1.6261893737043542,0.71338606911949],"aabb_xy":[[0.26635224864872636,1.5762214492200377],[0.3663522475291176,1.6761572981886703]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[0.25323594677832606,1.0307121261827525,0.71338606911949],"aabb_xy":[[0.17323594461556358,0.9507569425566087],[0.33323594894108854,1.110667309808896]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[0.5751853029165728,-2.0086184552992794,0.71338606911949],"aabb_xy":[[0.571107145009523,-2.0126994355475425],[0.5792634608236223,-2.0045374750510163]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[-0.6794086006345877,1.243289640434678,0.71338606911949],"aabb_xy":[[-0.6949643700448529,1.227739207190271],[-0.6638528312243224,1.2588400736790855]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[-0.4002194060125391,-2.326596038119741,0.71338606911949],"aabb_xy":[[-0.46021940626394026,-2.380877363156205],[-0.3402194057611379,-2.272314713083276]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.19378548455545952,1.732981663861778,0.71338606911949],"aabb_xy":[[-0.25537624377945234,1.6689816657527314],[-0.13219472533146673,1.7969816619708252]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6987812390990549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/958.png","name":"958"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/958.png","name":"958"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8428.png","name":"8428"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4888.png","name":"4888"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3584.png","name":"3584"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1262.png","name":"1262"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":684.2676098921163,"rotation_z_degrees":125.58646774173442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016207368374370635,0.0008447890664071978,0.011523683654251559]},{"name":"camera_2","offset_m":[0.003987199555933681,-0.009939698390824932,-0.008459654986726113]},{"name":"camera_3","offset_m":[-0.015132871552427303,0.0023889998158246224,-0.0034320775820748384]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00028635932018041856,-0.0014148911796100579,0.0008162939985117282],"end_effector_yaw_offset_degrees":-0.5492291147604391},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014933829241467527,0.0003773306958415167,-0.0018644608653533208],"end_effector_yaw_offset_degrees":0.7060945688876925},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016894451365750966,0.001789936907588318,0.0012762236277420102],"end_effector_yaw_offset_degrees":-0.2958650658037505}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004028216269664107,-0.0015278123768573725],"position_m":[0.1564282162696641,0.22207218762314263,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034641742050029118,0.0024131489960680565],"position_m":[0.24586417420500292,-0.30728685100393194,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00017362664458177648,-0.0047449325621193375],"position_m":[0.32432637335541825,-0.046344932562119336,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033093905642703992,-0.004500347923331687],"position_m":[0.35430939056427035,0.3138996520766683,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5f5a958a70a142773ca3ed615c886ff0808f4563d69538357cd16fdeaac241fe","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0033.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_958/tex_ceiling_textures_1262/tex_floor_textures_3584/tex_table_textures_8428/tex_wall_textures_4888","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2586776867332558483,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2586776867332558483,"visual_seed":2586776867332558483,"scene_id":"lab_003","finished_at":"2026-09-03T20:42:44"} +{"episode_id":"ep_000034","started_at":"2026-09-03T20:42:47","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.24346488301568903,1.7229813111348906,0.71338606911949],"aabb_xy":[[0.22318058029229024,1.7026986859921815],[0.26374918573908773,1.7432639362775992]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[0.276960393972419,-0.9816728746595653,0.71338606911949],"aabb_xy":[[0.22196718263528226,-1.036672874998359],[0.33195360530955575,-0.9266728743207718]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.5865298084471959,1.0872662853799198,0.71338606911949],"aabb_xy":[[0.5565622515373703,1.057266285082034],[0.6164973653570216,1.1172662856778055]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.24858592887246977,-1.6022807847857132,0.71338606911949],"aabb_xy":[[-0.3085859293803227,-1.6591275184716343],[-0.18858592836461688,-1.5454340510997917]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.15734076358216187,-0.7487356004813019,0.71338606911949],"aabb_xy":[[0.09334076166981956,-0.8046467497393125],[0.22134076549450424,-0.6928244512232916]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.5406337611096729,-0.0767679014899949,0.71338606911949],"aabb_xy":[[-0.575633760302491,-0.08773494748765753],[-0.5056337619168545,-0.06580085549233228]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[-0.14773733449610726,-2.118936114508254,0.71338606911949],"aabb_xy":[[-0.1652373336304744,-2.1288157415458415],[-0.13023733536174006,-2.109056487470666]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[-0.1876903840926739,-2.5485453000070417,0.71338606911949],"aabb_xy":[[-0.21768204682654424,-2.5785452993438422],[-0.15769872135880358,-2.518545300670241]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[0.6568939001280345,-0.0020027031803064865,0.71338606911949],"aabb_xy":[[0.6209803957030449,-0.037916211397061104],[0.6928074045530241,0.03391080503644813]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.5770429411697113,-1.8567779412986634,0.71338606911949],"aabb_xy":[[0.5541272282846615,-1.8796822384350869],[0.5999586540547613,-1.8338736441622399]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[0.6141644618561335,-0.40968292937407824,0.71338606911949],"aabb_xy":[[0.5501644596357265,-0.45405601349936653],[0.6781644640765405,-0.36530984524878996]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.5100279002019446,0.17769140183646703,0.71338606911949],"aabb_xy":[[-0.5900278988588306,0.16318654291220427],[-0.43002790154505854,0.19219626076072985]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[0.028286991889721502,1.5155855020939462,0.71338606911949],"aabb_xy":[[0.013124118912784422,1.5004200447988274],[0.04344986486665858,1.530750959389065]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.6514078976266864,-0.32209344221344205,0.71338606911949],"aabb_xy":[[-0.6889078982912649,-0.3377805002136641],[-0.6139078969621075,-0.30640638421321975]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[-0.05424735077303522,-2.2688803322705895,0.71338606911949],"aabb_xy":[[-0.07674735078318351,-2.2829765519101928],[-0.03174735076288693,-2.254784112630986]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[0.07038252974238757,1.7736034903958795,0.71338606911949],"aabb_xy":[[0.006382527692655571,1.7335090073065715],[0.13438253179211956,1.8136979734851875]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.036359487551372416,1.3982016440067913,0.71338606911949],"aabb_xy":[[-0.05826816969072346,1.3763009771867003],[-0.014450805412021372,1.4201023108268818]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.6286815615721222,-0.45850169401129426,0.71338606911949],"aabb_xy":[[-0.6886815618235232,-0.5127830190477588],[-0.5686815613207209,-0.4042203689748295]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.6196002033417021,1.7811612772840468,0.71338606911949],"aabb_xy":[[0.6156397195719678,1.7734934126985262],[0.6235606871114365,1.7888291418695674]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.4897230878659389,0.2739971726059949,0.71338606911949],"aabb_xy":[[0.39972308418902064,0.21256476602889046],[0.5797230915428571,0.3354295791830992]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.593039407741039,-2.4637960610271783,0.71338606911949],"aabb_xy":[[-0.624186326584622,-2.5337960597139855],[-0.5618924888974558,-2.393796062340371]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_21","position":[0.7062447955903708,-1.8783869925163994,0.71338606911949],"aabb_xy":[[0.6944766087957134,-1.9633869924216212],[0.7180129823850284,-1.793386992611178]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[-0.2228481640724515,0.5073678080625514,0.71338606911949],"aabb_xy":[[-0.26034816558808327,0.4961410350464064],[-0.18534816255681982,0.5185945810786965]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[-0.32460747851050326,-0.20826439562911503,0.71338606911949],"aabb_xy":[[-0.37960295633116264,-0.26326439706302196],[-0.26961200068984387,-0.1532643941952081]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[-0.39417142130061805,1.3590633483626169,0.71338606911949],"aabb_xy":[[-0.46417142343204754,1.3363013827369208],[-0.32417141916918846,1.381825313988312]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[0.18049277033717492,-2.2895251448815523,0.71338606911949],"aabb_xy":[[0.17107529576731217,-2.2989413220192714],[0.18991024490703767,-2.2801089677438333]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_26","position":[0.020031054948975058,-1.737756092010871,0.71338606911949],"aabb_xy":[[0.011917400275597952,-1.7458619084648999],[0.028144709622352156,-1.7296502755568417]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[-0.3006249281058757,-1.9278081068171764,0.71338606911949],"aabb_xy":[[-0.3418737391357904,-1.9828081063293936],[-0.2593761170759609,-1.8728081073049587]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[-0.109892786074131,0.8079399750581273,0.71338606911949],"aabb_xy":[[-0.1998927825750027,0.762028332639669],[-0.019892789573259222,0.8538516174765854]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_29","position":[-0.3268311082186892,-2.2138840805942457,0.71338606911949],"aabb_xy":[[-0.39083110751285743,-2.2778702209630994],[-0.262831108924521,-2.149897940225391]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_30","position":[0.5277149274761024,-1.628757288048709,0.71338606911949],"aabb_xy":[[0.44271492878402774,-1.6607431514435875],[0.612714926168177,-1.5967714246538298]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960302386506855,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7959.png","name":"7959"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7959.png","name":"7959"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7331.png","name":"7331"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4744.png","name":"4744"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1641.png","name":"1641"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4887.png","name":"4887"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":542.0738446074804,"rotation_z_degrees":83.75308594404784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0063032800996230265,0.005074932876048786,-0.015541674784725408]},{"name":"camera_2","offset_m":[0.016668859327552268,0.01047870966333863,0.008967793731949891]},{"name":"camera_3","offset_m":[-0.014679556008983137,0.0011990845492349939,0.003773209458233104]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014967087574917176,-0.0017382481230954032,0.001209329964509879],"end_effector_yaw_offset_degrees":-0.21921163580984904},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013021046015317607,0.0010438258863512038,-0.0015686756087641349],"end_effector_yaw_offset_degrees":-0.6173516713236171},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017740540835655865,0.0013505081423528555,0.001084630663428498],"end_effector_yaw_offset_degrees":0.23811305351744916}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008207210036039617,0.004781872100482735],"position_m":[0.15322072100360398,0.22838187210048272,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001737709221978725,0.0031316127355035363],"position_m":[0.24413770922197872,-0.3065683872644964,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005802543535963732,0.0014386768509014169],"position_m":[0.3250802543535964,-0.04016132314909858,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002299505197812162,0.0004538498619477919],"position_m":[0.34870049480218784,0.3188538498619478,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0fa10ceabea08e06c6aa8b77fb54da8ca5af7a05ebe6f720f897e90c530b2df9","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7959/tex_ceiling_textures_4887/tex_floor_textures_1641/tex_table_textures_7331/tex_wall_textures_4744","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5596512538176611020,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5596512538176611020,"visual_seed":5596512538176611020,"scene_id":"lab_003","finished_at":"2026-09-03T20:45:49"} +{"episode_id":"ep_000035","started_at":"2026-09-03T20:45:52","dimensions":{"distractor":{"count":34,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[-0.18580038464901216,-1.4504886659934237,0.71338606911949],"aabb_xy":[[-0.2754874609571276,-1.5404886662478743],[-0.09611330834089668,-1.3604886657389732]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[0.4915300934297475,-1.8829249161893509,0.71338606911949],"aabb_xy":[[0.4866864986685176,-1.887776568668335],[0.49637368819097755,-1.8780732637103668]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[-0.5808922495440278,-1.5427693740918966,0.71338606911949],"aabb_xy":[[-0.6153545969421694,-1.5772632564897189],[-0.5464299021458858,-1.5082754916940735]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.21514033934926136,1.7775089331320983,0.71338606911949],"aabb_xy":[[-0.23257105442826784,1.760236818468247],[-0.19770962427025482,1.7947810477959487]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.42319244795279615,0.023708898710194326,0.71338606911949],"aabb_xy":[[-0.43404405420167175,0.01284960798254331],[-0.41234084170392055,0.03456818943784534]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.5558713940434786,-2.2372063442600316,0.71338606911949],"aabb_xy":[[-0.5674403747904152,-2.2622063443769633],[-0.544302413296542,-2.2122063441431]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[0.18542615638654025,-0.6764756584267262,0.71338606911949],"aabb_xy":[[0.17801370084515175,-0.682326868848354],[0.1928386119279287,-0.6706244480050981]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[-0.431860346613533,-2.3988704036725785,0.71338606911949],"aabb_xy":[[-0.48683406864986595,-2.453870403236812],[-0.3768866245772002,-2.343870404108346]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[0.3150249973689756,-2.0373744200625516,0.71338606911949],"aabb_xy":[[0.23502499410496253,-2.050934452371465],[0.3950250006329888,-2.0238143877536383]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[-0.36447559780204664,-0.4342374331976373,0.71338606911949],"aabb_xy":[[-0.36843608157178104,-0.44190529778315796],[-0.36051511403231234,-0.42656956861211676]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[0.3889521333487638,1.5438725867565304,0.71338606911949],"aabb_xy":[[0.36373129648892405,1.5186488359036434],[0.4141729702086034,1.569096337609417]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.5019296081028072,-1.9023085785393703,0.71338606911949],"aabb_xy":[[-0.5819296113606501,-1.9823050863313545],[-0.4219296048449642,-1.8223120707473865]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.014133147979505156,0.8468795533391855,0.71338606911949],"aabb_xy":[[-0.09413314538309857,0.7668869821410025],[0.06586684942408826,0.9268721245373681]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.41854420216019683,-2.5178730267835863,0.71338606911949],"aabb_xy":[[-0.48854420396894227,-2.5392267955477736],[-0.3485442003514514,-2.496519258019399]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[0.5142091175308128,0.3196026198637387,0.71338606911949],"aabb_xy":[[0.5054951484808782,0.29710261920455044],[0.5229230865807472,0.3421026205229269]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[0.5234356282263937,-0.042498458651355264,0.71338606911949],"aabb_xy":[[0.475629460612625,-0.1074984613584142],[0.5712417958401623,0.022501544055703693]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.4100473387678786,0.28863129170063884,0.71338606911949],"aabb_xy":[[-0.4475473385849122,0.283993080389497],[-0.3725473389508451,0.2932695030117807]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.1805749633096363,-1.9254547044873365,0.71338606911949],"aabb_xy":[[-0.1840156395496935,-1.929316137461701],[-0.17713428706957915,-1.921593271512972]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.30522049561048603,1.1923740361486677,0.71338606911949],"aabb_xy":[[-0.3417163162377648,1.15589009372191],[-0.2687246749832073,1.2288579785754252]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.3181652884817474,0.5758389816428844,0.71338606911949],"aabb_xy":[[0.29365166438474155,0.5515743883408478],[0.34267891257875327,0.6001035749449207]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[0.35256132890726555,1.683743456659713,0.71338606911949],"aabb_xy":[[0.34530008133685813,1.6709564463962039],[0.35982257647767296,1.6965304669232228]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.47657954034482486,1.7517166933404273,0.71338606911949],"aabb_xy":[[-0.5565795417749521,1.6721995383278176],[-0.39657953891469766,1.8312338483530366]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[-0.14003052470628252,-2.0190900888952754,0.71338606911949],"aabb_xy":[[-0.15713260266465068,-2.036196894426545],[-0.12292844674791437,-2.0019832833640057]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.5935821773030714,0.8976615052127106,0.71338606911949],"aabb_xy":[[-0.6435664130112486,0.847661506399215],[-0.5435979415948942,0.9476615040262062]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.2353967016840115,-1.2423312709757444,0.71338606911949],"aabb_xy":[[-0.2728967031996432,-1.2535580439918894],[-0.19789670016837976,-1.2311044979595993]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.602647272562495,-2.3721456128986858,0.71338606911949],"aabb_xy":[[0.5801335807390376,-2.4421456134996933],[0.625160964385952,-2.3021456122976782]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[0.48579553337630266,0.39304953187394576,0.71338606911949],"aabb_xy":[[0.4818816601808801,0.38430051646738894],[0.4897094065717251,0.40179854728050246]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.6021347009756877,0.22231025812467697,0.71338606911949],"aabb_xy":[[0.5676722229625999,0.21564658094175412],[0.6365971789887754,0.22897393530759977]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_28","position":[-0.1585277773255951,1.180156062933368,0.71338606911949],"aabb_xy":[[-0.22252778054423297,1.1334329510343597],[-0.09452777410695726,1.2268791748323764]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_29","position":[0.5840003312739672,1.0606990383908785,0.71338606911949],"aabb_xy":[[0.5190003301680239,1.0357336653227502],[0.6490003323799105,1.0856644114590068]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_30","position":[-0.28040246666200297,-0.3054273418068094,0.71338606911949],"aabb_xy":[[-0.3254024681282318,-0.3504271986682901],[-0.23540246519577412,-0.26042748494532875]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_31","position":[0.1926022099956184,1.3367267439069552,0.71338606911949],"aabb_xy":[[0.15556810056755868,1.3023495365732456],[0.2296363194236781,1.3711039512406644]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_32","position":[-0.34494454884207715,-2.2083617491588012,0.71338606911949],"aabb_xy":[[-0.4349445453429488,-2.2542733915772586],[-0.2549445523412053,-2.162450106740342]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_33","position":[0.5505717939831121,-1.5410291233253788,0.71338606911949],"aabb_xy":[[0.4905717941365453,-1.5978477455184172],[0.6105717938296789,-1.4842105011323399]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.699805132487378,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6187.png","name":"6187"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6187.png","name":"6187"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5049.png","name":"5049"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/582.png","name":"582"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7848.png","name":"7848"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5666.png","name":"5666"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":683.8987486182187,"rotation_z_degrees":231.39660811602727,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012873669377038006,-0.004990468181921557,0.013058266194051153]},{"name":"camera_2","offset_m":[-0.01869315276607221,0.01883987690980492,-0.008140399654544215]},{"name":"camera_3","offset_m":[0.007104267815390187,0.00036772028815477975,0.010310375975352136]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008943166493333003,-0.0015674619020295513,-0.00055341484325919],"end_effector_yaw_offset_degrees":0.6835290126058668},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012953379760069468,-0.0017267682087955501,-0.00019096204467371224],"end_effector_yaw_offset_degrees":-0.9767314697462899},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009080717130315673,0.0007094089920794459,0.0013919867766879197],"end_effector_yaw_offset_degrees":-0.018531932798385498}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001889757715684449,-0.004908741373606385],"position_m":[0.15428975771568446,0.2186912586263936,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003973697411722057,-0.004766064525203082],"position_m":[0.24637369741172205,-0.31446606452520304,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004659455579862166,0.0034039249621802834],"position_m":[0.3291594555798622,-0.038196075037819716,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001768212209130089,0.0007973746044355381],"position_m":[0.35276821220913007,0.31919737460443554,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8dc673097826406c4fd99ee0ea375f7a5de570fd723d90bcafbdb25738437c30","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6187/tex_ceiling_textures_5666/tex_floor_textures_7848/tex_table_textures_5049/tex_wall_textures_582","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7173818839737016409,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7173818839737016409,"visual_seed":7173818839737016409,"scene_id":"lab_003","finished_at":"2026-09-03T20:48:57"} +{"episode_id":"ep_000036","started_at":"2026-09-03T20:49:00","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.38211526313614025,1.2325300991621657,0.71338606911949],"aabb_xy":[[-0.3901415337667663,1.223778604184813],[-0.3740889925055143,1.2412815941395183]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.4633836956744948,0.7352417427568723,0.71338606911949],"aabb_xy":[[-0.5233836965353075,0.6838153127503858],[-0.4033836948136819,0.7866681727633585]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[0.4854640355515991,-2.06730695798928,0.71338606911949],"aabb_xy":[[0.42387327632760635,-2.131306956098327],[0.5470547947755919,-2.0033069598802333]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.5114680475576624,-2.4302437045375767,0.71338606911949],"aabb_xy":[[-0.5914680508216755,-2.44380373684649],[-0.43146804429364927,-2.4166836722286633]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.04714732099275798,0.8287333480335586,0.71338606911949],"aabb_xy":[[0.017179764082932314,0.7987333477356728],[0.07711487790258365,0.8587333483314443]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[-0.2247523340964529,-1.494120242194927,0.71338606911949],"aabb_xy":[[-0.2887523305237748,-1.5412898660170233],[-0.160752337669131,-1.4469506183728305]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.24482350899564986,-0.8128227088950091,0.71338606911949],"aabb_xy":[[-0.275970427839233,-0.8828227075818161],[-0.21367659015206675,-0.7428227102082018]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[0.5956613868253477,1.0200552528822424,0.71338606911949],"aabb_xy":[[0.5831940287156121,1.0075899282489191],[0.6081287449350834,1.0325205775155661]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[-0.3218674878924221,0.4705569511736387,0.71338606911949],"aabb_xy":[[-0.33936748702678926,0.46067732413605084],[-0.3043674887580549,0.4804365782112265]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[0.6094697970478542,-0.9491192318475439,0.71338606911949],"aabb_xy":[[0.5858846735839593,-1.0141192340929757],[0.633054920511749,-0.8841192296021121]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.39638636513109293,-1.1617289935152781,0.71338606911949],"aabb_xy":[[-0.4603863668090903,-1.2102463849945921],[-0.3323863634530956,-1.1132116020359637]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[0.28162258500803106,-1.9331763736384806,0.71338606911949],"aabb_xy":[[0.24818240981201142,-1.9666199994694105],[0.3150627602040506,-1.8997327478075503]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[0.6367785245630906,-0.5146375632289182,0.71338606911949],"aabb_xy":[[0.6318225043782095,-0.5371375634310399],[0.6417345447479719,-0.4921375630267967]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[0.03516600625008626,-1.6626475119769626,0.71338606911949],"aabb_xy":[[-0.014807059282429213,-1.712647511789496],[0.08513907178260172,-1.6126475121644301]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[0.4637959079227214,-0.3381166746799442,0.71338606911949],"aabb_xy":[[0.44088019503767156,-0.3610209718163677],[0.48671162080777136,-0.3152123775435207]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[0.23624503798348562,-2.486904942393762,0.71338606911949],"aabb_xy":[[0.21433635584413455,-2.5088056092138524],[0.25815372012283666,-2.465004275573671]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.21991005349470644,-2.3867463375320046,0.71338606911949],"aabb_xy":[[-0.26991005293490206,-2.436714262016321],[-0.16991005405451082,-2.3367784130476883]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[0.11495661503961907,-0.938282596236427,0.71338606911949],"aabb_xy":[[0.050956617927513395,-0.9873149660308376],[0.17895661215172476,-0.8892502264420163]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[0.6822396065898126,-2.2416822529781957,0.71338606911949],"aabb_xy":[[0.6778089772349725,-2.247130624712878],[0.6866702359446528,-2.236233881243513]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[0.339080823798507,-1.814632203928098,0.71338606911949],"aabb_xy":[[0.33166836825711854,-1.820483414349726],[0.3464932793398955,-1.80878099350647]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[-0.024815435377991468,1.2074951590366854,0.71338606911949],"aabb_xy":[[-0.04231536881197484,1.1899951591164506],[-0.007315501944008096,1.2249951589569197]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[-0.08088286654511645,1.0166088872199701,0.71338606911949],"aabb_xy":[[-0.09403411251640584,0.9916088874632836],[-0.0677316205738271,1.0416088869766567]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[0.5527301434017458,-2.458251547302737,0.71338606911949],"aabb_xy":[[0.48873014105894413,-2.503192398546869],[0.6167301457445472,-2.413310696058604]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[-0.3450475137580729,1.6238937901201473,0.71338606911949],"aabb_xy":[[-0.4000429915787323,1.5688937886862402],[-0.2900520359374135,1.678893791554054]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[-0.2825644203285456,-0.17032844675005032,0.71338606911949],"aabb_xy":[[-0.33266188430961924,-0.2343284472598621],[-0.232466956347472,-0.10632844624023849]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[0.18525581687605575,1.3148392287895239,0.71338606911949],"aabb_xy":[[0.13527286668857635,1.2648392291469632],[0.23523876706353503,1.364839228432084]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[0.2080544939400355,-1.052989142276029,0.71338606911949],"aabb_xy":[[0.19927326679279933,-1.0617688895645592],[0.21683572108727178,-1.0442093949874987]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_27","position":[-0.1690711625398298,0.849679078692049,0.71338606911949],"aabb_xy":[[-0.249064986118388,0.7696790760992074],[-0.08907733896127157,0.9296790812848905]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[0.5766337185623411,0.5661752684016634,0.71338606911949],"aabb_xy":[[0.5397831706253535,0.5286752675786297],[0.6134842664993287,0.6036752692246972]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943161306353659,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3803.png","name":"3803"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3803.png","name":"3803"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1442.png","name":"1442"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7709.png","name":"7709"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/751.png","name":"751"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9175.png","name":"9175"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":554.69594908927,"rotation_z_degrees":261.8264639452476,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01017717322483291,0.002028977468301895,0.00930127283121258]},{"name":"camera_2","offset_m":[0.017164801565496757,0.005450068109639394,-0.0015488728743211291]},{"name":"camera_3","offset_m":[0.016835018176445508,-0.0008010126592956635,0.0014332084086083052]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00163525051406931,0.00031687924307539006,-0.00013526901715099626],"end_effector_yaw_offset_degrees":0.3250806336256551},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005419426079398214,-0.0013439506895241019,0.0008797574474420635],"end_effector_yaw_offset_degrees":-0.9351782737633167},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015718016353513113,-0.0017244403752684728,-0.0004590165593481687],"end_effector_yaw_offset_degrees":0.5722706204391481}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037151233934771084,-0.0003067270817540702],"position_m":[0.1561151233934771,0.2232932729182459,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019097900291195247,-0.0004092507460835039],"position_m":[0.24049020997088047,-0.3101092507460835,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020049700611967625,-0.002594962061394448],"position_m":[0.32249502993880325,-0.04419496206139445,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016411209504844158,-0.004601569613558796],"position_m":[0.34935887904951557,0.31379843038644123,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"06ffa4b5697423ee281e27519fa69b75f1b59c164f35fb4ae15729cc3a556302","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0036.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3803/tex_ceiling_textures_9175/tex_floor_textures_751/tex_table_textures_1442/tex_wall_textures_7709","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6606247274773632577,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6606247274773632577,"visual_seed":6606247274773632577,"scene_id":"lab_003","finished_at":"2026-09-03T20:52:11"} +{"episode_id":"ep_000037","started_at":"2026-09-03T20:52:16","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[-0.5253026730077138,1.4510713634810153,0.71338606911949],"aabb_xy":[[-0.5704739908558828,1.3870713663364769],[-0.48013135515954486,1.515071360625554]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.3328406189317994,-1.745399333964929,0.71338606911949],"aabb_xy":[[-0.41283444251035767,-1.8253993365577708],[-0.2528467953532412,-1.6653993313720876]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[0.26360148678402706,-2.2153510631368,0.71338606911949],"aabb_xy":[[0.2447171030155169,-2.234236987917153],[0.2824858705525373,-2.1964651383564475]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.21704734295916528,-2.287221271424991,0.71338606911949],"aabb_xy":[[-0.29704734512192776,-2.3671764550511347],[-0.13704734079640282,-2.2072660877988475]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.5956453967422295,-0.04521339598353524,0.71338606911949],"aabb_xy":[[0.5896083837415649,-0.05124009705248345],[0.6016824097428943,-0.03918669491458704]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[-0.5735732903889297,-1.6327284975237784,0.71338606911949],"aabb_xy":[[-0.5913667973238462,-1.6505282431195758],[-0.5557797834540134,-1.6149287519279805]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[0.5371048395965201,1.4993713017513381,0.71338606911949],"aabb_xy":[[0.5021048382450384,1.4790115657945173],[0.5721048409480018,1.519731037708159]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[-0.46758888328776915,-0.19326081922747207,0.71338606911949],"aabb_xy":[[-0.47521315137794745,-0.20089404276401582],[-0.45996461519759096,-0.18562759569092835]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.46974453411888795,-0.6251660899575673,0.71338606911949],"aabb_xy":[[0.4523138190398813,-0.6424382046214179],[0.48717524919789434,-0.6078939752937162]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.2821849823506498,-1.785113785758338,0.71338606911949],"aabb_xy":[[0.21218498594068794,-1.8055517214100192],[0.3521849787606115,-1.7646758501066557]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.14561740261157474,1.593812242274955,0.71338606911949],"aabb_xy":[[0.12811740333348787,1.576474142208609],[0.16311740188966162,1.611150342341301]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[-0.3392062956412424,-1.950107513883513,0.71338606911949],"aabb_xy":[[-0.3748354515412021,-1.985740180640366],[-0.30357713974128264,-1.9144748471266602]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.6472387423513541,-1.1636973307753464,0.71338606911949],"aabb_xy":[[0.6167544922243241,-1.2136973305568424],[0.6777229924783844,-1.1136973309938505]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[0.3788751105695862,-1.5292555292408696,0.71338606911949],"aabb_xy":[[0.32387963274892684,-1.5842555306747763],[0.4338705883902456,-1.4742555278069625]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.389768477931727,0.9277825481953306,0.71338606911949],"aabb_xy":[[0.36948417520832816,0.9074999230526215],[0.4100527806551257,0.9480651733380392]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[0.6525548995427268,1.7686859493450569,0.71338606911949],"aabb_xy":[[0.5885549009561543,1.7216789859455481],[0.7165548981292992,1.8156929127445656]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[-0.0071175998853426625,-2.139718861871101,0.71338606911949],"aabb_xy":[[-0.062110811222479426,-2.1947188622098945],[0.0478756114517941,-2.0847188615323073]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[-0.24662942175552394,0.8971741790580179,0.71338606911949],"aabb_xy":[[-0.3303516472556064,0.8071741755233218],[-0.16290719625544148,0.9871741825927137]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.2720058937972807,-1.3269355395748998,0.71338606911949],"aabb_xy":[[-0.33600589019285376,-1.3908988279936334],[-0.2080058974017076,-1.2629722511561663]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.5895928692320644,-1.0252853246201625,0.71338606911949],"aabb_xy":[[-0.6027441152033538,-1.0502853243768493],[-0.5764416232607751,-1.0002853248634762]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[0.06664192214742859,-1.9878816454885329,0.71338606911949],"aabb_xy":[[0.029141923724028226,-2.0010458594563634],[0.10414192057082892,-1.9747174315207021]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[0.2701078538883305,1.2733715155200014,0.71338606911949],"aabb_xy":[[0.20610785248033983,1.2215825639960765],[0.33410785529632114,1.3251604670439259]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.1324305679525638,-0.8612771246415414,0.71338606911949],"aabb_xy":[[-0.19743056583421162,-0.9124007883480824],[-0.067430570070916,-0.8101534609350006]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[-0.44323044326869265,-2.011889198074507,0.71338606911949],"aabb_xy":[[-0.46823044282043114,-2.022031681939642],[-0.41823044371695417,-2.0017467142093723]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[0.15119803119516684,-1.5581872788860007,0.71338606911949],"aabb_xy":[[0.10620544447671643,-1.6031872781604495],[0.19619061791361725,-1.513187279611552]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_25","position":[0.5576459388441943,-2.0747688622468887,0.71338606911949],"aabb_xy":[[0.4936459415585457,-2.1162755811997327],[0.621645936129843,-2.0332621432940448]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[-0.07470018293832359,0.9124028522929848,0.71338606911949],"aabb_xy":[[-0.0971649529097287,0.8899028514141243],[-0.05223541296691846,0.9349028531718453]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[-0.3909370212754578,1.5624294842232689,0.71338606911949],"aabb_xy":[[-0.40109003682960714,1.5263599426505279],[-0.3807840057213084,1.5984990257960086]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_28","position":[0.3205316275302381,-2.0842331929150397,0.71338606911949],"aabb_xy":[[0.27525301264908886,-2.1482331922632234],[0.3658102424113874,-2.020233193566856]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_29","position":[-0.24116349056126296,0.21809753005787558,0.71338606911949],"aabb_xy":[[-0.3061634891183358,0.18834499664399296],[-0.17616349200419013,0.2478500634717582]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_30","position":[0.11648114336739979,-2.2070156930982305,0.71338606911949],"aabb_xy":[[0.10944083343386281,-2.287015692497902],[0.12352145330093679,-2.127015693698559]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_31","position":[-0.5595580112805538,1.7340018322350885,0.71338606911949],"aabb_xy":[[-0.5636739613926265,1.7298862772022428],[-0.5554420611684812,1.7381173872679339]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7012907456506341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7477.png","name":"7477"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7477.png","name":"7477"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6599.png","name":"6599"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4705.png","name":"4705"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9811.png","name":"9811"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9241.png","name":"9241"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":551.8445881251029,"rotation_z_degrees":139.67670408271678,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013243236691971801,0.012552776440403274,0.013286832777156244]},{"name":"camera_2","offset_m":[-0.018315590010294813,-0.011231531528176268,0.005749490730391639]},{"name":"camera_3","offset_m":[0.0008905908055861084,-0.01326353791840813,-0.014360796245296998]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005504971554062777,0.00036385923045699313,-7.751201306022094e-05],"end_effector_yaw_offset_degrees":-0.11071156387130898},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001462698844587237,0.0017703591475883526,0.0004022230345185288],"end_effector_yaw_offset_degrees":0.6294877962519194},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005300542348538662,-0.0011752769910659696,0.001971700184566812],"end_effector_yaw_offset_degrees":-0.6114887099628881}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004387789117213998,0.0024431158139687345],"position_m":[0.156787789117214,0.22604311581396871,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003825644688774921,-0.0027455350027249903],"position_m":[0.2385743553112251,-0.312445535002725,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012039000966986555,0.0020648049021660952],"position_m":[0.3232960999033014,-0.0395351950978339,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002866902179191488,0.0019104508345458206],"position_m":[0.3538669021791915,0.32031045083454585,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3149a18b316d46090a7d7830c6cc2ed7ad69c3f59c94d9a8d2a9129f625f9eea","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7477/tex_ceiling_textures_9241/tex_floor_textures_9811/tex_table_textures_6599/tex_wall_textures_4705","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8771914735339017394,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8771914735339017394,"visual_seed":8771914735339017394,"scene_id":"lab_003","finished_at":"2026-09-03T20:55:16"} +{"episode_id":"ep_000038","started_at":"2026-09-03T20:55:19","dimensions":{"distractor":{"count":29,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[-0.6491607809481381,-0.010891721934922938,0.71338606911949],"aabb_xy":[[-0.6609289677427957,-0.09589172184014452],[-0.6373925941534807,0.07410827797029863]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.42561715057164384,-1.9093616982187096,0.71338606911949],"aabb_xy":[[-0.4756171515221766,-1.9409108452222308],[-0.375617149621111,-1.877812551215188]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.07683362294602836,-2.4428819698699047,0.71338606911949],"aabb_xy":[[0.05862779928478068,-2.453907370451897],[0.09503944660727603,-2.431856569287914]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.4545873131033453,-0.39691035731170254,0.71338606911949],"aabb_xy":[[0.3969568442160744,-0.45691035623841303],[0.5122177819906162,-0.3369103583849919]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[-0.20543313603905777,1.7466171168984954,0.71338606911949],"aabb_xy":[[-0.23583124713820136,1.7162102148968257],[-0.17503502493991419,1.7770240189001647]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[-0.15739262377761754,1.4099684673970918,0.71338606911949],"aabb_xy":[[-0.2473926223720875,1.3937178810836708],[-0.06739262518314762,1.4262190537105128]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.5218057337088171,-1.0266791983459689,0.71338606911949],"aabb_xy":[[0.5153040972008126,-1.0364470203722789],[0.5283073702168218,-1.0169113763196593]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[-0.4081124216160277,-0.6199082952722703,0.71338606911949],"aabb_xy":[[-0.41826543717017695,-0.6559778368450105],[-0.3979594060618782,-0.5838387536995299]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[0.48570359805695573,-0.7254267068320659,0.71338606911949],"aabb_xy":[[0.43071038671981904,-0.7804267071708597],[0.5406968093940925,-0.6704267064932724]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[0.5461149681057433,1.3475131712886284,0.71338606911949],"aabb_xy":[[0.4561149713701331,1.2943297079713336],[0.6361149648413535,1.4006966346059226]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[-0.318691479831506,0.5274081008613747,0.71338606911949],"aabb_xy":[[-0.37869148042752215,0.4725956283161512],[-0.2586914792354898,0.5822205734065982]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[-0.15051548084991295,-1.498787223449975,0.71338606911949],"aabb_xy":[[-0.15854175148053898,-1.5075387184273277],[-0.14248921021928698,-1.4900357284726224]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.5619635045597648,0.9617115917403813,0.71338606911949],"aabb_xy":[[-0.6419635048333718,0.8887620439146646],[-0.4819635042861579,1.034661139566098]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.3036409409903878,-2.198827995836738,0.71338606911949],"aabb_xy":[[-0.363640941241789,-2.253109320873203],[-0.24364094073898662,-2.144546670800273]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[0.0699926029025868,1.4563143759157762,0.71338606911949],"aabb_xy":[[0.0228632239007511,1.3923143748713738],[0.11712198190442244,1.5203143769601777]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.2622182133783407,-2.200736199505925,0.71338606911949],"aabb_xy":[[0.18222438979978256,-2.2807362020987667],[0.342212036956899,-2.1207361969130836]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[-0.3644930877633252,-0.47272579753318755,0.71338606911949],"aabb_xy":[[-0.3869922234895522,-0.49522579831145047],[-0.34199395203709826,-0.4502257967549245]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.584219555440226,-0.8341367896411291,0.71338606911949],"aabb_xy":[[-0.6033318627982048,-0.8532715685183712],[-0.5651072480822471,-0.8150020107638871]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[-0.18022381823870337,0.937189885587109,0.71338606911949],"aabb_xy":[[-0.23522381786044924,0.8822061927996363],[-0.12522381861695756,0.9921735783745818]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.24380466731092776,0.6031521228594965,0.71338606911949],"aabb_xy":[[0.19383160177841233,0.5531521230469637],[0.2937777328434432,0.6531521226720295]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[0.47985721891764954,-1.4719693994653875,0.71338606911949],"aabb_xy":[[0.4724447633762611,-1.4778206098870155],[0.48726967445903807,-1.4661181890437596]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.5526399284731331,0.24460103007819933,0.71338606911949],"aabb_xy":[[-0.5979185433542823,0.18060103073001565],[-0.5073613135919838,0.308601029426383]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[-0.589924624001164,-1.6590150553252396,0.71338606911949],"aabb_xy":[[-0.6309425673875347,-1.7090150559561967],[-0.548906680614793,-1.609015054694282]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[0.23322594685377107,1.5668269671671085,0.71338606911949],"aabb_xy":[[0.18541977924000239,1.5018269644600493],[0.2810321144675397,1.6318269698741672]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[0.4236919836637869,1.0171163128562064,0.71338606911949],"aabb_xy":[[0.4173798841274484,1.0113493736029875],[0.4300040832001253,1.0228832521094253]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[0.14351934797786348,1.017858067622738,0.71338606911949],"aabb_xy":[[0.11900572388085762,0.9935934743207016],[0.16803297207486934,1.0421226609247745]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_26","position":[-0.08272300160173951,0.47326691967992707,0.71338606911949],"aabb_xy":[[-0.1467229979973126,0.4093036312611935],[-0.018723005206166418,0.5372302080986606]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[-0.051667622756662146,-2.1897847106334423,0.71338606911949],"aabb_xy":[[-0.1316676260145051,-2.269781218425426],[0.02833238050118081,-2.109788202841458]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[-0.3572027453643996,0.37585614437364745,0.71338606911949],"aabb_xy":[[-0.37387988135749506,0.3591562203997172],[-0.34052560937130405,0.3925560683475777]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970527607659502,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2451.png","name":"2451"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2451.png","name":"2451"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2499.png","name":"2499"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2691.png","name":"2691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3971.png","name":"3971"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5433.png","name":"5433"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":755.5485852707409,"rotation_z_degrees":286.92746978987606,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010589654751155817,-0.015330602770433976,0.013145214981904903]},{"name":"camera_2","offset_m":[0.017467942687461036,-0.019208508305918547,0.01767234718620925]},{"name":"camera_3","offset_m":[-0.019739701440086143,-0.017454684922130505,0.017306814239631773]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012202833411218894,-0.000813393387873302,0.0007491411742309535],"end_effector_yaw_offset_degrees":-0.08991510190301333},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016386873679246883,0.0017823902678170038,0.0007714315691774096],"end_effector_yaw_offset_degrees":0.6278675700068619},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017303155279334678,0.0014733839968785177,0.0008106837275617474],"end_effector_yaw_offset_degrees":0.6676763980093605}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003089088682420634,0.0039730831114264875],"position_m":[0.15209109113175795,0.2275730831114265,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004332022185304319,0.002087295923437437],"position_m":[0.24673202218530432,-0.30761270407656255,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0039506802818417225,0.003913547285681746],"position_m":[0.3284506802818417,-0.03768645271431825,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007309188119324871,-0.0003610009699867127],"position_m":[0.3502690811880675,0.3180389990300133,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"46dcc27eea8d2c90cde0b03c13839cbe1d876167e8c433214c275712fef1e7ff","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2451/tex_ceiling_textures_5433/tex_floor_textures_3971/tex_table_textures_2499/tex_wall_textures_2691","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6241842447845996123,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6241842447845996123,"visual_seed":6241842447845996123,"scene_id":"lab_003","finished_at":"2026-09-03T20:58:29"} +{"episode_id":"ep_000039","started_at":"2026-09-03T20:58:32","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[0.23869617420654754,1.073653838330641,0.71338606911949],"aabb_xy":[[0.20369617501372922,1.0626867923329784],[0.27369617339936575,1.0846208843283034]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[0.014738275949297108,-0.7525982214703981,0.71338606911949],"aabb_xy":[[-0.07526172638472195,-0.8300805760555109],[0.10473827828331617,-0.6751158668852856]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.13148566449781696,0.6364528392272311,0.71338606911949],"aabb_xy":[[-0.15398208593168103,0.6139528394204836],[-0.10898924306395283,0.6589528390339785]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[-0.15582267859607812,1.122792208172053,0.71338606911949],"aabb_xy":[[-0.19041376145012331,1.0577922078870214],[-0.12123159574203289,1.1877922084570836]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.31048873807914795,0.2585569744358911,0.71338606911949],"aabb_xy":[[-0.34798873842737565,0.2467655788548075],[-0.27298873773092014,0.2703483700169746]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.5114309874443854,-1.1290923474308634,0.71338606911949],"aabb_xy":[[0.5041872213981401,-1.2090923456344658],[0.5186747534906307,-1.049092349227261]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.25084999653571816,1.4266794804735663,0.71338606911949],"aabb_xy":[[-0.2682807116147246,1.4094073658097153],[-0.23341928145671162,1.4439515951374169]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.3747491181925058,-1.7589924006022288,0.71338606911949],"aabb_xy":[[-0.42083420944723726,-1.822992397854784],[-0.3286640269377743,-1.6949924033496737]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[0.5220902007043848,0.03085940306846835,0.71338606911949],"aabb_xy":[[0.5074467951503518,0.016200683411684066],[0.5367336062584178,0.04551812272525263]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[0.7021245007818511,-1.0935046119294491,0.71338606911949],"aabb_xy":[[0.6839186771206034,-1.104530012511441],[0.7203303244430987,-1.0824792113474577]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[0.09268588275553147,1.224899651318672,0.71338606911949],"aabb_xy":[[0.055185881239899745,1.213672878302527],[0.13018588427116318,1.2361264243348171]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.1669941526498101,1.5257694126827146,0.71338606911949],"aabb_xy":[[-0.17330625218614856,1.5200024734294957],[-0.1606820531134717,1.5315363519359335]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.5154566824380303,0.47720426315035525,0.71338606911949],"aabb_xy":[[-0.565456682014365,0.4272236841982493],[-0.4654566828616956,0.5271848421024612]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[0.4456069431584897,-2.5069125940902084,0.71338606911949],"aabb_xy":[[0.3816069414804923,-2.5554299855695226],[0.509606944836487,-2.458395202610894]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[-0.5872337999826512,-0.6451401135675263,0.71338606911949],"aabb_xy":[[-0.6322263867011015,-0.6901401128419751],[-0.5422412132642007,-0.6001401142930776]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[-0.2500501449129654,-2.3469537513650383,0.71338606911949],"aabb_xy":[[-0.300044977840907,-2.396953750260282],[-0.2000553119850238,-2.2969537524697947]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[0.47538595024864705,0.7844538333322215,0.71338606911949],"aabb_xy":[[0.4646129763272792,0.7494538351131824],[0.4861589241700148,0.8194538315512604]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[0.5018248096416256,-1.3847689952023912,0.71338606911949],"aabb_xy":[[0.49304358249438934,-1.3935487424909214],[0.5106060367888619,-1.3759892479138613]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.02758294084609525,-1.715208953101996,0.71338606911949],"aabb_xy":[[-0.022395867664220644,-1.7652089531077146],[0.07756174935641114,-1.665208953096277]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[0.48898743178756043,-0.4782933778007701,0.71338606911949],"aabb_xy":[[0.44118126417379167,-0.5432933805078289],[0.536793599401329,-0.413293375093711]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[0.2514896308118074,0.623962316039163,0.71338606911949],"aabb_xy":[[0.24344627088585225,0.5389623149437964],[0.2595329907377626,0.7089623171345293]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.24167473399270212,-1.4629180246659008,0.71338606911949],"aabb_xy":[[-0.2966669846282131,-1.5179180264092138],[-0.1866824833571912,-1.407918022922588]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[0.5952614759731334,-1.8044362163670695,0.71338606911949],"aabb_xy":[[0.5777614766950465,-1.8217743164334153],[0.6127614752512203,-1.7870981163007233]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[0.37306610181541267,0.7555275405033202,0.71338606911949],"aabb_xy":[[0.34784526495557294,0.7303037896504332],[0.3982869386752523,0.7807512913562067]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[-0.5142418894130842,-2.338115131883475,0.71338606911949],"aabb_xy":[[-0.5942418880699702,-2.352619990807738],[-0.43424189075619823,-2.323610272959212]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[0.38801104285987376,-1.6430812594664348,0.71338606911949],"aabb_xy":[[0.3328858372302829,-1.703081260907722],[0.4431362484894645,-1.5830812580251477]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[0.19769686945006992,1.4421556113487495,0.71338606911949],"aabb_xy":[[0.11769687243582194,1.4220210596753382],[0.2776968664643179,1.4622901630221607]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[-0.49867229454652606,1.0129802325847903,0.71338606911949],"aabb_xy":[[-0.5399211055764406,0.9579802330725727],[-0.4574234835166112,1.0679802320970075]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_28","position":[0.059458056206266985,1.0808745842531136,0.71338606911949],"aabb_xy":[[-0.020541945956495507,1.00091940062697],[0.13945805836902947,1.1608297678792572]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_29","position":[0.39153760428281026,1.1604020952368037,0.71338606911949],"aabb_xy":[[0.37147919266956997,1.1403370083276463],[0.41159601589605055,1.1804671821459611]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_30","position":[-0.35720491451722747,1.4293919707357419,0.71338606911949],"aabb_xy":[[-0.3876891646442576,1.379391970954246],[-0.3267206643901973,1.4793919705172378]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_31","position":[0.5226178137381547,-1.3065007070321548,0.71338606911949],"aabb_xy":[[0.4526178116067251,-1.3292626726578503],[0.5926178158695842,-1.283738741406459]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_32","position":[0.38476308065858444,-1.820493500864408,0.71338606911949],"aabb_xy":[[0.34976308238846454,-1.827567628559396],[0.41976307892870435,-1.8134193731694197]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_33","position":[-0.06526413906207174,-1.387072352150386,0.71338606911949],"aabb_xy":[[-0.13026414006257225,-1.437858717305061],[-0.00026413806157121744,-1.336285986995711]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989938622628035,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9059.png","name":"9059"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9059.png","name":"9059"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1342.png","name":"1342"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4441.png","name":"4441"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/731.png","name":"731"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5281.png","name":"5281"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":563.918453199671,"rotation_z_degrees":254.41252762157404,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015513667306449607,0.010089869333958185,0.01065257101066221]},{"name":"camera_2","offset_m":[0.01873296776541734,-0.019877791612435188,-0.011689369357234148]},{"name":"camera_3","offset_m":[-0.010106396522190147,0.004533175216810726,-0.0070997147844534415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006181283806013754,0.0013757625018029234,-0.0007637860632206648],"end_effector_yaw_offset_degrees":-0.9498144341962629},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005319885124877555,0.000526545354075425,-0.0011700628376738638],"end_effector_yaw_offset_degrees":0.9865295320950058},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008345751843494733,-0.00040138748740370335,0.0016956225804441315],"end_effector_yaw_offset_degrees":0.8312936938263238}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004023246933589945,0.0018450283015428596],"position_m":[0.15642324693358994,0.22544502830154287,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004526732463579093,-0.003983978993814189],"position_m":[0.2378732675364209,-0.31368397899381417,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004889654000188278,0.0023961858662870737],"position_m":[0.32938965400018827,-0.039203814133712926,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036535732559638467,-0.004711747915202118],"position_m":[0.3546535732559638,0.3136882520847979,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bed48229eab8559d46d0cbf48eb5baaf2707f1cce68cfe25dea2bf914564b9bd","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9059/tex_ceiling_textures_5281/tex_floor_textures_731/tex_table_textures_1342/tex_wall_textures_4441","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6856846359310692025,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6856846359310692025,"visual_seed":6856846359310692025,"scene_id":"lab_003","finished_at":"2026-09-03T21:01:40"} +{"episode_id":"ep_000040","started_at":"2026-09-03T21:01:43","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[-0.3612049597320297,-0.5454601402467909,0.71338606911949],"aabb_xy":[[-0.4083343387338653,-0.6094601412911927],[-0.314075580730194,-0.48146013920238884]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[-0.2634983475945962,-0.9160632861178573,0.71338606911949],"aabb_xy":[[-0.2705386575281333,-0.9960632855175288],[-0.2564580376610593,-0.836063286718186]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.3038136461421468,-0.7991666787818119,0.71338606911949],"aabb_xy":[[0.29569999146876963,-0.807272495235841],[0.31192730081552383,-0.7910608623277828]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.3414465066991419,-0.5741348391215655,0.71338606911949],"aabb_xy":[[0.2964539199806915,-0.6191348383960142],[0.3864390934175923,-0.5291348398471167]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.012439959031726677,-0.818918081809477,0.71338606911949],"aabb_xy":[[-0.02708336458575966,-0.8335768014662611],[0.002203446522306309,-0.8042593621526927]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[-0.22509924542153603,1.0587487803264963,0.71338606911949],"aabb_xy":[[-0.258578412682577,1.0252696669553896],[-0.19162007816049512,1.0922278936976035]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.5505439737129098,-2.446660283236505,0.71338606911949],"aabb_xy":[[-0.595822588594059,-2.510660282584688],[-0.5052653588317605,-2.382660283888321]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[-0.5763545788870337,0.05707956600320241,0.71338606911949],"aabb_xy":[[-0.582449206775152,0.04851017145153369],[-0.5702599509989154,0.06564896055487113]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[0.10493656396315099,1.5261997553058948,0.71338606911949],"aabb_xy":[[0.07709152718254385,1.4954152565675833],[0.1327816007437581,1.5569842540442067]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.1258065091969377,0.7149668486065304,0.71338606911949],"aabb_xy":[[-0.13773924355876577,0.7025846957986711],[-0.11387377483510963,0.7273490014143899]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.30138115492533935,0.5655415372802732,0.71338606911949],"aabb_xy":[[0.2839504398463328,0.5482694226164223],[0.3188118700043458,0.5828136519441239]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[-0.060159333437089346,0.29442867496797964,0.71338606911949],"aabb_xy":[[-0.07303123693802947,0.21442867455414347],[-0.0472874299361492,0.37442867538181573]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.08037301679345699,-1.2171645080868216,0.71338606911949],"aabb_xy":[[-0.1303730162336526,-1.2671324325711377],[-0.030373017353261367,-1.1671965836025051]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[-0.42997198853626645,0.6293541686524216,0.71338606911949],"aabb_xy":[[-0.5099719859398598,0.5493615974542386],[-0.34997199113267297,0.7093467398506043]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.13744247155500267,-0.6260561889999188,0.71338606911949],"aabb_xy":[[-0.14931455456650378,-0.7110561886935691],[-0.12557038854350155,-0.5410561893062684]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[0.40031995839577905,-2.354412758809469,0.71338606911949],"aabb_xy":[[0.35251379078201045,-2.419412761516528],[0.4481261260095477,-2.28941275610241]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.512194121594225,-1.8109979264577403,0.71338606911949],"aabb_xy":[[-0.5771941216285277,-1.8576986031380676],[-0.4471941215599222,-1.764297249777413]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.24903950867022806,-1.6638675831680896,0.71338606911949],"aabb_xy":[[-0.31303951071996006,-1.7039620662573975],[-0.1850395066204961,-1.6237731000787816]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[0.48342424633178127,0.8406499723497207,0.71338606911949],"aabb_xy":[[0.42845052429544833,0.7856499727854876],[0.5383979683681142,0.895649971913954]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[0.4505061542031241,1.1867917996171737,0.71338606911949],"aabb_xy":[[0.4148769983031644,1.1511591328603208],[0.48613531010308386,1.2224244663740267]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.5600459560033761,-0.420703457966908,0.71338606911949],"aabb_xy":[[-0.5698019455125499,-0.43046599202614244],[-0.5502899664942021,-0.41094092390767356]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.5202729056153973,-0.7147484364864463,0.71338606911949],"aabb_xy":[[-0.5842729075277397,-0.7706595857444568],[-0.45627290370305507,-0.6588372872284359]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[0.4414116526779852,1.4336136803068684,0.71338606911949],"aabb_xy":[[0.3962403348298163,1.36961368316233],[0.48658297052615423,1.4976136774514068]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.39017750421815994,1.0939951962273242,0.71338606911949],"aabb_xy":[[-0.40708823665450167,1.0805229906347094],[-0.3732667717818181,1.1074674018199386]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[0.6695040563654409,-0.6669217213895948,0.71338606911949],"aabb_xy":[[0.6309583635402398,-0.7054674924457834],[0.7080497491906419,-0.6283759503334062]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[0.0992265794634064,1.3673795063935974,0.71338606911949],"aabb_xy":[[0.08980910489354364,1.3579633292558781],[0.10864405403326914,1.3767956835313162]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[0.17548481338470812,-1.7929954122459484,0.71338606911949],"aabb_xy":[[0.11148481009500001,-1.8363303312498658],[0.23948481667441623,-1.7496604932420305]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[-0.4476616638247224,-0.9840701084120274,0.71338606911949],"aabb_xy":[[-0.5276616608389704,-1.0042046600854386],[-0.3676616668104744,-0.9639355567386161]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_28","position":[0.6025289991711769,-0.9907255933409707,0.71338606911949],"aabb_xy":[[0.5525559336386615,-1.0407255931535038],[0.6525020647036924,-0.9407255935284381]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[-0.13980804577105022,-2.4870610227830605,0.71338606911949],"aabb_xy":[[-0.22480804418847344,-2.5719353182453455],[-0.05480804735362699,-2.4021867273207755]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_30","position":[0.27905282159384814,-1.1965847305781752,0.71338606911949],"aabb_xy":[[0.26942118537341847,-1.206222043357884],[0.2886844578142777,-1.1869474177984662]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_31","position":[0.08486197558880115,1.0193663087758669,0.71338606911949],"aabb_xy":[[0.0148619734573716,0.9966043431501708],[0.1548619777202307,1.042128274401562]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_32","position":[-0.08290007681073686,-0.2774383553392803,0.71338606911949],"aabb_xy":[[-0.1529000786194823,-0.29879212410346767],[-0.012900075001991404,-0.2560845865750929]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_33","position":[0.6652728736731082,-1.5957812662465725,0.71338606911949],"aabb_xy":[[0.6230884595122774,-1.6597812665237837],[0.7074572878339389,-1.5317812659693613]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6986809926346763,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9026.png","name":"9026"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9026.png","name":"9026"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6827.png","name":"6827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1927.png","name":"1927"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1135.png","name":"1135"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9882.png","name":"9882"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":739.3373894321585,"rotation_z_degrees":108.91985705059793,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0038661014214186537,-0.01944761525943328,0.017099601581560802]},{"name":"camera_2","offset_m":[-0.009547021430654659,-0.015715214611971985,-0.011107610670383657]},{"name":"camera_3","offset_m":[0.009113976613139379,0.008559091260635882,-0.014081703380981825]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018244665914028642,0.0014019829528844926,-0.0017393256238688423],"end_effector_yaw_offset_degrees":0.8549554324360891},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009525239197588934,0.001508218030116532,0.000728805082755453],"end_effector_yaw_offset_degrees":-0.45704669385856067},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001175194938508739,0.0010252353033317306,0.0006097326981062937],"end_effector_yaw_offset_degrees":-0.5883368789891874}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002131163186368367,-0.0015080217082449666],"position_m":[0.15453116318636836,0.22209197829175503,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005038883720556112,-2.103366103281025e-05],"position_m":[0.2418961116279444,-0.30972103366103276,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013087048297679626,0.0005314688253004827],"position_m":[0.32319129517023204,-0.04106853117469952,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010661336094933528,-0.0002980642356582462],"position_m":[0.35206613360949335,0.31810193576434176,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"caa7fe0fc01450d170572c70edc042890fbe9c544154626b042c369a6a9fd4ba","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9026/tex_ceiling_textures_9882/tex_floor_textures_1135/tex_table_textures_6827/tex_wall_textures_1927","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1223016294148405732,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1223016294148405732,"visual_seed":1223016294148405732,"scene_id":"lab_003","finished_at":"2026-09-03T21:04:47"} +{"episode_id":"ep_000041","started_at":"2026-09-03T21:04:50","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.07491964353004921,-2.3040126446501072,0.71338606911949],"aabb_xy":[[0.024924810602107605,-2.354012643545351],[0.12491447645799081,-2.2540126457548637]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.2809159618408197,1.5357079149185355,0.71338606911949],"aabb_xy":[[-0.3159159610336379,1.5247408689208728],[-0.24591596264800136,1.5466749609161978]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.04606144508202603,-2.4442824012258906,0.71338606911949],"aabb_xy":[[-0.12606144373891204,-2.4587872601501535],[0.03393855357485997,-2.4297775423016277]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.48266590267297127,0.1525997880062473,0.71338606911949],"aabb_xy":[[-0.5003415332615696,0.13491957172684454],[-0.464990272084373,0.17028000428565004]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.3622883843590248,0.9581412845003419,0.71338606911949],"aabb_xy":[[0.2982883857724523,0.9111343211008331],[0.42628838294559723,1.0051482478998506]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.37309335002869704,-1.4907275621243574,0.71338606911949],"aabb_xy":[[0.3693900886995581,-1.4944295804330752],[0.3767966113578359,-1.4870255438156397]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[-0.546175576866176,-0.39369644098138057,0.71338606911949],"aabb_xy":[[-0.6261755738292152,-0.47077208262515396],[-0.46617557990313685,-0.31662079933760706]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.5089021391869009,-0.016745133186547356,0.71338606911949],"aabb_xy":[[0.4617727601850651,-0.08074513423094931],[0.5560315181887364,0.0472548678578546]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[-0.4912363466148564,-2.3848298531437098,0.71338606911949],"aabb_xy":[[-0.4984801126611017,-2.464829851347312],[-0.48399258056861105,-2.3048298549401074]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[-0.3280157359246953,-1.5891048701733457,0.71338606911949],"aabb_xy":[[-0.3361293905980724,-1.5972106866273748],[-0.3199020812513182,-1.5809990537193166]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[-0.5577188301777937,0.2629321752040883,0.71338606911949],"aabb_xy":[[-0.6077188311283265,0.23138302820056683],[-0.5077188292272609,0.29448132220760964]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[0.32940884928439695,0.6986276570086067,0.71338606911949],"aabb_xy":[[0.31153974152994146,0.6847947490313957],[0.34727795703885245,0.7124605649858176]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.6395120008605248,-2.4643501975566298,0.71338606911949],"aabb_xy":[[-0.6541554064145578,-2.4790089172134135],[-0.6248685953064919,-2.449691477899845]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.5281009852746292,1.3307969945223102,0.71338606911949],"aabb_xy":[[-0.5656009859392079,1.3151099365220877],[-0.4906009846100506,1.3464840525225321]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[-0.18110076078395587,1.2067752582203193,0.71338606911949],"aabb_xy":[[-0.21860075935957665,1.1940389625567613],[-0.14360076220833504,1.2195115538838772]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.5517424488480018,-0.6911082266735218,0.71338606911949],"aabb_xy":[[-0.5591549043893902,-0.6969594370951497],[-0.5443299933066132,-0.6852570162518938]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.2861635282815683,1.262846114081198,0.71338606911949],"aabb_xy":[[0.25272335308554866,1.2294024882502677],[0.3196037034775879,1.2962897399121278]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[0.5569366283870287,-0.7139797939507697,0.71338606911949],"aabb_xy":[[0.5194366280948539,-0.7180212693513732],[0.5944366286792035,-0.709938318550166]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.23637367140587773,-2.0859424491451284,0.71338606911949],"aabb_xy":[[0.22824598321256453,-2.0948560575558366],[0.24450135959919098,-2.077028840734421]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.4841237809867587,0.6478108495165373,0.71338606911949],"aabb_xy":[[0.4715210818496822,0.6352154532916718],[0.49672648012383513,0.6604062457414028]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.35885671085248716,-0.6331284452976789,0.71338606911949],"aabb_xy":[[-0.4425789363525696,-0.7231284488323748],[-0.2751344853524047,-0.5431284417629829]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_21","position":[0.26384777701988715,-1.6400092744121781,0.71338606911949],"aabb_xy":[[0.22108107014046696,-1.7040092778339808],[0.30661448389930734,-1.576009270990376]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6996427331554477,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1767.png","name":"1767"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1767.png","name":"1767"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8899.png","name":"8899"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7555.png","name":"7555"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3606.png","name":"3606"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2999.png","name":"2999"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":548.0625047159015,"rotation_z_degrees":49.1262853999289,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009153687592536265,-0.007526226852380771,-0.006389087697497322]},{"name":"camera_2","offset_m":[-0.0016122083281739745,0.010852460603015163,0.0043286106235866165]},{"name":"camera_3","offset_m":[0.011960608517538242,-0.006293474418990388,-0.011139203643669111]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-8.031010536167565e-05,-0.0006505981371612117,-0.0018863459247200885],"end_effector_yaw_offset_degrees":0.6553208628135656},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004313469591425093,0.0006905591278746873,0.00015653281122545186],"end_effector_yaw_offset_degrees":-0.7676851156349869},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011943278281473888,0.0014776591213977379,0.0005395258168907303],"end_effector_yaw_offset_degrees":0.718921901676153}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003204492632912577,0.0012223115440258723],"position_m":[0.1556044926329126,0.22482231154402588,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001781313750945839,-0.0031698489155007293],"position_m":[0.24418131375094584,-0.3128698489155007,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005038886696347687,0.0025444978861081215],"position_m":[0.32500388866963476,-0.039055502113891874,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019088389043558744,0.00016634961319832078],"position_m":[0.35290883890435587,0.31856634961319835,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2c8bef96ae92464d588a4ddd3a20d70bd0baa1893bcbea2751a05480faca94c4","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1767/tex_ceiling_textures_2999/tex_floor_textures_3606/tex_table_textures_8899/tex_wall_textures_7555","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7315757275517242911,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7315757275517242911,"visual_seed":7315757275517242911,"scene_id":"lab_003","finished_at":"2026-09-03T21:07:55"} +{"episode_id":"ep_000042","started_at":"2026-09-03T21:07:58","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.4153262448636166,1.3638081575868375,0.71338606911949],"aabb_xy":[[0.4065450177163804,1.3550284102983075],[0.42410747201085286,1.372587904875368]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.5341936165976051,0.8508279438664164,0.71338606911949],"aabb_xy":[[-0.5435406241799003,0.8365243216487722],[-0.5248466090153099,0.8651315660840603]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.49541421182864254,0.6719525358098144,0.71338606911949],"aabb_xy":[[-0.5153052517089829,0.6592967245251176],[-0.47552317194830235,0.6846083470945112]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.06325422647416701,0.7931469539822884,0.71338606911949],"aabb_xy":[[0.013254225113279795,0.7431690494068728],[0.11325422783505423,0.843124858557704]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[-0.09219254914756758,-0.9690966199974254,0.71338606911949],"aabb_xy":[[-0.12216010605739326,-0.9990966202953112],[-0.06222499223774193,-0.9390966196995397]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.2894297970867137,0.7191272983984214,0.71338606911949],"aabb_xy":[[0.2442584792385447,0.655127301253883],[0.33460111493488265,0.7831272955429599]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.050511071947752506,-2.0391206829278223,0.71338606911949],"aabb_xy":[[0.014597567522762818,-2.0750341911445767],[0.08642457637274217,-2.003207174711067]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[0.38951658943663103,-0.7494466570538927,0.71338606911949],"aabb_xy":[[0.34343149818189955,-0.8134466543064478],[0.4356016806913625,-0.6854466598013376]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[0.1919842109483113,1.270186837747998,0.71338606911949],"aabb_xy":[[0.14485483194647558,1.2061868367035957],[0.23911358995014692,1.3341868387923996]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.582450725428057,-1.4731211974037934,0.71338606911949],"aabb_xy":[[-0.6721378017361724,-1.563121197658244],[-0.4927636491199415,-1.383121197149343]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.5987132673380997,-0.08337149421758117,0.71338606911949],"aabb_xy":[[0.5641221844840543,-0.1483714945026122],[0.6333043501921447,-0.018371493932550106]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.263393149963733,-1.977471035158302,0.71338606911949],"aabb_xy":[[-0.3128735711776918,-2.041471033071154],[-0.21391272874977424,-1.9134710372454502]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[0.27960429701642087,-0.7864775600154428,0.71338606911949],"aabb_xy":[[0.26259419972637016,-0.8026120485137166],[0.29661439430647146,-0.7703430715171687]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[0.05785503403445125,-1.531435311714343,0.71338606911949],"aabb_xy":[[0.016837090648080373,-1.5814353123453004],[0.09887297742082213,-1.4814353110833858]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[-0.5941184339097831,0.2914237575778089,0.71338606911949],"aabb_xy":[[-0.6581184303053561,0.22746046915907536],[-0.53011843751421,0.35538704599654247]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.1281540705420552,-1.0682850519911067,0.71338606911949],"aabb_xy":[[0.12281649487605062,-1.0932850529202465],[0.13349164620805976,-1.043285051061967]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[0.5638827475147603,1.4620383148916942,0.71338606911949],"aabb_xy":[[0.48016052201467774,1.3720383113569983],[0.6476049730148427,1.5520383184263902]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[-0.6001957075675451,-2.0757176821923853,0.71338606911949],"aabb_xy":[[-0.6115574422208312,-2.087086148598673],[-0.5888339729142589,-2.0643492157860974]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[-0.29974053861707073,0.48083846826520515,0.71338606911949],"aabb_xy":[[-0.3122078967268064,0.4683731436318817],[-0.2872731805073351,0.4933037928985287]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[0.39825439395548545,-2.269684660778259,0.71338606911949],"aabb_xy":[[0.32825439214674,-2.2910384295424464],[0.4682543957642309,-2.2483308920140717]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.6170137428938496,-1.32259442852918,0.71338606911949],"aabb_xy":[[0.6088860547005364,-1.3315080369398875],[0.6251414310871628,-1.3136808201184724]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_21","position":[0.68171040512109,-1.2572011323837193,0.71338606911949],"aabb_xy":[[0.6699422183264324,-1.3422011322889411],[0.6934785919157475,-1.172201132478498]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[0.0378628903472632,-2.2082265398103016,0.71338606911949],"aabb_xy":[[0.032281218713134434,-2.220726539628077],[0.04344456198139195,-2.1957265399925254]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.5437807962588277,-0.012219471019815131,0.71338606911949],"aabb_xy":[[-0.5780970734334457,-0.062219470992992854],[-0.5094645190842099,0.03778052895336259]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[-0.04612600063463457,1.5627435171092086,0.71338606911949],"aabb_xy":[[-0.11112600163513509,1.5119571519545336],[0.01887400036586595,1.6135298822638835]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.42881075063987795,-0.003937461464416536,0.71338606911949],"aabb_xy":[[-0.4625863098305709,-0.01797595667758156],[-0.395035191449185,0.01010103374874849]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.3089688771328009,-0.09461970696625377,0.71338606911949],"aabb_xy":[[-0.32646887641088773,-0.11195780703259971],[-0.291468877854714,-0.0772816068999078]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[0.41191976594102364,0.9152701791509248,0.71338606911949],"aabb_xy":[[0.35692428812036425,0.8602701777170177],[0.46691524376168303,0.9702701805848316]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_28","position":[0.28260752063120576,-1.7209058259042211,0.71338606911949],"aabb_xy":[[0.2376075191649769,-1.765905682765702],[0.3276075220974346,-1.6759059690427407]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_29","position":[-0.2095977858919087,-1.4176839130470242,0.71338606911949],"aabb_xy":[[-0.2895977861655157,-1.490633460872741],[-0.1295977856183017,-1.3447343652213075]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_30","position":[-0.6313268671230892,1.1852968652030982,0.71338606911949],"aabb_xy":[[-0.6863268662996787,1.1303071904281405],[-0.5763268679464997,1.2402865399780558]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_31","position":[0.4177699415431617,0.38073305179196515,0.71338606911949],"aabb_xy":[[0.392549104683322,0.35550930093907834],[0.44299077840300133,0.40595680264485184]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980724873176689,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7698.png","name":"7698"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7698.png","name":"7698"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6036.png","name":"6036"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5910.png","name":"5910"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5553.png","name":"5553"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6734.png","name":"6734"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":600.0939131699855,"rotation_z_degrees":24.572931883581525,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009438630936012653,-0.0013693111893577949,0.01384485204908414]},{"name":"camera_2","offset_m":[0.01914817194767877,-0.012901362011061535,0.011043856105287433]},{"name":"camera_3","offset_m":[0.015451084947220587,-0.0131396293501696,-0.011812292800493247]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001742153933568389,-0.0015811491854802538,-0.001831283302067266],"end_effector_yaw_offset_degrees":0.7445282197731251},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005080300608766254,0.00020169952885212969,0.00030766071128908706],"end_effector_yaw_offset_degrees":-0.16505638249065013},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008059817671248015,-0.0012805992332853805,-0.00145630106177985],"end_effector_yaw_offset_degrees":0.4799257236563008}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00210880625760996,0.0032890459527930476],"position_m":[0.15029119374239006,0.22688904595279305,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012398318401881823,0.002809286443883825],"position_m":[0.2411601681598118,-0.30689071355611613,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036292981611982856,0.001324245269739779],"position_m":[0.32087070183880173,-0.04027575473026022,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023513418423809695,0.004986799413479805],"position_m":[0.34864865815761903,0.3233867994134798,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"40d5c7fe45e416f6c9ee816c78ac989a3e7d7bffb020dd4097204c65ce638569","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7698/tex_ceiling_textures_6734/tex_floor_textures_5553/tex_table_textures_6036/tex_wall_textures_5910","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4848909298494879385,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4848909298494879385,"visual_seed":4848909298494879385,"scene_id":"lab_003","finished_at":"2026-09-03T21:10:58"} +{"episode_id":"ep_000043","started_at":"2026-09-03T21:11:01","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.20342792909697643,-0.04865247098288217,0.71338606911949],"aabb_xy":[[-0.21426840732349134,-0.06583875227353098],[-0.19258745087046153,-0.03146618969223335]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.3471022709803473,0.5261057847902624,0.71338606911949],"aabb_xy":[[0.310307637855441,0.4891999096936801],[0.38389690410525357,0.5630116598868447]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.004681318284058156,0.8927354801824445,0.71338606911949],"aabb_xy":[[-0.012896983904888693,0.8751609906083396],[0.022259620473005004,0.9103099697565494]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[-0.1591949070285339,-1.050282963327915,0.71338606911949],"aabb_xy":[[-0.21919490727993507,-1.1045642883643796],[-0.09919490677713272,-0.9960016382914503]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[0.21640649055715722,-1.4976380318290152,0.71338606911949],"aabb_xy":[[0.18140648920567548,-1.517997767785836],[0.25140649190863895,-1.4772782958721944]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.4482916010172796,1.4569275857085127,0.71338606911949],"aabb_xy":[[-0.45319089332384305,1.429250666405944],[-0.44339230871071605,1.4846045050110814]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[0.5022344933111951,-2.4192240526444997,0.71338606911949],"aabb_xy":[[0.48034474572225433,-2.5092240499337484],[0.5241242409001359,-2.32922405535525]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.6262142009138594,1.659410456176849,0.71338606911949],"aabb_xy":[[0.6156467212557604,1.6488654260638405],[0.6367816805719584,1.6699554862898576]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.6162106042351577,1.661659157620409,0.71338606911949],"aabb_xy":[[-0.6762106040817245,1.60484053542737],[-0.5562106043885909,1.7184777798134474]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[0.5159786450090678,0.8739980187748873,0.71338606911949],"aabb_xy":[[0.47379423084823713,0.8099980184976762],[0.5581630591698986,0.9379980190520986]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[0.013271484436464642,1.5623647066092627,0.71338606911949],"aabb_xy":[[0.000804126326728995,1.5498993819759392],[0.02573884254620029,1.5748300312425862]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.6020254057330252,-1.0943750939721062,0.71338606911949],"aabb_xy":[[0.517025407315602,-1.1792493894343912],[0.6870254041504484,-1.0095007985098212]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.6256920532738489,1.010187410107299,0.71338606911949],"aabb_xy":[[-0.6383188405610452,1.0006413364057258],[-0.6130652659866525,1.0197334838088716]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.09497101490470838,-1.3352994535105625,0.71338606911949],"aabb_xy":[[-0.09981460966593837,-1.3401511059895466],[-0.09012742014347842,-1.3304478010315783]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.1632369187887912,0.9358875438580823,0.71338606911949],"aabb_xy":[[-0.1857369190323066,0.9236829091983104],[-0.1407369185452758,0.9480921785178543]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.18698643371101908,-1.2230890058235158,0.71338606911949],"aabb_xy":[[-0.2669864316918041,-1.2306905467853677],[-0.10698643573023402,-1.2154874648616638]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[0.6235547935471972,-0.4152244113729653,0.71338606911949],"aabb_xy":[[0.5757486259334285,-0.4802244140800242],[0.6713609611609658,-0.3502244086659063]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[0.6132618771301603,0.15850715846185537,0.71338606911949],"aabb_xy":[[0.5492618800180546,0.10947478866744478],[0.677261874242266,0.207539528256266]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[-0.6446642748813859,0.24058986454629983,0.71338606911949],"aabb_xy":[[-0.6635486586498961,0.22170393976594704],[-0.6257798911128757,0.2594757893266526]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.3494869798909206,-1.095651472568774,0.71338606911949],"aabb_xy":[[0.32426614303108087,-1.1208752234216603],[0.3747078167507602,-1.0704277217158868]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[0.5666120237059102,-1.2544458865017993,0.71338606911949],"aabb_xy":[[0.48661202654633495,-1.2659934874596162],[0.6466120208654855,-1.242898285543982]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[0.10171670770363572,-0.8414425690996163,0.71338606911949],"aabb_xy":[[0.037716706295645074,-0.893231520623541],[0.1657167091116264,-0.7896536175756916]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.2538088252444644,-1.4042656798130182,0.71338606911949],"aabb_xy":[[-0.317808827587266,-1.4492065310571505],[-0.18980882290166287,-1.3593248285688855]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6949695412670234,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8300.png","name":"8300"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8300.png","name":"8300"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/556.png","name":"556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8282.png","name":"8282"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3736.png","name":"3736"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8840.png","name":"8840"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":592.5678592193871,"rotation_z_degrees":28.83912810199901,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0048975203221849825,0.0056811310221182125,0.005132978818022774]},{"name":"camera_2","offset_m":[0.0066585925846462425,-0.010981727082452705,-0.00900471133425353]},{"name":"camera_3","offset_m":[-0.014308132756276418,-0.015063274155371325,0.013914936369268351]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019445621858212344,-9.822522868749902e-05,0.0019117247693843323],"end_effector_yaw_offset_degrees":0.8723646823189659},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016163027511162272,0.001580801018778551,-0.00199044488044414],"end_effector_yaw_offset_degrees":0.24356212975222213},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013372134204727277,-0.0015888846382281759,0.000582788317456237],"end_effector_yaw_offset_degrees":-0.6358032034802772}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009731420955297722,-0.0027651194308225126],"position_m":[0.15142685790447025,0.2208348805691775,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00035630568433336635,7.064964362917675e-05],"position_m":[0.24204369431566664,-0.3096293503563708,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002317262392135316,-0.0018407226791691523],"position_m":[0.3268172623921353,-0.04344072267916915,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014581609686890053,-0.0035181814002714995],"position_m":[0.349541839031311,0.3148818185997285,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8136b05e26529604fb93b0a0fd7e2259e8e2b525163ea0c1ee5b5cdc08528848","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8300/tex_ceiling_textures_8840/tex_floor_textures_3736/tex_table_textures_556/tex_wall_textures_8282","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1198487044340124388,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1198487044340124388,"visual_seed":1198487044340124388,"scene_id":"lab_003","finished_at":"2026-09-03T21:14:06"} +{"episode_id":"ep_000044","started_at":"2026-09-03T21:14:11","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.5246234728177112,-0.3001363589971433,0.71338606911949],"aabb_xy":[[-0.5590858202158528,-0.3346302413949659],[-0.4901611254195693,-0.2656424765993205]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.5952721936272736,0.589295554702082,0.71338606911949],"aabb_xy":[[0.5152721903694306,0.509299046910098],[0.6752721968851165,0.6692920624940659]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[-0.1993660341812496,-1.4005669886408303,0.71338606911949],"aabb_xy":[[-0.20736002275895296,-1.4085670687359204],[-0.19137204560354618,-1.3925669085457397]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[-0.6402470284666333,-1.8483339723111354,0.71338606911949],"aabb_xy":[[-0.6490490837756059,-1.8561452984660642],[-0.6314449731576605,-1.840522646156206]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.2729495237309617,-2.1266171714929594,0.71338606911949],"aabb_xy":[[0.26491318902967687,-2.134655290797376],[0.28098585843224655,-2.118579052188543]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[0.6015662394790748,-2.4067150444624152,0.71338606911949],"aabb_xy":[[0.5790671037528479,-2.429215045240678],[0.6240653752053018,-2.3842150436841525]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.5355584805594168,-1.1641453446635484,0.71338606911949],"aabb_xy":[[-0.5783251874388369,-1.228145348085351],[-0.4927917736799965,-1.1001453412417461]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.3166885400990523,1.0847473045837908,0.71338606911949],"aabb_xy":[[-0.3966885370620914,1.0076716629400173],[-0.23668854313601306,1.1618229462275642]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.3324260857217119,-0.5976674990728557,0.71338606911949],"aabb_xy":[[-0.35433476786106294,-0.6195681658929464],[-0.31051740358236085,-0.5757668322527649]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.0004606187592151034,-2.190873023734213,0.71338606911949],"aabb_xy":[[-0.049539382601672115,-2.2408509283096287],[0.05046062012010232,-2.1408951191587975]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[-0.3703186687086793,1.5466210081591094,0.71338606911949],"aabb_xy":[[-0.3881121756435958,1.5288212625633117],[-0.3525251617737629,1.564420753754907]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.04195540836373146,-0.6898933693535221,0.71338606911949],"aabb_xy":[[-0.07786891278872114,-0.7258068775702767],[-0.00604190393874178,-0.6539798611367674]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[0.12073037511411,-2.1430267083142702,0.71338606911949],"aabb_xy":[[0.11201640606417551,-2.165526708973458],[0.1294443441640445,-2.1205267076550816]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[-0.2630240746299908,-2.0520455235021804,0.71338606911949],"aabb_xy":[[-0.2743858092832769,-2.0634139899084682],[-0.25166233997670456,-2.0406770570958916]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[0.35310681389488985,1.5620703599351589,0.71338606911949],"aabb_xy":[[0.31577553736964725,1.5274173051403066],[0.39043809042013244,1.5967234147300111]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[0.443103551264872,0.9674354477314804,0.71338606911949],"aabb_xy":[[0.42793138198323866,0.952266590803277],[0.45827572054650534,0.9826043046596837]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[0.20796268351846725,-2.211668694926577,0.71338606911949],"aabb_xy":[[0.19240691410820202,-2.2272191281709848],[0.22351845292873254,-2.1961182616821704]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.2741795228454501,-1.7191835766315249,0.71338606911949],"aabb_xy":[[0.270738846605393,-1.7230450096058896],[0.27762019908550734,-1.7153221436571606]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.40337276316620474,-2.535590529147456,0.71338606911949],"aabb_xy":[[0.3383727650102857,-2.561886773697368],[0.4683727613221238,-2.5092942845975434]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.43799305649069487,-1.8428448565077706,0.71338606911949],"aabb_xy":[[-0.5079930580929743,-1.8562776497094284],[-0.36799305488841544,-1.8294120633061133]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.7040374438236447,0.7483865683970747,0.71338606911949],"aabb_xy":[[0.6864046082301171,0.7307636223814516],[0.7216702794171722,0.7660095144126976]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[0.023167225391893087,-1.9701348588323568,0.71338606911949],"aabb_xy":[[-0.026832776269601673,-2.020133301088059],[0.07316722705338784,-1.9201364165766537]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.086483392709918,0.6904109183693641,0.71338606911949],"aabb_xy":[[0.0815841004033545,0.6627339990667952],[0.09138268501648149,0.7180878376719327]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.09737685300463417,-0.954449671755172,0.71338606911949],"aabb_xy":[[-0.10862190857525199,-0.9656914694792673],[-0.08613179743401632,-0.9432078740310768]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[0.097370514589314,1.0169489807139187,0.71338606911949],"aabb_xy":[[0.047377402480122136,0.9669489800397231],[0.14736362669850592,1.0669489813881143]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_25","position":[-0.2228540245452073,-0.7870346991687047,0.71338606911949],"aabb_xy":[[-0.29285402635395275,-0.8083884679328921],[-0.15285402273646187,-0.7656809304045173]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_26","position":[-0.5093632695993016,0.09989704336941063,0.71338606911949],"aabb_xy":[[-0.5993632663349118,0.04671358005211611],[-0.41936327286369135,0.15308050668670514]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_27","position":[-0.6292655613820859,-1.9585499243804922,0.71338606911949],"aabb_xy":[[-0.6371888416208343,-1.9810499246184956],[-0.6213422811433377,-1.9360499241424889]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6990665968084038,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5794.png","name":"5794"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5794.png","name":"5794"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6764.png","name":"6764"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3505.png","name":"3505"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7867.png","name":"7867"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1696.png","name":"1696"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":829.0803343967734,"rotation_z_degrees":283.6673125631579,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005373353778164707,0.018411829793000784,0.008761782366433313]},{"name":"camera_2","offset_m":[0.007504609052905984,-0.011623690481241481,0.012478951693132855]},{"name":"camera_3","offset_m":[-0.011304076283209655,0.01803624687574062,-0.01030615771469439]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001293586592342225,-0.0013146261904430677,0.0013910422943477383],"end_effector_yaw_offset_degrees":-0.07884487390398287},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008094520149819315,-0.0001136319866190511,-0.0013170997928490307],"end_effector_yaw_offset_degrees":-0.6118854578584982},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00023169287438842097,0.0018834933594259087,0.00012384872332373573],"end_effector_yaw_offset_degrees":0.601209063796663}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004350524749969503,0.0014704124801860844],"position_m":[0.1480494752500305,0.22507041248018608,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008984697108439434,0.002586034355324486],"position_m":[0.24329846971084396,-0.30711396564467547,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003026736894391281,0.002423228058149149],"position_m":[0.32752673689439127,-0.039176771941850846,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026599146013327702,-0.0025797911620416237],"position_m":[0.3536599146013327,0.3158202088379584,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a9d7900ded4ee21ad5e1f799881d7021602b386388de4d7652189b33e93acf8c","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5794/tex_ceiling_textures_1696/tex_floor_textures_7867/tex_table_textures_6764/tex_wall_textures_3505","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1616272426658508815,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1616272426658508815,"visual_seed":1616272426658508815,"scene_id":"lab_003","finished_at":"2026-09-03T21:17:09"} +{"episode_id":"ep_000045","started_at":"2026-09-03T21:17:12","dimensions":{"distractor":{"count":21,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[-0.4111349808819119,-1.9973540901302616,0.71338606911949],"aabb_xy":[[-0.501134977617522,-2.0505375534475565],[-0.32113498414630165,-1.9441706268129673]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[0.1808213163257666,-1.727265007727057,0.71338606911949],"aabb_xy":[[0.17586529614088542,-1.749765007929179],[0.18577733651064782,-1.7047650075249359]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[-0.3194583618760082,-1.790592065977779,0.71338606911949],"aabb_xy":[[-0.36945836289514344,-1.8270582817156074],[-0.2694583608568729,-1.7541258502399515]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_3","position":[0.12001183121518211,-1.488774410080648,0.71338606911949],"aabb_xy":[[0.10740913207810564,-1.5013698063055134],[0.13261453035225856,-1.4761790138557824]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.11837252858634473,-0.7287090050175995,0.71338606911949],"aabb_xy":[[-0.12478634222952967,-0.7351188252652678],[-0.11195871494315979,-0.7222991847699312]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[-0.32302080884083123,-2.19837412658587,0.71338606911949],"aabb_xy":[[-0.333793782762199,-2.233374124804909],[-0.31224783491946345,-2.163374128366831]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.11945620161128401,-1.2230063011784909,0.71338606911949],"aabb_xy":[[0.11003872704142126,-1.2324224783162097],[0.12887367618114676,-1.2135901240407716]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[-0.26373550389658884,-0.1285799126013476,0.71338606911949],"aabb_xy":[[-0.32773550623939035,-0.17352076384548007],[-0.19973550155378725,-0.08363906135721509]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[-0.6446057660759689,1.3431481617468926,0.71338606911949],"aabb_xy":[[-0.6946057664365348,1.2931681745372894],[-0.5946057657154027,1.3931281489564953]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[-0.21772739310288836,1.2598526704787156,0.71338606911949],"aabb_xy":[[-0.2259419382185723,1.2511760801810738],[-0.20951284798720435,1.2685292607763565]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.3950239539047289,-0.6727070130543109,0.71338606911949],"aabb_xy":[[-0.40036152957073345,-0.6977070139834507],[-0.3896863782387243,-0.6477070121251711]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.02578095735225161,-1.2945523272205113,0.71338606911949],"aabb_xy":[[-0.10578095436649959,-1.3146868788939228],[0.05421903966199637,-1.2744177755471002]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.3677249205854367,-1.0314338266925165,0.71338606911949],"aabb_xy":[[0.34993141365052016,-1.0492335722883142],[0.38551842752035304,-1.0136340810967188]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.3308944036508446,0.911435922579158,0.71338606911949],"aabb_xy":[[-0.3405260398712742,0.9017986097994489],[-0.321262767430415,0.9210732353588668]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.6518227772301379,-1.1485939596751817,0.71338606911949],"aabb_xy":[[-0.6893227771739043,-1.1568870497100183],[-0.6143227772863715,-1.1403008696403452]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.4926999939764791,-1.097865487887119,0.71338606911949],"aabb_xy":[[-0.4997414449272268,-1.1048922396249137],[-0.4856585430257316,-1.0908387361493244]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.4794751838977849,-2.172888298819992,0.71338606911949],"aabb_xy":[[0.38978810758966936,-2.2628882990744423],[0.5691622602059003,-2.0828882985655413]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.21076287766829238,-1.0494409843074868,0.71338606911949],"aabb_xy":[[0.16857846350746167,-1.113440984584698],[0.2529472918291231,-0.9854409840302756]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[0.4602304551976011,0.6039408191541065,0.71338606911949],"aabb_xy":[[0.4446746857873359,0.5883903859096993],[0.4757862246078664,0.6194912523985137]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.5881083582165946,-1.4119830967605413,0.71338606911949],"aabb_xy":[[-0.6240218626415841,-1.4478966049772957],[-0.5521948537916048,-1.3760695885437866]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[0.6479598470222916,1.0404680878421462,0.71338606911949],"aabb_xy":[[0.615498146140364,1.0103352557272434],[0.6804215479042189,1.0706009199570485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7028335717320651,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6966.png","name":"6966"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6966.png","name":"6966"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5667.png","name":"5667"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6841.png","name":"6841"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7929.png","name":"7929"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8225.png","name":"8225"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":742.1600645213166,"rotation_z_degrees":156.89056231708105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018814148522925418,0.013577877027736943,-0.005226525448115669]},{"name":"camera_2","offset_m":[0.019293898539047557,-0.019968625455100125,0.01864684961914392]},{"name":"camera_3","offset_m":[0.0009915188240512615,-0.0020928069069076904,-0.006446880523695419]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-3.418557774839985e-05,0.00023897970035356405,0.0014771798311379548],"end_effector_yaw_offset_degrees":-0.1347195792343283},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001872780060539573,-0.0013636400422649183,-0.001484998314674669],"end_effector_yaw_offset_degrees":0.09134622345691512},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015593418064923337,-0.0001491988994088186,0.001426924788817215],"end_effector_yaw_offset_degrees":0.8820651285901646}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0045159247372838765,-0.0009175217597252204],"position_m":[0.15691592473728389,0.22268247824027476,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034026478028869574,0.00042189875444710676],"position_m":[0.24580264780288696,-0.3092781012455529,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003847234496810694,0.002223272802641684],"position_m":[0.3283472344968107,-0.03937672719735831,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031338090292237246,0.0047594104894142985],"position_m":[0.3541338090292237,0.3231594104894143,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0804e5b1b62f0fcd3cd8b2ee90ba2f5ab483c4d6e9f884241c058ba3eece2017","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6966/tex_ceiling_textures_8225/tex_floor_textures_7929/tex_table_textures_5667/tex_wall_textures_6841","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6143021961894665531,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6143021961894665531,"visual_seed":6143021961894665531,"scene_id":"lab_003","finished_at":"2026-09-03T21:20:17"} +{"episode_id":"ep_000046","started_at":"2026-09-03T21:20:20","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[0.6323097939906548,0.5899825893068589,0.71338606911949],"aabb_xy":[[0.5773097948140652,0.5349929145319011],[0.6873097931672442,0.6449722640818164]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[0.6267888612531958,-2.2638325688793617,0.71338606911949],"aabb_xy":[[0.541788862561121,-2.2958184322742405],[0.7117888599452703,-2.231846705484483]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.5026663724645153,-2.044488591705914,0.71338606911949],"aabb_xy":[[0.4450359035772442,-2.1044885906326236],[0.5602968413517859,-1.9844885927792024]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[0.6612700354295027,-0.10366631790755854,0.71338606911949],"aabb_xy":[[0.6390975084528517,-0.12584198506368172],[0.6834425624061534,-0.08149065075143536]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[-0.0014993823666271666,-1.9247576731024187,0.71338606911949],"aabb_xy":[[-0.05649163300213812,-1.9797576748457315],[0.05349286826888379,-1.869757671359106]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[0.5037016508011725,-0.8476763952521933,0.71338606911949],"aabb_xy":[[0.49329009212068875,-0.8530221285880918],[0.5141132094816562,-0.8423306619162948]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[-0.35111226238982673,0.3177637301513325,0.71338606911949],"aabb_xy":[[-0.4311122626634337,0.24481418232561583],[-0.27111226211621975,0.39071327797704924]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[0.31140299907705016,-1.0504416055396075,0.71338606911949],"aabb_xy":[[0.22640300065962693,-1.1353159010018925],[0.3964029974944734,-0.9655673100773225]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.11651321640337675,-2.0947363438659856,0.71338606911949],"aabb_xy":[[0.07901321573879803,-2.1104234018662074],[0.15401321706795543,-2.079049285865763]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.1184952851354073,-1.5075904049861055,0.71338606911949],"aabb_xy":[[0.06447968885350727,-1.5715904078783627],[0.17251088141730728,-1.4435904020938484]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[0.04649683484985834,1.2418326555849224,0.71338606911949],"aabb_xy":[[-0.01750316226224736,1.1928002857905118],[0.11049683196196403,1.290865025379333]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.39061041252501605,-1.4849261220905063,0.71338606911949],"aabb_xy":[[0.33561720118787924,-1.5399261224293002],[0.4456036238621528,-1.4299261217517127]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.5483726030277348,1.646155780798281,0.71338606911949],"aabb_xy":[[-0.6123726049400773,1.5902446315402707],[-0.4843726011153926,1.7020669300562916]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.527197105352136,-0.6583031015199994,0.71338606911949],"aabb_xy":[[0.4631971060579678,-0.7222892418888537],[0.5911971046463043,-0.5943169611511453]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[-0.13508161006101527,-2.3487107537687,0.71338606911949],"aabb_xy":[[-0.17258161035319006,-2.3527522291693037],[-0.09758160976884042,-2.3446692783680962]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.4298293337030523,-0.2590539446251401,0.71338606911949],"aabb_xy":[[-0.4938293339770306,-0.30912004482242805],[-0.36582933342907414,-0.20898784442785212]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[-0.09007740695184252,1.125216087754144,0.71338606911949],"aabb_xy":[[-0.10787091388675896,1.1074163421583463],[-0.07228390001692608,1.1430158333499416]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.45583620604610653,-0.06080893444492874,0.71338606911949],"aabb_xy":[[0.4485749584756991,-0.07359594470843822],[0.46309745361651394,-0.04802192418141927]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.1801750011590224,-1.8183373129383376,0.71338606911949],"aabb_xy":[[-0.23014829516228283,-1.868337313492885],[-0.13020170715576193,-1.7683373123837902]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.5361981538340452,-1.181544726581005,0.71338606911949],"aabb_xy":[[-0.5861981551949325,-1.2315226311564205],[-0.48619815247315806,-1.1315668220055892]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.5407773547808357,-2.367029616310797,0.71338606911949],"aabb_xy":[[-0.5516178330073506,-2.384215897601446],[-0.5299368765543208,-2.3498433350201484]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.6271924884559137,1.3889885381901936,0.71338606911949],"aabb_xy":[[0.602646272833163,1.3587396416411566],[0.6517387040786644,1.4192374347392307]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[0.023378620936832184,-0.9072001674477204,0.71338606911949],"aabb_xy":[[-0.026614491172359707,-0.9572001681219162],[0.07337173304602408,-0.857200166773525]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[-0.33047536599139593,-2.3349615377771746,0.71338606911949],"aabb_xy":[[-0.35880507593993616,-2.3394222799708917],[-0.3021456560428557,-2.3305007955834576]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6983488090615902,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1480.png","name":"1480"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1480.png","name":"1480"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7051.png","name":"7051"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3629.png","name":"3629"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7846.png","name":"7846"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5520.png","name":"5520"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":602.1504026802752,"rotation_z_degrees":220.32555188419457,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012776576641594987,0.012794841128417344,0.008359565722061531]},{"name":"camera_2","offset_m":[-0.018347924468996073,-0.01700376555142113,0.01493823639020241]},{"name":"camera_3","offset_m":[-0.019003068631203976,0.0022066225499283686,-0.007223742879941689]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001970072748028508,-1.132072538846977e-05,-0.0005206313881225384],"end_effector_yaw_offset_degrees":-0.4127458646002473},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002370158971594918,-0.0006096020476511082,0.0017397080222986386],"end_effector_yaw_offset_degrees":-0.2092636981651943},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.958571790365112e-05,-0.0004721358161901951,0.0010812535700283296],"end_effector_yaw_offset_degrees":0.9974194264433012}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023612404002918384,0.002095414256463626],"position_m":[0.15476124040029185,0.2256954142564636,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026541172864010523,0.0022075681509910417],"position_m":[0.24505411728640106,-0.30749243184900893,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020954070143019508,0.0016270051571373005],"position_m":[0.32659540701430195,-0.039972994842862694,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-4.17465322547373e-06,0.0010608437578774332],"position_m":[0.3509958253467745,0.3194608437578774,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c2cb91b5901ea57f4c6e38e5539e00a9345e9ca724c5fdd8ddbbcfe0ebaddbc7","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1480/tex_ceiling_textures_5520/tex_floor_textures_7846/tex_table_textures_7051/tex_wall_textures_3629","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3503999981698799895,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3503999981698799895,"visual_seed":3503999981698799895,"scene_id":"lab_003","finished_at":"2026-09-03T21:23:18"} +{"episode_id":"ep_000047","started_at":"2026-09-03T21:23:21","dimensions":{"distractor":{"count":26,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.07154486752998312,-1.6429418955006496,0.71338606911949],"aabb_xy":[[-0.008455129484264856,-1.6630764471740607],[0.1515448645442311,-1.6228073438272381]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.40691940791539827,-1.604795971581845,0.71338606911949],"aabb_xy":[[-0.47691941130696025,-1.6401117452852756],[-0.3369194045238363,-1.5694801978784139]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.03569840039859873,1.68612967341712,0.71338606911949],"aabb_xy":[[0.02136397527243527,1.674069457862581],[0.050032825524762174,1.6981898889716587]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[-0.5267271071539211,-1.3677496392325776,0.71338606911949],"aabb_xy":[[-0.6167271068770952,-1.3908229917677573],[-0.4367271074307469,-1.3446762866973976]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.5355696369234766,-0.8944736723711757,0.71338606911949],"aabb_xy":[[0.4982383603982341,-0.929126727166028],[0.5729009134487193,-0.8598206175763234]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[0.415079530686135,-2.4371097253923466,0.71338606911949],"aabb_xy":[[0.38048844783208974,-2.502109725677377],[0.4496706135401802,-2.372109725107315]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.3739269090828397,-0.20452711914267896,0.71338606911949],"aabb_xy":[[-0.38528864373612587,-0.21589558554896704],[-0.36256517442955355,-0.19315865273639088]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[-0.5794008138337434,-2.1058051942709937,0.71338606911949],"aabb_xy":[[-0.5972699215881989,-2.1196381022482047],[-0.5615317060792879,-2.0919722862937826]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[-0.19374826119662958,-0.7128467874866231,0.71338606911949],"aabb_xy":[[-0.23078237062468926,-0.7472239948203324],[-0.15671415176856984,-0.6784695801529136]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[-0.3817794371064051,-1.8842827536311326,0.71338606911949],"aabb_xy":[[-0.43677168774191605,-1.9392827553744456],[-0.3267871864708941,-1.82928275188782]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.5914419900806378,0.8228811579220978,0.71338606911949],"aabb_xy":[[0.5539419899750447,0.8160589960691166],[0.6289419901862306,0.8297033197750788]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.020212251636627876,0.8594744409274626,0.71338606911949],"aabb_xy":[[-0.002287748373520415,0.8453782212878594],[0.04271225164677617,0.873570660567066]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.38187652210071965,-1.0418778554932677,0.71338606911949],"aabb_xy":[[0.3269028000643868,-1.096877855057501],[0.4368502441370526,-0.9868778559290345]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.5331825073008258,-0.18837983639517475,0.71338606911949],"aabb_xy":[[-0.5506825075458752,-0.20587962423474157],[-0.5156825070557765,-0.17088004855560787]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.24075104515981027,-2.1350491293295555,0.71338606911949],"aabb_xy":[[0.16075104717902525,-2.1426506702914074],[0.3207510431405953,-2.1274475883677035]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.0663011316007528,0.7459835445725118,0.71338606911949],"aabb_xy":[[-0.13630112801071453,0.7255456089208299],[0.003698864809209015,0.7664214802241933]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.029320090306052315,1.3667000286564472,0.71338606911949],"aabb_xy":[[0.0175519035113948,1.281700028751226],[0.04108827710070984,1.451700028561669]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.42208717039974486,0.9000136335211777,0.71338606911949],"aabb_xy":[[0.3799027562389142,0.8360136332439665],[0.46427158456057566,0.9640136337983889]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[0.4566198823340626,-1.2460224018038304,0.71338606911949],"aabb_xy":[[0.45011824582605797,-1.2557902238301402],[0.4631215188420672,-1.2362545797775206]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[0.6212890267010729,-1.5891451892921213,0.71338606911949],"aabb_xy":[[0.566289028499328,-1.629667155918559],[0.6762890249028177,-1.5486232226656838]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[0.08281563772800216,-2.2861942189363575,0.71338606911949],"aabb_xy":[[0.07190986164043944,-2.3661942153351867],[0.09372141381556487,-2.2061942225375284]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[-0.38891269268201717,-0.928131873726812,0.71338606911949],"aabb_xy":[[-0.4739126913740918,-0.9601177371216908],[-0.30391269398994253,-0.8961460103319331]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[-0.4923539662787194,0.8552140975352378,0.71338606911949],"aabb_xy":[[-0.5563539627060414,0.8080444737131415],[-0.4283539698513976,0.9023837213573344]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.4867091968969506,-0.29588887869618574,0.71338606911949],"aabb_xy":[[0.436611732915877,-0.35988887920599755],[0.5368066608780242,-0.23188887818637394]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[-0.14590028729061078,1.476015693446159,0.71338606911949],"aabb_xy":[[-0.16291038458066143,1.4598812049478849],[-0.12889019000056012,1.4921501819444327]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[0.1831526926517143,-1.0148895710729102,0.71338606911949],"aabb_xy":[[0.10315269237810733,-1.087839118898627],[0.2631526929253213,-0.9419400232471936]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7004803022271331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7462.png","name":"7462"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7462.png","name":"7462"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/872.png","name":"872"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7643.png","name":"7643"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5142.png","name":"5142"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5614.png","name":"5614"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":641.3470666492359,"rotation_z_degrees":77.27432788197082,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006245763695843329,0.01765753676276278,0.018658595499786202]},{"name":"camera_2","offset_m":[-0.010179639581091901,0.01245743196268646,-0.009648381521202407]},{"name":"camera_3","offset_m":[0.010039354517005251,-0.014490665905827402,0.00012176517402430823]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006740630544675888,-0.0010934439780147397,-1.2379722319775036e-05],"end_effector_yaw_offset_degrees":-0.6776653260467171},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007762722302253487,0.000998370353842998,-0.0002792622565431198],"end_effector_yaw_offset_degrees":-0.49123211899956587},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006990929713017494,0.0017774606540304993,0.0016870992491164853],"end_effector_yaw_offset_degrees":0.7574456181240186}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0001209227054779008,-0.0023951101629005535],"position_m":[0.1525209227054779,0.22120488983709943,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002059739822912468,0.003735586988894175],"position_m":[0.24445973982291247,-0.3059644130111058,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013926447861398348,0.003945925699583308],"position_m":[0.32589264478613983,-0.03765407430041669,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002382456188656592,0.0010791914164004646],"position_m":[0.35338245618865655,0.31947919141640047,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9a01467dd914976eb7f0686cec3f19619b591b6d30b2062dab9abc039fa72695","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7462/tex_ceiling_textures_5614/tex_floor_textures_5142/tex_table_textures_872/tex_wall_textures_7643","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5427932579314290456,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5427932579314290456,"visual_seed":5427932579314290456,"scene_id":"lab_003","finished_at":"2026-09-03T21:26:26"} +{"episode_id":"ep_000048","started_at":"2026-09-03T21:26:29","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[0.6469091947267933,-1.8144578557899935,0.71338606911949],"aabb_xy":[[0.6299984622904514,-1.8279300613826077],[0.663819927163135,-1.8009856501973784]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[-0.3609429136641511,-2.334905428116685,0.71338606911949],"aabb_xy":[[-0.3785757492576786,-2.3525283741323073],[-0.34331007807062347,-2.3172824821010614]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.1162475665459961,-2.145102178167504,0.71338606911949],"aabb_xy":[[-0.1387475663598985,-2.1495767945379844],[-0.09374756673209374,-2.1406275617970234]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.3433573238629777,1.7563794349373647,0.71338606911949],"aabb_xy":[[0.3208573243392703,1.7338834874867437],[0.3658573233866851,1.7788753823879853]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[0.07117709313388532,-0.7174687290330826,0.71338606911949],"aabb_xy":[[0.035547937233925575,-0.7531013957899355],[0.10680624903384506,-0.6818360622762296]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.12999094976714742,-1.8318446914139237,0.71338606911949],"aabb_xy":[[0.04030387345903197,-1.9218446916683742],[0.21967802607526288,-1.7418446911594732]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.18503868343927243,-1.9161458447763469,0.71338606911949],"aabb_xy":[[-0.19818992941056185,-1.9411458445330338],[-0.1718874374679831,-1.8911458450196608]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[0.6559207060060797,-1.3446111048666012,0.71338606911949],"aabb_xy":[[0.6479272162107976,-1.3526092368070768],[0.6639141958013617,-1.3366129729261256]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[-0.006105727385584125,-1.227993554509222,0.71338606911949],"aabb_xy":[[-0.030651943008334844,-1.258242451058259],[0.018440488237166593,-1.197744657960185]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.12665586546245522,0.27567877264691854,0.71338606911949],"aabb_xy":[[-0.1966558670647347,0.262245979445261],[-0.05665586386017574,0.28911156584857617]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.18913841705502632,1.0161368929002639,0.71338606911949],"aabb_xy":[[-0.2441121390913592,0.9611368933360307],[-0.13416469501869344,1.071136892464497]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.31799573352900246,0.9063202238086427,0.71338606911949],"aabb_xy":[[0.23299573483692781,0.874334360413764],[0.4029957322210771,0.9383060872035217]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[-0.23232151889392177,-0.8112081428461195,0.71338606911949],"aabb_xy":[[-0.25449404587057256,-0.8333838100022426],[-0.2101489919172709,-0.7890324756899962]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.37612520814630024,-1.9127528286142752,0.71338606911949],"aabb_xy":[[0.3386252080407073,-1.9195749904672563],[0.4136252082518932,-1.905930666761294]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.04286769804004642,-1.593978252346464,0.71338606911949],"aabb_xy":[[-0.07285936077391675,-1.6239782516832646],[-0.012876035306176092,-1.5639782530096635]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.3843402468838167,-0.6865093683988366,0.71338606911949],"aabb_xy":[[-0.4032246306523269,-0.7053952931791895],[-0.3654558631153065,-0.6676234436184839]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[0.15389686228140287,-2.3619049572051862,0.71338606911949],"aabb_xy":[[0.1479303233406671,-2.36786610186455],[0.15986340122213868,-2.3559438125458216]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.12653845585980428,-0.984217667191092,0.71338606911949],"aabb_xy":[[-0.16403845620803204,-0.9960090627721755],[-0.08903845551157652,-0.9724262716100084]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.41006520843427285,1.374393640250545,0.71338606911949],"aabb_xy":[[-0.42439963356043625,1.3623334246960062],[-0.39573078330810935,1.3864538558050838]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.6545939452350983,-1.439139602969539,0.71338606911949],"aabb_xy":[[-0.6770939452452466,-1.4532358226091422],[-0.63209394522495,-1.4250433833299356]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[-0.5949501938715684,1.2673826364270968,0.71338606911949],"aabb_xy":[[-0.6371346080323992,1.2033826361498856],[-0.5527657797107377,1.331382636704308]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[-0.3293649863784704,-1.5778388067980456,0.71338606911949],"aabb_xy":[[-0.3639560692325156,-1.6428388070830764],[-0.2947739035244252,-1.5128388065130143]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[-0.02551949200452719,-2.04557810968701,0.71338606911949],"aabb_xy":[[-0.03364718019784041,-2.054491718097718],[-0.01739180381121397,-2.0366645012763023]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[0.6360305272944742,-1.9223613670680149,0.71338606911949],"aabb_xy":[[0.6135305270509588,-1.934566001727787],[0.6585305275379896,-1.9101567324082431]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[0.4159002706760002,-0.2688205192927331,0.71338606911949],"aabb_xy":[[0.40958817113966184,-0.2745874585459519],[0.4222123702123387,-0.2630535800395143]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[-0.1725604734759455,-2.2354006732248113,0.71338606911949],"aabb_xy":[[-0.2100604746607383,-2.2398188959208714],[-0.1350604722911527,-2.2309824505287503]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[0.5220518284089237,-0.8768917518867643,0.71338606911949],"aabb_xy":[[0.47205255324048756,-0.9268917531627114],[0.5720511035773599,-0.8268917506108171]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[0.6092802185535979,-2.5270774457634197,0.71338606911949],"aabb_xy":[[0.5452802212679493,-2.5685841647162637],[0.6732802158392466,-2.485570726810576]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_28","position":[-0.0675433348738963,-1.0968100811565815,0.71338606911949],"aabb_xy":[[-0.13154333709430333,-1.1411831652818698],[-0.003543332653489273,-1.0524369970312932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6971149334954242,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4135.png","name":"4135"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4135.png","name":"4135"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8389.png","name":"8389"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6736.png","name":"6736"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1065.png","name":"1065"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1834.png","name":"1834"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":670.4224010219709,"rotation_z_degrees":323.35294774858266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01017476414183395,-0.009932862912968058,0.0008992713498666392]},{"name":"camera_2","offset_m":[-0.0027637367006899567,-0.016796206548065188,0.017845800583796024]},{"name":"camera_3","offset_m":[-0.006283699223896506,-0.01088040630191911,-0.012994486371180735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015234103345518734,-0.0009544026197369267,0.00192052427400604],"end_effector_yaw_offset_degrees":-0.5520566441924502},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00025606661176076,0.0018385531627869724,0.0003073576636237821],"end_effector_yaw_offset_degrees":0.45222463020448656},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008045987532057054,0.0018137729504414763,-0.0014310994481055036],"end_effector_yaw_offset_degrees":-0.8187519086385402}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0046145587968031265,0.001134747657523947],"position_m":[0.1477854412031969,0.22473474765752394,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001538965407998508,-0.003441146118596968],"position_m":[0.24224610345920014,-0.31314114611859695,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028489287482802205,-0.0035962657560458778],"position_m":[0.32734892874828025,-0.04519626575604588,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00203744203496812,0.0023094776557415876],"position_m":[0.34896255796503184,0.3207094776557416,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aea23c988b48a54ca6630a49ea1f633132a6b34d244322a279aef1c6ce1c5278","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4135/tex_ceiling_textures_1834/tex_floor_textures_1065/tex_table_textures_8389/tex_wall_textures_6736","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2299647147199137404,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2299647147199137404,"visual_seed":2299647147199137404,"scene_id":"lab_003","finished_at":"2026-09-03T21:29:36"} +{"episode_id":"ep_000049","started_at":"2026-09-03T21:29:40","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[0.5867170569913753,1.2518692995637393,0.71338606911949],"aabb_xy":[[0.5067232334128171,1.1718692969708975],[0.6667108805699336,1.3318693021565806]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.4622608872163805,-0.020141004540739527,0.71338606911949],"aabb_xy":[[0.4397644657825164,-0.042641004347486966],[0.4847573086502446,0.0023589952660079128]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[-0.30066607342628476,-1.3394417503468399,0.71338606911949],"aabb_xy":[[-0.350666074787172,-1.3894196549222553],[-0.25066607206539754,-1.289463845771424]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[0.05031964882187001,-1.9301894579637384,0.71338606911949],"aabb_xy":[[-0.039680350596500887,-1.9635649548079281],[0.1403196482402409,-1.8968139611195487]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[0.46402830144482965,1.053744141912782,0.71338606911949],"aabb_xy":[[0.4315666005629021,1.023611309797879],[0.496490002326757,1.0838769740276841]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_5","position":[0.44450444027207814,-1.5618811126110541,0.71338606911949],"aabb_xy":[[0.4268288096834798,-1.5795613288904569],[0.4621800708606765,-1.5442008963316514]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.3969296369641981,-2.4327113996635235,0.71338606911949],"aabb_xy":[[-0.4669296333741598,-2.4531493353152043],[-0.32692964055423623,-2.412273464011841]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[-0.49996367108654116,-1.0961423545587712,0.71338606911949],"aabb_xy":[[-0.5311105899301243,-1.1661423532455784],[-0.46881675224295805,-1.026142355871964]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[0.4105186659259956,-0.4917845069526616,0.71338606911949],"aabb_xy":[[0.3565030696440956,-0.5557845098449188],[0.4645342622078956,-0.42778450406040447]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.3663860834487038,0.6792479705065415,0.71338606911949],"aabb_xy":[[0.27638608694783207,0.6333363280880832],[0.4563860799495756,0.7251596129249996]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[-0.6160588039871145,-1.8599752221339119,0.71338606911949],"aabb_xy":[[-0.6810588050930577,-1.88494059520204],[-0.5510588028811712,-1.8350098490657833]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[0.6712720704834194,1.5877345144219501,0.71338606911949],"aabb_xy":[[0.6212720688219244,1.5377360721662474],[0.721272072144914,1.6377329566776528]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[0.4197016020395916,1.408381688930199,0.71338606911949],"aabb_xy":[[0.4159983407104526,1.4046796706214812],[0.4234048633687304,1.4120837072389167]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[-0.2011848809892537,1.0408802379750348,0.71338606911949],"aabb_xy":[[-0.2811848831520162,0.960925054348891],[-0.1211848788264912,1.1208354216011782]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[-0.09908405340393844,-2.140623418777986,0.71338606911949],"aabb_xy":[[-0.1630840541074078,-2.186641801250907],[-0.03508405270046911,-2.094605036305065]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[-0.4699351929845832,-0.7743349470293366,0.71338606911949],"aabb_xy":[[-0.5349351930188859,-0.8210356237096639],[-0.40493519295028046,-0.7276342703490093]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[0.06921898917465741,-0.8100922560233419,0.71338606911949],"aabb_xy":[[0.0631819761739927,-0.8161189570922901],[0.07525600217532215,-0.8040655549543937]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.04247466504838693,-0.950847762927542,0.71338606911949],"aabb_xy":[[-0.007525333597534267,-1.0007673065870044],[0.09247466369430812,-0.9009282192680796]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.20927896764200948,-1.090211441489625,0.71338606911949],"aabb_xy":[[0.17177896906638868,-1.1029477371531826],[0.2467789662176303,-1.0774751458260667]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.6585026565256161,0.8555607381902188,0.71338606911949],"aabb_xy":[[-0.6929650039237577,0.8210668557923961],[-0.6240403091274741,0.8900546205880415]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7015655505324825,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9860.png","name":"9860"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9860.png","name":"9860"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7103.png","name":"7103"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6611.png","name":"6611"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2665.png","name":"2665"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6920.png","name":"6920"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":707.7442128092246,"rotation_z_degrees":298.0132393466113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007064264333873325,0.005739094039031931,0.010868763968989385]},{"name":"camera_2","offset_m":[-0.004366122005650605,-0.018065135887168245,0.013413734562683109]},{"name":"camera_3","offset_m":[0.012578314007993464,0.012257349821240725,-0.0019399703628145554]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018066742278022422,0.0011373526882210005,-0.0014418947257578117],"end_effector_yaw_offset_degrees":0.41659799278330634},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018287182380615895,-0.0008842058564658122,-6.586111590203858e-05],"end_effector_yaw_offset_degrees":0.6585192888160578},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002553556785817837,-0.0014732373395671785,-0.0006008076271181179],"end_effector_yaw_offset_degrees":0.8733746988796935}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030188708129911925,-0.004391351080427098],"position_m":[0.1554188708129912,0.2192086489195729,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033004531360938958,-0.003492970053308284],"position_m":[0.2457004531360939,-0.31319297005330826,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003350436660378068,0.00015989569161059883],"position_m":[0.32114956333962197,-0.0414401043083894,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0044882625780912734,-0.0006601037806806334],"position_m":[0.35548826257809124,0.31773989621931936,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2f68f341e6da2a7fc8bf926b67ecbe7ddff9bab7e66b0e2878a59379c3da053c","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9860/tex_ceiling_textures_6920/tex_floor_textures_2665/tex_table_textures_7103/tex_wall_textures_6611","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6990769302161727456,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6990769302161727456,"visual_seed":6990769302161727456,"scene_id":"lab_003","finished_at":"2026-09-03T21:32:41"} +{"episode_id":"ep_000050","started_at":"2026-09-03T21:32:44","dimensions":{"distractor":{"count":23,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.4846270263141286,1.3123252679692259,0.71338606911949],"aabb_xy":[[0.45114785905308774,1.278846154598119],[0.5181061935751696,1.3458043813403329]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.3753733893527969,-2.477442596754166,0.71338606911949],"aabb_xy":[[-0.41287338792841766,-2.4901788924177235],[-0.33787339077717604,-2.4647063010906076]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.5134266935958066,-1.1966275397907458,0.71338606911949],"aabb_xy":[[-0.558419280314257,-1.2416275390651945],[-0.4684341068773562,-1.151627540516297]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.47082776015665884,-1.3517188004077048,0.71338606911949],"aabb_xy":[[0.4358277618459634,-1.3594338153312504],[0.5058277584673543,-1.344003785484159]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.6132879082850938,0.943461634141868,0.71338606911949],"aabb_xy":[[-0.6772879053971995,0.8944292643474574],[-0.5492879111729881,0.9924940039362786]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[0.2387899414624488,1.441380985550651,0.71338606911949],"aabb_xy":[[0.15878993929968627,1.3614258019245074],[0.31878994362521124,1.5213361691767946]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[0.16096568224735341,-0.9354427703697656,0.71338606911949],"aabb_xy":[[0.13846926081348931,-0.9579427701765131],[0.18346210368121751,-0.9129427705630182]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.5472488276288523,-0.5036230148544587,0.71338606911949],"aabb_xy":[[0.534097581657563,-0.5286230146111454],[0.5604000736001418,-0.4786230150977723]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[0.6416291570404185,1.68387017086035,0.71338606911949],"aabb_xy":[[0.5616291590596334,1.6762686298984981],[0.7216291550212035,1.691471711822202]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[0.5330767456242225,-1.9956016642847922,0.71338606911949],"aabb_xy":[[0.45307674419409516,-2.075118819297402],[0.6130767470543496,-1.916084509272183]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.43449891605292384,-1.5986749748438323,0.71338606911949],"aabb_xy":[[-0.4944989165607767,-1.6555217085297533],[-0.37449891554507087,-1.5418282411579107]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[0.06080601600474067,0.8740151358674768,0.71338606911949],"aabb_xy":[[-0.003193983289427549,0.8100289954986227],[0.12480601529890889,0.9380012762363311]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.1737326509630992,1.3130307217736688,0.71338606911949],"aabb_xy":[[-0.1916017587175547,1.2991978137964575],[-0.1558635432086437,1.3268636297508796]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.06534993597629446,-1.253525358262308,0.71338606911949],"aabb_xy":[[-0.08563423869969321,-1.2738079834050167],[-0.04506563325289569,-1.233242733119599]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[-0.008995797783587722,-1.9719392485710174,0.71338606911949],"aabb_xy":[[-0.0729914951786843,-2.035939246871726],[0.05499989961150886,-1.9079392502703088]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.5280021437980605,-0.46996158018060763,0.71338606911949],"aabb_xy":[[-0.574087235052792,-0.5339615774331627],[-0.4819170525433291,-0.4059615829280525]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[-0.011868315885247949,-2.292217486418839,0.71338606911949],"aabb_xy":[[-0.03375806347418875,-2.3822174837080876],[0.010021431703692846,-2.2022174891295894]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.24276266462787333,-1.668839553606999,0.71338606911949],"aabb_xy":[[0.21821644900512258,-1.699088450156036],[0.267308880250624,-1.6385906570579618]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.2990233420435775,-1.032080109249541,0.71338606911949],"aabb_xy":[[0.2350233397007759,-1.0770209604936734],[0.363023344386379,-0.9871392580054085]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.07351848159697405,-2.1195278248073137,0.71338606911949],"aabb_xy":[[-0.09542716373632508,-2.141428491627404],[-0.05160979945762299,-2.0976271579872225]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.05634122251323115,-1.4995608890475283,0.71338606911949],"aabb_xy":[[-0.07884122302527174,-1.5220527474129266],[-0.033841222001190545,-1.47706903068213]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[0.032605070648409895,-0.8329851075832333,0.71338606911949],"aabb_xy":[[-0.012673544232739364,-0.896985106931417],[0.07788368552955915,-0.7689851082350496]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.23385492208143732,-0.45490198067845533,0.71338606911949],"aabb_xy":[[-0.25602744905808816,-0.4770776478345784],[-0.21168239510478648,-0.43272631352233204]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6967023129315304,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3798.png","name":"3798"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3798.png","name":"3798"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3493.png","name":"3493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5445.png","name":"5445"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1036.png","name":"1036"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6642.png","name":"6642"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":709.8343143520652,"rotation_z_degrees":261.0647629424297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0005933428034958499,-0.017827595615271155,-0.01884016865908164]},{"name":"camera_2","offset_m":[0.016416899436155107,0.002981219533297809,0.019663981853817483]},{"name":"camera_3","offset_m":[0.010528897220132376,0.016094477658242085,0.014485011518335467]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001225671350306443,-0.0007743897651253011,-0.0015705029347395753],"end_effector_yaw_offset_degrees":-0.7185768502204695},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005906353597030965,-0.0016678448288699563,0.001467026821207236],"end_effector_yaw_offset_degrees":0.3506972500103689},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016819295419697657,-0.0002130913647514143,-0.0010905767749039511],"end_effector_yaw_offset_degrees":0.6205301812861916}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00394748647073312,-0.0015590932892978115],"position_m":[0.1484525135292669,0.22204090671070217,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018520147859493628,-0.004095692226848342],"position_m":[0.24425201478594938,-0.31379569222684833,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001810141672986161,0.0030200121636212935],"position_m":[0.3243189858327014,-0.038579987836378705,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036802863579601117,0.004571315671856373],"position_m":[0.34731971364203984,0.3229713156718564,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f6e2e8e98268aaf5063e3e1b93be1ce32096e0b2301602611e9a1d2946a18509","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3798/tex_ceiling_textures_6642/tex_floor_textures_1036/tex_table_textures_3493/tex_wall_textures_5445","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6813427617539160490,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6813427617539160490,"visual_seed":6813427617539160490,"scene_id":"lab_003","finished_at":"2026-09-03T21:35:58"} +{"episode_id":"ep_000051","started_at":"2026-09-03T21:36:01","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.5528147719583674,0.5858792761704463,0.71338606911949],"aabb_xy":[[0.5399428684574271,0.5058792757566102],[0.5656866754593074,0.6658792765842825]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[0.2189954787724614,1.5159638492846184,0.71338606911949],"aabb_xy":[[0.17400289205401095,1.4709638500101694],[0.2639880654909118,1.560963848559067]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[0.35939843796183846,-1.5013240897884321,0.71338606911949],"aabb_xy":[[0.30442471592550563,-1.5563240893526653],[0.4143721599981714,-1.446324090224199]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[0.2680139959290657,-1.9273144431749747,0.71338606911949],"aabb_xy":[[0.26060154038767724,-1.9331656535966026],[0.2754264514704542,-1.9214632327533467]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.35183373750961344,-0.12777221422765894,0.71338606911949],"aabb_xy":[[-0.36789566496813103,-0.21277221604025073],[-0.33577181005109574,-0.042772212415067117]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.5413520999654491,1.1171999046637069,0.71338606911949],"aabb_xy":[[-0.5635246269420999,1.0950242375075836],[-0.5191795729887982,1.1393755718198297]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[-0.30521811310153124,-0.8250102735673484,0.71338606911949],"aabb_xy":[[-0.31067605873855125,-0.9050102768750075],[-0.2997601674645111,-0.7450102702596892]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.15047198344021018,-0.9498827596496671,0.71338606911949],"aabb_xy":[[-0.18547198175090565,-0.9575977745732126],[-0.11547198512951476,-0.9421677447261213]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.03971583441403026,-2.3907827139695774,0.71338606911949],"aabb_xy":[[-0.03028416199593154,-2.4112206496212587],[0.10971583082399203,-2.3703447783178953]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[0.15497631529123002,-1.352200191479799,0.71338606911949],"aabb_xy":[[0.0909763159970618,-1.4161863318486532],[0.21897631458539824,-1.2882140511109448]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.24030456944140094,-1.3013081820087868,0.71338606911949],"aabb_xy":[[-0.2479288375315792,-1.3089414055453306],[-0.23268030135122272,-1.2936749584722431]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.6005683364578623,-2.3901456137850157,0.71338606911949],"aabb_xy":[[-0.660568337318675,-2.4415720437915014],[-0.5405683355970494,-2.338719183778529]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.14499324659130675,-1.723970639573237,0.71338606911949],"aabb_xy":[[0.10749324540651391,-1.7283888622692973],[0.1824932477760995,-1.7195524168771763]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[0.22704415699403846,-1.8233869860473266,0.71338606911949],"aabb_xy":[[0.1420441583019638,-1.8553728494422055],[0.3120441556861131,-1.7914011226524478]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[0.5850336718811628,1.395660565484309,0.71338606911949],"aabb_xy":[[0.5809177217690902,1.3915450104514633],[0.5891496219932355,1.3997761205171544]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[0.40476247065125315,1.2608894236619443,0.71338606911949],"aabb_xy":[[0.3723007697693256,1.2307565915470415],[0.4372241715331805,1.2910222557768467]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[0.6641040094719095,1.5919347346236106,0.71338606911949],"aabb_xy":[[0.6606633332318523,1.5880733016492463],[0.6675446857119667,1.5957961675979753]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.4384776108910302,-1.5864336920254734,0.71338606911949],"aabb_xy":[[-0.5184776123211574,-1.665950847038083],[-0.35847760946090296,-1.506916537012864]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.04722486902623113,0.8234635822727445,0.71338606911949],"aabb_xy":[[-0.06850287716970338,0.7584635799466714],[-0.025946860882758882,0.8884635845988175]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.3825723693273122,0.5227916729087605,0.71338606911949],"aabb_xy":[[0.35142545048372903,0.45279167422195343],[0.41371928817089526,0.5927916715955678]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.08676856421184687,1.6524295594651206,0.71338606911949],"aabb_xy":[[0.07592808598533198,1.635243278174472],[0.09760904243836178,1.6696158407557693]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[0.3903305523960432,-0.6397730937504926,0.71338606911949],"aabb_xy":[[0.38024884531746966,-0.7197730916426072],[0.4004122594746166,-0.5597730958583779]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[-0.14791001794517233,-2.2952225430598148,0.71338606911949],"aabb_xy":[[-0.21191002123488045,-2.3385574620637324],[-0.08391001465546423,-2.251887624055897]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[0.6430986088047346,-0.9903253490744071,0.71338606911949],"aabb_xy":[[0.6212088612157938,-1.0803253463636562],[0.6649883563936754,-0.900325351785158]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[-0.38561403810824035,0.9252013776468502,0.71338606911949],"aabb_xy":[[-0.40812772993169755,0.8552013770458426],[-0.36310034628478316,0.9952013782478577]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.2788132455989229,0.44574001719750544,0.71338606911949],"aabb_xy":[[-0.303813244764556,0.43878777149214887],[-0.2538132464332898,0.452692262902862]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[0.4398358142348975,0.36560511428486153,0.71338606911949],"aabb_xy":[[0.4223358139898481,0.3481053264452946],[0.45733581447994687,0.3831049021244283]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.13105760833309232,-0.7992294536828404,0.71338606911949],"aabb_xy":[[0.12028463441172454,-0.8342294519018795],[0.1418305822544601,-0.7642294554638015]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6939078140415885,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1467.png","name":"1467"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1467.png","name":"1467"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6843.png","name":"6843"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1834.png","name":"1834"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5041.png","name":"5041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7465.png","name":"7465"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":633.2178541629803,"rotation_z_degrees":28.458931330875885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037808893027672895,-0.013473342241291033,-0.002903221018441489]},{"name":"camera_2","offset_m":[-0.007103303942261774,-0.0010550215217385028,0.019443499141286163]},{"name":"camera_3","offset_m":[0.01226286057105042,0.0022335235213844645,0.0019548543009542813]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001317990842370886,-0.00046975928986961566,0.0018743437694982005],"end_effector_yaw_offset_degrees":0.012624934237764007},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008854517385295819,0.00020734739193496417,-0.0018773761535096551],"end_effector_yaw_offset_degrees":0.5882048989216293},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016036911066537405,0.0010905622628844553,0.0006990299769971111],"end_effector_yaw_offset_degrees":-0.06929926016925925}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007999874368964481,0.00022993235116844715],"position_m":[0.15319998743689645,0.22382993235116844,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001220342068309523,-0.0022331354502335833],"position_m":[0.24362034206830951,-0.31193313545023355,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015366446566649908,-0.004143207283873328],"position_m":[0.326036644656665,-0.04574320728387333,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003096117835906299,-0.0026424450060795034],"position_m":[0.3479038821640937,0.3157575549939205,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b38093688332822bc933562dd180e34da2f6bd6d742356a546d103f9fe5ce2eb","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0051.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1467/tex_ceiling_textures_7465/tex_floor_textures_5041/tex_table_textures_6843/tex_wall_textures_1834","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7279754215119699147,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7279754215119699147,"visual_seed":7279754215119699147,"scene_id":"lab_003","finished_at":"2026-09-03T21:39:06"} +{"episode_id":"ep_000052","started_at":"2026-09-03T21:39:10","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[-0.3175506605888294,-1.7206830210821398,0.71338606911949],"aabb_xy":[[-0.37755066223175127,-1.772683170374084],[-0.25755065894590756,-1.6686828717901956]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[-0.2276172829721293,0.33908533370757077,0.71338606911949],"aabb_xy":[[-0.27749997984982555,0.28908533446129603],[-0.17773458609443316,0.38908533295384556]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.5873288121879515,-2.0932512699718386,0.71338606911949],"aabb_xy":[[-0.6368092334019104,-2.1572512678846905],[-0.5378483909739928,-2.029251272058987]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.42792866494859494,-1.425515633426648,0.71338606911949],"aabb_xy":[[-0.5079286623521883,-1.505508204624831],[-0.34792866754500146,-1.3455230622284653]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[0.6056416156573843,1.7660386895070563,0.71338606911949],"aabb_xy":[[0.5556685501248688,1.7160386896945239],[0.6556146811898997,1.8160386893195897]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.15060791910365157,-0.8819448857565879,0.71338606911949],"aabb_xy":[[-0.17419304256754642,-0.9469448880020196],[-0.1270227956397567,-0.816944883511156]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.44046771363936493,-1.0798471066186688,0.71338606911949],"aabb_xy":[[-0.46430393127997005,-1.1698471074271555],[-0.4166314959987599,-0.9898471058101825]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[0.012207983845341386,-1.819794708739484,0.71338606911949],"aabb_xy":[[0.006113355957223067,-1.8283641032911528],[0.018302611733459706,-1.8112253141878154]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.13691264161421635,-1.5474438208921495,0.71338606911949],"aabb_xy":[[0.056912640541096016,-1.557221867229534],[0.21691264268733668,-1.537665774554765]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.3855300147655716,0.7690259427031676,0.71338606911949],"aabb_xy":[[-0.42238056270255914,0.731525941880134],[-0.3486794668285839,0.8065259435262014]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[-0.11088479794912576,1.1361458120520678,0.71338606911949],"aabb_xy":[[-0.20088479444999752,1.0902341696336093],[-0.02088480144825401,1.1820574544705258]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[-0.19484449796947845,-1.1969533244888393,0.71338606911949],"aabb_xy":[[-0.25984449892660566,-1.2489015364225449],[-0.12984449701235123,-1.1450051125551337]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.024841766634844054,-1.1172567815144865,0.71338606911949],"aabb_xy":[[0.015424292064981297,-1.1266729586522057],[0.034259241204706796,-1.1078406043767677]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[0.3274649027877645,-2.099178648993466,0.71338606911949],"aabb_xy":[[0.3143136568164752,-2.1241786487501524],[0.34061614875905394,-2.0741786492367793]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[0.19864596387016487,-0.718703283725834,0.71338606911949],"aabb_xy":[[0.17614596434645743,-0.7411992311764547],[0.22114596339387224,-0.6962073362752131]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[0.39854799587309686,-0.2652469597242444,0.71338606911949],"aabb_xy":[[0.39321548121848393,-0.27057128796948005],[0.4038805105277099,-0.25992263147900885]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[0.39625240603275635,0.9631455268846265,0.71338606911949],"aabb_xy":[[0.3617899280196685,0.9564818497017036],[0.43071488404584407,0.9698092040675492]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[-0.22015335104420553,-2.540855388675858,0.71338606911949],"aabb_xy":[[-0.23275605018128198,-2.5534507849007233],[-0.20755065190712907,-2.5282599924509923]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[-0.02147698997917047,0.931668787302681,0.71338606911949],"aabb_xy":[[-0.07147182290711207,0.8816687884074373],[0.02851784294877113,0.9816687861979244]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.5241031652057011,-1.226936179465333,0.71338606911949],"aabb_xy":[[0.47882455032455185,-1.2909361788135165],[0.5693817800868504,-1.1629361801171492]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.3594635831904146,1.4387921857716548,0.71338606911949],"aabb_xy":[[-0.43946358015345377,1.3617165441278813],[-0.27946358622737544,1.5158678274154282]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[-0.2434526165979397,-1.569651152770565,0.71338606911949],"aabb_xy":[[-0.24756856671001237,-1.5737667078034108],[-0.23933666648586704,-1.5655355977377197]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[0.08896787849397259,-0.701195095077433,0.71338606911949],"aabb_xy":[[0.05782095965038947,-0.7711950937642401],[0.1201147973375557,-0.6311950963906258]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.532784057643878,-0.12346811337978192,0.71338606911949],"aabb_xy":[[0.4827847824754419,-0.1734681146557291],[0.5827833328123142,-0.07346811210383476]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.5386129930252338,-0.566042391861044,0.71338606911949],"aabb_xy":[[-0.6026129903108824,-0.607549110813888],[-0.47461299573958515,-0.5245356729082]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[-0.048711299625485815,-1.4039847580356846,0.71338606911949],"aabb_xy":[[-0.052151975865542995,-1.4078461910100493],[-0.04527062338542864,-1.4001233250613203]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.4675161970234728,1.1977778722701564,0.71338606911949],"aabb_xy":[[-0.47998355513320845,1.1853125476368331],[-0.45504883891373715,1.2102431969034801]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[-0.19173601105828242,-1.8563015842306254,0.71338606911949],"aabb_xy":[[-0.24673600926002726,-1.8968235508570628],[-0.13673601285653758,-1.8157796176041876]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[-0.2882077840332155,-0.40158715220398156,0.71338606911949],"aabb_xy":[[-0.30948579217668765,-0.46658715453005456],[-0.26692977588974315,-0.33658714987790844]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_29","position":[0.19458218048241327,-2.2984561486015775,0.71338606911949],"aabb_xy":[[0.12958217937647,-2.323421521669706],[0.25958218158835655,-2.2734907755334492]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[0.17238746529236837,-1.867240645758198,0.71338606911949],"aabb_xy":[[0.1674314451074872,-1.8897406459603199],[0.1773434854772496,-1.8447406455560766]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7014304865322268,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4065.png","name":"4065"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4065.png","name":"4065"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8160.png","name":"8160"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2838.png","name":"2838"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5347.png","name":"5347"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6321.png","name":"6321"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":731.1072254370672,"rotation_z_degrees":136.27765062400164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007684946010800147,0.003889283182278297,-0.013606256376752675]},{"name":"camera_2","offset_m":[0.008948147110385857,-0.006341933554311448,0.00033593022099344394]},{"name":"camera_3","offset_m":[0.015604747852851566,0.017864013677512818,-0.017178562822312223]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004229763495094967,0.0009585787507491489,-0.0006204930670494413],"end_effector_yaw_offset_degrees":0.03642235744106492},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014988981715436489,-0.00030545781682146385,-0.0013014062309036599],"end_effector_yaw_offset_degrees":-0.8152206901837058},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00017897483757446653,-0.001593121601827451,0.0001616764132243236],"end_effector_yaw_offset_degrees":0.18828300183044044}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002525259783765301,0.0043598285573600995],"position_m":[0.1498747402162347,0.2279598285573601,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015017589325021473,-0.0029712621429947416],"position_m":[0.24390175893250216,-0.31267126214299473,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[3.19045276063858e-05,-0.003243762398134676],"position_m":[0.3245319045276064,-0.04484376239813467,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003907570539343278,0.0001831795785684244],"position_m":[0.35490757053934324,0.31858317957856847,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e48099bf53ae4b71f55de1243792a706ae481caa24157ea78f758c4d1b9dbbf7","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4065/tex_ceiling_textures_6321/tex_floor_textures_5347/tex_table_textures_8160/tex_wall_textures_2838","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4166497082176423344,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4166497082176423344,"visual_seed":4166497082176423344,"scene_id":"lab_003","finished_at":"2026-09-03T21:42:08"} +{"episode_id":"ep_000053","started_at":"2026-09-03T21:42:13","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.46103260476115343,1.7802195360352315,0.71338606911949],"aabb_xy":[[-0.5250326080508615,1.7368846170313137],[-0.39703260147144526,1.823554455039149]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[0.6803808842422281,-1.7759094107005142,0.71338606911949],"aabb_xy":[[0.6763027263351784,-1.7799903909487778],[0.6844590421492778,-1.7718284304522511]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.4061975623180544,-0.11433324753625884,0.71338606911949],"aabb_xy":[[-0.4231082947543961,-0.12780545312887334],[-0.38928682988171254,-0.1008610419436443]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[0.4677354379080656,0.40400184113421167,0.71338606911949],"aabb_xy":[[0.40373543468942774,0.3572787292352033],[0.5317354411267035,0.45072495303322]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.34033694379747104,1.6962197303279054,0.71338606911949],"aabb_xy":[[0.27533694269152775,1.6712543572597771],[0.4053369449034143,1.7211851033960337]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[-0.38582096456302156,0.6815893298909361,0.71338606911949],"aabb_xy":[[-0.3984477518502179,0.6720432561893631],[-0.3731941772758252,0.6911354035925089]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[-0.26630340268218206,-0.3696206066706238,0.71338606911949],"aabb_xy":[[-0.28518778645069226,-0.3885065314509766],[-0.24741901891367185,-0.350734681890271]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.21060202800768069,0.69074740658965,0.71338606911949],"aabb_xy":[[0.20596691285544727,0.6868800715125011],[0.21523714315991405,0.6946147416667984]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.20860415009789574,-1.2611613442093432,0.71338606911949],"aabb_xy":[[-0.29829122640601113,-1.3511613444637938],[-0.11891707378978025,-1.1711613439548927]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[-0.14524670743109913,-1.7706142019242848,0.71338606911949],"aabb_xy":[[-0.16883183089499398,-1.8356142041697168],[-0.12166158396720428,-1.7056141996788532]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[-0.5296149097473078,1.2478473934872407,0.71338606911949],"aabb_xy":[[-0.5393708992564817,1.238084859428006],[-0.519858920238134,1.257609927546475]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.6272716703181749,-0.8190273242427499,0.71338606911949],"aabb_xy":[[0.5632716689101841,-0.8708162757666746],[0.6912716717261654,-0.7672383727188252]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[-0.40795780097030465,-1.616553437509515,0.71338606911949],"aabb_xy":[[-0.41852528062840366,-1.6270984676225233],[-0.39739032131220564,-1.6060084073965062]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[0.5826307945207143,-0.09712081308808163,0.71338606911949],"aabb_xy":[[0.5725490874421407,-0.17712081098019627],[0.5927125015992877,-0.017120815195966962]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[0.07709305516517417,-0.6609544175554372,0.71338606911949],"aabb_xy":[[0.07176054051056119,-0.6662787458006727],[0.08242556981978716,-0.6556300893102016]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[-0.06346543653966585,1.112060382514708,0.71338606911949],"aabb_xy":[[-0.11346543782350581,1.0620815281240858],[-0.013465435255825884,1.16203923690533]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[-0.3187181602682535,-0.18814924091940988,0.71338606911949],"aabb_xy":[[-0.33639379085685184,-0.2058294571988126],[-0.30104252967965517,-0.1704690246400071]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.07730053871094578,0.8791457426239613,0.71338606911949],"aabb_xy":[[-0.1413005390884794,0.8294004757731489],[-0.013300538333412146,0.9288910094747734]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[-0.056554021292215984,-2.0176340531731736,0.71338606911949],"aabb_xy":[[-0.12055401987878844,-2.0646410165726823],[0.007445977294356483,-1.9706270897736649]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.1818186095063925,-0.5409064173278391,0.71338606911949],"aabb_xy":[[-0.18985494420767732,-0.5489445366322557],[-0.17378227480510763,-0.5328682980234222]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.023469482447806223,-1.2064646731155824,0.71338606911949],"aabb_xy":[[-0.05653051802240973,-1.2147753807299309],[0.10346948291802219,-1.1981539655012343]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[0.6428805996182583,-1.4868205187468908,0.71338606911949],"aabb_xy":[[0.6209719174789071,-1.5087211855669813],[0.6647892817576092,-1.4649198519267999]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[0.5199857852497809,-2.3964837365911924,0.71338606911949],"aabb_xy":[[0.47000154954160356,-2.446483735404688],[0.569970020957958,-2.346483737777697]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[0.40936769729782263,-0.845357489996617,0.71338606911949],"aabb_xy":[[0.403330684297158,-0.8513841910655653],[0.41540471029848747,-0.8393307889276689]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.46717021047486673,-0.614299742130767,0.71338606911949],"aabb_xy":[[0.4542983069739266,-0.6942997425446031],[0.4800421139758069,-0.5342997417169308]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_25","position":[0.1999061000902329,-0.8927254117775867,0.71338606911949],"aabb_xy":[[0.15888815670386208,-0.9427254124085441],[0.24092404347660384,-0.8427254111466295]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.011548128670922697,-0.7863824870459846,0.71338606911949],"aabb_xy":[[-0.044988303866942296,-0.8198261128769144],[0.021892046525096902,-0.7529388612150543]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_27","position":[-0.406156509061038,1.1361548927527063,0.71338606911949],"aabb_xy":[[-0.45597328852587277,1.086154894268403],[-0.35633972959620325,1.1861548912370097]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_28","position":[0.07813654568846018,-2.1987752317509353,0.71338606911949],"aabb_xy":[[0.06620381132663211,-2.2111573845587946],[0.09006928005028825,-2.186393078943076]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_29","position":[-0.5929172487031124,1.55227601657691,0.71338606911949],"aabb_xy":[[-0.6729172472904317,1.472960414638749],[-0.5129172501157928,1.6315916185150707]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_30","position":[-0.41552716165606507,0.794208898656803,0.71338606911949],"aabb_xy":[[-0.4289736882901084,0.7807390470037117],[-0.40208063502202174,0.8076787503098941]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_31","position":[-0.6021000804253298,-1.8494202311280716,0.71338606911949],"aabb_xy":[[-0.6621000812861424,-1.9008466611345578],[-0.5421000795645168,-1.797993801121585]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_32","position":[-0.17770363068735118,-2.2183517220059445,0.71338606911949],"aabb_xy":[[-0.1859181758030351,-2.2270283123035854],[-0.16948908557166714,-2.2096751317083028]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_33","position":[-0.04300922645066174,-0.9570589287120888,0.71338606911949],"aabb_xy":[[-0.0467124877798006,-0.9607609470208065],[-0.039305965121522866,-0.9533569104033708]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_34","position":[0.19553159081801863,1.2745039576143173,0.71338606911949],"aabb_xy":[[0.14553158915652384,1.2245055153586144],[0.24553159247951337,1.3245023998700198]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6987256369572382,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7537.png","name":"7537"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7537.png","name":"7537"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2956.png","name":"2956"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9098.png","name":"9098"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8004.png","name":"8004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/708.png","name":"708"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":529.6356416339493,"rotation_z_degrees":160.53264070183155,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037914390650146367,0.01502831982334894,0.017459491706625013]},{"name":"camera_2","offset_m":[0.008757306026814779,-0.0065741632341113476,0.0019024209970191358]},{"name":"camera_3","offset_m":[-0.01629622125677986,0.011249163205776843,-0.011823207285214452]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00182688915765812,-0.001127994891383076,-0.0011456386384327839],"end_effector_yaw_offset_degrees":-0.27855945930539217},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008490286111407673,0.0008169504898656163,0.0011927010989981946],"end_effector_yaw_offset_degrees":-0.7176066983423446},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012159848003644841,-0.0008890899793136567,-0.0008680209598644338],"end_effector_yaw_offset_degrees":-0.6741726511093449}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023722197966799387,0.001533112180108205],"position_m":[0.15002778020332008,0.2251331121801082,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038565276882091327,0.0008659035229114098],"position_m":[0.23854347231179088,-0.3088340964770886,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000815262714738506,-0.000140895729557897],"position_m":[0.32531526271473854,-0.04174089572955789,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013947441690642156,-0.0008432573273228147],"position_m":[0.3523947441690642,0.3175567426726772,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2bf5451c7bc27caafb37a203540ff8db11ba4d5b88dfa6d31cc73af532813914","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0053.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7537/tex_ceiling_textures_708/tex_floor_textures_8004/tex_table_textures_2956/tex_wall_textures_9098","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":9759016853566820,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":9759016853566820,"visual_seed":9759016853566820,"scene_id":"lab_003","finished_at":"2026-09-03T21:45:13"} +{"episode_id":"ep_000054","started_at":"2026-09-03T21:45:17","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.30316699484188925,-2.35880321028489,0.71338606911949],"aabb_xy":[[-0.37316699125185093,-2.3792411459365703],[-0.23316699843192737,-2.338365274633207]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[-0.01217989909135686,-1.798994152873476,0.71338606911949],"aabb_xy":[[-0.04967989919694981,-1.805816314726457],[0.02532010101423609,-1.7921719910204947]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[-0.43392506967527644,1.277229303100727,0.71338606911949],"aabb_xy":[[-0.49892506783119556,1.2509330585508147],[-0.36892507151935744,1.303525547650639]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[0.2559593354432903,1.225655033134725,0.71338606911949],"aabb_xy":[[0.23095933551077236,1.2187723649138016],[0.28095933537580814,1.2325377013556482]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[0.030022547696131996,-1.084782428377794,0.71338606911949],"aabb_xy":[[-0.04997745089118742,-1.1640980303159547],[0.11002254628345141,-1.005466826439633]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.26444091640488265,0.7147843561438196,0.71338606911949],"aabb_xy":[[0.2571586000282189,0.6247843525343104],[0.2717232327815462,0.8047843597533284]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[0.4029923360638139,-0.6114508034318333,0.71338606911949],"aabb_xy":[[0.3429923354677977,-0.6662632759770568],[0.4629923366598301,-0.5566383308866099]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.6372491135936469,1.7501889104450634,0.71338606911949],"aabb_xy":[[0.6300053475474016,1.6701889122414608],[0.6444928796398922,1.8301889086486656]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.4396257847981677,0.5553109355339987,0.71338606911949],"aabb_xy":[[0.4010800919729666,0.5167651644778101],[0.4781714776233687,0.5938567065901873]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[0.431992497876869,-1.9606086108010796,0.71338606911949],"aabb_xy":[[0.42735738272463564,-1.9644759458782282],[0.43662761302910236,-1.9567412757239306]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[-0.38170588972633424,-1.8335617489754177,0.71338606911949],"aabb_xy":[[-0.43670588890292367,-1.888551423750375],[-0.3267058905497447,-1.7785720742004598]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[-0.37405038653455236,-1.0520327311421722,0.71338606911949],"aabb_xy":[[-0.41155038670642424,-1.0847334665250792],[-0.33655038636268036,-1.0193319957592648]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[0.46120356754632397,1.5365507535202947,0.71338606911949],"aabb_xy":[[0.41120356588482915,1.4865523112645918],[0.5112035692078186,1.5865491957759972]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.6458469218744612,-2.03721310332794,0.71338606911949],"aabb_xy":[[-0.6539605765478383,-2.0453189197819683],[-0.6377332672010841,-2.0291072868739106]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.3208778469539198,-0.5523730672728648,0.71338606911949],"aabb_xy":[[-0.400877848384047,-0.6318902222854743],[-0.2408778455237926,-0.47285591226025536]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[-0.18835494649192563,1.4928393351026616,0.71338606911949],"aabb_xy":[[-0.2533549474490528,1.440891123168956],[-0.12335494553479841,1.5447875470363672]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[0.03676198920952012,-2.4995495213051,0.71338606911949],"aabb_xy":[[-0.04323801106408686,-2.5724990691308167],[0.11676198948312709,-2.4265999734793833]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[-0.09454618959527172,-1.4923895751646432,0.71338606911949],"aabb_xy":[[-0.11343057336378193,-1.5112754999449962],[-0.07566180582676152,-1.4735036503842907]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[0.3266739868907156,-0.4889262034740134,0.71338606911949],"aabb_xy":[[0.30917398775634836,-0.4988058305116011],[0.3441739860250827,-0.47904657643642545]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.39520919555490547,-1.567212537028654,0.71338606911949],"aabb_xy":[[-0.4327091959031331,-1.5790039326097374],[-0.3577091952066776,-1.5554211414475703]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.14944488426014213,0.868221645979196,0.71338606911949],"aabb_xy":[[-0.15985644294062581,0.8628759126432974],[-0.1390333255796584,0.8735673793150944]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7026289817131176,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9005.png","name":"9005"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1930.png","name":"1930"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5213.png","name":"5213"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6949.png","name":"6949"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":802.6464605972631,"rotation_z_degrees":6.41355462782875,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012171542468828001,-0.0032909886756257827,0.002804246782901712]},{"name":"camera_2","offset_m":[-0.012825582142015048,-0.006291284956276658,0.00768794851382007]},{"name":"camera_3","offset_m":[0.0071170980109681,0.005688576658287755,-0.012024868422159437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013274011351292869,-0.0014189028082694333,-0.0011280407853738205],"end_effector_yaw_offset_degrees":-0.44993327804925487},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013688748180525467,-0.0008404883643331322,0.0015988869809512615],"end_effector_yaw_offset_degrees":0.24230986835266122},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004366007904958724,0.0012115374866884022,0.0007097403843150151],"end_effector_yaw_offset_degrees":0.34048923496701233}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00341933274138742,-0.002565908763095897],"position_m":[0.1489806672586126,0.2210340912369041,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000354723376451465,-0.0033366988456035654],"position_m":[0.24204527662354855,-0.31303669884560353,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005843320569613808,0.003624539763755554],"position_m":[0.3250843320569614,-0.03797546023624444,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00470058631327848,0.0012658392827641467],"position_m":[0.35570058631327844,0.31966583928276415,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d6a8d2365d8dff5cd92b4a235dd653079dc3d9ca5e8e5a4cfb867b9ec35866aa","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0054.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4418/tex_ceiling_textures_6949/tex_floor_textures_5213/tex_table_textures_9005/tex_wall_textures_1930","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6030277162474538175,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6030277162474538175,"visual_seed":6030277162474538175,"scene_id":"lab_003","finished_at":"2026-09-03T21:48:34"} +{"episode_id":"ep_000055","started_at":"2026-09-03T21:48:37","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.6477869677884568,1.5908952867549302,0.71338606911949],"aabb_xy":[[-0.6531245434544615,1.5658952858257904],[-0.6424493921224523,1.61589528768407]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[-0.06048781054106034,0.5511656771079183,0.71338606911949],"aabb_xy":[[-0.09088592164020391,0.5207587751062487],[-0.030089699441916747,0.5815725791095877]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.5255765161453307,-2.5528398197843596,0.71338606911949],"aabb_xy":[[-0.5446888235033095,-2.571974598661602],[-0.5064642087873518,-2.533705040907118]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[0.49419237000687,0.3818521651819182,0.71338606911949],"aabb_xy":[[0.45669237018983644,0.3772139538707764],[0.5316923698239036,0.38649037649306006]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[-0.6855836318945977,-0.6247511328219642,0.71338606911949],"aabb_xy":[[-0.6947435108384743,-0.6312823508655013],[-0.6764237529507211,-0.6182199147784272]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[0.4644380059298072,1.3894949816987672,0.71338606911949],"aabb_xy":[[0.43197630504787965,1.3593621495838641],[0.49689970681173457,1.4196278138136693]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[-0.6506741769802394,0.9804421573425874,0.71338606911949],"aabb_xy":[[-0.6593881460301738,0.9579421566833991],[-0.6419602079303048,1.0029421580017754]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.23243464015093024,-0.6165748997475575,0.71338606911949],"aabb_xy":[[-0.3224346368865404,-0.6697583630648519],[-0.14243464341531997,-0.5633914364302629]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.24112075747752754,1.2835607032109277,0.71338606911949],"aabb_xy":[[-0.32112075964029,1.2036055195847841],[-0.16112075531476505,1.3635158868370714]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.5501205077332325,1.2280010170564855,0.71338606911949],"aabb_xy":[[-0.6301205088063528,1.2182229707191008],[-0.4701205066601122,1.2377790633938697]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.585590531752304,0.10462056322612723,0.71338606911949],"aabb_xy":[[0.527960062865033,0.04462056429941661],[0.6432210006395748,0.16462056215283777]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[-0.08603986652021889,-2.4680724213728835,0.71338606911949],"aabb_xy":[[-0.15003556391531547,-2.5320724196735918],[-0.022044169125122304,-2.4040724230721744]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[-0.2662112449912762,-2.265962015199694,0.71338606911949],"aabb_xy":[[-0.3302112470410082,-2.3060564982890024],[-0.2022112429415442,-2.2258675321103865]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.49107839629832983,-1.1301309137472508,0.71338606911949],"aabb_xy":[[0.4691697141589787,-1.1520315805673416],[0.5129870784376808,-1.10823024692716]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[0.27080449945174867,-1.3278075168427217,0.71338606911949],"aabb_xy":[[0.25989872336418596,-1.4078075132415508],[0.2817102755393114,-1.2478075204438925]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.4417025092599808,-0.8663767688673143,0.71338606911949],"aabb_xy":[[-0.4917025102105136,-0.8979259158708358],[-0.39170250830944797,-0.834827621863793]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.06513353263711241,-1.186896090096513,0.71338606911949],"aabb_xy":[[0.057872285066705,-1.1996831003600228],[0.07239478020751983,-1.1741090798330038]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.02517191459577439,-1.4771744302222476,0.71338606911949],"aabb_xy":[[0.011940969061093092,-1.490401849244247],[0.03840286013045568,-1.4639470112002482]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.1137267577575174,-0.9555834438964348,0.71338606911949],"aabb_xy":[[-0.15022257838479613,-0.9920673863231924],[-0.07723093713023864,-0.9190995014696772]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[-0.5401423219542667,-2.1471986151727522,0.71338606911949],"aabb_xy":[[-0.5684720319028069,-2.1516593573664697],[-0.5118126120057265,-2.1427378729790356]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[-0.032894438979852114,1.403509400688093,0.71338606911949],"aabb_xy":[[-0.0878944381564416,1.3485197259131352],[0.02210556019673738,1.4584990754630505]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[0.5072366075917438,1.1754192431401145,0.71338606911949],"aabb_xy":[[0.4522433962546072,1.1204192428013209],[0.5622298189288807,1.230419243478908]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[-0.0712212597407601,1.1758524874524938,0.71338606911949],"aabb_xy":[[-0.11835063874259576,1.1118524864080916],[-0.024091880738924418,1.2398524884968956]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[-0.08567883551845934,-0.25442211111778157,0.71338606911949],"aabb_xy":[[-0.09624631517655834,-0.2649671412307901],[-0.07511135586036032,-0.243877081004773]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[0.6653355773124916,0.3761429685381956,0.71338606911949],"aabb_xy":[[0.6297064214125317,0.3405103017813427],[0.7009647332124512,0.41177563529504857]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[-0.5590225523918433,-1.1015711676641506,0.71338606911949],"aabb_xy":[[-0.6017892592712635,-1.165571171085953],[-0.5162558455124231,-1.0375711642423482]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_26","position":[0.5690884124069777,-0.4831737717047391,0.71338606911949],"aabb_xy":[[0.5090884118991247,-0.5400205053906603],[0.6290884129148305,-0.4263270380188177]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_27","position":[0.1561610047712183,-0.9431540211974017,0.71338606911949],"aabb_xy":[[0.15126171246465478,-0.9708309404999704],[0.16106029707778177,-0.9154771018948329]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945191863236478,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9430.png","name":"9430"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9430.png","name":"9430"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5751.png","name":"5751"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1508.png","name":"1508"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4601.png","name":"4601"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/398.png","name":"398"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":634.9151968100363,"rotation_z_degrees":48.54925887076993,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019693747931602727,0.018462150267142884,0.008320882844935939]},{"name":"camera_2","offset_m":[-0.008689654503729764,0.008521982359182577,-0.011941506511105718]},{"name":"camera_3","offset_m":[0.009329069530747764,-0.010456813201184372,-0.0008897081804966761]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00012041310875763895,0.0009367119937417102,-0.00016387172058326808],"end_effector_yaw_offset_degrees":-0.9120620605919016},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015678820125946094,0.0008596818198034644,-0.0001492120472992174],"end_effector_yaw_offset_degrees":0.30958540053398376},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007593584478849873,0.0005114300559927571,-0.0003240913989271798],"end_effector_yaw_offset_degrees":0.966356431258633}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004429683691260354,-0.002374190541892902],"position_m":[0.15682968369126035,0.2212258094581071,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003071575117360726,0.0012309252041455623],"position_m":[0.23932842488263928,-0.3084690747958544,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020665868518563034,0.0006895617383011823],"position_m":[0.3224334131481437,-0.040910438261698816,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022028427920889617,-0.0030478712215134176],"position_m":[0.348797157207911,0.3153521287784866,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10465763d1af81bcc1d5f683ec7e8b1a20868992dbef77c5ac06bfa864caf90f","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9430/tex_ceiling_textures_398/tex_floor_textures_4601/tex_table_textures_5751/tex_wall_textures_1508","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1858934861279520827,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1858934861279520827,"visual_seed":1858934861279520827,"scene_id":"lab_003","finished_at":"2026-09-03T21:51:37"} +{"episode_id":"ep_000056","started_at":"2026-09-03T21:51:43","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.27241927508936387,-0.29359836404946504,0.71338606911949],"aabb_xy":[[-0.32241410801730547,-0.3435983629447086],[-0.22242444216142226,-0.2435983651542215]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.3263564611142551,1.6435878531387362,0.71338606911949],"aabb_xy":[[0.28027136985952356,1.5795878558861811],[0.3724415523689865,1.7075878503912914]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[-0.033679622315117674,0.49822490602518155,0.71338606911949],"aabb_xy":[[-0.05188544597636535,0.48719950544319],[-0.015473798653869997,0.5092503066071733]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.16277476023166282,-1.2480524343544253,0.71338606911949],"aabb_xy":[[-0.16835643186579158,-1.2605524341722008],[-0.15719308859753406,-1.2355524345366498]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[0.6573699421260386,1.162483548963111,0.71338606911949],"aabb_xy":[[0.6479524675561759,1.1530673718253919],[0.6667874166959014,1.17189972610083]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[-0.010629766765485993,1.1258101555712874,0.71338606911949],"aabb_xy":[[-0.027540499201827773,1.1123379499786725],[0.0062809656708557845,1.1392823611639018]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[0.16243692681492639,-1.1480262230260128,0.71338606911949],"aabb_xy":[[0.12743692854480648,-1.1551003507210007],[0.1974369250850463,-1.1409520953310244]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.6097158137632875,-0.8502153314648875,0.71338606911949],"aabb_xy":[[-0.6440320909379055,-0.9002153314380653],[-0.5753995365886696,-0.8002153314917099]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.4505722511505773,-1.182805672199897,0.71338606911949],"aabb_xy":[[-0.5005722524344172,-1.232784526590519],[-0.4005722498667373,-1.1328268178092749]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[-0.38905653407066976,-0.9978035492050865,0.71338606911949],"aabb_xy":[[-0.4540565341049725,-1.0445042258854138],[-0.324056534036367,-0.9511028725247593]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.06834837551731798,-2.276129135760514,0.71338606911949],"aabb_xy":[[0.05778089585921897,-2.2866741658735226],[0.078915855175417,-2.2655841056475055]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[-0.578932982857256,0.6699230192341723,0.71338606911949],"aabb_xy":[[-0.5842654975118691,0.6645986909889369],[-0.573600468202643,0.675247347479408]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.4494357815631067,0.0644736651490665,0.71338606911949],"aabb_xy":[[-0.499435782582242,0.028007449411238568],[-0.3994357805439715,0.10093988088689446]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[0.19646882368412477,-1.4611629584754737,0.71338606911949],"aabb_xy":[[0.13246882342365393,-1.5061717578284015],[0.26046882394459553,-1.4161541591225455]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.409942499075449,0.7125930453351668,0.71338606911949],"aabb_xy":[[0.40189913914949377,0.6275930442398002],[0.4179858590014041,0.7975930464305331]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[0.6508406681396159,-0.7394005209385446,0.71338606911949],"aabb_xy":[[0.585840669983697,-0.7656967654884569],[0.7158406662955351,-0.7131042763886325]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.3872708919704424,0.5182279646353978,0.71338606911949],"aabb_xy":[[0.3322708927938529,0.46323828986044013],[0.4422708911470319,0.5732176394103554]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[0.5769350559465452,0.8812988589602697,0.71338606911949],"aabb_xy":[[0.512935053726138,0.8369257748349814],[0.6409350581669521,0.925671943085558]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.42611582813830684,-1.992743655678075,0.71338606911949],"aabb_xy":[[0.3711235775027959,-2.047743657421388],[0.48110807877381784,-1.9377436539347626]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.6665618578634611,-0.49035747121790596,0.71338606911949],"aabb_xy":[[0.6315618578869653,-0.4998220872655226],[0.701561857839957,-0.48089285517028935]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989273769165879,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5043.png","name":"5043"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5043.png","name":"5043"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3591.png","name":"3591"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9125.png","name":"9125"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7433.png","name":"7433"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3948.png","name":"3948"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":637.9689766230883,"rotation_z_degrees":192.726805284494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015726887554291653,0.015852213463345224,0.01872682379018609]},{"name":"camera_2","offset_m":[-0.018710307041082258,0.007476565473764154,-0.0141168249673908]},{"name":"camera_3","offset_m":[-0.005642232696464711,-0.013155651572114997,0.010834365281888813]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019221140490999593,-0.0017479762122800304,-0.0013383268129242092],"end_effector_yaw_offset_degrees":0.6037066865862624},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015241564736029195,-0.0017014053639652872,-0.0019686927110531536],"end_effector_yaw_offset_degrees":0.8419089805894227},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008489673387228321,0.00029142687485209616,-0.0010889187105658608],"end_effector_yaw_offset_degrees":-0.21158124267928669}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012956906201684547,0.0029595600011217632],"position_m":[0.15110430937983155,0.22655956000112176,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00015547841533110687,-0.0010978328533212335],"position_m":[0.24255547841533112,-0.3107978328533212,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003907544669454226,-0.0016175730192426784],"position_m":[0.3284075446694542,-0.04321757301924268,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00031714677805282435,0.001700715386676409],"position_m":[0.3513171467780528,0.32010071538667645,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"86432c7b3ed7a72fc7ef83d285f02824280c36f134aaff1edf17b9ca93703479","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5043/tex_ceiling_textures_3948/tex_floor_textures_7433/tex_table_textures_3591/tex_wall_textures_9125","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2027884171138176982,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2027884171138176982,"visual_seed":2027884171138176982,"scene_id":"lab_003","finished_at":"2026-09-03T21:54:46"} +{"episode_id":"ep_000057","started_at":"2026-09-03T21:54:49","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[-0.343122295351877,-2.2993640767190864,0.71338606911949],"aabb_xy":[[-0.3472581516845772,-2.3368640761634434],[-0.3389864390191768,-2.2618640772747294]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.5377259315844481,0.661513924559975,0.71338606911949],"aabb_xy":[[-0.5676934884942738,0.6315139242620892],[-0.5077583746746225,0.6915139248578607]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.3204380063890617,-1.524990954734441,0.71338606911949],"aabb_xy":[[-0.37543800556565116,-1.5799806295093983],[-0.2654380072124722,-1.470001279959483]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.3885046911799903,1.7354041908933984,0.71338606911949],"aabb_xy":[[0.35100469275658996,1.7222399769255672],[0.42600468960339066,1.7485684048612287]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[0.38342475309826374,-1.939630385678654,0.71338606911949],"aabb_xy":[[0.3659940380192572,-1.9569025003425045],[0.4008554681772702,-1.9223582710148028]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[0.22809985339177896,1.0438717889541231,0.71338606911949],"aabb_xy":[[0.17309985519003407,1.0033498223276855],[0.2830998515935237,1.0843937555805607]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_6","position":[-0.15426587434678063,-1.6944328609508794,0.71338606911949],"aabb_xy":[[-0.19281156717198167,-1.7329786320070684],[-0.11572018152157959,-1.655887089894691]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.48837757556326566,-0.8533201955473508,0.71338606911949],"aabb_xy":[[-0.5233775738333855,-0.8603943232423389],[-0.4533775772931457,-0.8462460678523626]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[-0.11583015212415193,1.66787015687891,0.71338606911949],"aabb_xy":[[-0.13346298771767948,1.6502472108632869],[-0.09819731653062434,1.6854931028945328]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.5827869055126765,0.11791981044887612,0.71338606911949],"aabb_xy":[[-0.6377801168498134,0.0629198101100825],[-0.5277936941755399,0.17291981078766971]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.5808036929937639,-0.40337851800750757,0.71338606911949],"aabb_xy":[[-0.5999160003517429,-0.4225132968847496],[-0.5616913856357851,-0.38424373913026555]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[-0.07900330585866777,-2.362859756221548,0.71338606911949],"aabb_xy":[[-0.12118772001949851,-2.426859756498759],[-0.03681889169783703,-2.2988597559443367]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.3481451319839597,1.339786812277151,0.71338606911949],"aabb_xy":[[0.3355183446967633,1.3302407385755781],[0.360771919271156,1.349332885978724]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[-0.37560008643679504,0.7457660407368123,0.71338606911949],"aabb_xy":[[-0.3954911263171354,0.7331102294521156],[-0.35570904655645486,0.7584218520215094]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.3281995134304998,0.5194725912161524,0.71338606911949],"aabb_xy":[[0.3200718252371866,0.5105589828054448],[0.336327201623813,0.5283861996268601]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[-0.6651857913407881,-1.3870932010327188,0.71338606911949],"aabb_xy":[[-0.687075538929729,-1.4770931983219677],[-0.6432960437518473,-1.2970932037434695]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.1685704194243135,0.7670392769342693,0.71338606911949],"aabb_xy":[[0.15610306131457788,0.7545739523009458],[0.18103777753404918,0.7795046015675928]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.27643246757347856,-0.5584606346895491,0.71338606911949],"aabb_xy":[[-0.3404324668676468,-0.6224467750584033],[-0.21243246827931034,-0.4944744943206949]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.11618452716466676,-1.4754989011712576,0.71338606911949],"aabb_xy":[[-0.15368452751289452,-1.487290296752341],[-0.07868452681643899,-1.4637075055901738]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[0.35130827863084013,-1.7802748888581077,0.71338606911949],"aabb_xy":[[0.29618307300124935,-1.8402748902993948],[0.4064334842604309,-1.7202748874168206]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.3074510668036714,0.6375257157688101,0.71338606911949],"aabb_xy":[[-0.3574510671642374,0.5875457285592072],[-0.2574510664431053,0.6875057029784131]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[-0.48991845209530505,1.708627973340357,0.71338606911949],"aabb_xy":[[-0.5549184547330985,1.6571483746409101],[-0.4249184494575116,1.760107572039804]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[0.5855256589819728,-0.1370389295534733,0.71338606911949],"aabb_xy":[[0.5355523649787123,-0.1870389301080206],[0.6354989529852332,-0.08703892899892593]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[-0.3212549528652246,-0.20662987504441332,0.71338606911949],"aabb_xy":[[-0.38125495337307747,-0.2634766087303346],[-0.2612549523573716,-0.14978314135849202]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962192451130566,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/830.png","name":"830"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/830.png","name":"830"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1789.png","name":"1789"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7937.png","name":"7937"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1094.png","name":"1094"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9769.png","name":"9769"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":842.9182080409676,"rotation_z_degrees":34.246355130842026,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004643157994044333,-0.00462426997098353,0.007666146935307903]},{"name":"camera_2","offset_m":[0.01682810760107128,-0.01309540137823444,0.006036540030092033]},{"name":"camera_3","offset_m":[0.018566496411497335,0.01587606271055877,-0.005551202263223649]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017030580726473065,0.0009626381800735035,-0.00019695613400670404],"end_effector_yaw_offset_degrees":0.15650715715185104},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015237632957051275,-0.00046638848581071184,-0.0007060374187060892],"end_effector_yaw_offset_degrees":0.48617512296061083},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001007749019096278,0.0012398351373373367,-0.0014956285216868777],"end_effector_yaw_offset_degrees":0.44568827789348364}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002251877987629264,0.002999153552771804],"position_m":[0.15465187798762928,0.2265991535527718,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009883142148186582,-0.0016787129400341427],"position_m":[0.24141168578518135,-0.3113787129400341,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010285797558023347,-0.00493659865485269],"position_m":[0.32347142024419767,-0.046536598654852684,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005507784231942705,-0.002545623115439214],"position_m":[0.3504492215768057,0.3158543768845608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"994c2b19dd7d378a6d5dc2a0bc05c361009ad6aeb2e746435ad75857d9ac31f5","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_830/tex_ceiling_textures_9769/tex_floor_textures_1094/tex_table_textures_1789/tex_wall_textures_7937","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1549096057151454343,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1549096057151454343,"visual_seed":1549096057151454343,"scene_id":"lab_003","finished_at":"2026-09-03T21:57:51"} +{"episode_id":"ep_000058","started_at":"2026-09-03T21:57:55","dimensions":{"distractor":{"count":20,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[0.6066825529984292,-0.428874916191309,0.71338606911949],"aabb_xy":[[0.521682554581006,-0.513749211653594],[0.6916825514158524,-0.34400062072902404]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[-0.36249204080063285,1.597575705318349,0.71338606911949],"aabb_xy":[[-0.41249203944655405,1.5476561616588864],[-0.31249204215471166,1.6474952489778112]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.670100554536342,-1.6790996756067673,0.71338606911949],"aabb_xy":[[-0.6797321907567715,-1.688736988386476],[-0.6604689183159123,-1.6694623628270582]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[-0.3399895133361002,0.14052913117691723,0.71338606911949],"aabb_xy":[[-0.40398951567890173,0.09558827993278472],[-0.2759895109932986,0.1854699824210497]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[0.07180614080713177,-2.336238039643444,0.71338606911949],"aabb_xy":[[0.02652752592598251,-2.400238038991627],[0.11708475568828103,-2.2722380402952598]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[0.6247918418873599,-0.2583355787304913,0.71338606911949],"aabb_xy":[[0.6072918416423104,-0.27583536657005814],[0.6422918421324092,-0.24083579089092447]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[0.1969790775494914,-1.8583671694309065,0.71338606911949],"aabb_xy":[[0.11697907647637104,-1.8681452157682912],[0.27697907862261173,-1.8485891230935223]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[-0.303711981198794,-2.171311420333689,0.71338606911949],"aabb_xy":[[-0.36771197831089975,-2.2203437901281],[-0.23971198408668837,-2.122279050539279]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[0.4431650692777722,-2.0986362197959476,0.71338606911949],"aabb_xy":[[0.40566507085437187,-2.111800433763778],[0.48066506770117257,-2.0854720058281164]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.6165400042120923,0.9336751776751586,0.71338606911949],"aabb_xy":[[-0.622506543152828,0.9277140330157946],[-0.6105734652713566,0.9396363223345227]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[0.45218737166414,-2.3693748101730185,0.71338606911949],"aabb_xy":[[0.4162738672391503,-2.405288318389773],[0.48810087608912966,-2.3334613019562633]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.39172663023706006,-0.05867417142630904,0.71338606911949],"aabb_xy":[[-0.471726627251308,-0.07880872309972031],[-0.311726633222812,-0.03853961975289777]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.4595295225472658,-0.4614163493280268,0.71338606911949],"aabb_xy":[[-0.46442881485382936,-0.4890932686305955],[-0.45463023024070237,-0.43373943002545795]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[0.27132657682707273,1.3748164411127326,0.71338606911949],"aabb_xy":[[0.20732657655309444,1.3247503409154446],[0.3353265771010509,1.4248825413100206]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.6472843076927051,0.17706871017940484,0.71338606911949],"aabb_xy":[[0.6408704940495199,0.1706588899317365],[0.6536981213358898,0.18347853042707318]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[-0.6335267090418798,-2.4633123142284528,0.71338606911949],"aabb_xy":[[-0.6678429862164976,-2.5133123142016305],[-0.5992104318672618,-2.413312314255275]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.20173476475764063,-1.5532901575221352,0.71338606911949],"aabb_xy":[[0.1417347649110738,-1.6101087797151739],[0.2617347646042074,-1.4964715353290965]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.36384542952884935,0.9879214562642025,0.71338606911949],"aabb_xy":[[0.2988454285283488,0.9371350911095273],[0.4288454305293498,1.0387078214188772]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[0.5612808707503814,1.2543945288665652,0.71338606911949],"aabb_xy":[[0.5062808711286356,1.1994108360790925],[0.6162808703721273,1.309378221654038]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[-0.3932863015499154,-0.5612977793652902,0.71338606911949],"aabb_xy":[[-0.4182863008218777,-0.5776431429614526],[-0.3682863022779531,-0.5449524157691279]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7028147849501846,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3300.png","name":"3300"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3300.png","name":"3300"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9940.png","name":"9940"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8707.png","name":"8707"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3554.png","name":"3554"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/994.png","name":"994"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":597.2480092534712,"rotation_z_degrees":81.86091331640046,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010590890971334522,-0.0034424442214547775,-0.0003043398320253278]},{"name":"camera_2","offset_m":[-0.005476981952079307,0.002010778336774925,0.010850309380611725]},{"name":"camera_3","offset_m":[0.012954664218610922,0.01649881716833042,0.01287731322488864]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004033570367132531,0.0010292005424918328,0.0007723206000255279],"end_effector_yaw_offset_degrees":0.3373887730271077},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016793774459802177,0.0012894383780103183,-0.0002733128830491847],"end_effector_yaw_offset_degrees":0.5856065407459621},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016981548943602136,-0.0009039827735485555,-0.0015304634938482313],"end_effector_yaw_offset_degrees":-0.9921456001919267}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027935992365022287,-0.004811275525942369],"position_m":[0.14960640076349777,0.21878872447405762,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004738044371575279,0.0002500916178574961],"position_m":[0.24713804437157527,-0.3094499083821425,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004770819790337308,0.0019194919505240464],"position_m":[0.32927081979033734,-0.039680508049475954,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003269752802964209,0.004455825848821328],"position_m":[0.3542697528029642,0.32285582584882133,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"486710b36a0d40267b176d8da86392a2f6765ad43ddc863012f03fd31f65452b","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3300/tex_ceiling_textures_994/tex_floor_textures_3554/tex_table_textures_9940/tex_wall_textures_8707","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8084315999712337516,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8084315999712337516,"visual_seed":8084315999712337516,"scene_id":"lab_003","finished_at":"2026-09-03T22:01:02"} +{"episode_id":"ep_000059","started_at":"2026-09-03T22:01:05","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[-0.030211480833979176,1.0573129417824028,0.71338606911949],"aabb_xy":[[-0.039628955403841926,1.0478967646446835],[-0.020794006264116427,1.0667291189201216]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.0814332657072191,-0.7346342463271367,0.71338606911949],"aabb_xy":[[-0.16143326617743506,-0.7429449539414852],[-0.0014332652370031564,-0.7263235387127884]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.3993181568118848,-0.4790193592826313,0.71338606911949],"aabb_xy":[[-0.43786384963708586,-0.51756513033882],[-0.3607724639866838,-0.44047358822644267]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.06798145474065531,0.9499222709800423,0.71338606911949],"aabb_xy":[[-0.08465859073375082,0.9332223470061122],[-0.05130431874755981,0.9666221949539727]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.45597921090735993,0.8566190267172158,0.71338606911949],"aabb_xy":[[0.41847921024278123,0.8409319687169936],[0.49347921157193864,0.872306084717438]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[0.5017663773751382,1.2259872668493688,0.71338606911949],"aabb_xy":[[0.4517875688648223,1.17598726684365],[0.5517451858854541,1.2759872668550876]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.20711224683910778,1.6565404411844011,0.71338606911949],"aabb_xy":[[-0.2711122490595148,1.6121673570591128],[-0.14311224461870076,1.7009135253096894]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[-0.5223287935090614,-2.078296293198642,0.71338606911949],"aabb_xy":[[-0.5506585034576016,-2.0827570353923592],[-0.49399908356052114,-2.073835551004925]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[-0.5480886588607996,-0.5399732775266624,0.71338606911949],"aabb_xy":[[-0.5980886592213656,-0.5899532647362652],[-0.4980886585002335,-0.48999329031705935]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.6051865886036121,-1.6892699138729852,0.71338606911949],"aabb_xy":[[0.5826865880915715,-1.7117617722383833],[0.6276865891156527,-1.6667780555075866]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.6843628094289631,-2.4072190533236117,0.71338606911949],"aabb_xy":[[0.680226953096263,-2.444719052767969],[0.6884986657616634,-2.369719053879255]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[0.47947534916353773,-1.966322936839653,0.71338606911949],"aabb_xy":[[0.3994753505066518,-1.9808277957639158],[0.5594753478204237,-1.9518180779153904]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[0.595261641596206,0.36302222946220564,0.71338606911949],"aabb_xy":[[0.5739836334527336,0.2980222271361325],[0.6165396497396781,0.42802223178827864]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.30608369091821563,-2.177520456845797,0.71338606911949],"aabb_xy":[[0.24208369054068202,-2.2272657236966094],[0.37008369129574925,-2.127775189994985]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.5377409379397602,1.5953734611999377,0.71338606911949],"aabb_xy":[[0.4964921269098455,1.54037346168772],[0.5789897489696749,1.650373460712155]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[-0.4355137373252624,1.791061856431154,0.71338606911949],"aabb_xy":[[-0.44192755096844727,1.7846520361834854],[-0.4290999236820774,1.7974716766788221]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.1561674557102899,-1.7447007721868033,0.71338606911949],"aabb_xy":[[0.11913334628223016,-1.7790779795205123],[0.19320156513834957,-1.7103235648530934]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[-0.37816109875458914,0.1413554714343661,0.71338606911949],"aabb_xy":[[-0.4381610993506053,0.08654299888914263],[-0.31816109815857296,0.1961679439795896]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.3711674204936424,-0.8657697095992631,0.71338606911949],"aabb_xy":[[-0.38896092742855887,-0.8835694551950608],[-0.353373913558726,-0.8479699640034655]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.4543640377987068,0.09811446713484484,0.71338606911949],"aabb_xy":[[0.4400296126725433,0.08605425158030598],[0.4686984629248702,0.11017468268938367]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[-0.17061044799786051,0.6041057131471299,0.71338606911949],"aabb_xy":[[-0.19419557146175537,0.5391057109016981],[-0.14702532453396566,0.6691057153925617]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[0.34934730216859977,-0.5874161540450562,0.71338606911949],"aabb_xy":[[0.31184730374519937,-0.6005803680128867],[0.38684730059200007,-0.5742519400772255]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[0.31237146608278943,-1.4573217854754614,0.71338606911949],"aabb_xy":[[0.23237146906854145,-1.4774563371488727],[0.3923714630970374,-1.4371872338020502]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[0.08923846041815608,-2.397311364318483,0.71338606911949],"aabb_xy":[[0.025238459714686752,-2.443329746791405],[0.15323846112162545,-2.351292981845563]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[-0.49709311316097093,1.6223318585756803,0.71338606911949],"aabb_xy":[[-0.5220931123266039,1.6153796128703237],[-0.47209311399533777,1.6292841042810369]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[-0.43441660742215576,1.4653956708825562,0.71338606911949],"aabb_xy":[[-0.45352891478013463,1.4462608920053142],[-0.4153043000641769,1.4845304497597982]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[0.470837034803093,-0.7970159432532931,0.71338606911949],"aabb_xy":[[0.46355471842642926,-0.8870159468628018],[0.47811935117975657,-0.7070159396437838]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[0.7029916520150377,-1.5426586359844423,0.71338606911949],"aabb_xy":[[0.6860809195786958,-1.5561308415770567],[0.7199023844513793,-1.5291864303918274]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[-0.09969377011244984,-2.079303814374906,0.71338606911949],"aabb_xy":[[-0.1796937680932349,-2.086905355336758],[-0.0196937721316648,-2.071702273413054]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_29","position":[0.6731689348241519,-0.9812249113703475,0.71338606911949],"aabb_xy":[[0.6363183868871641,-1.0187249121933812],[0.7100194827611394,-0.9437249105473138]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_30","position":[-0.2635042468842583,-1.5516676561267928,0.71338606911949],"aabb_xy":[[-0.318497458221395,-1.6066676564655864],[-0.20851103554712153,-1.496667655787999]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698077546459701,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9384.png","name":"9384"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9384.png","name":"9384"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8930.png","name":"8930"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8847.png","name":"8847"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8668.png","name":"8668"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3563.png","name":"3563"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":557.97998060307,"rotation_z_degrees":110.19710637296062,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012893279013404129,0.006504687437477535,0.0024600140357882057]},{"name":"camera_2","offset_m":[0.017212662318506617,0.014423607260069322,0.01093247171988809]},{"name":"camera_3","offset_m":[-0.015272847202797219,-0.007325426115796932,0.013153793045432075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008284704209157276,0.0013557387753131128,0.0019365235900764503],"end_effector_yaw_offset_degrees":-0.06639563779329505},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015775362118969735,-0.0008923501620355428,-0.0005533935748150327],"end_effector_yaw_offset_degrees":-0.6688831618659841},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00028382031573211423,-0.0010174650075903883,-0.00012303774438637794],"end_effector_yaw_offset_degrees":0.7583110793660879}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004288508821338948,-0.0033289475321387164],"position_m":[0.14811149117866107,0.22027105246786127,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00025326134391127735,0.0009926019402551264],"position_m":[0.24265326134391127,-0.30870739805974484,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011595716393707277,-0.003877507088851474],"position_m":[0.32334042836062926,-0.045477507088851475,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013796007957891498,-0.002242001477658979],"position_m":[0.3523796007957891,0.31615799852234105,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7c729af2e1fdb3084199b0675acc31dad6ea715a5c0dcee20f77aed2863e3818","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9384/tex_ceiling_textures_3563/tex_floor_textures_8668/tex_table_textures_8930/tex_wall_textures_8847","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1251822073811478717,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1251822073811478717,"visual_seed":1251822073811478717,"scene_id":"lab_003","finished_at":"2026-09-03T22:04:05"} +{"episode_id":"ep_000060","started_at":"2026-09-03T22:04:10","dimensions":{"distractor":{"count":29,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.2340974398506968,0.2758298707895164,0.71338606911949],"aabb_xy":[[-0.27159743842631756,0.26309357512595843],[-0.196597441275076,0.2885661664530743]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[0.5221919410795455,1.7545087981610954,0.71338606911949],"aabb_xy":[[0.4846919398947525,1.7500905754650347],[0.559691942264338,1.7589270208571557]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[0.5507643713945352,-1.9331251809598378,0.71338606911949],"aabb_xy":[[0.5007643718182005,-1.9831057599119435],[0.60076437097087,-1.8831446020077316]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.6650683055628064,-0.3422115270798529,0.71338606911949],"aabb_xy":[[0.6447840028394074,-0.3624941522225617],[0.6853526082862049,-0.321928901937144]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[0.6818600679404954,0.9696544103404356,0.71338606911949],"aabb_xy":[[0.6472689850864501,0.9046544100554045],[0.7164511507945406,1.0346544106254665]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.6234129465722653,1.5574802546477478,0.71338606911949],"aabb_xy":[[0.573412947926344,1.5075607109882851],[0.6734129452181864,1.60739979830721]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.5275259715182539,-2.1713984934663,0.71338606911949],"aabb_xy":[[-0.5775089217057331,-2.2213984931088597],[-0.4775430213307745,-2.121398493823739]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.590287130988717,-0.8143370304428255,0.71338606911949],"aabb_xy":[[0.5727871307436674,-0.8318368182823922],[0.6077871312337662,-0.7968372426032585]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.5533566962896109,1.378906741460494,0.71338606911949],"aabb_xy":[[-0.5684589977506288,1.3638052198294317],[-0.5382543948285926,1.3940082630915556]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.5292235204284038,0.3071091709579803,0.71338606911949],"aabb_xy":[[-0.5942235214289043,0.25632280580330535],[-0.4642235194279033,0.35789553611265523]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[0.47336183406663324,-0.8906384522160358,0.71338606911949],"aabb_xy":[[0.46778016243250453,-0.9031384520338112],[0.47894350570076205,-0.8781384523982602]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.39093373587207814,-1.1632553744719176,0.71338606911949],"aabb_xy":[[0.34145331465811934,-1.2272553723847692],[0.44041415708603693,-1.0992553765590656]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[0.14390804203654184,-0.8749290802223988,0.71338606911949],"aabb_xy":[[0.13266298646592403,-0.886170877946494],[0.1551530976071597,-0.8636872824983034]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[-0.21528919991582157,0.5523429953375354,0.71338606911949],"aabb_xy":[[-0.26528920127670874,0.5023650907621197],[-0.16528919855493435,0.6023208999129509]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[-0.5777231248995465,-0.3386442013550153,0.71338606911949],"aabb_xy":[[-0.5951538399785529,-0.3559163160188661],[-0.5602924098205398,-0.32137208669116446]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[0.07762673300806944,-0.877251347210743,0.71338606911949],"aabb_xy":[[0.07229421835345645,-0.8825756754559786],[0.08295924766268242,-0.8719270189655075]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[-0.36760944724310124,1.4931512775017075,0.71338606911949],"aabb_xy":[[-0.4292002064670941,1.4291512793926606],[-0.3060186880191085,1.5571512756107544]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.5588697296906244,-1.0473276721906868,0.71338606911949],"aabb_xy":[[0.4788697286175041,-1.0571057185280712],[0.6388697307637448,-1.0375496258533023]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.37616935394853795,1.0818953094299526,0.71338606911949],"aabb_xy":[[-0.3930800863848797,1.0684231038373377],[-0.3592586215121961,1.095367515022567]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[0.5489610564971894,-2.1131602042525777,0.71338606911949],"aabb_xy":[[0.5144987090990474,-2.1476540866504],[0.583423403895331,-2.0786663218547545]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.3041769496923863,-2.280758948608316,0.71338606911949],"aabb_xy":[[-0.3416769501897445,-2.2847276321564345],[-0.266676949195028,-2.2767902650601974]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[-0.5470555386185968,-1.1579769817947962,0.71338606911949],"aabb_xy":[[-0.5695555391306374,-1.1804688401601944],[-0.5245555381065562,-1.1354851234293977]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[-0.3083748321812957,-1.947750545699235,0.71338606911949],"aabb_xy":[[-0.3583481261845561,-1.9977505462537821],[-0.2584015381780352,-1.8977505451446874]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[-0.6227525027124382,-2.035806249913296,0.71338606911949],"aabb_xy":[[-0.6867525000147846,-2.0801726768811526],[-0.5587525054100918,-1.991439822945439]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[-0.12396881289115746,-0.36763778213999565,0.71338606911949],"aabb_xy":[[-0.16146881270819102,-0.37227599345113743],[-0.08646881307412392,-0.36299957082885376]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_25","position":[0.18497790134447534,-1.096646015814757,0.71338606911949],"aabb_xy":[[0.1349936656362981,-1.1466460146282527],[0.23496213705265256,-1.0466460170012615]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.5553965698606307,-1.3060923301194454,0.71338606911949],"aabb_xy":[[-0.573072200449229,-1.323772546398848],[-0.5377209392720323,-1.2884121138400424]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[-0.12753810805012633,1.3864565509498816,0.71338606911949],"aabb_xy":[[-0.17751691656044222,1.336456550944163],[-0.07755929953981044,1.4364565509556007]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[0.28542276181722015,-1.8261419034169877,0.71338606911949],"aabb_xy":[[0.2017005363171377,-1.9161419069516832],[0.3691449873173026,-1.7361418998822913]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.701061262435961,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8596.png","name":"8596"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8596.png","name":"8596"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2834.png","name":"2834"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1047.png","name":"1047"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3464.png","name":"3464"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1385.png","name":"1385"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":527.1510057106125,"rotation_z_degrees":198.10430434534004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011651604944762712,-0.014027121564214364,-0.015700955685407806]},{"name":"camera_2","offset_m":[-0.008477589029474734,-0.017569489810526754,-0.018015270498426612]},{"name":"camera_3","offset_m":[-0.0009936877810205885,-0.005735067750966705,-0.011885013901024873]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007384296972042723,0.0002235303288659193,0.001534457662497888],"end_effector_yaw_offset_degrees":-0.15692508289411444},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006688485011327532,0.00127819559321551,0.001072188848053622],"end_effector_yaw_offset_degrees":0.41927174159402614},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019899498835815933,-0.0007322015906884626,0.001232304144271806],"end_effector_yaw_offset_degrees":-0.9030785103011152}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004927927331093461,0.0014905283703812791],"position_m":[0.15732792733109346,0.22509052837038127,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012275459374132035,0.004393963189200436],"position_m":[0.2411724540625868,-0.30530603681079954,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036864249938928853,0.0030007697891224734],"position_m":[0.32081357500610713,-0.03859923021087752,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015166168076763522,0.0040281968576421035],"position_m":[0.3525166168076763,0.3224281968576421,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e5fe16b02e3a556d3ae58cc16a2b160d02cd13d63979d0b51d6d68f52fd49bee","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0060.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8596/tex_ceiling_textures_1385/tex_floor_textures_3464/tex_table_textures_2834/tex_wall_textures_1047","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":9041587350441473549,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":9041587350441473549,"visual_seed":9041587350441473549,"scene_id":"lab_003","finished_at":"2026-09-03T22:07:22"} +{"episode_id":"ep_000061","started_at":"2026-09-03T22:07:25","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.48457639513368655,-2.4190532896084376,0.71338606911949],"aabb_xy":[[-0.5001321645439519,-2.434603722852845],[-0.4690206257234214,-2.403502856364031]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.29463211374720805,-2.075340323606439,0.71338606911949],"aabb_xy":[[-0.33148266168419566,-2.112840324429473],[-0.25778156581022044,-2.0378403227834054]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[0.49995632384584865,0.9791998191276914,0.71338606911949],"aabb_xy":[[0.41995632644225517,0.8992072479295086],[0.579956321249442,1.0591923903258742]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[-0.39916159598154866,1.4048978296244634,0.71338606911949],"aabb_xy":[[-0.4888486722896641,1.3148978293700129],[-0.3094745196734332,1.494897829878914]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[-0.08173539293555643,1.0125717422723741,0.71338606911949],"aabb_xy":[[-0.11736454883551616,0.9769390755155212],[-0.04610623703559667,1.048204409029227]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.20706032996908075,-1.0633683820964146,0.71338606911949],"aabb_xy":[[0.15706033132315955,-1.113287925755877],[0.25706032861500194,-1.0134488384369522]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[-0.19330944394287142,-2.259751242303563,0.71338606911949],"aabb_xy":[[-0.20339115102144487,-2.3397512401956773],[-0.1832277368642979,-2.179751244411448]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.08677657200676403,-2.1748322509663014,0.71338606911949],"aabb_xy":[[0.05678490927289369,-2.204832250303102],[0.11676823474063434,-2.144832251629501]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[-0.5820431361308233,0.9275346772942599,0.71338606911949],"aabb_xy":[[-0.6320205529960767,0.8775346758050114],[-0.5320657192655696,0.9775346787835085]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.2417043560958546,1.603385468422935,0.71338606911949],"aabb_xy":[[0.21920435558381401,1.5808936100575364],[0.2642043566078952,1.625877326788333]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[-0.08603072549181057,0.32717693856515684,0.71338606911949],"aabb_xy":[[-0.10423654915305824,0.3161515379831652],[-0.06782490183056289,0.3382023391471485]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.6901399038172418,0.6371811890528933,0.71338606911949],"aabb_xy":[[0.6556775564191,0.6026873066550704],[0.7246022512153836,0.6716750714507158]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.0429026628962742,1.1915004523450499,0.71338606911949],"aabb_xy":[[-0.10790266145334704,1.1617479189311672],[0.022097335660798627,1.2212529857589325]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.17659955379231862,-0.17060006532691085,0.71338606911949],"aabb_xy":[[-0.2405995509044243,-0.21963243512132147],[-0.11259955668021293,-0.12156769553250024]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.25712047239082925,-2.227227344707753,0.71338606911949],"aabb_xy":[[0.1931204759952561,-2.2911906331264866],[0.32112046878640227,-2.1632640562890195]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[0.3235195132269615,-1.9811025719167845,0.71338606911949],"aabb_xy":[[0.31623719685029766,-2.071102575526293],[0.330801829603625,-1.8911025683072755]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[-0.49583852392613903,1.6671728173222404,0.71338606911949],"aabb_xy":[[-0.5333385240317319,1.660350655469259],[-0.458338523820546,1.6739949791752213]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.11671297992512064,1.4839189822969039,0.71338606911949],"aabb_xy":[[-0.1358252872830995,1.4647842034196619],[-0.09760067256714178,1.503053761174146]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.21266669837099017,-2.5110933058740605,0.71338606911949],"aabb_xy":[[0.12266669469407199,-2.572525712451164],[0.30266670204790835,-2.4496608992969553]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.5374327026821595,-1.6782873998950474,0.71338606911949],"aabb_xy":[[-0.5549327019602464,-1.6956254999613933],[-0.5199327034040726,-1.6609492998287014]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[0.43654216325537987,1.2410178266526461,0.71338606911949],"aabb_xy":[[0.4061440521562362,1.2106109246509766],[0.4669402743545234,1.2714247286543157]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[0.027942020930621703,-1.8188285602485457,0.71338606911949],"aabb_xy":[[0.010442087496638327,-1.8363285601687802],[0.045441954364605075,-1.8013285603283111]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[0.14177418733793323,1.7621137788808086,0.71338606911949],"aabb_xy":[[0.11722797171518252,1.7318648823317715],[0.16632040296068396,1.7923626754298456]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.16480374899154526,-2.410069500898469,0.71338606911949],"aabb_xy":[[-0.17350171128226055,-2.4221944752059437],[-0.15610578670082997,-2.397944526590994]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6926337027465266,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4049.png","name":"4049"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4049.png","name":"4049"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/316.png","name":"316"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8379.png","name":"8379"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9196.png","name":"9196"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2168.png","name":"2168"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":529.1567347551673,"rotation_z_degrees":335.00206645716247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006581294347982242,-0.015560236286763823,-0.002681490003833796]},{"name":"camera_2","offset_m":[-0.009594777872804503,-0.018211109952108083,0.010236770368474077]},{"name":"camera_3","offset_m":[-0.01767383146972653,-0.01206366769856769,0.014958431958139954]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00014339072743623144,-0.00037157595536021267,0.0017319848558914816],"end_effector_yaw_offset_degrees":-0.8192356180938909},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017723839768215744,0.0014101195129208387,0.0010674142037948968],"end_effector_yaw_offset_degrees":0.1398550154142777},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010131504627686762,-0.0010533368987830731,0.0006849005455727593],"end_effector_yaw_offset_degrees":0.6725341831471927}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002128455295160734,0.0023101544172314916],"position_m":[0.15452845529516074,0.22591015441723147,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000998534415331387,-0.0037748912959796534],"position_m":[0.24339853441533138,-0.3134748912959796,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017215380677130378,0.0008640085449206272],"position_m":[0.322778461932287,-0.04073599145507937,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036409444116376954,-0.004378934757043993],"position_m":[0.3473590555883623,0.31402106524295603,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ff137bf9618fe1c804938382c9cd536c9e26fb485797250a2398b32b47c17737","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0061.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4049/tex_ceiling_textures_2168/tex_floor_textures_9196/tex_table_textures_316/tex_wall_textures_8379","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3111488319818970219,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3111488319818970219,"visual_seed":3111488319818970219,"scene_id":"lab_003","finished_at":"2026-09-03T22:10:27"} +{"episode_id":"ep_000062","started_at":"2026-09-03T22:10:31","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[0.34282811416504844,-1.7120696948834873,0.71338606911949],"aabb_xy":[[0.33686157522431265,-1.7180308395428512],[0.3487946531057842,-1.7061085502241229]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[0.6493817151989656,-0.8529562729586639,0.71338606911949],"aabb_xy":[[0.6123476057709057,-0.8873334802923732],[0.6864158246270252,-0.8185790656249544]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[0.6746753082912254,-1.9033396181692606,0.71338606911949],"aabb_xy":[[0.6371753097156045,-1.9160759138328183],[0.7121753068668462,-1.8906033225057024]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.4118054304142851,1.2261300775541644,0.71338606911949],"aabb_xy":[[-0.465821026696185,1.1621300746619072],[-0.357789834132385,1.2901300804464215]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[0.015495543707507053,-1.6886770909886897,0.71338606911949],"aabb_xy":[[0.0036234606960059406,-1.7736770906823398],[0.027367626719008165,-1.603677091295039]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[0.09635614130925363,1.0816325476728808,0.71338606911949],"aabb_xy":[[0.032356144881931725,1.0344629238507845],[0.16035613773657553,1.1288021714949774]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[0.28720555250098145,-1.957915981038656,0.71338606911949],"aabb_xy":[[0.27917928187035546,-1.966667476016009],[0.29523182313160745,-1.9491644860613038]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.4599214156976528,1.0798871821723028,0.71338606911949],"aabb_xy":[[-0.49742141688244557,1.075468959476242],[-0.42242141451285997,1.0843054048683631]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[-0.3957333064734323,-0.5992046857771327,0.71338606911949],"aabb_xy":[[-0.45072555710894324,-0.6542046875204455],[-0.3407410558379213,-0.5442046840338199]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[-0.5048030479452411,-1.6481751319806164,0.71338606911949],"aabb_xy":[[-0.528388171409136,-1.713175134226048],[-0.48121792448134626,-1.5831751297351844]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.1223326244969466,1.5732055395458011,0.71338606911949],"aabb_xy":[[-0.13934272178699725,1.5570710510475272],[-0.10532252720689593,1.589340028044075]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.07338881871803515,-1.3801904694102436,0.71338606911949],"aabb_xy":[[0.0093888163752336,-1.425131320654376],[0.13738882106083672,-1.335249618166111]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.4390927133713871,-0.8031892563316432,0.71338606911949],"aabb_xy":[[0.431468445281209,-0.8108224798681869],[0.44671698146156547,-0.7955560327950995]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.42106094552437034,-0.4094805399914292,0.71338606911949],"aabb_xy":[[0.37981213449445556,-0.4644805395036466],[0.462309756554285,-0.3544805404792117]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.4222890690247221,-1.5219095059739889,0.71338606911949],"aabb_xy":[[0.36069830980072926,-1.585909504083036],[0.4838798282487149,-1.4579095078649422]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.2230913556806245,-0.9779939243024174,0.71338606911949],"aabb_xy":[[-0.2930913520905862,-0.998431859954099],[-0.1530913592706626,-0.9575559886507355]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.6056183516950924,-0.09704656169658454,0.71338606911949],"aabb_xy":[[-0.6696183519690706,-0.1471126618938725],[-0.5416183514211141,-0.04698046149929658]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.594275001110124,1.5764024021142062,0.71338606911949],"aabb_xy":[[-0.6414043801119597,1.512402401069804],[-0.5471456221082883,1.640402403158608]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.1541097430960381,-2.4059137650256717,0.71338606911949],"aabb_xy":[[-0.20410285520523003,-2.4559137656998673],[-0.10411663098684623,-2.355913764351476]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[0.18515659892641,-2.0541072002509524,0.71338606911949],"aabb_xy":[[0.13515732375797385,-2.1041072015268996],[0.23515587409484617,-2.004107198975005]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[0.6089073470875364,-1.3974791733883,0.71338606911949],"aabb_xy":[[0.6044767177326963,-1.4029275451229828],[0.6133379764423766,-1.3920308016536174]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.27441976526318523,-0.6656992571518972,0.71338606911949],"aabb_xy":[[-0.2956977734066575,-0.7306992594779702],[-0.253141757119713,-0.6006992548258241]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[0.10285278546576049,1.330910078000863,0.71338606911949],"aabb_xy":[[0.03785278730984143,1.3046138334509507],[0.16785278362167955,1.3572063225507751]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[0.4230806198757915,-1.8203742762729593,0.71338606911949],"aabb_xy":[[0.39268250877664784,-1.8507811782746286],[0.453478730974935,-1.7899673742712896]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_24","position":[-0.6327065702811286,-2.309214395108639,0.71338606911949],"aabb_xy":[[-0.6927065701276953,-2.3660330173016773],[-0.5727065704345617,-2.2523957729156]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950483275414274,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6895.png","name":"6895"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6895.png","name":"6895"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1158.png","name":"1158"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4214.png","name":"4214"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/440.png","name":"440"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3906.png","name":"3906"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":808.6909670157329,"rotation_z_degrees":238.19564768786108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016008490852471812,-0.00957751348009988,0.001525768593884886]},{"name":"camera_2","offset_m":[0.0103263103572706,0.01570254505777385,8.036467985701734e-05]},{"name":"camera_3","offset_m":[-0.01205756638070815,0.004805722003247356,-0.018187257028976084]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006048790928206715,-0.0019029421823523478,0.0019037843015183935],"end_effector_yaw_offset_degrees":-0.2076587389056399},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00013287903815756112,0.0016790927463591742,-0.0016530191325254556],"end_effector_yaw_offset_degrees":-0.772381433476609},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006958914895121686,-0.0017797813535458157,-0.0004261919323999739],"end_effector_yaw_offset_degrees":-0.4404528102738079}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004886478109629813,0.0011815694652887098],"position_m":[0.1475135218903702,0.2247815694652887,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018028005675623892,-0.0007278564095416773],"position_m":[0.24059719943243763,-0.3104278564095416,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013072664213771845,-0.002540430312171914],"position_m":[0.3231927335786228,-0.044140430312171915,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025200132464907213,-0.0012649020805590707],"position_m":[0.3484799867535093,0.31713509791944094,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e2b62af6c3ae4533de31f4f63b24bf6447a688df939ab9a5c03f5221b89daae","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0062.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6895/tex_ceiling_textures_3906/tex_floor_textures_440/tex_table_textures_1158/tex_wall_textures_4214","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5778349643275805642,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5778349643275805642,"visual_seed":5778349643275805642,"scene_id":"lab_003","finished_at":"2026-09-03T22:13:42"} +{"episode_id":"ep_000063","started_at":"2026-09-03T22:13:46","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.25616191439466873,-1.3402757847325044,0.71338606911949],"aabb_xy":[[-0.2786619146381841,-1.3524804193922764],[-0.23366191415115334,-1.3280711500727325]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[0.4875210777594863,-1.033024724381971,0.71338606911949],"aabb_xy":[[0.46984544717088794,-1.0507049406613735],[0.5051967083480846,-1.015344508102568]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[0.6307489418121217,-0.4935721180926622,0.71338606911949],"aabb_xy":[[0.5806514778310481,-0.557572118602474],[0.6808464057931953,-0.42957211758285035]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[0.029583477087248067,-2.2059794923290146,0.71338606911949],"aabb_xy":[[-0.050416523985872264,-2.215757538666399],[0.1095834781603684,-2.19620144599163]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.11374726011332925,-1.4117964413070951,0.71338606911949],"aabb_xy":[[-0.14874725930614752,-1.4227634873047574],[-0.07874726092051099,-1.4008293953094324]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[-0.031787804776848505,1.3425609602632118,0.71338606911949],"aabb_xy":[[-0.06625015217499028,1.3080670778653887],[0.002674542621293303,1.377054842661034]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.3716396072250463,-2.324156301820293,0.71338606911949],"aabb_xy":[[-0.4516396042392942,-2.344290853493704],[-0.29163961021079826,-2.304021750146882]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[0.039308613281398896,-1.8724142929442855,0.71338606911949],"aabb_xy":[[-0.001940197748515837,-1.9274142924565028],[0.08055742431131362,-1.8174142934320678]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[-0.4085966466029319,1.5017435143712512,0.71338606911949],"aabb_xy":[[-0.44563075603099156,1.4673663070375418],[-0.3715625371748721,1.5361207217049606]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.23252855238221504,-1.7485692452271164,0.71338606911949],"aabb_xy":[[-0.2925285532430278,-1.7999956752336026],[-0.1725285515214022,-1.6971428152206298]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.5329980651861062,-1.6713888646511175,0.71338606911949],"aabb_xy":[[0.4729980645900901,-1.726201337196341],[0.5929980657821224,-1.616576392105894]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[-0.017879432131323703,-2.113522096043477,0.71338606911949],"aabb_xy":[[-0.09787943011210874,-2.121123637005329],[0.062120565849461344,-2.105920555081625]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.5479965158614382,-0.7192008919656565,0.71338606911949],"aabb_xy":[[0.5001903482476695,-0.7842008946727154],[0.5958026834752068,-0.6542008892585975]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[-0.39777251019503923,1.1520651138337463,0.71338606911949],"aabb_xy":[[-0.4477725088409604,1.102145570174284],[-0.34777251154911804,1.2019846574932087]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[-0.2727721538247195,0.23295742695320376,0.71338606911949],"aabb_xy":[[-0.28987423178308763,0.21585062142193404],[-0.2556700758663513,0.2500642324844735]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.6193145116155403,0.5649681977582932,0.71338606911949],"aabb_xy":[[0.6018145123374535,0.5476300976919474],[0.6368145108936273,0.5823062978246393]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.05575045156252756,0.8339882514026242,0.71338606911949],"aabb_xy":[[0.04566874448395407,0.7539882535105095],[0.06583215864110102,0.9139882492947388]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[-0.15979763034962857,-2.4760015835928058,0.71338606911949],"aabb_xy":[[-0.16779161892733196,-2.484001663687896],[-0.15180364177192518,-2.4680015034977156]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.6183040240607063,-1.4576327029156928,0.71338606911949],"aabb_xy":[[0.5583040242141395,-1.5144513251087313],[0.6783040239072731,-1.400814080722654]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[-0.19776067411716214,1.7631093572829672,0.71338606911949],"aabb_xy":[[-0.2206763870022121,1.740205060146544],[-0.17484496123211227,1.786013654419391]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[0.5661614853571815,0.12624884254972857,0.71338606911949],"aabb_xy":[[0.5612054651723004,0.10374884234760698],[0.5711175055420628,0.1487488427518502]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_21","position":[0.015943392314278215,-1.6630417665608146,0.71338606911949],"aabb_xy":[[-0.01835351870346241,-1.6973386527707555],[0.05024030333201883,-1.6287448803508728]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[-0.37154319076080433,0.753933877843127,0.71338606911949],"aabb_xy":[[-0.39605681485781025,0.7296692845410905],[-0.3470295666637985,0.7781984711451634]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.6151002263725596,-2.1035070011587576,0.71338606911949],"aabb_xy":[[0.6070739557419337,-2.1122584961361106],[0.6231264970031857,-2.0947555061814054]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[0.5274447258824801,1.103513543653591,0.71338606911949],"aabb_xy":[[0.47744472422098533,1.053515101397888],[0.5774447275439748,1.1535119859092935]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[-0.20181698054763791,1.3923853030450934,0.71338606911949],"aabb_xy":[[-0.2109768594915145,1.3858540850015564],[-0.19265710160376132,1.3989165210886305]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[-0.27144525102754247,-0.2075380813371619,0.71338606911949],"aabb_xy":[[-0.35144524968442853,-0.22204294026142468],[-0.19144525237065652,-0.1930332224128991]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[0.3333975006007115,-2.016873158574558,0.71338606911949],"aabb_xy":[[0.2633975041907496,-2.0373110942262387],[0.4033974970106732,-1.9964352229228755]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_28","position":[-0.3884013208668379,-2.082034684083046,0.71338606911949],"aabb_xy":[[-0.396514975540215,-2.090140500537075],[-0.38028766619346077,-2.073928867629017]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[0.2328607422615624,1.730759255071178,0.71338606911949],"aabb_xy":[[0.21730497285129718,1.7152088218267711],[0.2484165116718277,1.7463096883155855]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_30","position":[-0.6378048862647742,-1.2305668611952572,0.71338606911949],"aabb_xy":[[-0.662804886197292,-1.2374495294161805],[-0.6128048863322563,-1.2236841929743338]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_31","position":[-0.4292232210381465,1.0005542518091568,0.71338606911949],"aabb_xy":[[-0.4742158077565969,0.9555542525347078],[-0.38423063431969606,1.0455542510836053]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6993054117754341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6331.png","name":"6331"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6331.png","name":"6331"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2803.png","name":"2803"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5017.png","name":"5017"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/290.png","name":"290"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4486.png","name":"4486"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":594.4117497190724,"rotation_z_degrees":321.9791063927925,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00538617612581262,-0.01515881513925681,0.012914774226808524]},{"name":"camera_2","offset_m":[0.013751709735960144,-0.018058210794245598,0.018263964154882097]},{"name":"camera_3","offset_m":[0.004081365663002327,-0.01688484422994113,0.00707909869536031]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008614388790269031,-0.0013266207008265148,1.7108825885012776e-05],"end_effector_yaw_offset_degrees":-0.5318980994917233},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018132889122304914,0.00075410259189037,7.151979491596197e-05],"end_effector_yaw_offset_degrees":-0.38543853038438725},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016805358506184844,0.0011134604105976203,0.0018960157421102353],"end_effector_yaw_offset_degrees":0.9774867461857402}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003820521822383836,-0.004930686735481291],"position_m":[0.15622052182238386,0.2186693132645187,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003754310743275466,0.004453580679797362],"position_m":[0.24202456892567245,-0.30524641932020263,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011320499652035464,-0.004853946087252017],"position_m":[0.32336795003479646,-0.046453946087252014,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00042768281279276753,0.003963218688597025],"position_m":[0.3505723171872072,0.322363218688597,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8c0821238d8eef5487fbc1c29f58fb61f7ecaa0aadc2bfe64c4bc6b94d5860fb","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6331/tex_ceiling_textures_4486/tex_floor_textures_290/tex_table_textures_2803/tex_wall_textures_5017","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1827482173681987185,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1827482173681987185,"visual_seed":1827482173681987185,"scene_id":"lab_003","finished_at":"2026-09-03T22:16:56"} +{"episode_id":"ep_000064","started_at":"2026-09-03T22:16:59","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[-0.6464161231112316,-1.6421258992849,0.71338606911949],"aabb_xy":[[-0.6615789960881687,-1.657291356580019],[-0.6312532501342946,-1.6269604419897814]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.26835056652851996,-1.8940682410599718,0.71338606911949],"aabb_xy":[[-0.2928641906255258,-1.9183328343620085],[-0.2438369424315141,-1.8698036477579356]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[0.23262109976908674,-1.203855454276573,0.71338606911949],"aabb_xy":[[0.207400262909247,-1.2290792051294595],[0.2578419366289263,-1.178631703423686]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.12515244333957665,-1.3315670697978481,0.71338606911949],"aabb_xy":[[-0.14182957933267215,-1.3482669937717782],[-0.10847530734648114,-1.3148671458239176]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.23592491297777257,-1.426044260779368,0.71338606911949],"aabb_xy":[[-0.2534248464117559,-1.4435442606996023],[-0.21842497954378914,-1.4085442608591332]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.22828402386855917,1.2419170597022986,0.71338606911949],"aabb_xy":[[-0.2364117120618724,1.2330034512915908],[-0.22015633567524595,1.2508306681130064]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[-0.2744067668944663,-2.096006275062069,0.71338606911949],"aabb_xy":[[-0.27986471253148637,-2.176006278369728],[-0.26894882125744624,-2.0160062717544096]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.5919475706333815,-1.1484356178274684,0.71338606911949],"aabb_xy":[[-0.6045743579205778,-1.157981691529041],[-0.5793207833461851,-1.1388895441258953]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.012863516053333357,-1.6216616880361463,0.71338606911949],"aabb_xy":[[-0.036616905160625435,-1.6856616859489983],[0.06234393726729215,-1.5576616901232947]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[0.6385033208897082,-2.439248713749639,0.71338606911949],"aabb_xy":[[0.6042064098719676,-2.4735455999595795],[0.6728002319074488,-2.404951827539697]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.3221176162522007,-1.1831431313724576,0.71338606911949],"aabb_xy":[[-0.3591517256802604,-1.2175203387061668],[-0.2850835068241409,-1.148765924038748]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[0.3074284077982552,-1.7961547599932872,0.71338606911949],"aabb_xy":[[0.22742840752464824,-1.8691043078190037],[0.3874284080718622,-1.7232052121675703]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[-0.16884062272821576,1.8160361180266418,0.71338606911949],"aabb_xy":[[-0.17254388405735463,1.812334099717924],[-0.1651373613990769,1.8197381363353595]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[-0.6554699679876318,-0.6017567329613625,0.71338606911949],"aabb_xy":[[-0.6618837816308166,-0.6081665532090307],[-0.6490561543444467,-0.595346912713694]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.37633082327858514,-0.534161127563836,0.71338606911949],"aabb_xy":[[0.3113308251226661,-0.5604573721137482],[0.4413308214345042,-0.5078648830139239]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.0016127521923322563,-2.531764128153447,0.71338606911949],"aabb_xy":[[-0.0483872481682338,-2.5817441153630494],[0.051612752552898315,-2.4817841409438435]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[-0.0003463802998122656,-0.8048804048120382,0.71338606911949],"aabb_xy":[[-0.06434637672713417,-0.8520500286341348],[0.06365361612750964,-0.7577107809899419]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.18927352552132193,0.32570802121775566,0.71338606911949],"aabb_xy":[[-0.19726701531660398,0.31770988927728006],[-0.1812800357260399,0.3337061531582314]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.18798665694781802,1.344202410018334,0.71338606911949],"aabb_xy":[[0.15119202382291175,1.3072965349217518],[0.2247812900727243,1.3811082851149163]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.5736530322610494,1.4344659376491307,0.71338606911949],"aabb_xy":[[-0.5906631295510999,1.4183314491508567],[-0.5566429349709986,1.4506004261474046]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[0.6117585571684032,-2.274949558141498,0.71338606911949],"aabb_xy":[[0.5988866536674631,-2.3549495585553335],[0.6246304606693434,-2.194949557727661]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.5769660782809589,-0.9255995436649913,0.71338606911949],"aabb_xy":[[0.5425037308828169,-0.9600934260628139],[0.6114284256791005,-0.8911056612671685]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[-0.0339173336427917,-1.5091481770262523,0.71338606911949],"aabb_xy":[[-0.0689173319129116,-1.5162223047212404],[0.0010826646273282003,-1.502074049331264]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[0.23812681210933284,-0.5847534850974969,0.71338606911949],"aabb_xy":[[0.2255241129722564,-0.5973488813223625],[0.2507295112464093,-0.5721580888726315]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.21119268185141526,-0.8626280470877241,0.71338606911949],"aabb_xy":[[-0.2611926812916109,-0.9125959715720403],[-0.16119268241121962,-0.8126601226034077]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[-0.4651829049819035,-0.03581064035458725,0.71338606911949],"aabb_xy":[[-0.5291829068942459,-0.09172178961259769],[-0.40118290306956117,0.02010050890342318]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957537344245601,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9399.png","name":"9399"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9399.png","name":"9399"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/710.png","name":"710"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8260.png","name":"8260"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1488.png","name":"1488"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9111.png","name":"9111"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":690.1255147354813,"rotation_z_degrees":264.94228233462377,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019567395894374742,-0.0073237981016419824,0.007484234373212547]},{"name":"camera_2","offset_m":[-0.0182990443792049,0.00042157288162607276,-0.010844199817179411]},{"name":"camera_3","offset_m":[0.00922593273059948,0.0010632759836984376,0.008336175723793141]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003492641747741771,-0.0014595898581219575,0.0011497283390314605],"end_effector_yaw_offset_degrees":-0.9494148172245671},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012129879867708287,-0.0012326087486908377,0.001392818488264847],"end_effector_yaw_offset_degrees":-0.6650208460013904},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00017424210173033836,0.0004524493784244109,0.001420075824487521],"end_effector_yaw_offset_degrees":0.37088700497741756}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004319812499678159,-0.004816521392097358],"position_m":[0.14808018750032184,0.21878347860790265,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023929241958385783,-0.0028362211474035714],"position_m":[0.2447929241958386,-0.31253622114740354,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033079251948044076,0.0025531257790094176],"position_m":[0.3278079251948044,-0.03904687422099058,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011325075671730876,-0.002429214182945235],"position_m":[0.3498674924328269,0.3159707858170548,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"338e25de448d1e16803c8285a86179d4cdf970183223f74b243620c1e9521d6a","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9399/tex_ceiling_textures_9111/tex_floor_textures_1488/tex_table_textures_710/tex_wall_textures_8260","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2756561421623486269,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2756561421623486269,"visual_seed":2756561421623486269,"scene_id":"lab_003","finished_at":"2026-09-03T22:20:09"} +{"episode_id":"ep_000065","started_at":"2026-09-03T22:20:12","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[0.5556063032277283,-1.563270569659791,0.71338606911949],"aabb_xy":[[0.5485659932941913,-1.6432705690594627],[0.5626466131612653,-1.4832705702601197]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[0.12545216889743083,1.5745372661255321,0.71338606911949],"aabb_xy":[[0.045452167824310497,1.564759219788148],[0.20545216997055116,1.5843153124629168]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.12161072533162176,1.5674426241527573,0.71338606911949],"aabb_xy":[[-0.13947983308607725,1.5536097161755462],[-0.10374161757716627,1.5812755321299683]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[-0.1336658880498467,-1.3420597507714287,0.71338606911949],"aabb_xy":[[-0.139760515937965,-1.3506291453230974],[-0.12757126016172837,-1.33349035621976]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.6255198001767963,0.15551530435489447,0.71338606911949],"aabb_xy":[[0.6173052550611121,0.14683871405725316],[0.6337343452924801,0.16419189465253572]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[-0.32764610126081234,-2.294971082826496,0.71338606911949],"aabb_xy":[[-0.3776411122202645,-2.3449710818620884],[-0.27765109030136037,-2.244971083790905]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.6253488310644817,-0.1787076108202168,0.71338606911949],"aabb_xy":[[0.6180665146878178,-0.26870761442972574],[0.6326311474411451,-0.08870760721070779]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.5230312960105048,1.5160462151211571,0.71338606911949],"aabb_xy":[[-0.5455312965225454,1.4935543567557585],[-0.5005312954984642,1.5385380734865552]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[0.6224721825498527,-1.2857664865536855,0.71338606911949],"aabb_xy":[[0.6183363262171525,-1.3232664859980428],[0.6266080388825529,-1.2482664871093287]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[-0.4468253066943161,0.8356059548641133,0.71338606911949],"aabb_xy":[[-0.5268253036573551,0.7585303132203397],[-0.36682530973127686,0.9126815965078866]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[0.6227304474771456,1.7358669696724447,0.71338606911949],"aabb_xy":[[0.5852304468125666,1.7201799116722223],[0.660230448141724,1.7515540276726667]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[-0.4307470853227439,1.4366692780401036,0.71338606911949],"aabb_xy":[[-0.4363287569568727,1.424169278222328],[-0.42516541368861516,1.449169277857879]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.06577133851983086,1.4597623622150686,0.71338606911949],"aabb_xy":[[0.05935752487664591,1.4533525419673998],[0.07218515216301578,1.4661721824627365]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[0.20173778604934256,-0.7209710553543118,0.71338606911949],"aabb_xy":[[0.15955337188851185,-0.7849710556315231],[0.24392220021017333,-0.6569710550771007]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.46191527280533073,-0.9395989826696645,0.71338606911949],"aabb_xy":[[-0.4969152711160261,-0.9473139975932101],[-0.42691527449463523,-0.9318839677461188]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.16647687586420168,1.8091014271256065,0.71338606911949],"aabb_xy":[[-0.18397687499856882,1.7992218000880185],[-0.14897687672983448,1.818981054163194]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[-0.3133576884723823,0.5033868294660735,0.71338606911949],"aabb_xy":[[-0.3586363033535315,0.4393868301178897],[-0.268079073591233,0.5673868288142571]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.48597427558252804,-1.8677693244847098,0.71338606911949],"aabb_xy":[[0.4646962674390558,-1.9327693268107826],[0.5072522837260003,-1.8027693221586365]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[0.037249805497857946,-1.6558274751461086,0.71338606911949],"aabb_xy":[[0.0007539848705792052,-1.6923114175728664],[0.07374562612513669,-1.6193435327193513]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[0.3379190661902973,0.9652726659346222,0.71338606911949],"aabb_xy":[[0.2579190659166903,0.8923231181089055],[0.41791906646390425,1.038222213760339]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.4400509089502328,-2.5389748799491088,0.71338606911949],"aabb_xy":[[-0.4775509087672664,-2.5436130912602506],[-0.4025509091331993,-2.534336668637967]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[-0.0771421854040496,-0.2912557221228127,0.71338606911949],"aabb_xy":[[-0.13714218565545078,-0.3455370471592773],[-0.017142185152648426,-0.236974397086348]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[0.6917751091728339,0.44124192850003174,0.71338606911949],"aabb_xy":[[0.6799030261613327,0.3562419288063814],[0.7036471921843349,0.5262419281936821]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[0.15359802906440623,-2.0737123896534446,0.71338606911949],"aabb_xy":[[0.14826551440979324,-2.0790367178986804],[0.1589305437190192,-2.068388061408209]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[-0.0095800057946831,-1.1988696203578135,0.71338606911949],"aabb_xy":[[-0.027373512729599536,-1.2166693659536112],[0.008213501140233335,-1.1810698747620159]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[0.42770943619236634,-1.1657151525478346,0.71338606911949],"aabb_xy":[[0.41890738088339363,-1.1735264787027633],[0.43651149150133906,-1.1579038263929051]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_26","position":[0.34380316223985385,-0.9891915806253908,0.71338606911949],"aabb_xy":[[0.33438568766999105,-0.9986077577631097],[0.35322063680971655,-0.9797754034876717]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[0.6926868573424962,-0.4303041968072123,0.71338606911949],"aabb_xy":[[0.6648418205618891,-0.461088695545524],[0.7205318941231034,-0.39951969806890064]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_28","position":[0.4385189075045812,-0.5019728165278137,0.71338606911949],"aabb_xy":[[0.34851891076897096,-0.5551562798451081],[0.5285189042401914,-0.44878935321051905]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[-0.5994726781175757,-0.8084213573476475,0.71338606911949],"aabb_xy":[[-0.6634726745448976,-0.8555909811697442],[-0.5354726816902537,-0.7612517335255513]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_30","position":[-0.40517430476645905,1.7757254918330951,0.71338606911949],"aabb_xy":[[-0.46917430710926056,1.7307846405889624],[-0.3411743024236574,1.8206663430772274]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_31","position":[0.31617796360084305,1.2355585728108047,0.71338606911949],"aabb_xy":[[0.27867796502522224,1.2228222771472466],[0.35367796217646386,1.2482948684743624]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_32","position":[-0.20228410322843288,0.6738159267082011,0.71338606911949],"aabb_xy":[[-0.23474580411036028,0.6436830945932984],[-0.16982240234650536,0.7039487588231036]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_33","position":[-0.49897988609207594,1.058674395790908,0.71338606911949],"aabb_xy":[[-0.5489747190200176,1.0086743968956642],[-0.44898505316413434,1.1086743946861513]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_34","position":[-0.3394439531005851,-1.2464200836500325,0.71338606911949],"aabb_xy":[[-0.37374086411832574,-1.2807169698599736],[-0.3051470420828445,-1.212123197440091]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698264078965511,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6724.png","name":"6724"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6724.png","name":"6724"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1984.png","name":"1984"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1379.png","name":"1379"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7581.png","name":"7581"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5038.png","name":"5038"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":650.3315584666246,"rotation_z_degrees":80.07827647809397,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018075502601479148,0.0010585470489645442,0.0022210513452296174]},{"name":"camera_2","offset_m":[-0.012330964642207825,0.007640422603304376,0.009687925037472976]},{"name":"camera_3","offset_m":[0.0035693011376170328,-0.01127664690936705,0.004757332769157029]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015839225276543549,-0.00032499432872663673,-0.0019588211661355184],"end_effector_yaw_offset_degrees":-0.11725358462137558},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018027836707498568,0.0008887869916709549,0.0018198178519287077],"end_effector_yaw_offset_degrees":-0.664951260562783},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018250816594006718,0.0008615526908721102,-0.0007044061870450776],"end_effector_yaw_offset_degrees":-0.5051656304820644}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019394028878841397,-0.00027729665468302547],"position_m":[0.15046059711211587,0.22332270334531698,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001832039771801075,0.004876206923029243],"position_m":[0.2422167960228199,-0.3048237930769707,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026833797516934146,0.0008438768688049372],"position_m":[0.3218166202483066,-0.04075612313119506,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006920250633902156,0.0022099294988075432],"position_m":[0.35030797493660976,0.32060992949880757,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"65371582782eb58a4aede47cc99d29434f70cb8b2e38631c1acfcb4386a68f93","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6724/tex_ceiling_textures_5038/tex_floor_textures_7581/tex_table_textures_1984/tex_wall_textures_1379","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7236360769367866985,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7236360769367866985,"visual_seed":7236360769367866985,"scene_id":"lab_003","finished_at":"2026-09-03T22:23:20"} +{"episode_id":"ep_000066","started_at":"2026-09-03T22:23:24","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[0.4785899153692499,-2.5472190300065325,0.71338606911949],"aabb_xy":[[0.47447396525717717,-2.5513345850393776],[0.4827058654813225,-2.5431034749736865]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.20326788243729182,1.2841201004213438,0.71338606911949],"aabb_xy":[[-0.2179112879913248,1.2694613807645594],[-0.18862447688325884,1.2987788200781278]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[-0.4584459636800446,0.29953359498816257,0.71338606911949],"aabb_xy":[[-0.4766517873412924,0.2885081944061709],[-0.440240140018797,0.3105589955701542]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.6239942957391433,0.2378724578777125,0.71338606911949],"aabb_xy":[[0.5740113455516639,0.18787245823515206],[0.6739772459266226,0.28787245752027285]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.43757491495564005,0.4530245478850117,0.71338606911949],"aabb_xy":[[-0.49916567417963287,0.38902454977596485],[-0.37598415573164723,0.5170245459940586]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[-0.26542365577696353,0.474624722109926,0.71338606911949],"aabb_xy":[[-0.33542365916852546,0.4393089484064951],[-0.19542365238540152,0.5099404958133568]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[0.4997491186734573,-1.8416161154724344,0.71338606911949],"aabb_xy":[[0.4878163843116292,-1.8539982682802938],[0.5116818530352854,-1.829233962664575]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[-0.05785151799830257,-1.7596860447701907,0.71338606911949],"aabb_xy":[[-0.0928515193497843,-1.7800457807270116],[-0.022851516646820846,-1.73932630881337]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[0.4827269046324658,1.169017850934714,0.71338606911949],"aabb_xy":[[0.4187269073468171,1.12751113198187],[0.5467269019181145,1.210524569887558]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[-0.46111989430718525,1.3668734424766975,0.71338606911949],"aabb_xy":[[-0.5110987028175011,1.3168734424709787],[-0.4111410857968693,1.4168734424824163]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.4305390114046791,0.1582714049663978,0.71338606911949],"aabb_xy":[[-0.44017064762510877,0.1486340921866889],[-0.42090737518424953,0.16790871774610674]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[0.35196423604030125,0.8827278435604669,0.71338606911949],"aabb_xy":[[0.31094629265393037,0.8327278429295095],[0.39298217942667213,0.9327278441914242]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[0.03911271517712411,-1.0454916745116092,0.71338606911949],"aabb_xy":[[-0.040887283410195305,-1.1248072764497699],[0.11911271376444355,-0.9661760725734482]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[0.4030700041649078,-2.413592861365957,0.71338606911949],"aabb_xy":[[0.3390700008751997,-2.456927780369875],[0.4670700074546159,-2.3702579423620396]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.173220592843355,0.9805139686247992,0.71338606911949],"aabb_xy":[[0.11322059120043315,0.928513819332855],[0.23322059448627686,1.0325141179167434]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[-0.05418344345136328,-1.427309288150855,0.71338606911949],"aabb_xy":[[-0.11918344440849049,-1.4792575000845605],[0.01081655750576392,-1.3753610762171493]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[0.4261082531851963,1.518222112792618,0.71338606911949],"aabb_xy":[[0.3923326939945033,1.5041836175794532],[0.45988381237588927,1.532260608005783]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[-0.45366874842060323,-0.46323451464218923,0.71338606911949],"aabb_xy":[[-0.4662955357077995,-0.47278058834376213],[-0.4410419611334068,-0.45368844094061633]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.585539852787686,-0.7476140058408873,0.71338606911949],"aabb_xy":[[-0.6100860684104367,-0.7778629023899244],[-0.5609936371649352,-0.7173651092918503]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[0.5462814265828684,-0.3374339354059117,0.71338606911949],"aabb_xy":[[0.4962814255637332,-0.37390015114373965],[0.5962814276020038,-0.3009677196680838]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[0.6643223382604837,0.883042710219899,0.71338606911949],"aabb_xy":[[0.6537548586023847,0.8724976801068903],[0.6748898179185827,0.8935877403329074]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[-0.30419911263909,0.9460339419015646,0.71338606911949],"aabb_xy":[[-0.3211098450754317,0.93256173630895],[-0.28728838020274816,0.9595061474941791]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[0.18771170752256816,1.3911562929393724,0.71338606911949],"aabb_xy":[[0.1377117061616809,1.3411783883639565],[0.23771170888345536,1.4411341975147878]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[-0.31099562710396883,-1.3471293794105188,0.71338606911949],"aabb_xy":[[-0.3909956250847539,-1.3547309203723708],[-0.2309956291231838,-1.3395278384486669]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[0.3572795143855598,-2.179710924675158,0.71338606911949],"aabb_xy":[[0.3463737382979971,-2.259710921073987],[0.36818529047312254,-2.0997109282763287]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[-0.5872188378851428,-1.2116007579640293,0.71338606911949],"aabb_xy":[[-0.6772188364796128,-1.2278513442774504],[-0.4972188392906729,-1.1953501716506083]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[-0.49803393037498,-2.212260452125027,0.71338606911949],"aabb_xy":[[-0.5480181660831572,-2.2622604509385225],[-0.4480496946668028,-2.1622604533115313]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_27","position":[0.18720019037285973,-0.8217250164100918,0.71338606911949],"aabb_xy":[[0.18186261470685514,-0.8467250173392316],[0.19253776603886427,-0.796725015480952]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_28","position":[-0.03324148260488358,-2.5708093592901147,0.71338606911949],"aabb_xy":[[-0.055741482615031875,-2.584905578929718],[-0.010741482594735292,-2.5567131396505114]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_29","position":[-0.33521781292245145,1.7753832656666275,0.71338606911949],"aabb_xy":[[-0.3415299124587899,1.7696163264134086],[-0.328905713386113,1.7811502049198464]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_30","position":[-0.2515893357159192,-2.3190429435961497,0.71338606911949],"aabb_xy":[[-0.2850685029769602,-2.3525220569672567],[-0.2181101684548783,-2.2855638302250427]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_31","position":[-0.4905476320143278,1.1373105027582309,0.71338606911949],"aabb_xy":[[-0.5141327554782227,1.0723105005127993],[-0.4669625085504329,1.2023105050036629]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_32","position":[-0.08356506403441244,0.7847260539390604,0.71338606911949],"aabb_xy":[[-0.09543714704591355,0.69972605424541],[-0.07169298102291133,0.8697260536327107]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933039448618878,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5712.png","name":"5712"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5712.png","name":"5712"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8925.png","name":"8925"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3002.png","name":"3002"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8447.png","name":"8447"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/327.png","name":"327"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":725.4558078341784,"rotation_z_degrees":219.80812840319365,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01769782390630749,0.0120612181278878,-0.01830764252032358]},{"name":"camera_2","offset_m":[-0.015482227237895314,0.017053415009934934,-0.001032548371524774]},{"name":"camera_3","offset_m":[0.019013844537245524,0.016437581673681066,-0.013070356433737142]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004990142091623948,0.0017109588216158182,-0.0004951730876762959],"end_effector_yaw_offset_degrees":0.4904284291883503},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010644301840871603,-0.001638327979890597,0.0013077680006663042],"end_effector_yaw_offset_degrees":0.532469024872434},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017728443368273071,0.0007034588351741743,-0.0019509445770869564],"end_effector_yaw_offset_degrees":-0.040922040994990416}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004520777143090778,-0.00011668915726411721],"position_m":[0.14787922285690924,0.22348331084273587,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004244211166821502,0.004451134673135698],"position_m":[0.2381557888331785,-0.3052488653268643,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034178438682093163,-0.0030735082341042785],"position_m":[0.3279178438682093,-0.04467350823410428,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004564632845253689,-0.0011023718106597824],"position_m":[0.34643536715474627,0.3172976281893402,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2375b4733b7f4cec9f4b65187a298c7e979a662712196c19446f7621e10c5489","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5712/tex_ceiling_textures_327/tex_floor_textures_8447/tex_table_textures_8925/tex_wall_textures_3002","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7321037975679299434,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7321037975679299434,"visual_seed":7321037975679299434,"scene_id":"lab_003","finished_at":"2026-09-03T22:26:28"} +{"episode_id":"ep_000067","started_at":"2026-09-03T22:26:31","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[-0.20708705029518099,-0.7768426484466204,0.71338606911949],"aabb_xy":[[-0.2320870494608141,-0.783794894151977],[-0.18208705112954787,-0.7698904027412639]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[0.09786530462553256,1.508391563831347,0.71338606911949],"aabb_xy":[[0.04384970834363254,1.4443915609390898],[0.15188090090743256,1.5723915667236041]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[0.6212424143385131,1.7179249403748558,0.71338606911949],"aabb_xy":[[0.6103908080896375,1.7070656496472048],[0.6320940205873887,1.7287842311025068]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.1929826340971721,-0.8566503892568158,0.71338606911949],"aabb_xy":[[-0.2629826356994516,-0.8700831824584734],[-0.12298263249489261,-0.8432175960551582]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[-0.5554074550666558,-0.36974225279345196,0.71338606911949],"aabb_xy":[[-0.6454074518022659,-0.4229257161107464],[-0.46540745833104546,-0.3165587894761574]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[-0.10972462027482222,-2.2291406347913965,0.71338606911949],"aabb_xy":[[-0.17372462097829156,-2.2751590172643184],[-0.04572461957135287,-2.1831222523184763]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[0.5668733264144981,-1.047597780092665,0.71338606911949],"aabb_xy":[[0.5028733243647661,-1.0876922631819728],[0.63087332846423,-1.0075032970033568]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.21385041674097682,0.7595335872783071,0.71338606911949],"aabb_xy":[[-0.3038504161593477,0.7261580904341173],[-0.12385041732260593,0.7929090841224967]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[-0.28368076252774693,-2.0846862232182004,0.71338606911949],"aabb_xy":[[-0.34768076393573755,-2.1364751747421247],[-0.21968076111975623,-2.0328972716942753]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.080463109630592,-1.3192879374103468,0.71338606911949],"aabb_xy":[[-0.11546310960708783,-1.3287525534579632],[-0.04546310965409617,-1.30982332136273]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.5003501786006691,-1.5685905250806893,0.71338606911949],"aabb_xy":[[-0.5129528777377456,-1.581185921305555],[-0.48774747946359265,-1.555995128855824]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[-0.3716517053197103,1.5672391728035868,0.71338606911949],"aabb_xy":[[-0.38488265085439155,1.5540117537815872],[-0.35842075978502896,1.580466591825586]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[-0.1386465569412465,-0.5468224766629346,0.71338606911949],"aabb_xy":[[-0.1686382196751168,-0.5768224759997351],[-0.10865489420737615,-0.5168224773261341]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.4015549465689596,-0.1364783406167991,0.71338606911949],"aabb_xy":[[-0.48655494526103427,-0.16846420401167794],[-0.316554947876885,-0.10449247722192023]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[-0.6294993377585645,-1.813511549013323,0.71338606911949],"aabb_xy":[[-0.6527811799566957,-1.898511550310551],[-0.606217495560433,-1.7285115477160948]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.505515851749103,-0.7381473894697805,0.71338606911949],"aabb_xy":[[0.4605158502828741,-0.7831472463312614],[0.5505158532153318,-0.6931475326083]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[0.3004120578864625,1.3619771985295333,0.71338606911949],"aabb_xy":[[0.23641205554366093,1.3170363472854005],[0.36441206022926403,1.4069180497736655]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.5382246572824453,-1.2804776563785323,0.71338606911949],"aabb_xy":[[-0.5932246569041911,-1.335461349166005],[-0.48322465766069944,-1.2254939635910596]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.24342284362250588,-2.48625093555911,0.71338606911949],"aabb_xy":[[-0.33342284729942406,-2.547683342136214],[-0.1534228399455877,-2.4248185289820054]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[-0.05667007848877714,1.2874883585494747,0.71338606911949],"aabb_xy":[[-0.06843826528343468,1.2024883586442532],[-0.04490189169411963,1.3724883584546963]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[-0.3310821460445601,-1.2326004089942282,0.71338606911949],"aabb_xy":[[-0.35562836166731077,-1.2628493055432652],[-0.3065359304218093,-1.2023515124451911]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[0.3307801827838852,1.7337558257044523,0.71338606911949],"aabb_xy":[[0.24078018418941532,1.7175052393910315],[0.4207801813783552,1.7500064120178735]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[0.10900791027661072,-1.716685940885439,0.71338606911949],"aabb_xy":[[0.04500791384928883,-1.7638555647075354],[0.17300790670393262,-1.6695163170633425]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[0.6286998577972076,-0.33236628736416485,0.71338606911949],"aabb_xy":[[0.5735746521676168,-0.39236628880545193],[0.6838250634267984,-0.27236628592287765]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[-0.6024891946539608,0.905689701150775,0.71338606911949],"aabb_xy":[[-0.6191663306470563,0.8889897771768447],[-0.5858120586608653,0.9223896251247052]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.016761388609104366,-0.8421388935523275,0.71338606911949],"aabb_xy":[[-0.029388175896300717,-0.8516849672539003],[-0.004134601321908016,-0.8325928198507545]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[0.04635278708085522,-2.517921912269523,0.71338606911949],"aabb_xy":[[-0.03364721157603078,-2.5324267711937862],[0.12635278573774122,-2.5034170533452604]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_27","position":[0.5239662861950936,-2.5182277382239824,0.71338606911949],"aabb_xy":[[0.5159722976173902,-2.526227818319072],[0.531960274772797,-2.510227658128892]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_28","position":[0.4351827111095108,-2.220436790387883,0.71338606911949],"aabb_xy":[[0.4027210102275833,-2.250569622502785],[0.4676444119914382,-2.1903039582729793]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_29","position":[0.5989174754593909,1.4626220277680777,0.71338606911949],"aabb_xy":[[0.5926053759230525,1.4568550885148588],[0.6052295749957293,1.4683889670212966]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[-0.27263184741967345,-1.8260608074395883,0.71338606911949],"aabb_xy":[[-0.2886937748781911,-1.91106080925218],[-0.2565699199611558,-1.7410608056269963]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_31","position":[0.10668919775395713,-2.2485242613907244,0.71338606911949],"aabb_xy":[[0.08882008999950164,-2.262357169367935],[0.12455830550841263,-2.234691353413513]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_32","position":[-0.6359910012920386,0.46271646056383453,0.71338606911949],"aabb_xy":[[-0.6730251107200983,0.428339253230125],[-0.5989568918639788,0.49709366789754394]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_33","position":[-0.15699410634033306,-1.0926678864624289,0.71338606911949],"aabb_xy":[[-0.18057922980422794,-1.1576678887078606],[-0.13340898287643824,-1.027667884216997]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_34","position":[-0.39741363265025187,-0.02682806643684188,0.71338606911949],"aabb_xy":[[-0.4015494889829521,-0.06432806588119888],[-0.39327777631755173,0.010671933007515122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.696575553046717,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7604.png","name":"7604"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7604.png","name":"7604"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/382.png","name":"382"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4135.png","name":"4135"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8306.png","name":"8306"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9197.png","name":"9197"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":767.2885846702759,"rotation_z_degrees":133.10305878756913,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016749588514513525,-0.013823373981097595,-0.01495937714182646]},{"name":"camera_2","offset_m":[0.0016618838107135964,0.01686512148383439,0.017877185416435768]},{"name":"camera_3","offset_m":[-0.018131381106825505,0.007959280926984592,0.007127305280450788]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007564626843711915,-0.00020558390387687185,0.0017333702916269254],"end_effector_yaw_offset_degrees":-0.7453268400258197},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014754924410657548,0.0006476814732697049,0.0014174137095953276],"end_effector_yaw_offset_degrees":-0.8710062161153391},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00121730666943365,0.0015185719257489903,0.0008842620402303041],"end_effector_yaw_offset_degrees":-0.9204352549953072}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003465492955635959,-0.0033690957724502625],"position_m":[0.15586549295563595,0.22023090422754973,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028408145387469183,-0.0028640674546765834],"position_m":[0.2452408145387469,-0.3125640674546766,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001806425293211328,-0.0005342864171851225],"position_m":[0.32630642529321136,-0.04213428641718512,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003499614408292372,0.003951922045318559],"position_m":[0.3475003855917076,0.3223519220453186,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"de0a7e19f751be416163958bb1beecf10470521a9bfa8eacce49e34384566aeb","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0067.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7604/tex_ceiling_textures_9197/tex_floor_textures_8306/tex_table_textures_382/tex_wall_textures_4135","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8877119209575085313,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8877119209575085313,"visual_seed":8877119209575085313,"scene_id":"lab_003","finished_at":"2026-09-03T22:29:26"} +{"episode_id":"ep_000068","started_at":"2026-09-03T22:29:30","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.5040702789242286,1.0758637753116096,0.71338606911949],"aabb_xy":[[-0.584070276327822,0.9958712041134269],[-0.42407028152063525,1.1558563465097924]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_1","position":[-0.23269058562638706,-0.44513676574170224,0.71338606911949],"aabb_xy":[[-0.24353106385290196,-0.46232304703235105],[-0.22185010739987215,-0.42795048445105344]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.14290482821372474,0.8974570086140798,0.71338606911949],"aabb_xy":[[0.09292187802624537,0.8474570089715194],[0.19288777840120402,0.9474570082566403]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[-0.17725212806082835,-0.0785593063831227,0.71338606911949],"aabb_xy":[[-0.18524611663853177,-0.08655938647821303],[-0.169258139483125,-0.07055922628803234]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[0.5361389307217195,0.6456591778835579,0.71338606911949],"aabb_xy":[[0.5311829105368384,0.6231591776814364],[0.5410949509066008,0.6681591780856796]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.24959827496422893,-0.6195218047924103,0.71338606911949],"aabb_xy":[[0.19962520943171352,-0.6695218046049433],[0.29957134049674444,-0.5695218049798775]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.6706306570621259,-2.2777477304217593,0.71338606911949],"aabb_xy":[[0.6338360239372195,-2.314653605518342],[0.707425290187032,-2.2408418553251774]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[-0.30756141055132163,0.2925851989746673,0.71338606911949],"aabb_xy":[[-0.3325614098232839,0.27623983537850494],[-0.28256141127935935,0.3089305625708296]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[-0.35549166549320266,-1.489960501401476,0.71338606911949],"aabb_xy":[[-0.4254916676246321,-1.5127224670271715],[-0.285491663361773,-1.4671985357757802]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.25066486520489906,0.6832880183708521,0.71338606911949],"aabb_xy":[[0.24263859457427306,0.6745365233934995],[0.25869113583552505,0.6920395133482047]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.5671714489212227,-1.5185621739869553,0.71338606911949],"aabb_xy":[[0.5611344359205581,-1.5245888750559036],[0.5732084619218876,-1.5125354729180074]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.616940278626216,-1.931894313764437,0.71338606911949],"aabb_xy":[[-0.6664206998401748,-1.995894311677289],[-0.5674598574122572,-1.8678943158515853]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[0.1551049981986301,-2.062566660499842,0.71338606911949],"aabb_xy":[[0.09010499709268682,-2.08753203356797],[0.2201049993045734,-2.0376012874317135]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.1270176589338029,-1.4352817272581644,0.71338606911949],"aabb_xy":[[0.10250403483679704,-1.4595463205602008],[0.15153128303080876,-1.411017133956128]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.12143710230213689,0.287952628452389,0.71338606911949],"aabb_xy":[[-0.17143710332127216,0.25148641271456107],[-0.07143710128300162,0.32441884419021694]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.5811872419615578,-1.0543520171710568,0.71338606911949],"aabb_xy":[[-0.6611872422351647,-1.1273015649967733],[-0.5011872416879507,-0.9814024693453399]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.4031045249838609,-0.822126163413317,0.71338606911949],"aabb_xy":[[-0.4406045235594816,-0.8348624590768747],[-0.36560452640824,-0.8093898677497589]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.4367432193606245,-0.43161615463529834,0.71338606911949],"aabb_xy":[[-0.4967432198684774,-0.4884628883212196],[-0.37674321885277157,-0.374769420949377]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[0.3520338508942522,1.0072804745958495,0.71338606911949],"aabb_xy":[[0.2870338508599495,0.960579797915522],[0.41703385092855494,1.0539811512761765]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[-0.383652338563141,-1.7677016728197104,0.71338606911949],"aabb_xy":[[-0.4011523388081904,-1.7852014606592768],[-0.36615233831809163,-1.750201884980143]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.0635325791695549,-0.1555906933357969,0.71338606911949],"aabb_xy":[[-0.08381688189295365,-0.17587331847850574],[-0.043248276446156135,-0.13530806819308805]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[-0.44544421150844704,1.5967751712924634,0.71338606911949],"aabb_xy":[[-0.4819400321357257,1.5602912288657058],[-0.40894839088116824,1.633259113719221]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[-0.6359229254165119,-2.472683888891422,0.71338606911949],"aabb_xy":[[-0.6572009335599841,-2.5376838912174953],[-0.6146449172730396,-2.407683886565349]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.6283763804642974,-0.8826670597342936,0.71338606911949],"aabb_xy":[[0.5483825568857393,-0.9626670623271352],[0.7083702040428558,-0.802667057141452]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.5778289062040259,-1.2359995823172796,0.71338606911949],"aabb_xy":[[-0.5831614208586389,-1.2413239105625153],[-0.572496391549413,-1.2306752540720443]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_25","position":[0.5477799865336173,0.3655574728845945,0.71338606911949],"aabb_xy":[[0.4640577610335348,0.2755574693498985],[0.6315022120336997,0.4555574764192904]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.5037906627840345,0.5097015931051123,0.71338606911949],"aabb_xy":[[0.4905597172493531,0.4964741740831128],[0.5170216083187157,0.5229290121271116]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.6108156073368445,0.5466073383044896,0.71338606911949],"aabb_xy":[[0.6000426334154768,0.5116073400854506],[0.6215885812582124,0.5816073365235286]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_28","position":[0.15868555887133984,-1.5730221989132902,0.71338606911949],"aabb_xy":[[0.10870132316316261,-1.623022197726786],[0.20866979457951707,-1.5230222000997948]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_29","position":[0.6043533520607223,-0.7393168037435096,0.71338606911949],"aabb_xy":[[0.5869226369817157,-0.7565889184073604],[0.6217840671397287,-0.7220446890796588]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_30","position":[-0.2810057303785435,-0.6963307524843154,0.71338606911949],"aabb_xy":[[-0.3450057296727117,-0.7603168928531696],[-0.21700573108437526,-0.6323446121154612]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_31","position":[0.4704068281685114,-1.2294736021671775,0.71338606911949],"aabb_xy":[[0.4154331061321786,-1.2844736017314107],[0.5253805502048443,-1.1744736026029443]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7019737292722552,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/227.png","name":"227"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/227.png","name":"227"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/638.png","name":"638"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4214.png","name":"4214"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8565.png","name":"8565"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/743.png","name":"743"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":737.5351949102542,"rotation_z_degrees":186.63993127254832,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01586284745275466,-0.01913222377949246,-0.0019639289272264937]},{"name":"camera_2","offset_m":[0.01877067574055059,0.006892018052858634,-0.003143289788492501]},{"name":"camera_3","offset_m":[0.0015927496974498523,0.011125085940106246,0.01564182920430725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009253323282685524,-0.0015387954714626369,0.0003825093413102414],"end_effector_yaw_offset_degrees":0.759901924852119},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010151956760694777,0.0008505395211677465,0.0003122911683440684],"end_effector_yaw_offset_degrees":-0.3814799562606399},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011148144312566385,0.001591092842721715,6.741776690205722e-05],"end_effector_yaw_offset_degrees":0.09058480647553346}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004824705615088667,-0.0023426354030365204],"position_m":[0.14757529438491135,0.22125736459696346,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013989650726981386,0.0004270169228194299],"position_m":[0.24379896507269813,-0.30927298307718054,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00047935605734017537,0.0032795863951109493],"position_m":[0.32402064394265984,-0.038320413604889046,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028573772680716954,0.0034214971534270227],"position_m":[0.35385737726807165,0.32182149715342706,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8377d8bf3df72c18023c7c2f22717556034c17d167102bf5bd7cb1df9219a4a6","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_227/tex_ceiling_textures_743/tex_floor_textures_8565/tex_table_textures_638/tex_wall_textures_4214","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4912157633765719036,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4912157633765719036,"visual_seed":4912157633765719036,"scene_id":"lab_003","finished_at":"2026-09-03T22:32:41"} +{"episode_id":"ep_000069","started_at":"2026-09-03T22:32:44","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[0.22803409314404532,-1.430286792063877,0.71338606911949],"aabb_xy":[[0.17855367193008653,-1.494286789976729],[0.2775145143580041,-1.3662867941510253]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.3446651808338903,1.5501214813240893,0.71338606911949],"aabb_xy":[[-0.3815157287708779,1.5126214805010556],[-0.3078146328969027,1.587621482147123]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[-0.6211058602881375,-0.7615955527252429,0.71338606911949],"aabb_xy":[[-0.6861058581697853,-0.8127192164317839],[-0.5561058624064897,-0.7104718890187021]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[0.6630688165974472,1.676124069970974,0.71338606911949],"aabb_xy":[[0.613186119719751,1.6261240707246993],[0.7129515134751434,1.7261240692172488]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.5088296383682558,-0.14109377909427323,0.71338606911949],"aabb_xy":[[0.4288296403874708,-0.14869532005612518],[0.5888296363490408,-0.13349223813242128]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[0.6019840848561293,1.5639819170075895,0.71338606911949],"aabb_xy":[[0.5868817833951111,1.548880395376527],[0.6170863863171473,1.579083438638651]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[0.3296057403717392,1.736130828005631,0.71338606911949],"aabb_xy":[[0.2796057417258179,1.6862112843461683],[0.3796057390176603,1.786050371665093]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[0.15790234498738753,-0.7540453666585851,0.71338606911949],"aabb_xy":[[0.09790234447953462,-0.8108921003445063],[0.21790234549524046,-0.6971986329726637]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[-0.2168302845349897,1.0759505733533694,0.71338606911949],"aabb_xy":[[-0.26681452024316693,1.0259505745398738],[-0.16684604882681248,1.125950572166865]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[0.6248267050718146,-0.6501469369605464,0.71338606911949],"aabb_xy":[[0.5608267059020446,-0.6969136240795089],[0.6888267042415845,-0.6033802498415839]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[0.08622585285552686,-1.8950697160272403,0.71338606911949],"aabb_xy":[[0.08132656054896335,-1.9227466353298088],[0.09112514516209035,-1.8673927967246713]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.25207078396919624,-1.7574692438200463,0.71338606911949],"aabb_xy":[[0.2020974899659358,-1.8074692443745934],[0.3020440779724567,-1.7074692432654988]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[-0.5466925083114818,0.36076262108361545,0.71338606911949],"aabb_xy":[[-0.5927775995662132,0.2967626238310603],[-0.5006074170567503,0.4247626183361705]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[-0.4845379132300702,0.9426825555052383,0.71338606911949],"aabb_xy":[[-0.539537911431815,0.9021605888788006],[-0.42953791502832533,0.9832045221316758]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.5295419715322623,-1.40026983102308,0.71338606911949],"aabb_xy":[[-0.5670419717041343,-1.432970566405987],[-0.4920419713603904,-1.3675690956401727]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[0.5511233779290683,-0.332302391316031,0.71338606911949],"aabb_xy":[[0.5011503123965529,-0.38230239112856407],[0.6010964434615839,-0.28230239150349823]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[-0.4908138790308868,-2.4581408367884263,0.71338606911949],"aabb_xy":[[-0.5458070903680236,-2.5131408371272204],[-0.43582066769375005,-2.403140836449633]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.3035678360465005,-1.1241408749041728,0.71338606911949],"aabb_xy":[[0.26623655952125796,-1.158793929699025],[0.34089911257174316,-1.0894878201093205]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.3183536000634779,0.45889215332275635,0.71338606911949],"aabb_xy":[[-0.3279852362839075,0.44925484054304743],[-0.3087219638430483,0.46852946610246526]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[-0.676738085261583,1.244417839509003,0.71338606911949],"aabb_xy":[[-0.6811687146164233,1.2389694677743208],[-0.6723074559067429,1.2498662112436858]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.23367928396165993,1.2237764364194708,0.71338606911949],"aabb_xy":[[0.2256852953839565,1.2157763563243804],[0.2416732725393633,1.231776516514561]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.0863258182520138,1.402856380718974,0.71338606911949],"aabb_xy":[[0.02232582094966741,1.358489953751117],[0.1503258155543602,1.4472228076868305]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[-0.3626478359797403,-1.947357210491388,0.71338606911949],"aabb_xy":[[-0.36656170917516284,-1.9561062258979447],[-0.3587339627843178,-1.938608195084831]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[0.5318769192941064,0.029054701196643773,0.71338606911949],"aabb_xy":[[0.5225299117118112,0.014751078978999743],[0.5412239268764016,0.0433583234142878]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[0.4318228198085965,-1.764683139097032,0.71338606911949],"aabb_xy":[[0.38683023309014614,-1.8096831383714806],[0.47681540652704696,-1.7196831398225831]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[0.4635737394629702,-2.261806893204749,0.71338606911949],"aabb_xy":[[0.44840157018133686,-2.2769757501329524],[0.47874590874460354,-2.2466380362765452]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[0.5391701185716449,-1.0601520150740822,0.71338606911949],"aabb_xy":[[0.47517011829766664,-1.11021811527137],[0.6031701188456231,-1.010085914876794]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[-0.42668876966068797,-0.03808339367710589,0.71338606911949],"aabb_xy":[[-0.4529775939811286,-0.06435482733175713],[-0.40039994534024725,-0.011811960022454665]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_28","position":[-0.2677817746918093,-0.9248979334172331,0.71338606911949],"aabb_xy":[[-0.305281775040037,-0.9366893289983166],[-0.2302817743435815,-0.9131065378361495]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[-0.4570660251050066,-2.1871992883737885,0.71338606911949],"aabb_xy":[[-0.5210660253654773,-2.2322080877267165],[-0.3930660248445358,-2.1421904890208605]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995566809069322,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7598.png","name":"7598"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7598.png","name":"7598"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5518.png","name":"5518"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1476.png","name":"1476"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4905.png","name":"4905"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3090.png","name":"3090"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":663.4151588534469,"rotation_z_degrees":156.13932161261502,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032951461111417994,-0.009825492924264498,0.014094396383451096]},{"name":"camera_2","offset_m":[0.014948075993995755,0.003692812116266337,-0.018363384545311227]},{"name":"camera_3","offset_m":[-0.005740209919188017,-0.01255418197553806,0.009264988449138173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018244374465286404,-0.0010854657432288976,-0.000923064519522368],"end_effector_yaw_offset_degrees":0.5121559637557622},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006976139403056596,-0.0011492690085960643,-0.000718691763951477],"end_effector_yaw_offset_degrees":-0.36321454691077437},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007858617280066765,0.0012334515981308174,-0.00033282617801451636],"end_effector_yaw_offset_degrees":0.512688217080101}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007519936686207034,0.002605408491314158],"position_m":[0.15164800633137931,0.22620540849131415,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004923530003630299,-0.001284907783112178],"position_m":[0.2473235300036303,-0.31098490778311216,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003090940581814447,0.0037194862859260902],"position_m":[0.3275909405818145,-0.03788051371407391,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002453860534519731,-0.00109128564084705],"position_m":[0.3534538605345197,0.317308714359153,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"03bc0c34c8a7ebf401b9a3a359a51e74e16099a329b3722fb917f675a33aae79","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0069.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7598/tex_ceiling_textures_3090/tex_floor_textures_4905/tex_table_textures_5518/tex_wall_textures_1476","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3215047998915325714,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3215047998915325714,"visual_seed":3215047998915325714,"scene_id":"lab_003","finished_at":"2026-09-03T22:35:52"} +{"episode_id":"ep_000070","started_at":"2026-09-03T22:35:55","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[-0.2465838005441649,-0.2994669494218356,0.71338606911949],"aabb_xy":[[-0.2937131795460005,-0.36346695046623745],[-0.19945442154232917,-0.23546694837743354]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.2526199124355515,-0.6893379613653567,0.71338606911949],"aabb_xy":[[-0.2660664390695948,-0.702807813018448],[-0.23917338580150815,-0.6758681097122655]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[-0.31965633082461326,1.4710678802176962,0.71338606911949],"aabb_xy":[[-0.39965633109822024,1.3981183323919792],[-0.2396563305510063,1.5440174280434127]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.26162803431081766,0.4239555194022304,0.71338606911949],"aabb_xy":[[-0.27830517030391316,0.4072555954283001],[-0.24495089831772215,0.44065544337616064]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.3334487314051816,-2.363658218443511,0.71338606911949],"aabb_xy":[[-0.3680398142592267,-2.4286582187285415],[-0.2988576485511363,-2.2986582181584794]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.21279727865447112,0.31034759480257,0.71338606911949],"aabb_xy":[[-0.2777972812922646,0.2588679961031231],[-0.14779727601667764,0.36182719350201703]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[-0.5015141343395287,0.9350109858379807,0.71338606911949],"aabb_xy":[[-0.5092173250136057,0.9273016151392426],[-0.4938109436654516,0.9427203565367186]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.6357798052214108,-0.6111863875023862,0.71338606911949],"aabb_xy":[[0.60949098090097,-0.6374578211570373],[0.6620686295418513,-0.5849149538477348]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.4294797678334259,1.5173630997542848,0.71338606911949],"aabb_xy":[[0.3794955321252487,1.467363100940789],[0.4794640035416032,1.5673630985677802]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[-0.6820157137121625,0.517575548825115,0.71338606911949],"aabb_xy":[[-0.6913627212944577,0.503271926607471],[-0.6726687061298673,0.5318791710427591]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.4809756149426859,-1.4602760083668298,0.71338606911949],"aabb_xy":[[-0.4998599987111962,-1.4791619331471826],[-0.4620912311741758,-1.441390083586477]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.22991129424923262,-1.7929102494175322,0.71338606911949],"aabb_xy":[[-0.29391129753894074,-1.8362451684214496],[-0.1659112909595245,-1.7495753304136143]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.46659197440646477,-0.6152401336732753,0.71338606911949],"aabb_xy":[[-0.5305919763188072,-0.6711512829312857],[-0.40259197249412243,-0.5593289844152648]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.04758863585913842,-0.8225295736438476,0.71338606911949],"aabb_xy":[[-0.05362564885980316,-0.828556274712796],[-0.0415516228584737,-0.8165028725748996]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[0.5514651906452677,0.4132453959324365,0.71338606911949],"aabb_xy":[[0.48746518859553567,0.37315091284312857],[0.6154651926949997,0.4533398790217445]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.49010280662407346,0.23313490069321885,0.71338606911949],"aabb_xy":[[-0.4989048619330462,0.22532357453828974],[-0.48130075131510075,0.2409462268481479]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.5959640488061124,-2.435839935267493,0.71338606911949],"aabb_xy":[[0.57096404953415,-2.452185298863655],[0.6209640480780746,-2.4194945716713305]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[0.5226612386408496,0.2902647353498078,0.71338606911949],"aabb_xy":[[0.5144466935251654,0.28158814505216645],[0.5308757837565333,0.298941325647449]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.35635427904095063,-1.593389907115479,0.71338606911949],"aabb_xy":[[-0.38634594177482096,-1.6233899064522792],[-0.3263626163070803,-1.5633899077786781]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.5152208731250616,-0.9465817404179269,0.71338606911949],"aabb_xy":[[0.48022087314856576,-0.9560463564655435],[0.5502208731015574,-0.9371171243703103]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.13107860224866608,-1.0987789663720717,0.71338606911949],"aabb_xy":[[-0.1535433722200712,-1.1212789672509322],[-0.10861383227726096,-1.0762789654932112]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[0.2743623270449388,-1.5722690186557693,0.71338606911949],"aabb_xy":[[0.25880655763467353,-1.5878194519001767],[0.28991809645520406,-1.5567185854113623]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[-0.16620593708884634,-1.9752576486147542,0.71338606911949],"aabb_xy":[[-0.2212059362654358,-2.0302473233897116],[-0.11120593791225683,-1.9202679738397967]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692911992099036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3333.png","name":"3333"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3333.png","name":"3333"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9606.png","name":"9606"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1478.png","name":"1478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6050.png","name":"6050"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":823.9738912461794,"rotation_z_degrees":343.5060530891706,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009161982255223008,-0.011171122916317673,-0.0012917786923110838]},{"name":"camera_2","offset_m":[-0.017915652981055078,0.011205546223418232,-0.019350995469928238]},{"name":"camera_3","offset_m":[-0.012609245233961546,0.01789137465923452,0.0003485284604578011]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011936876229090608,-0.0015047965852778016,0.0010363209842327],"end_effector_yaw_offset_degrees":-0.7886608379882907},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00022523831958990445,-0.0019991151091384,-0.0012099866337619294],"end_effector_yaw_offset_degrees":-0.8089050244160607},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010620874172161542,7.624079417884464e-05,-0.0004107966049985152],"end_effector_yaw_offset_degrees":0.5828967701430336}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004393487070471515,0.0009069006762661667],"position_m":[0.15679348707047153,0.22450690067626616,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011920847660348887,0.004446011407746873],"position_m":[0.2435920847660349,-0.3052539885922531,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037917657835369782,-0.004885504731110709],"position_m":[0.32829176578353697,-0.04648550473111071,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004943455838168115,-0.0012228413474640308],"position_m":[0.34605654416183185,0.317177158652536,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ee5ccb32f40d46989d973fdf74b320c6fa589a5a442a0ca9ff47339e5a4d8df5","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3333/tex_ceiling_textures_8385/tex_floor_textures_6050/tex_table_textures_9606/tex_wall_textures_1478","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":9116762526355190625,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":9116762526355190625,"visual_seed":9116762526355190625,"scene_id":"lab_003","finished_at":"2026-09-03T22:38:52"} +{"episode_id":"ep_000071","started_at":"2026-09-03T22:38:55","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[0.614153395386039,-2.367121255078851,0.71338606911949],"aabb_xy":[[0.5836691452590088,-2.417121254860347],[0.6446376455130691,-2.317121255297355]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[0.525291240199752,0.20347925917231535,0.71338606911949],"aabb_xy":[[0.5077912399404155,0.18938771698354276],[0.5427912404590888,0.217570801361088]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.13578896901926985,-0.6220308082491708,0.71338606911949],"aabb_xy":[[0.12234244238522651,-0.635500659902262],[0.14923549565331318,-0.6085609565960796]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_3","position":[-0.4674629141491036,1.7398296682747287,0.71338606911949],"aabb_xy":[[-0.5314629145266372,1.6900844014239165],[-0.40346291377156995,1.789574935125541]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[0.6743638574896669,-0.6659751071266662,0.71338606911949],"aabb_xy":[[0.6293712707712165,-0.7109751064011149],[0.7193564442081173,-0.6209751078522174]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[-0.33057776568186736,-0.08377911257946291,0.71338606911949],"aabb_xy":[[-0.35922709804228353,-0.1124246718565387],[-0.3019284333214511,-0.05513355330238712]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[-0.5398053712530746,-1.1403695867188055,0.71338606911949],"aabb_xy":[[-0.6048053694089937,-1.1666658312687177],[-0.47480537309715554,-1.1140733421688933]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.6097706041405905,-2.3629585452267765,0.71338606911949],"aabb_xy":[[-0.6510194151705051,-2.4179585447389935],[-0.5685217931106756,-2.3079585457145586]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.6164933594453716,0.533445286636407,0.71338606911949],"aabb_xy":[[0.6118582442931382,0.5295779515592582],[0.6211284745976049,0.5373126217135555]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[0.13012688638385594,-1.961343632574987,0.71338606911949],"aabb_xy":[[0.10490604952401623,-1.9865673834278732],[0.15534772324369556,-1.9361198817220997]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[-0.42179535500316934,1.200547459914557,0.71338606911949],"aabb_xy":[[-0.428296991511174,1.1907796378882471],[-0.4152937184951648,1.2103152819408667]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.4063001413737254,-2.174882713616608,0.71338606911949],"aabb_xy":[[-0.4143435012996805,-2.2598827147119738],[-0.39825678144777016,-2.089882712521241]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.33248529968869067,-2.201496112986526,0.71338606911949],"aabb_xy":[[0.3074852997561728,-2.20837878120745],[0.35748529962120856,-2.194613444765603]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.35681960956473935,1.7890801875428948,0.71338606911949],"aabb_xy":[[0.33431960932122395,1.7768755528831228],[0.37931960980825474,1.8012848222026667]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.3672543485845705,0.07161121688310335,0.71338606911949],"aabb_xy":[[-0.3917679726815763,0.04734662358106689],[-0.3427407244875646,0.0958758101851398]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[-0.31835447601037997,1.1454955405409946,0.71338606911949],"aabb_xy":[[-0.33593277819932676,1.1279210509668895],[-0.30077617382143307,1.1630700301150996]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[0.5463617061948673,0.023877204945515373,0.71338606911949],"aabb_xy":[[0.5050571631311315,-0.04012279462260171],[0.5876662492586034,0.08787720451363246]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[-0.22271324627047034,1.6662049887034613,0.71338606911949],"aabb_xy":[[-0.27271252143890656,1.6162049874275142],[-0.1727139711020342,1.7162049899794085]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.49730298117655947,0.679134545590637,0.71338606911949],"aabb_xy":[[0.4598029808283317,0.6673431500095535],[0.5348029815247872,0.6909259411717206]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.09432023453599214,1.269401867519226,0.71338606911949],"aabb_xy":[[-0.15832023093156522,1.2054385791004922],[-0.030320238140419065,1.3333651559379593]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[-0.1272950854090017,-2.1376655420139024,0.71338606911949],"aabb_xy":[[-0.19129508775180323,-2.182606393258035],[-0.06329508306620012,-2.09272469076977]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.1568008682007609,-0.28142010032428244,0.71338606911949],"aabb_xy":[[-0.21680086906157367,-0.3328465303307687],[-0.09680086733994807,-0.22999367031779597]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[0.4565617909031481,-1.1078082481229796,0.71338606911949],"aabb_xy":[[0.3925617937910424,-1.15684061791739],[0.5205617880152538,-1.0587758783285688]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[-0.3568803020270057,1.2752987773512423,0.71338606911949],"aabb_xy":[[-0.36773190827588126,1.2644394866235913],[-0.34602869577813006,1.2861580680788933]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[-0.18263288776349595,0.7284578800427179,0.71338606911949],"aabb_xy":[[-0.22013288894828875,0.7240396573466573],[-0.14513288657870316,0.7328761027387783]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[-0.5449602699926314,0.9027266313057627,0.71338606911949],"aabb_xy":[[-0.6089602719049737,0.8468154820477524],[-0.480960268080289,0.9586377805637732]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[0.5422004420662419,-2.551254314452676,0.71338606911949],"aabb_xy":[[0.5072004429362861,-2.55699953552834],[0.5772004411961974,-2.545509093377012]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_27","position":[-0.2333825159567815,0.870011620807428,0.71338606911949],"aabb_xy":[[-0.2973825192464896,0.8266767018035104],[-0.16938251266707338,0.9133465398113456]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_28","position":[-0.28434591209735866,-1.0084935047487906,0.71338606911949],"aabb_xy":[[-0.3218459136129903,-1.0197202777649355],[-0.2468459105817269,-0.9972667317326454]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[-0.6133213870131158,0.5294146775074808,0.71338606911949],"aabb_xy":[[-0.6683213866348617,0.4744309847200082],[-0.55832138739137,0.5843983702949537]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_30","position":[-0.2761166705020794,-1.6574175778327067,0.71338606911949],"aabb_xy":[[-0.35611667266484187,-1.7373727614588503],[-0.1961166683393169,-1.577462394206563]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_31","position":[0.49857077297757146,-1.7863423239929905,0.71338606911949],"aabb_xy":[[0.46177613985266514,-1.8232481990895726],[0.5353654061024777,-1.749436448896408]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_32","position":[-0.0885556644283837,-1.3048308908099282,0.71338606911949],"aabb_xy":[[-0.09199634066844085,-1.3086923237842925],[-0.08511498818832651,-1.3009694578355635]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_33","position":[0.43883528093926394,-1.5846470396156709,0.71338606911949],"aabb_xy":[[0.40424419808521866,-1.6496470399007017],[0.4734263637933091,-1.5196470393306396]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6949244904597724,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3872.png","name":"3872"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3872.png","name":"3872"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3840.png","name":"3840"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7138.png","name":"7138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5044.png","name":"5044"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/16.png","name":"16"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":770.115765150495,"rotation_z_degrees":64.42893693178773,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0013986277693420722,-0.01786120902330864,-0.016931475266013685]},{"name":"camera_2","offset_m":[0.0030736304501662766,-0.0013238386844452825,-0.018345149455926295]},{"name":"camera_3","offset_m":[-0.0035476019294972475,-0.0035237700312657737,0.015116622089117012]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015792992949214381,0.001269018168078393,0.0014257879581529073],"end_effector_yaw_offset_degrees":0.48145452982167813},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000384123518216158,0.0012544920967175938,-0.0014446122347948568],"end_effector_yaw_offset_degrees":-0.3506790453028359},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.157090955487393e-05,0.001286524705813078,-0.0005990070613492455],"end_effector_yaw_offset_degrees":0.7639004368666991}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010011695997302486,-0.00420034919010108],"position_m":[0.15340116959973027,0.21939965080989893,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028093973721735575,0.0018324726842403709],"position_m":[0.24520939737217357,-0.3078675273157596,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023011467419601474,0.0020285314631467762],"position_m":[0.32680114674196015,-0.03957146853685322,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036712569840999655,0.0007007007838520018],"position_m":[0.3473287430159,0.319100700783852,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c6b48c2564c0756f51212f4ea8e2e3dce96e72dab02b977b0c996c5603d00cf6","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3872/tex_ceiling_textures_16/tex_floor_textures_5044/tex_table_textures_3840/tex_wall_textures_7138","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2041569728409718530,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2041569728409718530,"visual_seed":2041569728409718530,"scene_id":"lab_003","finished_at":"2026-09-03T22:42:07"} +{"episode_id":"ep_000072","started_at":"2026-09-03T22:42:11","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[0.38773396584980757,-1.5645576944214108,0.71338606911949],"aabb_xy":[[0.32373396393746523,-1.6204688436794215],[0.4517339677621499,-1.5086465451634006]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[-0.45763076873179187,0.1607297387201947,0.71338606911949],"aabb_xy":[[-0.4727330701928098,0.14562821708913282],[-0.4425284672707736,0.17583126035125646]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.32601113229485223,-0.9100906056602318,0.71338606911949],"aabb_xy":[[0.31859867675346376,-0.9159418160818598],[0.3334235878362407,-0.9042393952386039]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[0.6686891555556203,-0.36118201614810586,0.71338606911949],"aabb_xy":[[0.6382049054285901,-0.41118201592960174],[0.6991734056826504,-0.31118201636660986]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.5267320009134548,-2.333834176045956,0.71338606911949],"aabb_xy":[[0.489232000565227,-2.3456255716270396],[0.5642320012616825,-2.3220427804648724]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[0.33565860758329746,-0.5146044914831336,0.71338606911949],"aabb_xy":[[0.26565860545186787,-0.5373664571088292],[0.40565860971472695,-0.49184252585743793]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.1932215520798396,-1.0407314087453712,0.71338606911949],"aabb_xy":[[0.18551836140576253,-1.048440779444109],[0.2009247427539166,-1.0330220380466333]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[-0.1552080578306061,-1.2256929984473561,0.71338606911949],"aabb_xy":[[-0.21520805947352795,-1.2776931477393],[-0.09520805618768424,-1.1736928491554117]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[-0.5575871515799725,-2.058415741917517,0.71338606911949],"aabb_xy":[[-0.6215871547986104,-2.105138853816525],[-0.49358714836133466,-2.0116926300185085]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[0.00484659006522925,1.4635590294130307,0.71338606911949],"aabb_xy":[[-0.009796815488803734,1.4489003097562463],[0.019489995619262235,1.4782177490698147]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.5401997561251914,0.4206640588176169,0.71338606911949],"aabb_xy":[[0.4761997544471941,0.37214666733830265],[0.6041997578031888,0.4691814502969311]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.04743655400183411,-1.326520353586303,0.71338606911949],"aabb_xy":[[-0.08243655313178977,-1.332265574661967],[-0.012436554871878447,-1.3207751325106387]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[-0.026732124345802855,-1.9691985243724157,0.71338606911949],"aabb_xy":[[-0.05173212389754134,-1.9793410082375504],[-0.0017321247940643748,-1.959056040507281]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[-0.5397135112547113,0.2952584816423989,0.71338606911949],"aabb_xy":[[-0.5810180543184473,0.2312584820742818],[-0.49840896819097535,0.35925848121051596]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.3317385503626513,0.856070290359789,0.71338606911949],"aabb_xy":[[0.3252369138546467,0.8463024683334791],[0.33824018687065593,0.8658381123860986]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.12025981679956776,-1.110484805018108,0.71338606911949],"aabb_xy":[[0.08275981822394697,-1.1232211006816657],[0.15775981537518857,-1.0977485093545498]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.5432671160474365,1.5841953322624485,0.71338606911949],"aabb_xy":[[-0.5932671156237712,1.5342147533103425],[-0.4932671164711018,1.6341759112145544]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[-0.5249652677636862,-0.684096739843141,0.71338606911949],"aabb_xy":[[-0.5288791409591088,-0.6928457552496978],[-0.5210513945682639,-0.6753477244365842]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_18","position":[0.5673157358046537,1.7759358716697915,0.71338606911949],"aabb_xy":[[0.5567482561465547,1.7653908415567827],[0.5778832154627527,1.7864809017827998]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.14564010589567988,-0.9063535871435464,0.71338606911949],"aabb_xy":[[0.1281401056363433,-0.9204451293323191],[0.16314010615501653,-0.8922620449547739]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[-0.13177377916063138,-1.9366651954314722,0.71338606911949],"aabb_xy":[[-0.14106739739778193,-1.9741651939196057],[-0.12248016092348077,-1.8991651969433379]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[-0.39185724856909665,1.5227984427949424,0.71338606911949],"aabb_xy":[[-0.41432201854050177,1.5002984419160816],[-0.36939247859769153,1.5452984436738026]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962748100690834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/782.png","name":"782"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/782.png","name":"782"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9823.png","name":"9823"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3318.png","name":"3318"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9413.png","name":"9413"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9888.png","name":"9888"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":683.9781935110905,"rotation_z_degrees":161.5776188201681,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007590169473442288,-0.007827693977291968,0.0069471209485291036]},{"name":"camera_2","offset_m":[-0.006542113783604826,0.015419500183523335,0.011289411342080561]},{"name":"camera_3","offset_m":[-0.01557083572484027,0.0008351148627553824,-0.00457902222980402]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008199597855297362,-0.0005828151792966892,0.00020438382673919602],"end_effector_yaw_offset_degrees":-0.13115993233427337},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014675550294295037,-0.00030108403798074167,0.0015449284399153343],"end_effector_yaw_offset_degrees":0.3954682867799377},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016295817868410413,-0.0019345635982559544,-0.0018323838337229678],"end_effector_yaw_offset_degrees":-0.6261538441604928}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003466842636653388,0.004889890400353946],"position_m":[0.1489331573633466,0.22848989040035395,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033293536415025275,-0.004295452895215819],"position_m":[0.23907064635849748,-0.3139954528952158,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004686708791583488,-0.0034395792277433436],"position_m":[0.3291867087915835,-0.04503957922774334,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013214437794889233,-0.000914433713370689],"position_m":[0.349678556220511,0.31748556628662933,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a8a5c4eb4610c0ab009f60c7903dce80f362d4022aa24b90304ee852c987fc49","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_782/tex_ceiling_textures_9888/tex_floor_textures_9413/tex_table_textures_9823/tex_wall_textures_3318","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6950348427979946292,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6950348427979946292,"visual_seed":6950348427979946292,"scene_id":"lab_003","finished_at":"2026-09-03T22:45:12"} +{"episode_id":"ep_000073","started_at":"2026-09-03T22:45:16","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_0","position":[0.46932101206871835,-0.20611867469408907,0.71338606911949],"aabb_xy":[[0.4532590846102007,-0.29111867650668083],[0.485382939527236,-0.12111867288149723]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.24646438072419097,0.49110911662354084,0.71338606911949],"aabb_xy":[[-0.2914569674426414,0.446109117349092],[-0.20147179400574053,0.5361091158979895]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.5336028446362282,0.7590184797177457,0.71338606911949],"aabb_xy":[[-0.568602844532247,0.7506442442058058],[-0.4986028447402093,0.7673927152296857]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.5136317303781055,0.08400112343349164,0.71338606911949],"aabb_xy":[[-0.525399917172763,-0.000998876471729915],[-0.501863543583448,0.16900112333871323]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.18769249668432608,-2.0940981542650627,0.71338606911949],"aabb_xy":[[-0.251692493111648,-2.141267778087159],[-0.1236925002570042,-2.0469285304429663]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.12020021243251677,-0.2673253825072117,0.71338606911949],"aabb_xy":[[-0.13687734842561228,-0.28402530648114194],[-0.10352307643942127,-0.2506254585332814]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.24804754593942674,-2.30844444459158,0.71338606911949],"aabb_xy":[[-0.2639320392047519,-2.3227973848904044],[-0.2321630526741016,-2.294091504292756]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[-0.5960729589097367,-1.1773463149385293,0.71338606911949],"aabb_xy":[[-0.6857600352178522,-1.26734631519298],[-0.5063858826016213,-1.087346314684079]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.0665094963222852,-1.6430483265334819,0.71338606911949],"aabb_xy":[[-0.09150949587402368,-1.6531908103986166],[-0.04150949677054672,-1.6329058426683472]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.33202992825331085,-1.5785574909842472,0.71338606911949],"aabb_xy":[[-0.3663268392710514,-1.6128543771941883],[-0.29773301723557016,-1.5442606047743057]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[-0.19608553460584527,-0.48682144947934614,0.71338606911949],"aabb_xy":[[-0.26608553724243156,-0.5069263144752116],[-0.1260855319692589,-0.4667165844834806]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[0.19414368819611427,-0.8224438122691133,0.71338606911949],"aabb_xy":[[0.14414368875591863,-0.8724117367534296],[0.24414368763630986,-0.772475887784797]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[-0.5168841777889577,-1.4325980080591492,0.71338606911949],"aabb_xy":[[-0.5390567047656084,-1.4547736752152725],[-0.4947116508123067,-1.4104223409030259]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[0.37975249246690845,-1.0021112159599308,0.71338606911949],"aabb_xy":[[0.36884671637934574,-1.08211121235876],[0.39065826855447117,-0.9221112195611016]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.42247854842318294,0.309451870294994,0.71338606911949],"aabb_xy":[[-0.48647854553528863,0.2604195005005833],[-0.35847855131107725,0.35848424008940455]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.3384496067747664,0.18934182268168787,0.71338606911949],"aabb_xy":[[-0.34288023612960655,0.1838934509470053],[-0.3340189774199262,0.1947901944163705]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.6680125209472225,-1.9411097534409487,0.71338606911949],"aabb_xy":[[0.6427916840873827,-1.9663335042938352],[0.6932333578070621,-1.9158860025880617]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[0.0029155492364436597,-1.382409013776832,0.71338606911949],"aabb_xy":[[-0.03458445142813504,-1.3980960717770536],[0.040415549901022356,-1.3667219557766093]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.09470015224156447,1.766813889274593,0.71338606911949],"aabb_xy":[[0.05720015366594366,1.754077593611035],[0.13220015081718525,1.779550184938151]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[0.5032739904743853,-2.1301664694897813,0.71338606911949],"aabb_xy":[[0.49730745153364947,-2.136127614149145],[0.509240529415121,-2.1242053248304167]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[-0.4157774530473559,-2.285706740088316,0.71338606911949],"aabb_xy":[[-0.4507774521773116,-2.2914519611639803],[-0.38077745391740025,-2.279961519012652]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[-0.4303589100166481,1.6175467104862853,0.71338606911949],"aabb_xy":[[-0.49535891112259145,1.592581337418157],[-0.3653589089107049,1.6425120835544136]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[0.22891979926017003,-2.4432306042775194,0.71338606911949],"aabb_xy":[[0.2060040863751202,-2.4661349014139433],[0.25183551214522,-2.4203263071410963]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[0.41473349420254846,-2.4913937889576685,0.71338606911949],"aabb_xy":[[0.3797334959324285,-2.4984679166526567],[0.4497334924726683,-2.4843196612626803]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[-0.5286188710999216,-2.4037743790088832,0.71338606911949],"aabb_xy":[[-0.5572682034603377,-2.432419938285958],[-0.4999695387395052,-2.3751288197318066]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[0.21583085519390055,-1.226539999046869,0.71338606911949],"aabb_xy":[[0.17991735076891083,-1.2624535072636236],[0.2517443596188902,-1.1906264908301145]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_26","position":[-0.2603418057788132,-1.4341242490015078,0.71338606911949],"aabb_xy":[[-0.3243375031739098,-1.4981242473022165],[-0.19634610838371663,-1.3701242507007991]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_27","position":[0.4382044833259344,-0.5691912689263763,0.71338606911949],"aabb_xy":[[0.40070448303375966,-0.5732327443269798],[0.4757044836181093,-0.5651497935257725]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_28","position":[0.3435294167018772,1.1651515568705624,0.71338606911949],"aabb_xy":[[0.3309267175648008,1.1525561606456969],[0.3561321158389537,1.1777469530954279]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[-0.45725148495069323,-2.031915781002481,0.71338606911949],"aabb_xy":[[-0.5422514833681165,-2.116790076464766],[-0.37225148653327006,-1.947041485540196]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_30","position":[0.2167147947773973,-2.370140604213836,0.71338606911949],"aabb_xy":[[0.1792147949603637,-2.374778815524978],[0.2542147945944308,-2.365502392902694]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_31","position":[-0.4315630127141567,1.3027728528038538,0.71338606911949],"aabb_xy":[[-0.4553992303547618,1.2127728519953673],[-0.4077267950735517,1.3927728536123403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7017060087286632,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6884.png","name":"6884"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6884.png","name":"6884"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3705.png","name":"3705"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3792.png","name":"3792"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4228.png","name":"4228"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8579.png","name":"8579"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":662.5320234118194,"rotation_z_degrees":219.1891202030253,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00945968461207982,-0.011158975281773086,0.006124306446074951]},{"name":"camera_2","offset_m":[-0.0027316104090327926,-0.0036605142059521513,0.0072033833737793]},{"name":"camera_3","offset_m":[-0.01967781516004963,0.0025339265668318997,-0.007902402864646621]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013235333266046344,0.0006031913141473573,0.00031748389476943294],"end_effector_yaw_offset_degrees":0.8954400776749185},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002488885246723061,-0.0008006397015775059,-0.0006822601558569281],"end_effector_yaw_offset_degrees":0.5040551352229934},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016620119069707764,-0.0013972257893767278,0.0008551999598913869],"end_effector_yaw_offset_degrees":-0.5970423442366632}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004616271600118962,-0.004258322300627876],"position_m":[0.15701627160011897,0.21934167769937213,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001686686444512274,0.004653008494885292],"position_m":[0.24408668644451229,-0.30504699150511466,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038169316082012966,0.0018134220692426596],"position_m":[0.3283169316082013,-0.039786577930757336,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004264006412251892,9.05517507544043e-05],"position_m":[0.35526400641225186,0.3184905517507544,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4876074cfecccf1ae4b49191068da2b5d99e238ca1acf7fe5acfca25e1ebef27","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6884/tex_ceiling_textures_8579/tex_floor_textures_4228/tex_table_textures_3705/tex_wall_textures_3792","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5459563936402344797,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5459563936402344797,"visual_seed":5459563936402344797,"scene_id":"lab_003","finished_at":"2026-09-03T22:48:15"} +{"episode_id":"ep_000074","started_at":"2026-09-03T22:48:18","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[-0.23774738153191743,1.0750647228945378,0.71338606911949],"aabb_xy":[[-0.2877473811082522,1.025084143942432],[-0.18774738195558277,1.125045301846644]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[0.6427854341118362,-0.16726914089351475,0.71338606911949],"aabb_xy":[[0.6189492164712312,-0.25726914170200127],[0.6666216517524414,-0.07726914008502829]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[0.5247054064962247,-1.735580787896272,0.71338606911949],"aabb_xy":[[0.5197493863113436,-1.7580807880983937],[0.5296614266811059,-1.7130807876941505]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[-0.3743734076037776,0.49196742825057393,0.71338606911949],"aabb_xy":[[-0.4093734089552593,0.47160769229375304],[-0.33937340625229584,0.5123271642073947]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.5529884661438327,-0.8831342915484335,0.71338606911949],"aabb_xy":[[0.5297066239457012,-0.9681342928456614],[0.5762703083419639,-0.7981342902512053]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[-0.4668942232772205,-1.9098013442628252,0.71338606911949],"aabb_xy":[[-0.5568942218716906,-1.926051930576246],[-0.37689422468275063,-1.893550757949404]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.1304686040384364,-0.8545265632963333,0.71338606911949],"aabb_xy":[[0.06646860486866644,-0.9012932504152957],[0.19446860320820633,-0.8077598761773708]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.5344767110145423,0.9387504133604043,0.71338606911949],"aabb_xy":[[-0.5844767113751083,0.8887704261508013],[-0.4844767106539762,0.9887304005700072]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[0.41609249347668986,1.0022060301234275,0.71338606911949],"aabb_xy":[[0.3985924932316405,0.9847062422838607],[0.43359249372173925,1.0197058179629943]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.4285456227149348,0.17254933322515775,0.71338606911949],"aabb_xy":[[-0.45687533266347496,0.1680885910314407],[-0.4002159127663945,0.1770100754188748]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[-0.3526342060291131,0.4163605649672988,0.71338606911949],"aabb_xy":[[-0.35675015614118577,0.41224500993445323],[-0.34851825591704044,0.4204761200001442]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.5130116985804611,-2.0927067938973263,0.71338606911949],"aabb_xy":[[-0.5169721823501955,-2.100374658482847],[-0.5090512148107268,-2.0850389293118057]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.0556168874070232,-1.9121038506965085,0.71338606911949],"aabb_xy":[[-0.06496389498931843,-1.9264074729141527],[-0.046269879824727966,-1.8978002284788646]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.422417823974224,1.477227367363661,0.71338606911949],"aabb_xy":[[-0.4685029152289555,1.4132273701111058],[-0.3763327327194925,1.541227364616216]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_14","position":[-0.2522940913010795,-1.138518630564184,0.71338606911949],"aabb_xy":[[-0.30217678817877575,-1.1885186298104586],[-0.20241139442338335,-1.0885186313179092]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.7018276675172976,-2.189842062276048,0.71338606911949],"aabb_xy":[[0.6945839014710522,-2.2698420604796503],[0.7090714335635429,-2.1098420640724456]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.4582809621241415,-1.7563074469734818,0.71338606911949],"aabb_xy":[[0.45196886258780306,-1.7620743862267003],[0.4645930616604799,-1.7505405077202625]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.5997096699278719,0.78603850449201,0.71338606911949],"aabb_xy":[[0.509709670509501,0.7526630076478201],[0.6897096693462428,0.8194140013361996]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.5667611910175512,-1.357400836049548,0.71338606911949],"aabb_xy":[[0.5586335028242381,-1.3663144444602557],[0.5748888792108645,-1.3484872276388402]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[0.7016004311914648,1.7801464429977911,0.71338606911949],"aabb_xy":[[0.6845903339014141,1.7640119544995172],[0.7186105284815154,1.796280931496065]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[-0.26903601698558427,0.11635402861318234,0.71338606911949],"aabb_xy":[[-0.2743735926515889,0.09135402768404256],[-0.26369844131957976,0.14135402954232212]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[-0.29888196996287675,-1.7536282543964,0.71338606911949],"aabb_xy":[[-0.3353777905901555,-1.7901121968231573],[-0.262386149335598,-1.7171443119696421]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[0.5871099045388468,1.1837679731494082,0.71338606911949],"aabb_xy":[[0.5719377352572135,1.1685991162212048],[0.6022820738204802,1.1989368300776115]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[-0.17206812948074257,-0.7614600271924443,0.71338606911949],"aabb_xy":[[-0.22719333511033332,-0.8214600286337315],[-0.11694292385115178,-0.7014600257511572]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[-0.6245476628791548,-0.31417153545858323,0.71338606911949],"aabb_xy":[[-0.6601768187791144,-0.3498042022154362],[-0.5889185069791949,-0.2785388687017303]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[-0.6259207643129491,1.7612273051945544,0.71338606911949],"aabb_xy":[[-0.6333332198543375,1.7553760947729262],[-0.6185083087715606,1.7670785156161821]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_26","position":[-0.6812884650023163,-0.7903098267882167,0.71338606911949],"aabb_xy":[[-0.6926501996556024,-0.8016782931945047],[-0.66992673034903,-0.7789413603819285]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[-0.42155155830935837,-2.356857740550168,0.71338606911949],"aabb_xy":[[-0.45888283483460096,-2.3915107953450203],[-0.38422028178411566,-2.322204685755316]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[0.49662142922685915,1.5093011538774106,0.71338606911949],"aabb_xy":[[0.41662142596901613,1.4293046460854266],[0.5766214324847021,1.5892976616693946]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954626203138128,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8519.png","name":"8519"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8519.png","name":"8519"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5086.png","name":"5086"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8581.png","name":"8581"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5978.png","name":"5978"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8191.png","name":"8191"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":699.9671850913802,"rotation_z_degrees":309.8348172774465,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015607297967339631,0.01158807811268794,0.00934603463473195]},{"name":"camera_2","offset_m":[-0.016059994285396968,0.003598600894290479,0.003060388292560754]},{"name":"camera_3","offset_m":[-0.014816598041845323,0.001502474865262872,0.006600500976122237]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017081395181722278,0.0011852139530799423,-0.00012202766427887998],"end_effector_yaw_offset_degrees":-0.16872290014042246},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009689648361983086,-0.001843618100985084,-0.000714521526016549],"end_effector_yaw_offset_degrees":0.3600998709666188},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00032450308512813617,0.001667604379151868,-0.0010342180344126604],"end_effector_yaw_offset_degrees":-0.4373271901562694}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002921226054222218,0.004886260450640918],"position_m":[0.1494787739457778,0.2284862604506409,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004387644697571037,0.004047188425107365],"position_m":[0.23801235530242898,-0.3056528115748926,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0039902956584975694,8.760025489837689e-05],"position_m":[0.32050970434150244,-0.041512399745101625,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014547103179943866,-0.0024381716210097925],"position_m":[0.3495452896820056,0.31596182837899023,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7bc46f4f8518c724cb18e91558db988479ebe33bad5e5b39643119802ee59608","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8519/tex_ceiling_textures_8191/tex_floor_textures_5978/tex_table_textures_5086/tex_wall_textures_8581","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7510674733564344018,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7510674733564344018,"visual_seed":7510674733564344018,"scene_id":"lab_003","finished_at":"2026-09-03T22:51:16"} +{"episode_id":"ep_000075","started_at":"2026-09-03T22:51:18","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.6615325642733598,-0.8564276789699281,0.71338606911949],"aabb_xy":[[0.606532564651614,-0.911411371757401],[0.7165325638951057,-0.8014439861824555]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.19576636218686155,0.33944608553051836,0.71338606911949],"aabb_xy":[[-0.20060995694809156,0.33459443305153425],[-0.1909227674256316,0.3442977380095025]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.15310292902295197,-1.157001238732159,0.71338606911949],"aabb_xy":[[0.14133474222829445,-1.2420012386373807],[0.1648711158176095,-1.0720012388269375]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.033412166949092215,-0.6705569557930044,0.71338606911949],"aabb_xy":[[-0.001587833027403611,-0.680021571840621],[0.06841216692558805,-0.6610923397453877]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.5800281645290977,-2.4593722462706467,0.71338606911949],"aabb_xy":[[0.5575290288028707,-2.4818722470489094],[0.6025273002553246,-2.436872245492384]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[-0.567249426791426,-1.6719253393937243,0.71338606911949],"aabb_xy":[[-0.5823517282524439,-1.6870268610247854],[-0.5521471253304077,-1.656823817762662]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.6014534738411476,-0.5685989152515987,0.71338606911949],"aabb_xy":[[-0.6239534743531882,-0.5910907736169969],[-0.578953473329107,-0.5461070568862002]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[-0.3543530904475512,1.4035773186248157,0.71338606911949],"aabb_xy":[[-0.3826828003960914,1.3991165764310989],[-0.326023380499011,1.408038060818533]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[0.14519698837643658,-1.592834989392966,0.71338606911949],"aabb_xy":[[0.11405006953285346,-1.662834988079773],[0.1763439072200197,-1.5228349907061587]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[-0.13248907577679614,-1.9523766967695022,0.71338606911949],"aabb_xy":[[-0.14339485186435882,-2.032376693168332],[-0.1215832996892334,-1.8723767003706733]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[0.16764535793210655,1.4762567019062822,0.71338606911949],"aabb_xy":[[0.13724724683296294,1.4458497999046125],[0.1980434690312501,1.5066636039079515]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.415320748559993,1.459914522466811,0.71338606911949],"aabb_xy":[[0.4001485792783597,1.444745665538608],[0.43049291784162635,1.4750833793950147]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.1790628461937468,-2.4388966930821767,0.71338606911949],"aabb_xy":[[0.12924606672891206,-2.48889669156648],[0.22887962565858158,-2.3888966945978733]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.5348070958753471,-2.247364367606172,0.71338606911949],"aabb_xy":[[-0.5526762036298026,-2.261197275583383],[-0.5169379881208916,-2.233531459628961]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[0.021719232575634906,1.7493598239740318,0.71338606911949],"aabb_xy":[[-0.012743114822506901,1.7148659415762086],[0.056181579973776694,1.783853706371854]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[-0.03229718469284226,-1.5891056989961707,0.71338606911949],"aabb_xy":[[-0.0395795010695059,-1.6791057026056795],[-0.02501486831617859,-1.4991056953866615]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.4899522020348246,-2.4819774435971658,0.71338606911949],"aabb_xy":[[-0.5090645093928035,-2.501112222474408],[-0.4708398946768457,-2.4628426647199237]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[0.6628287402446456,-0.48096654025657903,0.71338606911949],"aabb_xy":[[0.6481853346906125,-0.4956252599133632],[0.6774721457986784,-0.46630782059979464]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.5080460857004399,1.138559797695386,0.71338606911949],"aabb_xy":[[0.453053835064929,1.0835597959520735],[0.5630383363359509,1.193559799438699]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.39181443708570446,-0.6506488336954421,0.71338606911949],"aabb_xy":[[-0.40196745263985373,-0.6867183752681822],[-0.38166142153155497,-0.6145792921227016]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.4715439302965141,-1.4208992472309578,0.71338606911949],"aabb_xy":[[-0.5355439295906823,-1.484885387599812],[-0.40754393100234587,-1.3569131068621036]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[0.3889042663068698,-0.6572017053301678,0.71338606911949],"aabb_xy":[[0.33488867002496975,-0.7212017082224249],[0.44291986258876975,-0.5932017024379106]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[-0.3553466656411433,-2.4116717619350267,0.71338606911949],"aabb_xy":[[-0.40534167660059545,-2.4616717609706185],[-0.30535165468169134,-2.361671762899435]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_23","position":[-0.3201006720305477,-1.3169073917132532,0.71338606911949],"aabb_xy":[[-0.32401454522597023,-1.32565640711981],[-0.3161867988351252,-1.3081583763066964]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[-0.11629718091673835,-2.2087716126221477,0.71338606911949],"aabb_xy":[[-0.18029718129427197,-2.25851687947296],[-0.05229718053920472,-2.1590263457713355]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[0.5460745413395929,-0.04893224871427204,0.71338606911949],"aabb_xy":[[0.5110745399881111,-0.06929198467109288],[0.5810745426910746,-0.02857251275745121]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.2238091693800638,0.642480869205647,0.71338606911949],"aabb_xy":[[-0.2572493445760834,0.6090372433747168],[-0.19036899418404418,0.6759244950365769]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_27","position":[-0.5593976289307849,-2.009370316273837,0.71338606911949],"aabb_xy":[[-0.5635135790428575,-2.013485871306682],[-0.5552816788187122,-2.005254761240991]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_28","position":[-0.6270720435909515,-0.24649622384353664,0.71338606911949],"aabb_xy":[[-0.6920720446968949,-0.271461596911665],[-0.5620720424850083,-0.2215308507754084]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960725318697948,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2715.png","name":"2715"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2715.png","name":"2715"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8213.png","name":"8213"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7843.png","name":"7843"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9139.png","name":"9139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5868.png","name":"5868"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":587.1867024054893,"rotation_z_degrees":80.51545047796778,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006422304376717064,-0.01728941044032733,0.000801627186408322]},{"name":"camera_2","offset_m":[-0.014217430643054274,-0.009312495165631231,-0.019221644140011082]},{"name":"camera_3","offset_m":[0.004127641218978663,-0.011026245675693472,0.012197217133561023]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015002512841442305,0.0008756136931883556,0.000956985146528345],"end_effector_yaw_offset_degrees":-0.8237828759854493},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00024193157119475504,0.001108795249096559,-0.0002143946463634334],"end_effector_yaw_offset_degrees":0.9702185372093339},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014426697269998802,0.001399876618484703,0.0006602403977321058],"end_effector_yaw_offset_degrees":-0.7471862977344588}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028084257965048653,-0.004978110023103078],"position_m":[0.15520842579650487,0.2186218899768969,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003879256268273225,-0.003077043092118084],"position_m":[0.24627925626827324,-0.31277704309211807,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001159450252428126,0.0011681717414833547],"position_m":[0.32334054974757187,-0.04043182825851664,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020365424693597847,3.55422747700309e-05],"position_m":[0.3489634575306402,0.31843554227477006,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6e732879c13b082a936d1e86ff570f10b974f28e753909c4493e6b0da3e55c6e","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2715/tex_ceiling_textures_5868/tex_floor_textures_9139/tex_table_textures_8213/tex_wall_textures_7843","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2285732190960078482,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2285732190960078482,"visual_seed":2285732190960078482,"scene_id":"lab_003","finished_at":"2026-09-03T22:54:17"} +{"episode_id":"ep_000076","started_at":"2026-09-03T22:54:20","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[0.5823454973881734,-2.2134587399663337,0.71338606911949],"aabb_xy":[[0.518345498801601,-2.260465703365842],[0.6463454959747459,-2.1664517765668245]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.43562245085507373,-1.5075281943627883,0.71338606911949],"aabb_xy":[[-0.4433256415291507,-1.5152375650615264],[-0.42791926018099663,-1.4998188236640502]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.22435176727429873,0.8824819601069795,0.71338606911949],"aabb_xy":[[0.21112082173961744,0.86925454108498],[0.23758271280898002,0.8957093791289789]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_3","position":[-0.5140600138724193,1.3214399191501776,0.71338606911949],"aabb_xy":[[-0.5266627130094959,1.3088445229253123],[-0.5014573147353429,1.3340353153750433]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.4541300154885699,0.9404183789232317,0.71338606911949],"aabb_xy":[[-0.5181257128836665,0.876418380622523],[-0.3901343180934733,1.0044183772239403]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[-0.28324087448833896,-0.7454545308922496,0.71338606911949],"aabb_xy":[[-0.32600758136775915,-0.8094545343140519],[-0.24047416760891877,-0.681454527470447]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.49267112216492914,-1.4014019163756786,0.71338606911949],"aabb_xy":[[-0.49611179840498637,-1.405263349350043],[-0.489230445924872,-1.397540483401314]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.5956320582429953,-1.8996956213907479,0.71338606911949],"aabb_xy":[[-0.650757263872586,-1.9596956228320348],[-0.5405068526134045,-1.8396956199494605]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[-0.14444030056379065,1.726063650139705,0.71338606911949],"aabb_xy":[[-0.15172261694045425,1.6360636465301956],[-0.13715798418712694,1.8160636537492136]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[-0.41280380752800805,1.1266277843456778,0.71338606911949],"aabb_xy":[[-0.44712008470262604,1.0766277843725003],[-0.37848753035339017,1.1766277843188557]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.38929501850802223,-1.2189446810876525,0.71338606911949],"aabb_xy":[[-0.4105730266514945,-1.2839446834137256],[-0.36801701036455,-1.1539446787615795]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.2893032210998951,-0.40974497309330715,0.71338606911949],"aabb_xy":[[-0.35330322301223743,-0.46565612235131765],[-0.22530321918755275,-0.35383382383529677]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.42014899397819305,-0.18696710394929417,0.71338606911949],"aabb_xy":[[-0.5101489907138033,-0.24015056726658865],[-0.33014899724258284,-0.13378364063199963]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[0.46797539958857626,-1.8324956822240606,0.71338606911949],"aabb_xy":[[0.4336784885708356,-1.8667925684340019],[0.5022723106063167,-1.7981987960141192]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.023317219869177896,-2.2007765879306933,0.71338606911949],"aabb_xy":[[-0.002971604451262762,-2.2270480215853445],[0.04960604418961856,-2.174505154276042]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[0.39871253588455646,0.5425385734856301,0.71338606911949],"aabb_xy":[[0.3858406323836163,0.46253857307179397],[0.4115844393854966,0.6225385738994662]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.34124537383351217,0.5542438788486055,0.71338606911949],"aabb_xy":[[-0.3782794832615719,0.519866671514896],[-0.30421126440545243,0.5886210861823148]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.06001132764786665,-2.003941659959738,0.71338606911949],"aabb_xy":[[-0.12401132999066822,-2.04888251120387],[0.003988674694934898,-1.9590008087156054]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[0.1603756947629683,-2.1937934871540823,0.71338606911949],"aabb_xy":[[0.15625974465089565,-2.197909042186928],[0.16449164487504098,-2.1896779321212367]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[0.6270058591648793,-1.5398856834007044,0.71338606911949],"aabb_xy":[[0.5720058595431334,-1.5948693761881776],[0.6820058587866251,-1.4849019906132321]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.1601844719960026,1.0266624611881925,0.71338606911949],"aabb_xy":[[0.14317437470595196,1.0105279726899183],[0.17719456928605326,1.0427969496864662]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6993498031780052,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7083.png","name":"7083"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7083.png","name":"7083"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3782.png","name":"3782"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3505.png","name":"3505"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7707.png","name":"7707"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9441.png","name":"9441"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":715.6786788824868,"rotation_z_degrees":208.63053612231994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014224261376931256,0.004588450072973163,-0.0011855621850211107]},{"name":"camera_2","offset_m":[0.01422757186179006,-0.00720570020062509,-0.016771030345875258]},{"name":"camera_3","offset_m":[0.006730310944205824,0.006679712804081164,-0.013548707024084963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015265562468603812,-0.0015326043415117838,-0.0003215459103037661],"end_effector_yaw_offset_degrees":0.2926613019225943},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00030511842105446175,-0.0012131879258321342,-0.0006321875958491109],"end_effector_yaw_offset_degrees":-0.7230182742438729},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008052760171751317,-0.0002731162770111845,0.0015483398113932752],"end_effector_yaw_offset_degrees":-0.9311547169625123}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002063988524120211,0.0012563584718421226],"position_m":[0.15446398852412022,0.22485635847184213,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003582508637897077,-0.00036042673217765407],"position_m":[0.23881749136210292,-0.31006042673217765,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004319926471718424,-0.0026906216708624466],"position_m":[0.3201800735282816,-0.044290621670862444,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00037569593952430525,0.0025086760552144073],"position_m":[0.3513756959395243,0.32090867605521445,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d1db5068355ee670bd9e444de887bb8da1687e685076be8398895740e28ba8d1","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7083/tex_ceiling_textures_9441/tex_floor_textures_7707/tex_table_textures_3782/tex_wall_textures_3505","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8302935460097592887,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8302935460097592887,"visual_seed":8302935460097592887,"scene_id":"lab_003","finished_at":"2026-09-03T22:57:34"} +{"episode_id":"ep_000077","started_at":"2026-09-03T22:57:37","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[0.576044116039004,-1.227230280622839,0.71338606911949],"aabb_xy":[[0.5265636948250451,-1.2912302785356908],[0.6255245372529626,-1.1632302827099872]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.11934274783184262,-1.2239139601480826,0.71338606911949],"aabb_xy":[[-0.136842748076892,-1.2414137479876493],[-0.10184274758679324,-1.2064141723085156]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[-0.5093961144800911,1.0826396821759805,0.71338606911949],"aabb_xy":[[-0.5181100835300254,1.0601396815167918],[-0.5006821454301564,1.1051396828351683]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[-0.14633176092373246,-0.7565511881055311,0.71338606911949],"aabb_xy":[[-0.2263317619968528,-0.7663292344429155],[-0.06633175985061213,-0.7467731417681466]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.08061380133964413,-1.499391508214212,0.71338606911949],"aabb_xy":[[0.04311380084228589,-1.5033601917623303],[0.11811380183700237,-1.4954228246660937]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.2813954189378121,-0.2354706985565227,0.71338606911949],"aabb_xy":[[-0.291151408446986,-0.2452332326157571],[-0.2716394294286382,-0.22570816449728823]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.21048408572096033,1.0622288801449637,0.71338606911949],"aabb_xy":[[-0.2454840856169792,1.0538546446330237],[-0.17548408582494146,1.0706031156569038]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[-0.37108345290295797,1.6097603334068071,0.71338606911949],"aabb_xy":[[-0.38285163969761565,1.524760333501586],[-0.35931526610830056,1.6947603333120291]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.5740423272382559,0.012414029702049412,0.71338606911949],"aabb_xy":[[-0.6637294035463713,-0.07758597055240113],[-0.4843552509301404,0.10241402995649995]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.07461184252561692,0.7360666482778218,0.71338606911949],"aabb_xy":[[-0.08019351415974567,0.7235666484600461],[-0.06903017089148815,0.7485666480955971]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[0.034603472982090766,-2.5345614880764744,0.71338606911949],"aabb_xy":[[-0.030396528123852518,-2.559526861144603],[0.09960347408803405,-2.5095961150083466]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[0.09366550661785766,1.7156957177665206,0.71338606911949],"aabb_xy":[[0.043665505598722405,1.6792295020286927],[0.14366550763699296,1.7521619335043486]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[-0.6308290511535694,-0.2006796145015861,0.71338606911949],"aabb_xy":[[-0.6558290507053078,-0.2108220983667208],[-0.6058290516018309,-0.19053713063645136]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[-0.518274927767264,-2.2087732235329356,0.71338606911949],"aabb_xy":[[-0.5822749310569721,-2.2521081425368528],[-0.45427492447755596,-2.1654383045290175]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.6512446205370992,-2.503366003418853,0.71338606911949],"aabb_xy":[[0.6337446871031158,-2.520866003339087],[0.6687445539710826,-2.485866003498618]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.48541581816429447,-2.445524726374842,0.71338606911949],"aabb_xy":[[0.47932119027617615,-2.4540941209265106],[0.4915104460524128,-2.436955331823173]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.09249099652304227,-1.056365915871397,0.71338606911949],"aabb_xy":[[-0.09782857218904684,-1.0813659168005367],[-0.0871534208570377,-1.0313659149422572]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[0.3919352231384823,0.8971569019023171,0.71338606911949],"aabb_xy":[[0.3544352219536895,0.8927386792062565],[0.4294352243232751,0.9015751245983775]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.24035759416501495,-0.3974108670283538,0.71338606911949],"aabb_xy":[[-0.26487121826202087,-0.4216754603303903],[-0.21584397006800912,-0.37314627372631737]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[0.6930189589987448,1.2616598537604244,0.71338606911949],"aabb_xy":[[0.6837253407615943,1.2241598552722903],[0.7023125772358955,1.2991598522485581]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.09314900593599362,-2.0118592647706643,0.71338606911949],"aabb_xy":[[-0.17687123143607608,-2.10185926830536],[-0.00942678043591115,-1.921859261235968]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[-0.24369395714037606,-1.741363097656414,0.71338606911949],"aabb_xy":[[-0.2538469726945254,-1.7774326392291537],[-0.2335409415862266,-1.705293556083673]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.3634748867714088,-0.8920031655424536,0.71338606911949],"aabb_xy":[[0.30848263613589794,-0.9470031672857666],[0.4184671374069199,-0.8370031637991411]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[-0.24556755360530547,1.2748265813083437,0.71338606911949],"aabb_xy":[[-0.3095675543087748,1.2288081988354227],[-0.18156755290183613,1.3208449637812647]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[0.26101630814677246,1.418464063422468,0.71338606911949],"aabb_xy":[[0.22601630895395414,1.4074970174248052],[0.29601630733959067,1.4294311094201302]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6978799221734064,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6205.png","name":"6205"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/925.png","name":"925"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4839.png","name":"4839"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3944.png","name":"3944"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":748.0038561540133,"rotation_z_degrees":1.5265504818251685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014637894310178218,-0.013977774898743914,0.012767523037276133]},{"name":"camera_2","offset_m":[0.011949405552589592,-0.001559728053791301,-0.013232659870980035]},{"name":"camera_3","offset_m":[8.476573304448676e-05,0.006539997977876126,-0.01873487443506613]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018819118458069722,0.0013808682363828924,3.070779295565908e-05],"end_effector_yaw_offset_degrees":0.9292294118642714},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013592953923603438,0.0005013705478461509,-0.0010802292346004739],"end_effector_yaw_offset_degrees":0.7971827531684035},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008249526329358425,-0.0018429801906649087,0.0008219071415295153],"end_effector_yaw_offset_degrees":0.16318435833339362}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000774550729264036,-0.0023310453573949542],"position_m":[0.15317455072926403,0.22126895464260504,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005387242185640106,0.002601169466825354],"position_m":[0.24293872421856402,-0.3070988305331746,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006886295299407194,-0.0019830024882831854],"position_m":[0.3238113704700593,-0.04358300248828318,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021982286526643735,0.0042774554754546],"position_m":[0.3488017713473356,0.3226774554754546,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"03007aaa238aea38ae97490b6df3616b4159391f1529d2bf73f2a61794065522","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0077.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1635/tex_ceiling_textures_3944/tex_floor_textures_4839/tex_table_textures_6205/tex_wall_textures_925","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5898225710375924498,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5898225710375924498,"visual_seed":5898225710375924498,"scene_id":"lab_003","finished_at":"2026-09-03T23:00:49"} +{"episode_id":"ep_000078","started_at":"2026-09-03T23:00:52","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.06082139113613527,-2.519741589176706,0.71338606911949],"aabb_xy":[[-0.07832139027050242,-2.5296212162142933],[-0.043321392001768086,-2.5098619621391176]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.4673605532114642,-0.31102904357236083,0.71338606911949],"aabb_xy":[[0.44486055296794885,-0.3232336782321328],[0.48986055345497964,-0.2988244089125889]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[0.15569437934632369,-0.7881521273516328,0.71338606911949],"aabb_xy":[[0.1517338955765893,-0.7958199919371534],[0.15965486311605806,-0.7804842627661122]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.31852499789879074,-2.2408270142268627,0.71338606911949],"aabb_xy":[[0.2986339580184505,-2.2534828255115595],[0.338416037779131,-2.228171202942166]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.24070781274778918,-2.0276773833348716,0.71338606911949],"aabb_xy":[[0.1855826071181984,-2.0876773847761583],[0.29583301837737996,-1.9676773818935842]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[0.5269013116446015,-1.2114876194710884,0.71338606911949],"aabb_xy":[[0.4419013132271783,-1.2963619149333734],[0.6119013100620248,-1.1266133240088034]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[0.603267145976935,0.2270934205019608,0.71338606911949],"aabb_xy":[[0.5782671464251965,0.21695093663682605],[0.6282671455286735,0.2372359043670955]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[0.5560271945045083,-2.476447298846102,0.71338606911949],"aabb_xy":[[0.5150092511181374,-2.5264472994770593],[0.5970451378908792,-2.4264472982151446]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[-0.09370890766634288,-1.4309117299751106,0.71338606911949],"aabb_xy":[[-0.14370890631226407,-1.480831273634573],[-0.04370890902042168,-1.3809921863156482]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[0.6285757835462042,-0.1569573013644443,0.71338606911949],"aabb_xy":[[0.6205822937509223,-0.16495543330491996],[0.6365692733414864,-0.14895916942396864]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[0.2758924950848264,-0.4910979470796084,0.71338606911949],"aabb_xy":[[0.2714618657299862,-0.4965463188142911],[0.28032312443966656,-0.4856495753449259]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.34587695097934057,-0.6197274495676119,0.71338606911949],"aabb_xy":[[-0.36593536259258086,-0.6397925364767694],[-0.3258185393661003,-0.5996623626584543]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[-0.36591147176957955,1.2948881840152096,0.71338606911949],"aabb_xy":[[-0.39091147093521267,1.2879359383098532],[-0.34091147260394644,1.3018404297205664]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[-0.3398172475899869,-1.6578231770095235,0.71338606911949],"aabb_xy":[[-0.3573171810239702,-1.675323176929758],[-0.32231731415600345,-1.640323177089289]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.27866687111246546,1.4633758895748143,0.71338606911949],"aabb_xy":[[0.194944645612383,1.3733758860401184],[0.3623890966125479,1.5533758931095103]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[-0.6592759360437179,0.8687049203811634,0.71338606911949],"aabb_xy":[[-0.6761866684800595,0.8552327147885488],[-0.6423652036073759,0.8821771259737778]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.07154247565003768,-0.10287730897212999,0.71338606911949],"aabb_xy":[[-0.09654247492199995,-0.11922267256829235],[-0.0465424763780754,-0.08653194537596766]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.48618556589426937,-1.3845991117511869,0.71338606911949],"aabb_xy":[[-0.5411855655160152,-1.43958280453866],[-0.4311855662725235,-1.3296154189637146]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.38660789757480907,-2.0370912072012857,0.71338606911949],"aabb_xy":[[0.3748397107801516,-2.1220912071065077],[0.3983760843694667,-1.9520912072960646]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.21095405535266137,1.5090246486519994,0.71338606911949],"aabb_xy":[[-0.2909478789312196,1.4290246460591578],[-0.13096023177410315,1.589024651244841]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.0503094061706405,0.9629410205572841,0.71338606911949],"aabb_xy":[[0.03906435060002267,0.9516992228331889],[0.06155446174125834,0.9741828182813794]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.5318529100677059,-1.8865019623013688,0.71338606911949],"aabb_xy":[[0.5186219645330244,-1.899729381323368],[0.545083855602387,-1.8732745432793692]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.5327228708705883,1.1411039214731287,0.71338606911949],"aabb_xy":[[-0.5967228694571607,1.0940969580736197],[-0.46872287228401577,1.1881108848726372]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[0.47542659817641675,0.6862113524064788,0.71338606911949],"aabb_xy":[[0.42594617696245796,0.622211354493627],[0.5249070193903755,0.7502113503193306]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.5508970427377147,-0.5136999559411577,0.71338606911949],"aabb_xy":[[0.5133970424455399,-0.5177414313417613],[0.5883970430298895,-0.5096584805405541]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[0.14536179498661705,1.6094177858738221,0.71338606911949],"aabb_xy":[[0.13733552435599108,1.6006662908964695],[0.15338806561724308,1.6181692808511747]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_26","position":[-0.5380335228859128,-1.9108340779291955,0.71338606911949],"aabb_xy":[[-0.5980335233937656,-1.967680811615117],[-0.4780335223780598,-1.8539873442432744]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_27","position":[-0.26879367609422594,0.5735308032109434,0.71338606911949],"aabb_xy":[[-0.3587936728298361,0.5203473398936489],[-0.17879367935861568,0.6267142665282379]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_28","position":[-0.5844981454617262,1.4308750438104778,0.71338606911949],"aabb_xy":[[-0.6209939660890048,1.3943911013837202],[-0.5480023248344473,1.4673589862372354]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[-0.3579803619046255,-0.15628681026567515,0.71338606911949],"aabb_xy":[[-0.36875333582599334,-0.19128680848471413],[-0.3472073879832578,-0.12128681204663616]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_30","position":[-0.12841287549028302,-1.0893877683063358,0.71338606911949],"aabb_xy":[[-0.1634128753863019,-1.0977620038182758],[-0.09341287559426416,-1.0810135327943957]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_31","position":[-0.10606791420537542,-1.9615697949244342,0.71338606911949],"aabb_xy":[[-0.11419560239868864,-1.9704834033351422],[-0.0979402260120622,-1.9526561865137266]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_32","position":[-0.38947678171894173,-0.4864376808352917,0.71338606911949],"aabb_xy":[[-0.4070550839078886,-0.5040121704093966],[-0.3718984795299949,-0.4688631912611868]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_33","position":[0.6561101612172398,0.7438563289350175,0.71338606911949],"aabb_xy":[[0.6336110254910127,0.7213563281567544],[0.6786092969434666,0.7663563297132804]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941332297260432,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8778.png","name":"8778"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8778.png","name":"8778"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2635.png","name":"2635"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3681.png","name":"3681"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8605.png","name":"8605"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1116.png","name":"1116"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":684.3291690375517,"rotation_z_degrees":156.22276099581882,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005282554402008236,0.00518841558402508,0.019484241051582935]},{"name":"camera_2","offset_m":[-0.009743005759664771,0.018728812557362483,0.005018466569849996]},{"name":"camera_3","offset_m":[-0.017056494316922816,0.011644638681042267,0.010808283179768147]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011273965229018357,0.0017165953197624882,0.0014139029711232511],"end_effector_yaw_offset_degrees":-0.7806200686142075},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00017017370597982584,4.921590918434155e-06,0.0013146134467485072],"end_effector_yaw_offset_degrees":0.476928457338776},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019171713134780882,0.0010843052129169304,-0.0006370400364662915],"end_effector_yaw_offset_degrees":-0.9999934852635368}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033855190055642036,-0.00013634696589814865],"position_m":[0.14901448099443582,0.22346365303410184,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010394499307992255,-0.003484796151395772],"position_m":[0.24343944993079922,-0.3131847961513958,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016935278108436203,-0.0024503131742614017],"position_m":[0.32280647218915637,-0.0440503131742614,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041797270556156695,-3.907548319349776e-05],"position_m":[0.34682027294438433,0.31836092451680653,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c3e0963d499abf2da57d163dbcaaec1ecf5b1b912947070bce6c7dc1afc87204","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8778/tex_ceiling_textures_1116/tex_floor_textures_8605/tex_table_textures_2635/tex_wall_textures_3681","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7181229708227368780,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7181229708227368780,"visual_seed":7181229708227368780,"scene_id":"lab_003","finished_at":"2026-09-03T23:04:11"} +{"episode_id":"ep_000079","started_at":"2026-09-03T23:04:17","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.40196510825536025,-1.9806655773570876,0.71338606911949],"aabb_xy":[[-0.4066002234075936,-1.9845329124342361],[-0.3973299931031269,-1.9767982422799386]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[-0.410721258122194,-2.5626610645775596,0.71338606911949],"aabb_xy":[[-0.4332212576459013,-2.5851570120281795],[-0.3882212585984865,-2.540165117126938]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.3445448601893515,-0.9874142962462205,0.71338606911949],"aabb_xy":[[-0.3644359000696918,-1.0000701075309175],[-0.3246538203090113,-0.9747584849615238]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.4531128887517213,-2.184012682962647,0.71338606911949],"aabb_xy":[[0.44376588116942606,-2.1983163051802905],[0.4624598963340165,-2.1697090607450025]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.45112782650590927,-2.171953637389738,0.71338606911949],"aabb_xy":[[-0.48862782769070195,-2.176371860085798],[-0.41362782532111636,-2.167535414693677]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[-0.37801267110311754,0.2222036529893101,0.71338606911949],"aabb_xy":[[-0.42077937798253773,0.15820364956750763],[-0.33524596422369735,0.28620365641111256]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[0.5079729113776918,-0.9395653190674391,0.71338606911949],"aabb_xy":[[0.4379729095689464,-0.9609190878316265],[0.5779729131864373,-0.9182115503032517]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.34680467408235993,-0.6414460917319496,0.71338606911949],"aabb_xy":[[-0.3693038098085869,-0.6639460925102124],[-0.32430553835613296,-0.6189460909536865]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[-0.11201970753309876,-1.6963816920883033,0.71338606911949],"aabb_xy":[[-0.20201970426870897,-1.7495651554055978],[-0.02201971079748853,-1.6431982287710087]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.47695481830892617,-1.9460104337755815,0.71338606911949],"aabb_xy":[[-0.4912892434350896,-1.95807064933012],[-0.4626203931827627,-1.9339502182210424]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[-0.290479470850554,-0.7180589296641939,0.71338606911949],"aabb_xy":[[-0.30104695050865293,-0.7286039597772025],[-0.2799119911924549,-0.7075138995511854]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[-0.38433615671468674,0.7690830059671181,0.71338606911949],"aabb_xy":[[-0.4193361566911826,0.7596183899195015],[-0.34933615673819096,0.7785476220147347]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.29584682639604915,-0.4978185435080982,0.71338606911949],"aabb_xy":[[-0.30288827734679674,-0.5048452952458927],[-0.28880537544530155,-0.49079179177030363]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[0.5613321684413406,1.4108401311947016,0.71338606911949],"aabb_xy":[[0.5478856418072973,1.3973702795416103],[0.5747786950753839,1.424309982847793]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[-0.5873770997868063,-0.8031470051734475,0.71338606911949],"aabb_xy":[[-0.5927096144414192,-0.8084713334186829],[-0.5820445851321934,-0.7978226769282118]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[0.486385241979693,-1.078226339232312,0.71338606911949],"aabb_xy":[[0.4783912534019896,-1.086226419327402],[0.4943792305573964,-1.0702262591372214]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.5649417112305051,-1.2101994672265455,0.71338606911949],"aabb_xy":[[-0.6149147767630206,-1.2601994670390784],[-0.5149686456979897,-1.1601994674140126]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.08098344836756899,1.4059173805147154,0.71338606911949],"aabb_xy":[[-0.09918927202881667,1.3948919799327237],[-0.06277762470632131,1.416942781096707]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[0.3402352294504334,0.5657149439432185,0.71338606911949],"aabb_xy":[[0.32265692726148654,0.5481404543691136],[0.35781353163938023,0.5832894335173234]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.5123785339051626,1.2173773326171036,0.71338606911949],"aabb_xy":[[-0.5373785334569011,1.2072348487519686],[-0.48737853435342415,1.227519816482238]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.6525667711794209,-0.7777478933693327,0.71338606911949],"aabb_xy":[[-0.6604900514181692,-0.8002478936073361],[-0.6446434909406725,-0.7552478931313293]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.624089332936695,-1.8350194820118215,0.71338606911949],"aabb_xy":[[-0.6575295081327145,-1.8684631078427514],[-0.5906491577406753,-1.8015758561808912]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[0.23847538655789158,-0.698922345803118,0.71338606911949],"aabb_xy":[[0.20097538504225987,-0.710149118819263],[0.2759753880735233,-0.6876955727869729]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[0.5911647038890506,1.1259647275371494,0.71338606911949],"aabb_xy":[[0.511164701726288,1.0460095439110058],[0.671164706051813,1.205919911163293]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_24","position":[0.5728435434840893,-1.4742076641379498,0.71338606911949],"aabb_xy":[[0.5465547191636485,-1.500479097792601],[0.5991323678045298,-1.4479362304832986]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_25","position":[-0.0329718836856282,-0.981877332804838,0.71338606911949],"aabb_xy":[[-0.09456264290962102,-1.045877330913885],[0.028618875538364612,-0.9178773346957911]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_26","position":[-0.5199925677125513,-0.6794259199838484,0.71338606911949],"aabb_xy":[[-0.5839925680900849,-0.7291711868346606],[-0.4559925673350177,-0.6296806531330361]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[-0.15659184149480132,-0.6921303416967999,0.71338606911949],"aabb_xy":[[-0.2365918388983947,-0.7721229128949827],[-0.07659184409120785,-0.6121377704986171]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[0.34895329691846166,-1.5048128441266961,0.71338606911949],"aabb_xy":[[0.2589532983239917,-1.5210634304401172],[0.4389532955129316,-1.4885622578132751]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_29","position":[0.543945096431109,0.7141843748735996,0.71338606911949],"aabb_xy":[[0.5069109870030493,0.6798071675398901],[0.5809792058591687,0.748561582207309]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7003929978130492,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9337.png","name":"9337"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9337.png","name":"9337"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7004.png","name":"7004"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8512.png","name":"8512"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7008.png","name":"7008"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3373.png","name":"3373"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":582.8882430098329,"rotation_z_degrees":319.55006560288786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018078049411564056,-0.00030057767823410755,-0.007685254298788951]},{"name":"camera_2","offset_m":[0.008601589199583107,-0.005619735332977185,-0.0036899896097593483]},{"name":"camera_3","offset_m":[0.017921109701239255,-0.009848815063562829,0.006910378473581877]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001946415572347428,-0.0007148523504494526,0.001116255721689322],"end_effector_yaw_offset_degrees":0.580326414025532},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013354482937040493,-0.0014938947740510224,-0.0011266626098872781],"end_effector_yaw_offset_degrees":-0.8028866440911555},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001006283580150484,6.722761285593657e-05,0.0013138246331292213],"end_effector_yaw_offset_degrees":-0.5802499333190034}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011731581296953288,-0.0012550749393883598],"position_m":[0.1512268418703047,0.22234492506061163,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003656136857147823,4.690087796195303e-05],"position_m":[0.24605613685714783,-0.30965309912203803,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002393425635438381,-0.004919598501225482],"position_m":[0.3268934256354384,-0.04651959850122548,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038263503543590144,-0.0019472074999453757],"position_m":[0.354826350354359,0.31645279250005465,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"43b326ed5ecfc41db7a1b3c4fffcba98bf848a27e12503d7f2879af26d1e9caa","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9337/tex_ceiling_textures_3373/tex_floor_textures_7008/tex_table_textures_7004/tex_wall_textures_8512","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1441786947386538123,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1441786947386538123,"visual_seed":1441786947386538123,"scene_id":"lab_003","finished_at":"2026-09-03T23:07:34"} +{"episode_id":"ep_000080","started_at":"2026-09-03T23:07:39","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.14088848059168135,-0.25443806103456046,0.71338606911949],"aabb_xy":[[-0.16380419347673128,-0.277342358170984],[-0.11797276770663148,-0.231533763898137]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.5306488703980423,-0.6756286600902752,0.71338606911949],"aabb_xy":[[0.5154859974211053,-0.690794117385394],[0.5458117433749795,-0.6604632027951565]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.6367294788855139,-1.0583923148057393,0.71338606911949],"aabb_xy":[[-0.6580074870289861,-1.123392317131812],[-0.6154514707420417,-0.993392312479666]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.4276576121877962,0.47510540129970913,0.71338606911949],"aabb_xy":[[-0.4390193468410823,0.46373693489342105],[-0.41629587753451,0.4864738677059972]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.43013513256125746,-1.3964140804764278,0.71338606911949],"aabb_xy":[[0.3725046636739866,-1.4564140794031382],[0.48776560144852826,-1.336414081549717]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.26268531620013547,0.5743923001029776,0.71338606911949],"aabb_xy":[[-0.3426853166703514,0.5660815924886292],[-0.1826853157299195,0.582703007717326]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[0.04107631230918174,-2.5309124058786234,0.71338606911949],"aabb_xy":[[0.0060763124131628715,-2.539286641390564],[0.07607631220520061,-2.522538170366684]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.3844077787445909,-0.576025812164958,0.71338606911949],"aabb_xy":[[-0.4194077787210868,-0.5854904282125747],[-0.34940777876809515,-0.5665611961173415]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[0.3977792297932048,0.38243292987768784,0.71338606911949],"aabb_xy":[[0.36027922860841194,0.3780147071816273],[0.43527923097799753,0.3868511525737483]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.5944055492153646,0.36678020129377487,0.71338606911949],"aabb_xy":[[0.5788497798050993,0.35122976804936773],[0.6099613186256299,0.38233063453818217]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.3349115391260991,-0.859436767705789,0.71338606911949],"aabb_xy":[[-0.34667972592075663,-0.9444367676110108],[-0.3231433523314416,-0.7744367678005677]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[-0.4662615511602583,-2.1361198558858208,0.71338606911949],"aabb_xy":[[-0.4766731098407419,-2.141465589221719],[-0.4558499924797745,-2.1307741225499224]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.6390414859821449,-0.8243892490372171,0.71338606911949],"aabb_xy":[[0.5962747791027246,-0.8883892524590196],[0.681808192861565,-0.7603892456154147]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[0.6075804464996994,-1.7362450869833062,0.71338606911949],"aabb_xy":[[0.5886960627311894,-1.7551310117636587],[0.6264648302682098,-1.7173591622029531]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.11937836622672049,-2.2290200221724032,0.71338606911949],"aabb_xy":[[0.07157219861295183,-2.294020024879462],[0.16718453384048915,-2.1640200194653443]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.5291435647382607,-1.5340346885463008,0.71338606911949],"aabb_xy":[[-0.5791209816035142,-1.584034690035549],[-0.4791661478730071,-1.484034687057052]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.5887639778583227,1.2598847604780699,0.71338606911949],"aabb_xy":[[0.5838646855517592,1.232207841175501],[0.5936632701648862,1.2875616797806386]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.5164388281431294,-0.05732860510144944,0.71338606911949],"aabb_xy":[[0.4664655341398688,-0.10732860565599678],[0.5664121221463897,-0.007328604546902089]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[-0.04866212012376858,-1.6620885015532996,0.71338606911949],"aabb_xy":[[-0.11266212217350058,-1.7021829846426075],[0.015337881925963408,-1.6219940184639916]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[-0.13165733988959516,1.300094732380992,0.71338606911949],"aabb_xy":[[-0.14249781811611006,1.2829084510903432],[-0.12081686166308025,1.3172810136716406]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.4778425166625837,1.4792405102841832,0.71338606911949],"aabb_xy":[[-0.5228425181288126,1.4342406534227028],[-0.4328425151963549,1.5242403671456644]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.5841845202138164,-2.255931333314871,0.71338606911949],"aabb_xy":[[-0.6441845218567384,-2.307931482606816],[-0.5241845185708947,-2.2039311840229274]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.6311391100379911,-0.36629443252837524,0.71338606911949],"aabb_xy":[[0.567139113642418,-0.4302577209471088],[0.6951391064335641,-0.3023311441096417]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[0.19860424197383286,-0.6806172989014838,0.71338606911949],"aabb_xy":[[0.18105754705771393,-0.7181173004657351],[0.2161509368899518,-0.6431172973372326]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[-0.2902407300961057,-1.5870982921901915,0.71338606911949],"aabb_xy":[[-0.35424073035657644,-1.6321070915431195],[-0.22624072983563484,-1.5420894928372635]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[-0.34234572558567283,-2.2840848433245786,0.71338606911949],"aabb_xy":[[-0.39232867577315206,-2.3340848429671386],[-0.2923627753981934,-2.2340848436820178]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6977881704170334,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6665.png","name":"6665"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6665.png","name":"6665"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7532.png","name":"7532"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9591.png","name":"9591"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4744.png","name":"4744"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5692.png","name":"5692"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":654.145551963888,"rotation_z_degrees":92.7405528470545,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008545978558373125,-0.013784301661231058,0.007501133726864451]},{"name":"camera_2","offset_m":[-0.01721095822519065,0.00494109957652274,0.010426158311242155]},{"name":"camera_3","offset_m":[0.007184602926046838,-0.012543740599580754,0.01021275230810451]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016566669607645755,-0.0008255361655784106,-0.001906761228463605],"end_effector_yaw_offset_degrees":-0.12879375462647769},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016715692438546066,-0.0011850729723670342,0.0015895686856831617],"end_effector_yaw_offset_degrees":-0.12702523993139203},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001998304502526501,-0.0005315685554151996,-0.0010323412709315103],"end_effector_yaw_offset_degrees":0.7794891049523835}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026666621377335175,-0.0005894859732916233],"position_m":[0.1550666621377335,0.22301051402670838,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003378205332057612,-0.004640592240537477],"position_m":[0.2457782053320576,-0.31434059224053745,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021023130947249932,-0.0006821947244223482],"position_m":[0.326602313094725,-0.042282194724422344,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007494238845908267,-0.0016414621011220844],"position_m":[0.3517494238845908,0.3167585378988779,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b3529c021945f134ad1f2098b54c614b7fc9d7a581d38392425b6183609e7a45","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6665/tex_ceiling_textures_5692/tex_floor_textures_4744/tex_table_textures_7532/tex_wall_textures_9591","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3121670278198867833,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3121670278198867833,"visual_seed":3121670278198867833,"scene_id":"lab_003","finished_at":"2026-09-03T23:11:09"} +{"episode_id":"ep_000081","started_at":"2026-09-03T23:11:13","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.20463803871694974,-2.5177842070921255,0.71338606911949],"aabb_xy":[[-0.24143267184185602,-2.5546900821887077],[-0.16784340559204347,-2.480878331995543]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.28904929875110075,-1.5552092735547909,0.71338606911949],"aabb_xy":[[0.2437706838699515,-1.6192092729029743],[0.33432791363225,-1.491209274206607]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[-0.5759759924123876,-0.3110829459132982,0.71338606911949],"aabb_xy":[[-0.6059676551462578,-0.34108294525009875],[-0.5459843296785172,-0.2810829465764977]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[0.1688124841226063,-0.7003981323034796,0.71338606911949],"aabb_xy":[[0.11883941859009087,-0.7503981321160127],[0.2187855496551218,-0.6503981324909468]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[0.22130618528072177,-1.2372737676453647,0.71338606911949],"aabb_xy":[[0.20380618600263484,-1.2546118677117106],[0.2388061845588086,-1.2199356675790187]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.6396767219230639,-1.6536780097742871,0.71338606911949],"aabb_xy":[[-0.6512457026700006,-1.678678009891219],[-0.6281077411761274,-1.6286780096573557]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.027449168722696538,-1.869118132541645,0.71338606911949],"aabb_xy":[[-0.09144916899667477,-1.9191842327389328],[0.03655083155128169,-1.8190520323443569]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[0.024091093421529597,1.0753028840699685,0.71338606911949],"aabb_xy":[[-0.021993997833201877,1.0113028868174132],[0.07017618467626106,1.1393028813225234]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_8","position":[0.5959060334255561,-0.6260785708028342,0.71338606911949],"aabb_xy":[[0.5864885588556933,-0.6354947479405533],[0.6053235079954188,-0.6166623936651152]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[0.4848672258029427,0.8221397709212317,0.71338606911949],"aabb_xy":[[0.47396144971538007,0.7421397745224024],[0.4957730018905055,0.9021397673200607]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[0.012756367840492278,-1.6021219074943998,0.71338606911949],"aabb_xy":[[0.004058405549776988,-1.6142468818018747],[0.021454330131207566,-1.5899969331869253]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.4841434470976762,-1.1543906899828453,0.71338606911949],"aabb_xy":[[0.4716760889879406,-1.1668560146161688],[0.4966108052074119,-1.1419253653495218]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.5778585225650099,0.26401521014426343,0.71338606911949],"aabb_xy":[[0.4878585228418357,0.24094185760908357],[0.667858522288184,0.2870885626794432]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.21954335398010183,-1.751133865419399,0.71338606911949],"aabb_xy":[[0.2052089288539384,-1.763194080973938],[0.2338777791062653,-1.7390736498648602]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[-0.33568824942599396,-0.2780176845650648,0.71338606911949],"aabb_xy":[[-0.36683516826957707,-0.348017683251872],[-0.30454133058241084,-0.20801768587825764]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.6101678757299185,1.7423981814943805,0.71338606911949],"aabb_xy":[[-0.635167875281657,1.7322556976292456],[-0.58516787617818,1.752540665359515]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[-0.6512983961847747,-0.45806392820812647,0.71338606911949],"aabb_xy":[[-0.6589226642749529,-0.46569715174467025],[-0.6436741280945965,-0.4504307046715828]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.35300514227490076,0.8202347291651608,0.71338606911949],"aabb_xy":[[-0.35950677878290543,0.8104669071388512],[-0.3465035057668962,0.8300025511914707]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[0.6339842350821583,1.1143784607983234,0.71338606911949],"aabb_xy":[[0.6163086044935598,1.0966982445189206],[0.6516598656707565,1.1320586770777261]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[0.6536639100279433,-1.0555899606726165,0.71338606911949],"aabb_xy":[[0.6202237348319236,-1.0890335865035463],[0.6871040852239628,-1.0221463348416862]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[0.2886058729487835,1.2283316688915336,0.71338606911949],"aabb_xy":[[0.2667161253598426,1.1383316716022847],[0.3104956205377242,1.318331666180783]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[-0.564600192397813,-2.138662652646222,0.71338606911949],"aabb_xy":[[-0.628600195687521,-2.1819975716501396],[-0.5006001891081048,-2.0953277336423044]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[0.12421622704124913,1.7328773122347134,0.71338606911949],"aabb_xy":[[0.11695497947084174,1.7200903019712042],[0.13147747461165657,1.7456643224982231]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[0.3213647936623729,-0.5146375958375313,0.71338606911949],"aabb_xy":[[0.25736479131957135,-0.5595784470816638],[0.3853647960051745,-0.4696967445933989]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[-0.4806205746306741,-1.7485353544944946,0.71338606911949],"aabb_xy":[[-0.48595815029667866,-1.7735353554236342],[-0.4752829989646695,-1.7235353535653546]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[0.03999789003822285,-2.47794370559567,0.71338606911949],"aabb_xy":[[-0.04000211103489748,-2.4877217519330546],[0.11999789111134318,-2.4681656592582857]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[-0.332628762750256,-1.4758782221514877,0.71338606911949],"aabb_xy":[[-0.37012876285584895,-1.4827003840044688],[-0.29512876264466303,-1.4690560602985065]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[0.4848286826213828,-1.593111062011725,0.71338606911949],"aabb_xy":[[0.40482868403406336,-1.6724266639498857],[0.5648286812087022,-1.513795460073564]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[-0.20146735186877673,0.5512812774881364,0.71338606911949],"aabb_xy":[[-0.25146735051469793,0.5013617338286741],[-0.1514673532228555,0.6012008211475989]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_29","position":[-0.335971931968478,1.1068120629195044,0.71338606911949],"aabb_xy":[[-0.3451318109123546,1.1002808448759671],[-0.3268120530246014,1.1133432809630412]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_30","position":[0.5944601162266552,1.2268096924973158,0.71338606911949],"aabb_xy":[[0.5851664979895046,1.1893096940091816],[0.6037537344638058,1.2643096909854494]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_31","position":[0.55859707466381,1.5784067019396963,0.71338606911949],"aabb_xy":[[0.5086039625546183,1.5284067012655012],[0.608590186773002,1.6284067026138924]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_32","position":[0.5545223003562658,-2.006250464068224,0.71338606911949],"aabb_xy":[[0.513504356969895,-2.056250464699181],[0.5955402437426368,-1.9562504634372662]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_33","position":[0.6263980954288701,-0.9401302748057372,0.71338606911949],"aabb_xy":[[0.5463980982692949,-0.9516778757635541],[0.7063980925884454,-0.92858267384792]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961597293728118,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3655.png","name":"3655"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3655.png","name":"3655"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3706.png","name":"3706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9040.png","name":"9040"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1290.png","name":"1290"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8523.png","name":"8523"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":805.1985406939618,"rotation_z_degrees":19.201429183328727,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01649575661330865,-0.002673903044291461,-0.01348650824812724]},{"name":"camera_2","offset_m":[-0.010566309487354389,-0.017254201027483096,-0.01384822154056252]},{"name":"camera_3","offset_m":[-0.013644716763548108,-0.01714421833002453,0.015856225541215203]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012691395440747192,0.0003891666022090212,-0.0017917459266605263],"end_effector_yaw_offset_degrees":-0.07000321138221999},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007095648487355107,0.0013056158349465346,-0.0004139198338885576],"end_effector_yaw_offset_degrees":0.6610508139725744},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00173311733316689,-0.00030637546720714364,0.0001100866748557877],"end_effector_yaw_offset_degrees":-0.6367282527475842}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016252118420200046,0.0002254322725337935],"position_m":[0.15077478815798,0.2238254322725338,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009118535757910015,-0.0019116638069524151],"position_m":[0.243311853575791,-0.3116116638069524,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011517595269665793,-0.003019561586193822],"position_m":[0.32334824047303345,-0.04461956158619382,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001949705437323283,-0.004146656275227558],"position_m":[0.35119497054373233,0.3142533437247725,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dd61e0d069d3a65a9c32f6de8199fe9888eb657b73758d6d336c6a772756be45","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0081.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3655/tex_ceiling_textures_8523/tex_floor_textures_1290/tex_table_textures_3706/tex_wall_textures_9040","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5709113284557562750,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5709113284557562750,"visual_seed":5709113284557562750,"scene_id":"lab_003","finished_at":"2026-09-03T23:14:17"} +{"episode_id":"ep_000082","started_at":"2026-09-03T23:14:20","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.5436940934805401,-0.9833839032324436,0.71338606911949],"aabb_xy":[[0.4796983960854435,-1.0473839015331523],[0.6076897908756367,-0.9193839049317349]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[-0.416598894626537,1.303998720608162,0.71338606911949],"aabb_xy":[[-0.4321546640368023,1.2884482873637548],[-0.4010431252162718,1.3195491538525692]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[0.6100021490215712,0.9345708848523802,0.71338606911949],"aabb_xy":[[0.5550021498449816,0.8795812100774225],[0.6650021481981606,0.9895605596273378]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[-0.28487106594228784,-0.2577081059411799,0.71338606911949],"aabb_xy":[[-0.33014968082343715,-0.32170810528936356],[-0.23959245106113863,-0.1937081065929962]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[0.2880290918516871,0.7773502858147907,0.71338606911949],"aabb_xy":[[0.22402909456603848,0.7358435668619469],[0.35202908913733577,0.8188570047676348]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.22616996330998929,-2.3728459751839077,0.71338606911949],"aabb_xy":[[-0.29116996594778277,-2.4243255738833547],[-0.1611699606721958,-2.3213663764844608]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.3730279568060595,1.0316546506375115,0.71338606911949],"aabb_xy":[[-0.40732486782380006,0.99735776442757],[-0.3387310457883188,1.0659515368474526]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[0.6521459138638224,-0.06079251885869885,0.71338606911949],"aabb_xy":[[0.6296459143401149,-0.0832884663093196],[0.6746459133875297,-0.03829657140807806]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.3532984216464554,-0.08967572538824564,0.71338606911949],"aabb_xy":[[-0.3609226897366337,-0.09730894892478939],[-0.34567415355627723,-0.08204250185170193]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.017610429030788133,-0.7413509170161456,0.71338606911949],"aabb_xy":[[-0.04283126589062779,-0.7665746678690322],[0.007610407829051538,-0.7161271661632587]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.060867453455435316,1.6407640451519367,0.71338606911949],"aabb_xy":[[-0.10603877130360431,1.5767640480073986],[-0.015696135607266345,1.7047640422964754]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[0.3340154968452118,-1.0502073880908789,0.71338606911949],"aabb_xy":[[0.278890291215621,-1.1102073895321658],[0.38914070247480254,-0.9902073866495916]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[-0.006697033949515485,-1.7896748718223576,0.71338606911949],"aabb_xy":[[-0.06669703481032828,-1.8411013018288438],[0.053302966911297316,-1.738248441815871]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.4653660997307295,0.08236298086792093,0.71338606911949],"aabb_xy":[[-0.5028661003953081,0.06667592286769873],[-0.42786609906615075,0.0980500388681431]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.688131350183278,-1.204820030736634,0.71338606911949],"aabb_xy":[[0.677563870525179,-1.2153650608496425],[0.698698829841377,-1.1942750006236253]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.03931487396558753,1.1313733522005136,0.71338606911949],"aabb_xy":[[0.02846326771671192,1.1205140614728626],[0.05016648021446312,1.1422326429281646]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[-0.6208004563910375,-0.3319369625529096,0.71338606911949],"aabb_xy":[[-0.6706831532687337,-0.38193696179918435],[-0.5709177595133413,-0.2819369633066348]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[-0.5658656492667686,-1.5200896050047095,0.71338606911949],"aabb_xy":[[-0.6308656471484164,-1.5712132687112506],[-0.5008656513851208,-1.4689659412981686]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[0.4263132737486566,-0.6631695122165917,0.71338606911949],"aabb_xy":[[0.41753204660142046,-0.6719492595051219],[0.4350945008958929,-0.6543897649280616]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[-0.3771328632597675,-0.8020606755535193,0.71338606911949],"aabb_xy":[[-0.40546257320830775,-0.8065214177472364],[-0.3488031533112273,-0.7975999333598023]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[0.3840615787328503,-0.7916521043000022,0.71338606911949],"aabb_xy":[[0.3743055892236764,-0.8014146383592365],[0.3938175682420242,-0.7818895702407677]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[-0.3995691148917564,-0.48973449091495524,0.71338606911949],"aabb_xy":[[-0.46356911406152634,-0.5365011780339177],[-0.33556911572198644,-0.44296780379599277]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.5936203277306284,-1.9640879044726458,0.71338606911949],"aabb_xy":[[0.5436203264467885,-2.0140667588632675],[0.6436203290144684,-1.9141090500820235]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.09713863555928859,-0.8751768653191159,0.71338606911949],"aabb_xy":[[-0.13160098295743033,-0.9096707477169383],[-0.06267628816114676,-0.840682982921293]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7006755272654049,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6002.png","name":"6002"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6002.png","name":"6002"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1121.png","name":"1121"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/120.png","name":"120"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/198.png","name":"198"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":823.4336745955557,"rotation_z_degrees":128.7501929424235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005177040288650337,-0.010790078322813335,-0.013687129586487056]},{"name":"camera_2","offset_m":[0.016316438299513843,0.010346178307581142,0.018174786462049963]},{"name":"camera_3","offset_m":[0.01894654437157198,-0.0032024194089129362,0.010718766566371732]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001101360827646451,0.00046660572575502567,-6.265071874606682e-05],"end_effector_yaw_offset_degrees":0.5571110116455922},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019498351083848129,0.0012939376983535844,-0.0017104347596219715],"end_effector_yaw_offset_degrees":0.5922941787263118},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000540257183432744,-0.0008884601584274927,-0.001176398019680171],"end_effector_yaw_offset_degrees":0.6177495724966793}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[3.985443061052529e-05,0.004302650977355796],"position_m":[0.15243985443061053,0.2279026509773558,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003212089236467799,-0.00024235231777405917],"position_m":[0.2456120892364678,-0.30994235231777406,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004062411503435564,-0.0020971657239168217],"position_m":[0.32043758849656445,-0.04369716572391682,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001146069909866901,0.0039049004507282587],"position_m":[0.35214606990986685,0.3223049004507283,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"90f83bc9e9bfd098af86e86dc01421acb08e193aa24fcb428202a89c7c1f3ac3","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0082.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6002/tex_ceiling_textures_198/tex_floor_textures_120/tex_table_textures_8041/tex_wall_textures_1121","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1771711723324024875,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1771711723324024875,"visual_seed":1771711723324024875,"scene_id":"lab_003","finished_at":"2026-09-03T23:17:37"} +{"episode_id":"ep_000083","started_at":"2026-09-03T23:17:41","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[0.6294146524641522,-1.837300329936725,0.71338606911949],"aabb_xy":[[0.5881658414342373,-1.8923003294489422],[0.6706634634940668,-1.7823003304245073]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.360026686741915,-2.5460483549089856,0.71338606911949],"aabb_xy":[[-0.3778957944963705,-2.5598812628861967],[-0.3421575789874595,-2.5322154469317746]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[0.43788902322167544,-0.748537508452207,0.71338606911949],"aabb_xy":[[0.41288902328915755,-0.7554201766731303],[0.46288902315419334,-0.7416548402312837]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.3312666496827511,-0.15596736561327695,0.71338606911949],"aabb_xy":[[-0.35626664923448953,-0.16610984947841168],[-0.30626665013101256,-0.14582488174814223]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.17970672531935705,-0.5060807755423822,0.71338606911949],"aabb_xy":[[-0.20159647290829785,-0.5960807728316312],[-0.15781697773041625,-0.416080778253133]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.46150084968783556,0.9496986556505553,0.71338606911949],"aabb_xy":[[-0.5465008481052589,0.8648243601882704],[-0.3765008512704124,1.0345729511128403]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[0.3286176499554676,-0.5187805116251285,0.71338606911949],"aabb_xy":[[0.2636176499211649,-0.5654811883054557],[0.39361764998977034,-0.4720798349448011]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.09968246964231275,-0.6358462344683657,0.71338606911949],"aabb_xy":[[-0.10767645822001612,-0.6438463145634561],[-0.09168848106460933,-0.6278461543732754]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.6763131348531144,0.9809196342655695,0.71338606911949],"aabb_xy":[[0.6438514339711868,0.9507868021506668],[0.7087748357350417,1.0110524663804719]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[0.2509010327625689,-2.378864442189115,0.71338606911949],"aabb_xy":[[0.18690102947286077,-2.422199361193033],[0.314901036052277,-2.3355295231851976]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.5592404448669541,1.4661742404676743,0.71338606911949],"aabb_xy":[[0.55102589975127,1.457497650170033],[0.567454989982638,1.4748508307653156]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.13569261000384047,-0.22148928613066676,0.71338606911949],"aabb_xy":[[-0.1996926122242475,-0.26586237025595505],[-0.07169260778343345,-0.17711620200537845]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.5453344027632451,-0.5513637913911111,0.71338606911949],"aabb_xy":[[-0.556107376684613,-0.5863637896101501],[-0.5345614288418774,-0.5163637931720721]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[-0.5855478731185781,-2.1872301832747536,0.71338606911949],"aabb_xy":[[-0.6030478733779149,-2.2013217254635267],[-0.5680478728592416,-2.1731386410859814]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.025105391412521327,1.8055328194692968,0.71338606911949],"aabb_xy":[[0.007429760823922992,1.7878526031898938],[0.042781022001119655,1.8232130357486993]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.6512614590623829,0.7427678390217163,0.71338606911949],"aabb_xy":[[0.5872614583589134,0.6967494565487954],[0.7152614597658521,0.7887862214946375]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.266769888272559,-1.173470566995211,0.71338606911949],"aabb_xy":[[-0.2776103664990739,-1.19065684828586],[-0.2559294100460441,-1.156284285704562]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.3684133954286921,1.0274464377001018,0.71338606911949],"aabb_xy":[[0.3184401014254316,0.9774464371455545],[0.4183866894319525,1.0774464382546491]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[0.6079056866958674,0.5557375625944982,0.71338606911949],"aabb_xy":[[0.5999121969005855,0.5477394306540226],[0.6158991764911496,0.5637356945349739]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[0.5110977972748414,-1.7943201420876427,0.71338606911949],"aabb_xy":[[0.4935977979967545,-1.8116582421539884],[0.5285977965529283,-1.7769820420212965]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.4894617172476531,0.757873450962613,0.71338606911949],"aabb_xy":[[-0.5177914271961933,0.7534127087688961],[-0.46113200729911286,0.7623341931563302]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.7117095713159001,1.2062788657473988,0.71338606911949],"aabb_xy":[[0.7004645157452821,1.1950370680233033],[0.7229546268865178,1.217520663471494]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[-0.4331355478433557,-1.7305098949616267,0.71338606911949],"aabb_xy":[[-0.47841416272450493,-1.7945098943098103],[-0.3878569329622064,-1.666509895613443]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[0.6444376763421771,-0.8849228869847583,0.71338606911949],"aabb_xy":[[0.564437679379138,-0.9619985286285316],[0.7244376733052164,-0.8078472453409847]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[-0.08315036078890226,-0.972463857454092,0.71338606911949],"aabb_xy":[[-0.0957771480760986,-0.9820099311556648],[-0.0705235735017059,-0.962917783752519]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[-0.42305584964570997,-1.261869735782877,0.71338606911949],"aabb_xy":[[-0.513055851979729,-1.3393520903679896],[-0.33305584731169097,-1.1843873811977643]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_26","position":[-0.2667925671701862,-1.8721204647967342,0.71338606911949],"aabb_xy":[[-0.33679256930161566,-1.8948824304224299],[-0.19679256503875658,-1.8493584991710386]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[-0.6305937241112777,0.6528736229844436,0.71338606911949],"aabb_xy":[[-0.6530937246233183,0.6303817646190453],[-0.6080937235992371,0.675365481349842]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_28","position":[-0.26318235553388547,-2.2076871109319884,0.71338606911949],"aabb_xy":[[-0.27046467191054907,-2.2976871145414965],[-0.25590003915722176,-2.1176871073224786]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_29","position":[-0.6582713175051418,-0.7769156497530485,0.71338606911949],"aabb_xy":[[-0.6751820499414833,-0.7903878553456629],[-0.6413605850687998,-0.7634434441604339]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_30","position":[-0.1655065679744243,1.695275272286605,0.71338606911949],"aabb_xy":[[-0.21331273558819294,1.6302752695795455],[-0.11770040036065565,1.7602752749936634]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_31","position":[-0.521543832699362,-2.432224916782607,0.71338606911949],"aabb_xy":[[-0.5855438290949352,-2.4961882052013404],[-0.45754383630378903,-2.3682616283638733]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_32","position":[0.4279601622389142,1.3391487708693726,0.71338606911949],"aabb_xy":[[0.3379601655033039,1.2859653075520778],[0.5179601589745243,1.3923322341866669]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_33","position":[0.07995039811724547,-1.0436348676986031,0.71338606911949],"aabb_xy":[[0.03776598395641474,-1.1076348679758141],[0.12213481227807622,-0.9796348674213917]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_34","position":[-0.10912679343227238,-2.416936006135551,0.71338606911949],"aabb_xy":[[-0.12670509562121923,-2.4345104957096564],[-0.09154849124332554,-2.3993615165614464]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7022610232493806,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1257.png","name":"1257"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1257.png","name":"1257"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2824.png","name":"2824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9844.png","name":"9844"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7271.png","name":"7271"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5333.png","name":"5333"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":768.3933294292528,"rotation_z_degrees":283.05591224812605,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010799526542505973,5.03903163184341e-05,0.013627159641575463]},{"name":"camera_2","offset_m":[-0.0019998953681354507,0.004179083386623289,-0.00044455590487611427]},{"name":"camera_3","offset_m":[0.005066841644151131,0.003885904497077243,0.00900991067305856]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010785450008420207,0.001835700249924647,-0.0017748268703350752],"end_effector_yaw_offset_degrees":0.6813836997795817},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00040150686658970086,-0.0016816155178400894,0.0004226658474055264],"end_effector_yaw_offset_degrees":0.531031143859368},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00042948647428900106,0.000426537338188932,-0.001859631801124119],"end_effector_yaw_offset_degrees":0.3122387178445374}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038871469717299155,0.002923823522890007],"position_m":[0.15628714697172993,0.22652382352289,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025713548146753694,0.0029142766467346462],"position_m":[0.24497135481467538,-0.3067857233532653,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00497687563129486,-0.003365507310161179],"position_m":[0.32947687563129485,-0.044965507310161176,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032883780767447362,0.003212425720460945],"position_m":[0.35428837807674474,0.32161242572046095,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"169f1d4cd01f67da4e66200792d04817e8755fbd5a805517dfd46573b558d790","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1257/tex_ceiling_textures_5333/tex_floor_textures_7271/tex_table_textures_2824/tex_wall_textures_9844","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2946404774576149271,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2946404774576149271,"visual_seed":2946404774576149271,"scene_id":"lab_003","finished_at":"2026-09-03T23:20:56"} +{"episode_id":"ep_000084","started_at":"2026-09-03T23:20:59","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.14938723583672642,-1.7892389311781742,0.71338606911949],"aabb_xy":[[0.12416639897688674,-1.8144626820310608],[0.17460807269656606,-1.7640151803252873]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[0.5253262178144025,-2.037390765811624,0.71338606911949],"aabb_xy":[[0.5176230271403255,-2.045100136510362],[0.5330294084884795,-2.0296813951128856]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[0.30437152768496334,1.3675204634511413,0.71338606911949],"aabb_xy":[[0.25828643643023186,1.303520466198586],[0.3504566189396948,1.4315204607036962]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[0.06827438936169361,-0.9239517720328854,0.71338606911949],"aabb_xy":[[0.03147975623678734,-0.9608576471294678],[0.10506902248659988,-0.8870458969363032]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[-0.10553970865222251,0.8187947671346176,0.71338606911949],"aabb_xy":[[-0.11353369722992589,0.8107946870395272],[-0.0975457200745191,0.8267948472297079]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.5202069907787208,-0.5619498180333804,0.71338606911949],"aabb_xy":[[0.47023392524620544,-0.6119498178459134],[0.5701800563112364,-0.5119498182208476]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[-0.42682063127415004,-1.9849736713571293,0.71338606911949],"aabb_xy":[[-0.44288255873266763,-2.069973673169721],[-0.41075870381563234,-1.8999736695445375]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[-0.6348055005111589,-1.2744115335372481,0.71338606911949],"aabb_xy":[[-0.6436075558201315,-1.282222859692177],[-0.6260034452021861,-1.2666002073823188]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.4854437263623782,-2.4717753623141148,0.71338606911949],"aabb_xy":[[-0.5229437275471709,-2.476193585010175],[-0.44794372517758535,-2.467357139618054]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[0.5273924779554913,-1.139241811195601,0.71338606911949],"aabb_xy":[[0.5165408717066157,-1.150101101923252],[0.5382440842043669,-1.12838252046795]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[-0.5999905593114828,0.3478671573380634,0.71338606911949],"aabb_xy":[[-0.6615813185354756,0.28386715922901656],[-0.53839980008749,0.41186715544711033]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.32896572137714053,-1.912826504572276,0.71338606911949],"aabb_xy":[[-0.33308167148921314,-1.9169420596051212],[-0.3248497712650678,-1.90871094953943]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.6135166040623337,0.5908575913829583,0.71338606911949],"aabb_xy":[[0.5848672717019173,0.5622120321058826],[0.6421659364227498,0.6195031506600341]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[0.28662937822366485,-2.152752379985774,0.71338606911949],"aabb_xy":[[0.20662938120941682,-2.172886931659185],[0.3666293752379128,-2.132617828312362]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.698124475150276,0.8687664599704323,0.71338606911949],"aabb_xy":[[0.6900811152243209,0.7837664588750658],[0.7061678350762313,0.9537664610657987]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[-0.20104020084279484,0.6780426478068988,0.71338606911949],"aabb_xy":[[-0.2650358982378914,0.61404264950619],[-0.13704450344769822,0.7420426461076074]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.5027340670420684,0.05090113894474291,0.71338606911949],"aabb_xy":[[0.4692938918460487,0.017457513113812825],[0.5361742422380879,0.08434476477567297]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[-0.4469721371381584,-1.358976452358167,0.71338606911949],"aabb_xy":[[-0.4826012930381182,-1.3946091191150203],[-0.41134298123819873,-1.3233437856013144]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[0.4364384185965695,-1.9280636246405196,0.71338606911949],"aabb_xy":[[0.4014384186200737,-1.9375282406881364],[0.47143841857306534,-1.9185990085929032]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[-0.3553855012740355,-1.0228002209727698,0.71338606911949],"aabb_xy":[[-0.4005568191222046,-1.0868002181173082],[-0.3102141834258666,-0.9588002238282314]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[-0.6415764085199487,-1.674656372342405,0.71338606911949],"aabb_xy":[[-0.6517294240740978,-1.7107259139151447],[-0.6314233929657991,-1.638586830769664]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[0.5073327875366271,0.3446542014919336,0.71338606911949],"aabb_xy":[[0.4938862609025838,0.3311843498388424],[0.5207793141706705,0.3581240531450248]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[0.6065791521257264,-1.4455068196051335,0.71338606911949],"aabb_xy":[[0.516892075817611,-1.535506819859584],[0.6962662284338419,-1.355506819350683]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[0.33036524528565403,0.8726715931242706,0.71338606911949],"aabb_xy":[[0.2663652419959459,0.829336674120353],[0.39436524857536215,0.9160065121281882]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_24","position":[0.5183282490888801,-0.7476393941887536,0.71338606911949],"aabb_xy":[[0.4845526898981871,-0.7616778894019186],[0.5521038082795731,-0.7336008989755886]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[-0.24246750520079074,-0.4277200059631805,0.71338606911949],"aabb_xy":[[-0.2924449220660443,-0.47772000745242893],[-0.19249008833553713,-0.37772000447393184]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_26","position":[-0.4001035329895502,0.949962884409159,0.71338606911949],"aabb_xy":[[-0.4838257584896326,0.8599628808744632],[-0.3163813074894677,1.039962887943855]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_27","position":[0.2889097612022937,1.657045799756006,0.71338606911949],"aabb_xy":[[0.2714097619242069,1.6397076996896602],[0.30640976048038066,1.6743838998223521]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[-0.04518054993595022,1.7657540043164643,0.71338606911949],"aabb_xy":[[-0.06429285729392908,1.7466192254392223],[-0.026068242577971357,1.7848887831937064]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_29","position":[0.21495770607942655,-0.6570586661779347,0.71338606911949],"aabb_xy":[[0.1866279961308863,-0.661519408371652],[0.24328741602796675,-0.6525979239842179]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970122938298956,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3514.png","name":"3514"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3514.png","name":"3514"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6493.png","name":"6493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5992.png","name":"5992"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6673.png","name":"6673"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7096.png","name":"7096"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":519.3333274841721,"rotation_z_degrees":30.80016870248556,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019401560441765883,0.008548395329706165,-0.004800862345916342]},{"name":"camera_2","offset_m":[0.002733879731818604,-0.011957437242483061,0.0029775810372579953]},{"name":"camera_3","offset_m":[-0.012367245339448392,-0.0019011802520154941,-0.01661062359123087]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004647140996102677,0.0008894896725363125,0.0012001311712484227],"end_effector_yaw_offset_degrees":-0.41953799754218424},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006258571840072587,0.0009100458920651752,0.001952177766998328],"end_effector_yaw_offset_degrees":0.37042990404242504},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017205796232631861,0.0008535233410109392,0.001719812578536986],"end_effector_yaw_offset_degrees":-0.03622540106224337}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003961900919785272,0.0004771778010539997],"position_m":[0.15636190091978527,0.224077177801054,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003679115596631308,0.0002552838838003092],"position_m":[0.24607911559663131,-0.30944471611619967,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010188347006453904,-0.00433767565394962],"position_m":[0.3234811652993546,-0.04593767565394962,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003107283829885373,-0.0012707636766840645],"position_m":[0.35068927161701147,0.31712923632331597,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"697c7672673e90c5e9e0be6c759ac77dbfed588693169716e91d55bb739205e8","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0084.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3514/tex_ceiling_textures_7096/tex_floor_textures_6673/tex_table_textures_6493/tex_wall_textures_5992","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5613354836786348526,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5613354836786348526,"visual_seed":5613354836786348526,"scene_id":"lab_003","finished_at":"2026-09-03T23:24:01"} +{"episode_id":"ep_000085","started_at":"2026-09-03T23:24:04","dimensions":{"distractor":{"count":22,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[-0.1678650939625933,0.9450850385055025,0.71338606911949],"aabb_xy":[[-0.25158731946267576,0.8550850349708066],[-0.08414286846251084,1.0350850420401985]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[-0.6210483002793334,-0.7329561413724608,0.71338606911949],"aabb_xy":[[-0.6411067118925737,-0.7530212282816183],[-0.6009898886660932,-0.7128910544633033]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[0.44856376261948605,1.3828337652264304,0.71338606911949],"aabb_xy":[[0.43113304754047943,1.3655616505625792],[0.46599447769849245,1.4001058798902808]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.21711854266833763,0.7428883039299499,0.71338606911949],"aabb_xy":[[0.1993250357334212,0.7250885583341522],[0.23491204960325407,0.7606880495257475]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[-0.03613693474923407,-0.06214143172941533,0.71338606911949],"aabb_xy":[[-0.06957710994525367,-0.09558505756034541],[-0.002696759553214467,-0.028697805898485255]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.16783362734332552,-2.0767772673587217,0.71338606911949],"aabb_xy":[[0.1328336290732056,-2.08385139505371],[0.2028336256134454,-2.0697031396637335]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.58310668326503,-0.6801496492952033,0.71338606911949],"aabb_xy":[[0.49341960695691456,-0.7701496495496538],[0.6727937595731455,-0.5901496490407527]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[0.5893094955192406,-1.3406176337470883,0.71338606911949],"aabb_xy":[[0.5837278238851117,-1.3531176335648638],[0.5948911671533693,-1.3281176339293128]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[0.6613480269346128,-1.692263165242538,0.71338606911949],"aabb_xy":[[0.6244974789976252,-1.7297631660655717],[0.6981985748716004,-1.6547631644195042]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.2591080271376108,1.77526265892373,0.71338606911949],"aabb_xy":[[-0.31408174917394366,1.7202626593594967],[-0.2041343051012779,1.830262658487963]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.3796241485520694,-1.386282410223656,0.71338606911949],"aabb_xy":[[-0.4436241458544158,-1.4306488371915125],[-0.315624151249723,-1.341915983255799]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[0.5624152764034904,-0.2459443727521231,0.71338606911949],"aabb_xy":[[0.5374152772378572,-0.2528966184574797],[0.5874152755691234,-0.23899212704676653]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[0.35554217876070315,-2.407473650783754,0.71338606911949],"aabb_xy":[[0.3180421789436696,-2.412111862094896],[0.3930421785777367,-2.402835439472612]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.15118354270482937,-2.316813702922077,0.71338606911949],"aabb_xy":[[0.13450640671173386,-2.3335136268960075],[0.16786067869792487,-2.300113778948147]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[-0.2770939870285309,0.300350663203405,0.71338606911949],"aabb_xy":[[-0.28152461638337106,0.29490229146872243],[-0.2726633576736907,0.30579903493808763]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.6345355889917365,1.4236565829996661,0.71338606911949],"aabb_xy":[[-0.643337644300709,1.4158452568447368],[-0.6257335336827636,1.431467909154595]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[0.312634463750739,0.4150549185124799,0.71338606911949],"aabb_xy":[[0.30919378751068183,0.41119348553811547],[0.3160751399907962,0.4189163514868444]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[-0.1188324097615906,-1.4505257949893045,0.71338606911949],"aabb_xy":[[-0.13040139050852717,-1.4755257951062364],[-0.10726342901465402,-1.425525794872373]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[-0.406134517378297,-1.9920480823168087,0.71338606911949],"aabb_xy":[[-0.4611277287154338,-2.0470480826556026],[-0.35114130604116023,-1.9370480819780151]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.651160182692121,-2.3882099087064197,0.71338606911949],"aabb_xy":[[0.5911601824407197,-2.4424912337428837],[0.711160182943522,-2.333928583669955]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.053209418569132305,-1.3611644874540363,0.71338606911949],"aabb_xy":[[-0.010790584720575811,-1.404499406457954],[0.11720942185884041,-1.3178295684501187]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.4841545604468991,-0.8500777862815267,0.71338606911949],"aabb_xy":[[0.44560886762169805,-0.8886235573377153],[0.5227002532721001,-0.811532015225338]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6967450663293869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6634.png","name":"6634"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6634.png","name":"6634"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5302.png","name":"5302"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7763.png","name":"7763"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5694.png","name":"5694"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2522.png","name":"2522"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":693.5429944667991,"rotation_z_degrees":169.21763030071915,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01374236260532213,0.010202486179379987,0.0028331949647445315]},{"name":"camera_2","offset_m":[-0.0006274546875348272,0.0023453032028435093,0.012678230881723273]},{"name":"camera_3","offset_m":[0.00555930493057899,-0.018593676990579473,0.008899033423284339]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006938841854135015,0.00023301248796011968,-0.0011888712397071118],"end_effector_yaw_offset_degrees":-0.3068271634167494},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008903671053800673,0.0007792521382026804,-4.041794869038976e-05],"end_effector_yaw_offset_degrees":-0.29981654811492575},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002376078692382438,0.0004718342787980172,0.001406956628166007],"end_effector_yaw_offset_degrees":-0.2609539668606049}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00014455975710349258,-0.0018664593795688447],"position_m":[0.1525445597571035,0.22173354062043116,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007684914201044179,-0.002883327362285587],"position_m":[0.2431684914201044,-0.31258332736228556,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013846484688577665,-0.002173877981326191],"position_m":[0.32311535153114224,-0.04377387798132619,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031847826870695616,0.003714935161414021],"position_m":[0.3478152173129304,0.32211493516141404,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9d16eb8d48cbac2147375a8245d021f1208d3f0bc2e01e1e97e742cf5273152a","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6634/tex_ceiling_textures_2522/tex_floor_textures_5694/tex_table_textures_5302/tex_wall_textures_7763","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5208197731323389665,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5208197731323389665,"visual_seed":5208197731323389665,"scene_id":"lab_003","finished_at":"2026-09-03T23:26:50"} +{"episode_id":"ep_000086","started_at":"2026-09-03T23:26:54","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.45413649373861076,-2.0343977261800408,0.71338606911949],"aabb_xy":[[-0.46225014841198786,-2.0425035426340696],[-0.44602283906523366,-2.026291909726011]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.539618375594604,-0.8868127824588454,0.71338606911949],"aabb_xy":[[0.47561837391660666,-0.9353301739381596],[0.6036183772726014,-0.8382953909795312]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[0.5671882316398436,-1.8057597982282392,0.71338606911949],"aabb_xy":[[0.561850655973839,-1.830759799157379],[0.5725258073058481,-1.7807597972990994]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[-0.6163439852378074,0.49670297756245274,0.71338606911949],"aabb_xy":[[-0.6616226001189568,0.4327029782142691],[-0.5710653703566583,0.5607029769106364]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.07691892914463239,-1.60687631539732,0.71338606911949],"aabb_xy":[[0.03941893056901157,-1.619612611060878],[0.11441892772025318,-1.594140019733762]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[0.5483044107541757,-1.0963090298637719,0.71338606911949],"aabb_xy":[[0.5350734652194944,-1.109536448885771],[0.561535356288857,-1.0830816108417722]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[-0.06900918821789814,0.3232042992649906,0.71338606911949],"aabb_xy":[[-0.12400466603855753,0.2682042978310837],[-0.014013710397238754,0.37820430069889754]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[0.6686032398681776,0.5656874646009049,0.71338606911949],"aabb_xy":[[0.6603886947524934,0.5570108743032635],[0.6768177849838614,0.5743640548985461]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[-0.15243091843957257,0.4729712368616932,0.71338606911949],"aabb_xy":[[-0.17063674210082028,0.4619458362797016],[-0.13422509477832492,0.4839966374436849]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.4197220452053807,-2.5770569889158974,0.71338606911949],"aabb_xy":[[0.3947220456536422,-2.5871994727810317],[0.4447220447571192,-2.5669145050507622]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[-0.6766933677095491,-2.5358089458400346,0.71338606911949],"aabb_xy":[[-0.6922491371198144,-2.551359379084442],[-0.6611375982992839,-2.520258512595628]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.19983046751588152,1.0712184434853471,0.71338606911949],"aabb_xy":[[0.19220619942570327,1.0635852199488034],[0.20745473560605976,1.0788516670218908]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[0.6908424597198424,-1.7461061694193796,0.71338606911949],"aabb_xy":[[0.6683424599059401,-1.7505807857898603],[0.7133424595337449,-1.7416315530488988]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.6226629826932417,1.6482770192120637,0.71338606911949],"aabb_xy":[[0.6122514240127579,1.6429312858761653],[0.6330745413737253,1.653622752547962]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[0.005510722341357965,1.7089065586369592,0.71338606911949],"aabb_xy":[[-0.0032913329676147467,1.7010952324820299],[0.014312777650330673,1.716717884791888]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[0.24458489169211473,-0.9145360111274461,0.71338606911949],"aabb_xy":[[0.23962887150723355,-0.9370360113295678],[0.24954091187699595,-0.8920360109253246]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[0.21939311051351673,1.439805965470884,0.71338606911949],"aabb_xy":[[0.17808856744978074,1.3758059659027668],[0.2606976535772527,1.503805965039001]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[-0.6206823472576033,-0.46822300891316404,0.71338606911949],"aabb_xy":[[-0.6846823458441758,-0.5152299723126728],[-0.5566823486710308,-0.4212160455136553]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.32207895112596424,1.4495910865019686,0.71338606911949],"aabb_xy":[[-0.4020789480890034,1.372515444858195],[-0.24207895416292508,1.526666728145742]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[0.4567729824472968,-1.5247176210230597,0.71338606911949],"aabb_xy":[[0.44973267251375987,-1.6047176204227316],[0.46381329238083385,-1.4447176216233886]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.5105838942950891,-1.9715528323749716,0.71338606911949],"aabb_xy":[[-0.5480838941121227,-1.976191043686113],[-0.47308389447805554,-1.9669146210638293]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[-0.3374716108929361,0.8751128689384089,0.71338606911949],"aabb_xy":[[-0.4014716131133431,0.8307397848131205],[-0.27347160867252907,0.9194859530636971]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[0.028450770008642712,-0.7853498272256367,0.71338606911949],"aabb_xy":[[0.020323081815329495,-0.7942634356363444],[0.03657845820195593,-0.7764362188149291]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[0.3826687956417525,1.7567542718630187,0.71338606911949],"aabb_xy":[[0.36277775576141225,1.7440984605783223],[0.4025598355220928,1.769410083147716]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[0.08698597659118035,-2.2749315499066585,0.71338606911949],"aabb_xy":[[0.0709240491326627,-2.35993155171925],[0.10304790404969799,-2.189931548094066]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[-0.4254687770922397,0.022520290837944934,0.71338606911949],"aabb_xy":[[-0.4904687756493125,-0.00723224257593769],[-0.36046877853516684,0.052272824251827554]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[0.5058026615569771,0.8922002143573913,0.71338606911949],"aabb_xy":[[0.4408026634010579,0.8659039698074792],[0.570802659712896,0.9184964589073036]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_27","position":[0.5624254722110706,1.49281880039459,0.71338606911949],"aabb_xy":[[0.5551431558344068,1.4028187967850805],[0.5697077885877341,1.5828188040040985]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[0.2748856973063055,1.1019089963996227,0.71338606911949],"aabb_xy":[[0.25577338994832666,1.0827742175223805],[0.2939980046642844,1.1210437752768645]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_29","position":[0.39739878244536286,1.4102632832303748,0.71338606911949],"aabb_xy":[[0.3273987790538009,1.3749475095269437],[0.46739878583692485,1.4455790569338054]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_30","position":[-0.4681502404459654,-0.7564822311744883,0.71338606911949],"aabb_xy":[[-0.49269645606871615,-0.7867311277235253],[-0.4436040248232147,-0.7262333346254511]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_31","position":[0.541065975918088,-1.4940832403247732,0.71338606911949],"aabb_xy":[[0.5210075643048477,-1.5141483272339307],[0.5611243875313283,-1.4740181534156158]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_32","position":[-0.2466963907454049,-0.5994443004526462,0.71338606911949],"aabb_xy":[[-0.25279101863352327,-0.6080136950043149],[-0.2406017628572866,-0.5908749059009775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6981424452566758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9879.png","name":"9879"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9879.png","name":"9879"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7615.png","name":"7615"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6905.png","name":"6905"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4661.png","name":"4661"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4673.png","name":"4673"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":707.2089734292658,"rotation_z_degrees":183.29843627158857,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011732549337676925,-0.01110707716780679,0.014781112405731451]},{"name":"camera_2","offset_m":[-0.011903893486545232,0.003409026085846721,0.005996088340573507]},{"name":"camera_3","offset_m":[0.007139322580105734,0.018769113611798078,0.011267494664933934]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008786381891905883,-0.001176324034989153,0.0009388193564897123],"end_effector_yaw_offset_degrees":-0.0377461104022776},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001080064984675381,-0.0001274637430594928,0.0006934772163286343],"end_effector_yaw_offset_degrees":-0.47836924382814683},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001596297378760899,-0.000974621860666927,0.001450400806919683],"end_effector_yaw_offset_degrees":-0.08293318396974603}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037279281008687224,-0.002136602909844768],"position_m":[0.15612792810086873,0.22146339709015522,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004143110537333474,-0.0018316682368330695],"position_m":[0.24654311053733347,-0.31153166823683304,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00016329927301286535,0.0015664658283691835],"position_m":[0.32466329927301285,-0.040033534171630816,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.295408550174552e-05,0.0004592891005355008],"position_m":[0.3510729540855017,0.3188592891005355,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ce260749a28fee1c5d560cbdbf8effbeb0a4b3dd9f8e6f8b28c2d70eefb40431","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9879/tex_ceiling_textures_4673/tex_floor_textures_4661/tex_table_textures_7615/tex_wall_textures_6905","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":239240748820208916,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":239240748820208916,"visual_seed":239240748820208916,"scene_id":"lab_003","finished_at":"2026-09-03T23:29:40"} +{"episode_id":"ep_000087","started_at":"2026-09-03T23:29:43","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[-0.2970007780633491,0.6015534175022563,0.71338606911949],"aabb_xy":[[-0.3610007797413465,0.5530360260229421],[-0.23300077638535177,0.6500708089815705]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.6126172901153658,-1.6844174001290155,0.71338606911949],"aabb_xy":[[-0.692617291545493,-1.763934555141625],[-0.5326172886852386,-1.604900245116406]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[0.45466694449431677,-1.998363456523346,0.71338606911949],"aabb_xy":[[0.4301533203973109,-2.022628049825382],[0.47918056859132263,-1.9740988632213097]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.6730186708180197,-0.17196517881231843,0.71338606911949],"aabb_xy":[[-0.6838591490445346,-0.18915146010296724],[-0.6621781925915048,-0.15477889752166962]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.08261552349029633,-0.6889856827226641,0.71338606911949],"aabb_xy":[[0.07491233281621928,-0.6966950534214021],[0.09031871416437337,-0.6812763120239261]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[-0.1775229434731027,-1.6661726551086073,0.71338606911949],"aabb_xy":[[-0.24252294162902177,-1.6924688996585195],[-0.11252294531718365,-1.6398764105586952]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[-0.014756932599529371,-1.8998893827459593,0.71338606911949],"aabb_xy":[[-0.03975693187149165,-1.9162347463421214],[0.010243066672432905,-1.8835440191497967]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.10653352047299736,-1.4628586103917873,0.71338606911949],"aabb_xy":[[0.06522897740926135,-1.5268586099599042],[0.14783806353673334,-1.39885861082367]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[0.15667331788851713,-0.934641482253606,0.71338606911949],"aabb_xy":[[0.11917331771664519,-0.9673422176365132],[0.19417331806038907,-0.9019407468706988]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.4822091074695418,-2.5162203173029614,0.71338606911949],"aabb_xy":[[-0.5178382633695016,-2.5518529840598148],[-0.4465799515695821,-2.480587650546109]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[0.07149755858633766,-1.2634261372804316,0.71338606911949],"aabb_xy":[[0.04899755906263025,-1.2859220847310524],[0.09399755811004505,-1.2409301898298108]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.17019676324066368,1.140162233349879,0.71338606911949],"aabb_xy":[[-0.20769676475629537,1.1289354603337338],[-0.13269676172503195,1.151389006366024]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.11508892707008933,-1.3217030952954425,0.71338606911949],"aabb_xy":[[-0.13209902436013998,-1.3378375837937162],[-0.09807882978003868,-1.3055686067971684]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[0.6128087243941978,-2.299777228544527,0.71338606911949],"aabb_xy":[[0.5328087239239818,-2.3080879361588753],[0.6928087248644137,-2.2914665209301788]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.20147612397206027,-2.4519631336524563,0.71338606911949],"aabb_xy":[[0.17958637638311947,-2.5419631309417055],[0.22336587156100107,-2.361963136363207]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.3639779441521948,-0.7971549057143765,0.71338606911949],"aabb_xy":[[-0.45397794274666475,-0.8134054920277978],[-0.27397794555772487,-0.7809043194009557]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.5425026243874318,-0.006066030072493511,0.71338606911949],"aabb_xy":[[-0.5810483172126328,-0.04461180112868217],[-0.5039569315622308,0.032479740983695146]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[-0.12110474223698164,-1.0280320876176712,0.71338606911949],"aabb_xy":[[-0.18510474414932399,-1.0839432368756816],[-0.057104740324639316,-0.9721209383596607]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.3206416097637758,-1.3242982338729838,0.71338606911949],"aabb_xy":[[-0.38064161140669767,-1.3762983831649283],[-0.26064160812085396,-1.2722980845810399]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.5495981512969357,0.010466526759004502,0.71338606911949],"aabb_xy":[[0.47959814790537364,-0.024849246944426355],[0.6195981546884975,0.04578230046243536]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[0.6480847015019167,-2.1558723569579064,0.71338606911949],"aabb_xy":[[0.6070667581155458,-2.2058723575888637],[0.6891026448882875,-2.105872356326949]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[-0.5110409730551344,0.8612935646061364,0.71338606911949],"aabb_xy":[[-0.5750409703574807,0.8169271376382796],[-0.4470409757527879,0.9056599915739931]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.42015046950051915,1.6583236221677828,0.71338606911949],"aabb_xy":[[0.3501504668639327,1.6382187571719171],[0.4901504721371054,1.6784284871636481]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_23","position":[-0.2131977565928797,-0.31043882819701496,0.71338606911949],"aabb_xy":[[-0.2631977569534457,-0.36041881540661785],[-0.16319775623231358,-0.26045884098741195]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[0.5052531924168733,0.26108748926258984,0.71338606911949],"aabb_xy":[[0.4677531912320803,0.2566692665665293],[0.5427531936016659,0.2655057119586503]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_25","position":[-0.09434983406782715,-0.7902745960169997,0.71338606911949],"aabb_xy":[[-0.1086842591939906,-0.8023348115715385],[-0.0800154089416637,-0.7782143804624608]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_26","position":[0.6410966105459124,0.496074968700253,0.71338606911949],"aabb_xy":[[0.5989121963850816,0.4320749684230418],[0.6832810247067431,0.5600749689774642]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_27","position":[0.36512246618539446,-1.8563525327240171,0.71338606911949],"aabb_xy":[[0.33397554734181134,-1.9263525314108239],[0.39626938502897757,-1.7863525340372095]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_28","position":[-0.3917494665175112,1.4644446187702909,0.71338606911949],"aabb_xy":[[-0.43887884551934675,1.4004446177258887],[-0.3446200875156754,1.5284446198146926]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_29","position":[-0.144687043439936,-0.4445697202979284,0.71338606911949],"aabb_xy":[[-0.17968704256989165,-0.4503149413735925],[-0.10968704430998033,-0.4388244992222643]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_30","position":[-0.4715785170011475,1.0112173279751642,0.71338606911949],"aabb_xy":[[-0.48099599157101025,1.001801150837445],[-0.46216104243128475,1.020633505112883]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_31","position":[-0.19568693414347066,-1.9010276886671589,0.71338606911949],"aabb_xy":[[-0.20913346077751396,-1.91449754032025],[-0.1822404075094273,-1.8875578370140673]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7029259980966178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8118.png","name":"8118"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8118.png","name":"8118"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6317.png","name":"6317"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9930.png","name":"9930"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1229.png","name":"1229"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5578.png","name":"5578"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":724.5174408938165,"rotation_z_degrees":341.82768264810113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011857160534428552,-0.009863785312502316,0.014768026493313286]},{"name":"camera_2","offset_m":[-0.0076688583363461495,0.004585224785099963,0.00022883776857916469]},{"name":"camera_3","offset_m":[-0.0011256949050348387,0.016232414642466452,-0.016712632800472364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009131587989488277,-0.0010222915765627154,-0.0007011892318082649],"end_effector_yaw_offset_degrees":0.2982014464936793},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009819777966227263,-0.00047012313190780697,0.0019714201107791],"end_effector_yaw_offset_degrees":-0.9472710433950837},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.7635960973851114e-05,-0.0019233592437335881,-0.0018498081938323236],"end_effector_yaw_offset_degrees":-0.7379136408007116}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004822707430858231,-0.0027801018924707],"position_m":[0.1475772925691418,0.2208198981075293,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00011783121434148693,0.003735263241237228],"position_m":[0.24228216878565853,-0.30596473675876273,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004455878039121928,-0.0006123480909118462],"position_m":[0.3240544121960878,-0.042212348090911844,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004226797023005514,0.0028419612512789157],"position_m":[0.35522679702300547,0.3212419612512789,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7dcf08285e30ae8a640d02cb051d211934106186cfe288af9c5709344b4051d3","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8118/tex_ceiling_textures_5578/tex_floor_textures_1229/tex_table_textures_6317/tex_wall_textures_9930","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2238150013186236947,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2238150013186236947,"visual_seed":2238150013186236947,"scene_id":"lab_003","finished_at":"2026-09-03T23:32:56"} +{"episode_id":"ep_000088","started_at":"2026-09-03T23:32:59","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[-0.10005465183630757,1.4882042473705046,0.71338606911949],"aabb_xy":[[-0.10349532807636475,1.4843428143961401],[-0.0966139755962504,1.492065680344869]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[0.6472881087338511,-1.84998483685191,0.71338606911949],"aabb_xy":[[0.6321159394522178,-1.8651536937801134],[0.6624602780154845,-1.8348159799237067]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[0.47173186538095013,-1.4235526669849516,0.71338606911949],"aabb_xy":[[0.44984211779200933,-1.5135526642742005],[0.49362161296989093,-1.3335526696957023]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[0.05427368212099526,-2.4450550138172757,0.71338606911949],"aabb_xy":[[0.044642045900565634,-2.4546923265969847],[0.06390531834142488,-2.435417701037567]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[0.45169965073759344,0.8446646964930418,0.71338606911949],"aabb_xy":[[0.44573311179685765,0.8387035518336777],[0.4576661896783292,0.8506258411524058]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.4366985022030375,-1.5575162442602497,0.71338606911949],"aabb_xy":[[-0.4541985024623742,-1.5716077864490228],[-0.41919850194370095,-1.5434247020714775]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.6330397990192305,-1.602901857984542,0.71338606911949],"aabb_xy":[[0.6204130117320341,-1.6124479316861149],[0.6456665863064268,-1.593355784282969]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.47738502111537073,-0.2618040644151316,0.71338606911949],"aabb_xy":[[-0.5573850190961558,-0.2694056053769835],[-0.39738502313458574,-0.2542025234532796]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[0.19575432148085714,-1.9507009148184116,0.71338606911949],"aabb_xy":[[0.11575432432128183,-1.9622485157762282],[0.2757543186404324,-1.939153313860594]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[-0.2991233822628529,-2.3360245963138633,0.71338606911949],"aabb_xy":[[-0.36312338084942536,-2.3830315597133715],[-0.23512338367628044,-2.289017632914354]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[-0.5256690007321635,1.5971959821260193,0.71338606911949],"aabb_xy":[[-0.5475776828715145,1.5752953153059286],[-0.5037603185928125,1.61909664894611]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[0.6477302646448937,-1.1122784155030359,0.71338606911949],"aabb_xy":[[0.5777302628361483,-1.1336321842672232],[0.7177302664536391,-1.0909246467388485]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.09893444045323385,1.6129516649680045,0.71338606911949],"aabb_xy":[[-0.10497145345389859,1.6069249638990566],[-0.09289742745256913,1.6189783660369528]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.5357775236938587,-1.3387115394746647,0.71338606911949],"aabb_xy":[[-0.5857775231340542,-1.388679463958981],[-0.48577752425366294,-1.2887436149903484]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.06646473115323781,-0.9631943871397901,0.71338606911949],"aabb_xy":[[0.002464728810436245,-1.0081352383839226],[0.13046473349603935,-0.9182535358956576]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.3376803100765822,-0.468750691974658,0.71338606911949],"aabb_xy":[[-0.3663296424369984,-0.49739625125173376],[-0.30903097771616594,-0.44010513269758217]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[0.1284253912783,1.5809524484094237,0.71338606911949],"aabb_xy":[[0.07842611610986383,1.5309524471334768],[0.17842466644673616,1.6309524496853711]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.4082607002075156,-2.0659359335916054,0.71338606911949],"aabb_xy":[[0.37326069885603386,-2.0862956695484263],[0.4432607015589973,-2.0455761976347846]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.03072857906554627,1.70764616762431,0.71338606911949],"aabb_xy":[[-0.09472857976901564,1.661627785151389],[0.03327142163792307,1.753664550097231]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.12171167402005822,-0.7946207565282861,0.71338606911949],"aabb_xy":[[0.11349712890437423,-0.8032973468259273],[0.12992621913574218,-0.7859441662306447]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[0.5386168017575264,0.3717297230725958,0.71338606911949],"aabb_xy":[[0.49731225869379025,0.3077297235044787],[0.5799213448212622,0.43572972264071286]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[-0.6465625332639456,-2.227422155630508,0.71338606911949],"aabb_xy":[[-0.660009059897989,-2.240892007283599],[-0.6331160066299023,-2.2139523039774165]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[0.1553124333936694,-2.543879584749255,0.71338606911949],"aabb_xy":[[0.15117657706096924,-2.5813795841936122],[0.15944828972636962,-2.5063795853048982]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.25790380084770415,-1.3024498438297405,0.71338606911949],"aabb_xy":[[-0.2946984339726104,-1.3393557189263228],[-0.22110916772279787,-1.2655439687331582]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_24","position":[-0.3158390287924492,0.6748074044625656,0.71338606911949],"aabb_xy":[[-0.3334173309813961,0.6572329148884606],[-0.2982607266035024,0.6923818940366704]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[-0.5412703082986572,1.1770282036977724,0.71338606911949],"aabb_xy":[[-0.5493839629720343,1.1689223872437433],[-0.5331566536252801,1.1851340201518015]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_26","position":[-0.6322776241162638,0.1520637199130661,0.71338606911949],"aabb_xy":[[-0.6622451810260893,0.12206371961518034],[-0.602310067206438,0.18206372021095182]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[-0.288881319018234,1.1850215517685427,0.71338606911949],"aabb_xy":[[-0.352881321067966,1.1449270686792348],[-0.224881316968502,1.2251160348578507]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[-0.10191370515077658,0.6951873732558993,0.71338606911949],"aabb_xy":[[-0.1595441740380474,0.6351873743291886],[-0.044283236263505714,0.7551873721826097]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_29","position":[-0.10176715934294889,-1.7523487096398225,0.71338606911949],"aabb_xy":[[-0.19176716301986702,-1.8137811162169262],[-0.0117671556660307,-1.6909163030627175]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_30","position":[0.6546178935489473,0.16438874986532603,0.71338606911949],"aabb_xy":[[0.6483057940126089,0.15862181061210723],[0.6609299930852857,0.1701556891185449]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_31","position":[0.3618500476171258,0.6527976164764424,0.71338606911949],"aabb_xy":[[0.3275337704425078,0.6027976165032646],[0.3961663247917437,0.70279761644962]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695584607095876,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6016.png","name":"6016"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6016.png","name":"6016"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5667.png","name":"5667"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1217.png","name":"1217"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2885.png","name":"2885"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2966.png","name":"2966"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":761.5422457691009,"rotation_z_degrees":85.91763862897126,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012662544509659625,0.007347159801138665,0.016844759210475912]},{"name":"camera_2","offset_m":[0.016836172868576183,0.017249165157148503,0.01930099153609535]},{"name":"camera_3","offset_m":[0.00438532761361787,0.007362595289466062,-0.009355722559521476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017773686528436423,0.00023627934882781542,0.0003130533710378079],"end_effector_yaw_offset_degrees":0.9201553940313243},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017774747002318766,-0.00019155515846846203,-0.0012699416181838434],"end_effector_yaw_offset_degrees":-0.03794271829960483},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001708978249891524,-0.0019648999570462014,-0.0007695006811996908],"end_effector_yaw_offset_degrees":-0.05389526343563178}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001056682429655305,8.490020764564867e-05],"position_m":[0.1513433175703447,0.22368490020764564,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031859992134371335,0.00042589502801933157],"position_m":[0.24558599921343713,-0.30927410497198066,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007984847253261233,0.00350158188957772],"position_m":[0.3237015152746739,-0.03809841811042228,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005781627946751218,-0.00389296313963819],"position_m":[0.3504218372053249,0.3145070368603618,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aff1f41ee6e307d88159a3991cd9365be1e62efdeed4722877ac704c6fdc202e","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6016/tex_ceiling_textures_2966/tex_floor_textures_2885/tex_table_textures_5667/tex_wall_textures_1217","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5772732120723953023,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5772732120723953023,"visual_seed":5772732120723953023,"scene_id":"lab_003","finished_at":"2026-09-03T23:35:58"} +{"episode_id":"ep_000089","started_at":"2026-09-03T23:36:01","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.0985027074129936,1.3547449161507799,0.71338606911949],"aabb_xy":[[-0.12067523438964442,1.3325692489946568],[-0.07633018043634275,1.376920583306903]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[0.1305161129011002,-1.2980263632423905,0.71338606911949],"aabb_xy":[[0.1153439436194669,-1.313195220170594],[0.14568828218273358,-1.2828575063141874]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.494210360115539,0.22074037616577868,0.71338606911949],"aabb_xy":[[0.47062523665164413,0.1557403739203469],[0.5177954835794338,0.28574037841121047]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[0.32112721795251464,-1.2670348693098492,0.71338606911949],"aabb_xy":[[0.287687042756495,-1.300478495140779],[0.3545673931485342,-1.233591243478919]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.1337821168368155,-0.8837567327599991,0.71338606911949],"aabb_xy":[[-0.1556718644257563,-0.9737567300492482],[-0.11189236924787473,-0.79375673547075]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.10882330227381887,-1.6407494887229366,0.71338606911949],"aabb_xy":[[-0.17282329938592456,-1.689781858517347],[-0.04482330516171318,-1.5917171189285257]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.28955569315009105,1.7694687585343236,0.71338606911949],"aabb_xy":[[-0.33953864333757033,1.719468758891763],[-0.2395727429626117,1.8194687581768838]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.4843889381618647,0.5871583038085335,0.71338606911949],"aabb_xy":[[0.43441012965154885,0.5371583038028147],[0.5343677466721806,0.6371583038142523]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[-0.07908414466380709,-0.6015624085413389,0.71338606911949],"aabb_xy":[[-0.08505068360454286,-0.607523553200703],[-0.07311760572307129,-0.5956012638819749]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[-0.05793742426960102,-2.2177344442416316,0.71338606911949],"aabb_xy":[[-0.14165964976968348,-2.3077344477763275],[0.02578480123048145,-2.1277344407069356]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[0.2623358358417319,1.7605507527783604,0.71338606911949],"aabb_xy":[[0.23118891699814875,1.6905507540915532],[0.293482754685315,1.8305507514651675]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[-0.26320620931367217,1.4575532825508817,0.71338606911949],"aabb_xy":[[-0.2861219221987221,1.4346489854144584],[-0.24029049642862232,1.4804575796873054]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[0.41151528398243964,-1.6288145599253254,0.71338606911949],"aabb_xy":[[0.4042329676057759,-1.718814563534834],[0.4187976003591032,-1.538814556315816]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[-0.4886697392684699,-0.29672190822136235,0.71338606911949],"aabb_xy":[[-0.5061697385465567,-0.3140600082877083],[-0.471169739990383,-0.2793838081550164]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.22824791013467594,-2.1662537150845074,0.71338606911949],"aabb_xy":[[-0.2582154670445016,-2.196253715382393],[-0.19828035322485027,-2.136253714786622]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[0.10128950017307414,1.677672353312206,0.71338606911949],"aabb_xy":[[0.06378949950849543,1.6619852953119836],[0.13878950083765282,1.693359411312428]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[-0.6100363588849104,-0.19784951484210334,0.71338606911949],"aabb_xy":[[-0.619196237828787,-0.20438073288564035],[-0.6008764799410338,-0.19131829679856632]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[0.5289893527406797,-2.1950728474019,0.71338606911949],"aabb_xy":[[0.4489893557264317,-2.215207399075311],[0.6089893497549277,-2.174938295728489]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[-0.2522750526008143,-0.6617825658123444,0.71338606911949],"aabb_xy":[[-0.27048087626206196,-0.672807966394336],[-0.2340692289395666,-0.6507571652303528]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[0.5244717442240239,-1.437800818584397,0.71338606911949],"aabb_xy":[[0.4694717450474344,-1.4927904933593545],[0.5794717434006134,-1.3828111438094393]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.2984674294798204,-0.6821920465561482,0.71338606911949],"aabb_xy":[[0.2634674295033246,-0.6916566626037648],[0.33346742945631624,-0.6727274305085316]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[-0.357866317395159,1.0126718938591726,0.71338606911949],"aabb_xy":[[-0.4218663176556298,0.9676630945062444],[-0.2938663171346882,1.0576806932121003]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[0.2954278588923175,1.3378444717743276,0.71338606911949],"aabb_xy":[[0.28996991325529736,1.2578444684666683],[0.3008858045293375,1.4178444750819865]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[-0.46553811426418995,-1.1429754854127054,0.71338606911949],"aabb_xy":[[-0.5155381129101111,-1.1928950290721676],[-0.4155381156182687,-1.0930559417532428]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_24","position":[-0.38113045665806483,-2.1882104897464374,0.71338606911949],"aabb_xy":[[-0.4155929346711526,-2.19487416692936],[-0.34666797864497706,-2.1815468125635147]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[0.3220920857966414,-1.936930058684192,0.71338606911949],"aabb_xy":[[0.3167595711420284,-1.9422543869294278],[0.3274246004512544,-1.9316057304389567]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7022325353034924,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8997.png","name":"8997"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8997.png","name":"8997"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8332.png","name":"8332"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7583.png","name":"7583"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3732.png","name":"3732"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5388.png","name":"5388"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":587.2526305442453,"rotation_z_degrees":306.29013662285547,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010551209972587582,-0.00032571280780828785,0.01061956390009947]},{"name":"camera_2","offset_m":[-0.005970422505484931,0.014451630596403479,-0.0065962566607027685]},{"name":"camera_3","offset_m":[0.01309034493779097,-0.01914774973006689,0.017827836755224476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001663756379362994,-0.0006291230919829157,0.0009082342165448029],"end_effector_yaw_offset_degrees":-0.6348141543816057},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015986042199868577,0.0005947163359931494,-0.0008712892510764872],"end_effector_yaw_offset_degrees":0.1672125198128971},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018661033330223855,0.0012552847034195797,-0.0012068375157453684],"end_effector_yaw_offset_degrees":-0.32108048983455095}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000711725551134944,0.0030100649980181393],"position_m":[0.15311172555113495,0.22661006499801814,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009966250940156088,0.0007424466845065572],"position_m":[0.2433966250940156,-0.3089575533154934,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00018562712843104776,0.0029406889861579915],"position_m":[0.3246856271284311,-0.038659311013842006,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003569431525611409,0.002603964836478477],"position_m":[0.3545694315256114,0.3210039648364785,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"85b65e1a7b38137e8df1ae5f3c534eb3cdf09efe409303d5c8aba23235baade5","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8997/tex_ceiling_textures_5388/tex_floor_textures_3732/tex_table_textures_8332/tex_wall_textures_7583","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4265293542415869255,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4265293542415869255,"visual_seed":4265293542415869255,"scene_id":"lab_003","finished_at":"2026-09-03T23:39:12"} +{"episode_id":"ep_000090","started_at":"2026-09-03T23:39:16","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.5092156666497446,-0.09060439865127146,0.71338606911949],"aabb_xy":[[-0.5321313795347945,-0.11350869578769499],[-0.4862999537646947,-0.06770010151484797]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[-0.09084497023939597,-2.2821078965824193,0.71338606911949],"aabb_xy":[[-0.11335866206285314,-2.352107897183426],[-0.06833127841593875,-2.212107895981411]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.4582536041226979,-0.6486684730315448,0.71338606911949],"aabb_xy":[[0.4282860472128722,-0.6786684733294306],[0.48822116103252355,-0.6186684727336591]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.5291479753301183,-0.5347491501392865,0.71338606911949],"aabb_xy":[[0.5221065243793707,-0.541775901877081],[0.5361894262808659,-0.5277223984014919]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.4684233165853766,-1.3431184664098357,0.71338606911949],"aabb_xy":[[0.44592331706166916,-1.3656144138604562],[0.49092331610908396,-1.3206225189592147]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[-0.6677080725030421,-1.0122553382428299,0.71338606911949],"aabb_xy":[[-0.6902044939369062,-1.0347553380495773],[-0.645211651069178,-0.9897553384360824]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.6898249900376054,-1.6009643705228491,0.71338606911949],"aabb_xy":[[0.6848689698527244,-1.6234643707249712],[0.6947810102224867,-1.578464370320728]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[-0.3253428483900292,-1.3161360522674341,0.71338606911949],"aabb_xy":[[-0.3466208565335014,-1.381136054593507],[-0.3040648402465569,-1.2511360499413609]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.25634217012533544,0.3102850853556247,0.71338606911949],"aabb_xy":[[-0.306342169565531,0.26031716087130835],[-0.20634217068513977,0.36025300983994096]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[0.47299682673098564,-1.8496703380301764,0.71338606911949],"aabb_xy":[[0.46488317205760843,-1.8577761544842055],[0.48111048140436263,-1.8415645215761474]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[0.03453798233059535,-0.8395843597935382,0.71338606911949],"aabb_xy":[[0.006692945549988227,-0.8703688585318499],[0.062383019111202476,-0.8087998610552265]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.4250477584886357,0.6777058083766274,0.71338606911949],"aabb_xy":[[-0.48504775934944844,0.6262793783701409],[-0.3650477576278228,0.7291322383831137]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[-0.08494933350492995,0.22835053641659986,0.71338606911949],"aabb_xy":[[-0.08958444865716332,0.22448320133945115],[-0.08031421835269655,0.23221787149374845]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[0.012680578473325266,1.7067877210299591,0.71338606911949],"aabb_xy":[[0.008602420566275524,1.7027067407816956],[0.016758736380375006,1.7108687012782222]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.5615805960277729,-2.217458903050975,0.71338606911949],"aabb_xy":[[-0.5654944692231952,-2.2262079184575314],[-0.5576667228323503,-2.208709887644418]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[-0.38607103733726406,-0.4619529649432801,0.71338606911949],"aabb_xy":[[-0.40427686099851173,-0.4729783655252718],[-0.3678652136760164,-0.4509275643612885]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[0.6312668252045961,0.5975971790144468,0.71338606911949],"aabb_xy":[[0.5662668225668025,0.5461175803149998],[0.6962668278423895,0.6490767777138937]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.3638617255601596,-1.0449696399117996,0.71338606911949],"aabb_xy":[[-0.4066284324395798,-1.1089696433336018],[-0.3210950186807394,-0.9809696364899969]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.25871142720159623,0.9818520847441459,0.71338606911949],"aabb_xy":[[0.16871142486757718,0.9043697301590332],[0.3487114295356153,1.0593344393292585]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.6437970987966066,0.3815180732007635,0.71338606911949],"aabb_xy":[[0.6350991365058913,0.36939309889328875],[0.6524950610873219,0.39364304750823825]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.5814597614160458,0.3694981739151424,0.71338606911949],"aabb_xy":[[-0.6454597607102139,0.3055120335462882],[-0.5174597621218775,0.4334843142839966]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[0.5967811131788174,-0.06214942184006178,0.71338606911949],"aabb_xy":[[0.541785635358158,-0.11714942327396871],[0.6517765909994768,-0.0071494204061548425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957232155290355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9306.png","name":"9306"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9306.png","name":"9306"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/143.png","name":"143"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4625.png","name":"4625"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4791.png","name":"4791"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5282.png","name":"5282"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":696.4290695461254,"rotation_z_degrees":18.015796835107132,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01553243823376909,0.008944435172342457,-0.001541139985572277]},{"name":"camera_2","offset_m":[-0.0032320533779061737,-0.014321651085721086,-0.006166071496523703]},{"name":"camera_3","offset_m":[-0.0016202745864426042,0.01679835159130032,-0.012814250153752727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001091444952647075,0.00147777129309683,0.0013893714788138739],"end_effector_yaw_offset_degrees":-0.43673679781973873},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008344316047384991,0.0001292910002358514,-0.0017628158885744259],"end_effector_yaw_offset_degrees":0.8840758196184411},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015389838473861457,0.0018406389911372009,-0.000344770337299646],"end_effector_yaw_offset_degrees":-0.8938341554796929}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[9.108163484448581e-05,-0.0032536692141751566],"position_m":[0.15249108163484448,0.22034633078582483,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00415061158492135,-0.0016218053915409703],"position_m":[0.24655061158492136,-0.311321805391541,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010926612474689247,-0.001918432327677069],"position_m":[0.3234073387525311,-0.04351843232767707,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017088730251404336,-0.0013680151976410925],"position_m":[0.34929112697485953,0.31703198480235895,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b97a83b110c141b4ed17b74a107a4e6e417553202d237df5e60d2020daf83b02","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0090.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9306/tex_ceiling_textures_5282/tex_floor_textures_4791/tex_table_textures_143/tex_wall_textures_4625","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":9140075366268648065,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":9140075366268648065,"visual_seed":9140075366268648065,"scene_id":"lab_003","finished_at":"2026-09-03T23:42:15"} +{"episode_id":"ep_000091","started_at":"2026-09-03T23:42:19","dimensions":{"distractor":{"count":28,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[0.05653693886765554,1.071327462321496,0.71338606911949],"aabb_xy":[[-0.03315013744045992,0.9813274620670454],[0.146224015175771,1.1613274625759464]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.4588832083184309,-1.2730005548143772,0.71338606911949],"aabb_xy":[[0.4413832748844474,-1.2905005547346116],[0.47638314175241414,-1.2555005548941425]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[0.4657351527323015,-0.849618267129761,0.71338606911949],"aabb_xy":[[0.42056383488413257,-0.9136182642742995],[0.5109064705804705,-0.7856182699852227]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.5902640516197419,-0.1478022873586684,0.71338606911949],"aabb_xy":[[0.535264053417997,-0.188324253985106],[0.6452640498214867,-0.10728032073223083]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.4867845541359402,1.2798657261691897,0.71338606911949],"aabb_xy":[[-0.5467845539825069,1.2230471039761508],[-0.42678455428937334,1.3366843483622282]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.031178912761470667,-1.929147226826974,0.71338606911949],"aabb_xy":[[-0.1011789148929002,-1.9519091924526697],[0.03882108936995888,-1.9063852612012784]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.5093148803814087,-1.0179537185137688,0.71338606911949],"aabb_xy":[[0.49668809309421236,-1.0274997922153417],[0.5219416676686051,-1.008407644812196]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[-0.055419510523421756,-1.6599069553417793,0.71338606911949],"aabb_xy":[[-0.11941950763552744,-1.70893932513619],[0.008580486588683933,-1.6108745855473687]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[-0.12262386796320901,-1.2895255201468154,0.71338606911949],"aabb_xy":[[-0.12986763400945434,-1.3695255183504176],[-0.11538010191696367,-1.2095255219432128]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[-0.2998529276107498,1.4365719633098393,0.71338606911949],"aabb_xy":[[-0.31062590153211755,1.4015719650908005],[-0.289079953689382,1.4715719615288785]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.1673325498731587,-2.3489522754829837,0.71338606911949],"aabb_xy":[[0.1423325503214202,-2.3590947593481184],[0.19233254942489716,-2.338809791617849]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_11","position":[-0.4004496905051534,-2.0116833860348167,0.71338606911949],"aabb_xy":[[-0.43504077335919855,-2.0766833863198473],[-0.3658586076511081,-1.9466833857497854]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[0.33879016225417846,-1.4045065244449664,0.71338606911949],"aabb_xy":[[0.28879016189361234,-1.454486511654569],[0.3887901626147445,-1.3545265372353632]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[0.23071210681391607,1.500973967247862,0.71338606911949],"aabb_xy":[[0.22342979043725236,1.4109739636383527],[0.23799442319057967,1.5909739708573707]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.23538145219157947,-1.6141993517040163,0.71338606911949],"aabb_xy":[[-0.2435959973072634,-1.6228759420016574],[-0.22716690707589543,-1.6055227614063747]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.11120663293183808,-0.31966081520964496,0.71338606911949],"aabb_xy":[[-0.13370663344387868,-0.34215267357504325],[-0.08870663241979748,-0.29716895684424655]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.5709230891704946,1.5414861484015225,0.71338606911949],"aabb_xy":[[0.48592309047842,1.5095002850066435],[0.6559230878625693,1.5734720117964012]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.3140761570959249,1.291335781592414,0.71338606911949],"aabb_xy":[[-0.36389293656075966,1.2413357831081107],[-0.26425937763109014,1.3413357800767174]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.4781147105349519,0.7776510031387884,0.71338606911949],"aabb_xy":[[-0.5156147117197447,0.7732327804427277],[-0.4406147093501591,0.7820692258348487]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[0.472268817726321,-1.7641100632680824,0.71338606911949],"aabb_xy":[[0.408268815505914,-1.8084831473933707],[0.536268819946728,-1.719736979142794]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[0.6201337459478053,-1.6202825125642233,0.71338606911949],"aabb_xy":[[0.5897356348486616,-1.6506894145658926],[0.6505318570469488,-1.5898756105625536]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.18825584311026422,-1.8106562180410595,0.71338606911949],"aabb_xy":[[0.15075584261290595,-1.8146249015891778],[0.22575584360762244,-1.8066875344929412]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[0.5114273738728039,-2.3887702609714716,0.71338606911949],"aabb_xy":[[0.4314273717100413,-2.4687254445976152],[0.5914273760355663,-2.308815077345328]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[0.15695507951392462,1.784653189290212,0.71338606911949],"aabb_xy":[[0.1394550792688752,1.7671534014506451],[0.17445507975897398,1.8021529771297788]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[-0.027813389223690477,-0.754776766380743,0.71338606911949],"aabb_xy":[[-0.03194924555639067,-0.7922767658251],[-0.023677532890990283,-0.717276766936386]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[-0.15187369975189002,-2.455280984938064,0.71338606911949],"aabb_xy":[[-0.17437369999540542,-2.467485619597836],[-0.12937369950837463,-2.443076350278292]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[-0.21111537839720357,1.0001936682886603,0.71338606911949],"aabb_xy":[[-0.29111537698452294,0.9208780663504993],[-0.1311153798098841,1.079509270226821]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[-0.6161583412331045,-1.552619604253959,0.71338606911949],"aabb_xy":[[-0.6811583397901774,-1.5823721376678415],[-0.5511583426760317,-1.5228670708400762]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6963585934121387,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8716.png","name":"8716"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8716.png","name":"8716"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4702.png","name":"4702"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2283.png","name":"2283"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1588.png","name":"1588"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1935.png","name":"1935"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":682.4263606030502,"rotation_z_degrees":17.08856803684492,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018253431472510726,-0.004891874080599349,0.015625125067088495]},{"name":"camera_2","offset_m":[-0.004464585329626543,-0.013218243204536354,0.008195626016646564]},{"name":"camera_3","offset_m":[-0.007918925600336682,0.014975266228775094,-0.015415572302924284]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010395808122050797,0.0018607155992012132,-0.0007144764126169015],"end_effector_yaw_offset_degrees":0.5909018720321844},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012271197109305328,-0.00025542715237613094,0.0012577400292965576],"end_effector_yaw_offset_degrees":-0.7014639188181175},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009135304457151779,0.0007701545268528685,0.0016819076134821],"end_effector_yaw_offset_degrees":0.015794184619337237}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010666694687590898,0.001306119061165875],"position_m":[0.1534666694687591,0.22490611906116587,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012152302433975446,-0.0005178391073988372],"position_m":[0.24361523024339754,-0.3102178391073988,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003383269387091902,-0.0019514367325147988],"position_m":[0.32111673061290813,-0.0435514367325148,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[3.450310349074979e-05,-0.0033898045332852447],"position_m":[0.3510345031034907,0.31501019546671477,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9fb107df6c02eafa0aecd3b98c99fcee27c7a190cbe0fb13f1dee993631d44bd","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8716/tex_ceiling_textures_1935/tex_floor_textures_1588/tex_table_textures_4702/tex_wall_textures_2283","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3496921225001305999,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3496921225001305999,"visual_seed":3496921225001305999,"scene_id":"lab_003","finished_at":"2026-09-03T23:45:20"} +{"episode_id":"ep_000092","started_at":"2026-09-03T23:45:24","dimensions":{"distractor":{"count":22,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.047776223703532295,-0.7837055295154474,0.71338606911949],"aabb_xy":[[-0.055058540080195936,-0.8737055331249562],[-0.040493907326868625,-0.6937055259059383]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[-0.21408033723609476,0.21416654717602146,0.71338606911949],"aabb_xy":[[-0.24908033858757647,0.19380681121920063],[-0.179080335884613,0.2345262831328423]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[0.1853953452611089,-2.264592039888858,0.71338606911949],"aabb_xy":[[0.14836123583304917,-2.2989692472225673],[0.22242945468916858,-2.2302148325551485]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.1592844031736771,0.9386034420303937,0.71338606911949],"aabb_xy":[[-0.20428440463990596,0.8936035851689133],[-0.11428440170744825,0.9836032988918746]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[-0.43130330028890723,-1.158680974363378,0.71338606911949],"aabb_xy":[[-0.4392265805276555,-1.1811809746013813],[-0.42338002005015885,-1.1361809741253746]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.46752220118364085,0.29818777425554854,0.71338606911949],"aabb_xy":[[0.4330597231705531,0.29152409707262567],[0.5019846791967286,0.3048514514384713]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[-0.24512417577141876,0.5717838423105306,0.71338606911949],"aabb_xy":[[-0.295124176790554,0.5353176265727028],[-0.19512417475228352,0.6082500580483586]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[0.5777184087436402,0.8486025384795615,0.71338606911949],"aabb_xy":[[0.5402184086380472,0.8417803766265803],[0.6152184088492331,0.8554247003325426]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.5447198896452847,-2.0223697823616207,0.71338606911949],"aabb_xy":[[-0.5797198879154046,-2.029443910056609],[-0.5097198913751648,-2.0152956546666325]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[0.5439742497029019,1.3754991481548613,0.71338606911949],"aabb_xy":[[0.5288020804212684,1.360330291226658],[0.5591464189845351,1.3906680050830647]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[-0.37550263753874363,0.6363476781013762,0.71338606911949],"aabb_xy":[[-0.4041519698991599,0.6077021188243003],[-0.34685330517832746,0.6649932373784518]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.5046371780507881,-2.3897346862406583,0.71338606911949],"aabb_xy":[[-0.5421371783990159,-2.4015260818217414],[-0.46713717770256036,-2.3779432906595743]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.09212551534508262,0.44642614769036504,0.71338606911949],"aabb_xy":[[-0.15612551702307997,0.3979087562110508],[-0.028125513667085267,0.49494353916967926]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[-0.38710983070979965,-1.3080937705155833,0.71338606911949],"aabb_xy":[[-0.410391672907931,-1.3930937718128111],[-0.3638279885116683,-1.223093769218355]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[0.6406654315282063,0.5559623563778269,0.71338606911949],"aabb_xy":[[0.6071862642671655,0.5224832430067199],[0.6741445987892474,0.5894414697489339]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[-0.4049454026946844,-1.5973469736295136,0.71338606911949],"aabb_xy":[[-0.43994540182464,-1.6030921947051777],[-0.36994540356472866,-1.5916017525538495]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[0.6830002945169784,-0.3174330208311078,0.71338606911949],"aabb_xy":[[0.6678374215400414,-0.33259847812622656],[0.6981631674939156,-0.30226756353598905]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.29359718015161906,-0.5566098011075771,0.71338606911949],"aabb_xy":[[-0.30229514244233435,-0.5687347754150518],[-0.2848992178609038,-0.5444848268001024]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.6634621276942078,-2.455477895533156,0.71338606911949],"aabb_xy":[[-0.6722641830031804,-2.4632892216880853],[-0.6546600723852349,-2.447666569378227]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.5628866188882806,0.060804534169063285,0.71338606911949],"aabb_xy":[[-0.6178788695237916,0.005804532425750506],[-0.5078943682527697,0.11580453591237606]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.18376785377912652,0.8691397653542583,0.71338606911949],"aabb_xy":[[0.1599316361385215,0.779139764545772],[0.20760407141973164,0.959139766162745]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.2489121872463569,-0.20015978789858524,0.71338606911949],"aabb_xy":[[-0.28641218774371513,-0.20412847144670365],[-0.21141218674899867,-0.19619110435046683]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966351793450546,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2962.png","name":"2962"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2962.png","name":"2962"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5381.png","name":"5381"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3227.png","name":"3227"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1344.png","name":"1344"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8761.png","name":"8761"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":500.13519498246916,"rotation_z_degrees":4.392300051808955,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014917319431360567,-0.004795065210000598,-0.008756617986334208]},{"name":"camera_2","offset_m":[-0.0015905498335878794,-0.009488128783768661,0.0069196248113083045]},{"name":"camera_3","offset_m":[-0.01999391599149778,-0.00359443441997433,-0.00792118979557213]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005371358781220744,-0.0008594836191348034,0.0019930550539527673],"end_effector_yaw_offset_degrees":0.9749599118839942},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011180244847841063,-0.0007087291432854225,0.0005451277971884896],"end_effector_yaw_offset_degrees":0.3935328232920954},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001412749151376623,-0.0009468456146958842,-0.0015206124205551443],"end_effector_yaw_offset_degrees":-0.5407191880478324}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00048001743583668197,-0.0009017741171745523],"position_m":[0.15288001743583668,0.22269822588282545,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019697332707287706,-0.0025573705143590343],"position_m":[0.24043026672927123,-0.31225737051435903,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021228555940249576,0.002655819333592522],"position_m":[0.326622855594025,-0.03894418066640748,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00013812609701046707,-0.002439411773344601],"position_m":[0.3508618739029895,0.3159605882266554,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"93899ff27b10aeba755cb60847f77033abb4edd9098459d416d9a33f68fc18bb","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2962/tex_ceiling_textures_8761/tex_floor_textures_1344/tex_table_textures_5381/tex_wall_textures_3227","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1487532973476159447,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1487532973476159447,"visual_seed":1487532973476159447,"scene_id":"lab_003","finished_at":"2026-09-03T23:48:27"} +{"episode_id":"ep_000093","started_at":"2026-09-03T23:48:30","dimensions":{"distractor":{"count":20,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[0.3068402973844555,-1.0460507879677692,0.71338606911949],"aabb_xy":[[0.2892936024683366,-1.0835507895320204],[0.32438699230057444,-1.008550786403518]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.6366514668463057,1.2419062118083475,0.71338606911949],"aabb_xy":[[-0.659933309044437,1.1569062105111192],[-0.6133696246481743,1.3269062131055753]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.3036013952738466,-2.4934594787397577,0.71338606911949],"aabb_xy":[[-0.32271370263182547,-2.512594257617],[-0.28448908791586774,-2.474324699862516]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[-0.10116514574361846,0.8395131233810025,0.71338606911949],"aabb_xy":[[-0.15116514531995318,0.7895325444288966],[-0.05116514616728375,0.8894937023331085]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[-0.6246517652505554,-0.9706211785581071,0.71338606911949],"aabb_xy":[[-0.6946517668528349,-0.9840539717597647],[-0.554651763648276,-0.9571883853564496]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[-0.13020834263864067,0.5393220797890241,0.71338606911949],"aabb_xy":[[-0.21020834129552668,0.5248172208647615],[-0.050208343981754666,0.553826938713287]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.2912547372317208,-1.51709916313085,0.71338606911949],"aabb_xy":[[0.23125473738515395,-1.5739177853238886],[0.3512547370782875,-1.4602805409378112]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[-0.03661839486456708,-2.196177186348118,0.71338606911949],"aabb_xy":[[-0.07161839621604882,-2.2165369223049387],[-0.0016183935130853545,-2.175817450391297]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.6766705478996213,-2.2995846422970323,0.71338606911949],"aabb_xy":[[0.6442088470176935,-2.329717474411934],[0.7091322487815485,-2.2694518101821286]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.3567123275952357,-0.6703588091057666,0.71338606911949],"aabb_xy":[[-0.40671232795580176,-0.7203387963153695],[-0.3067123272346696,-0.6203788218961636]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[-0.06306099195214365,-1.1169203046323666,0.71338606911949],"aabb_xy":[[-0.12706099400187565,-1.1570147877216745],[0.0009390100975883442,-1.0768258215430586]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[0.5106795632887124,-1.3027895646927552,0.71338606911949],"aabb_xy":[[0.4655082454405436,-1.3667895618372938],[0.5558508811368815,-1.238789567548217]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[-0.17291812168899823,1.565417522664784,0.71338606911949],"aabb_xy":[[-0.17787414187387945,1.542917522462663],[-0.16796210150411706,1.5879175228669062]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.6202727111852733,-0.30441326215849074,0.71338606911949],"aabb_xy":[[0.5562727138829268,-0.34877968912634744],[0.6842727084876196,-0.26004683519063393]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.29313411875934536,-2.0330681705011457,0.71338606911949],"aabb_xy":[[-0.3062853647306347,-2.0580681702578327],[-0.279982872788056,-2.0080681707444596]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[-0.39157212134069946,-1.2476373804498013,0.71338606911949],"aabb_xy":[[-0.45657211989777224,-1.277389913863684],[-0.3265721227836266,-1.2178848470359187]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.6122361100495683,-1.7861279729193136,0.71338606911949],"aabb_xy":[[-0.649736108625189,-1.7988642685828715],[-0.5747361114739474,-1.7733916772557556]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.6140440418561806,-2.345441649059095,0.71338606911949],"aabb_xy":[[-0.6186791570084138,-2.349308984136243],[-0.6094089267039471,-2.3415743139819454]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.2954548312912378,0.3864031559754655,0.71338606911949],"aabb_xy":[[-0.35945483156521596,0.33633705577817746],[-0.2314548310172595,0.4364692561727534]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.6754556630670598,0.6792529012772479,0.71338606911949],"aabb_xy":[[0.6468063307066435,0.650607342000172],[0.704104995427476,0.7078984605543236]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950239048811713,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/940.png","name":"940"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9873.png","name":"9873"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8338.png","name":"8338"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4110.png","name":"4110"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":511.33409058265084,"rotation_z_degrees":298.3572612661224,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018881828019876323,-0.012264830918728441,-0.018980529550345907]},{"name":"camera_2","offset_m":[0.01735562419220744,-0.01383516001942947,0.017524333130850663]},{"name":"camera_3","offset_m":[-0.009229193578797977,0.011684590378125855,0.00203691970674897]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018592623010951033,0.00011528104161275974,0.0001263366525236665],"end_effector_yaw_offset_degrees":0.0783564151223155},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003953717682527937,0.001099116762988365,0.0019055396080724695],"end_effector_yaw_offset_degrees":-0.7347648264015119},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019969374265622567,0.0011124797242432153,0.001919477096640405],"end_effector_yaw_offset_degrees":0.7796273910837823}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004894745267774734,0.0036290882854616248],"position_m":[0.15191052547322254,0.22722908828546162,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005608884500296887,0.0031768750866676175],"position_m":[0.24183911154997031,-0.30652312491333233,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002119194727590612,0.0020170420987858954],"position_m":[0.3223808052724094,-0.039582957901214105,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019262268757210066,-0.0024793161218183138],"position_m":[0.34907377312427895,0.31592068387818173,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"42752df5c3b3d74d28f349ad2c458f4e936b6b4c380a1d2496f60eecc478a335","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0093.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_377/tex_ceiling_textures_4110/tex_floor_textures_8338/tex_table_textures_940/tex_wall_textures_9873","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2058575366620249618,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2058575366620249618,"visual_seed":2058575366620249618,"scene_id":"lab_003","finished_at":"2026-09-03T23:51:30"} +{"episode_id":"ep_000094","started_at":"2026-09-03T23:51:34","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[0.5638361958148332,-2.343690968971757,0.71338606911949],"aabb_xy":[[0.5546763168709566,-2.350222187015294],[0.5729960747587098,-2.3371597509282203]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.18740134525297902,-0.16544195161105968,0.71338606911949],"aabb_xy":[[-0.23740134661386622,-0.21541985618647527],[-0.13740134389209177,-0.11546404703564404]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.5617561216906868,-0.4912553883912323,0.71338606911949],"aabb_xy":[[0.5312718715636566,-0.5412553881727282],[0.5922403718177169,-0.44125538860973634]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[0.6004214669758228,-1.9825106067206106,0.71338606911949],"aabb_xy":[[0.574132642655382,-2.0087820403752614],[0.6267102912962633,-1.9562391730659594]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.3688995773067003,-0.747866923930719,0.71338606911949],"aabb_xy":[[0.3438995777549618,-0.7580094077958537],[0.3938995768584388,-0.7377244400655842]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[-0.2967335355411167,1.2220323670061668,0.71338606911949],"aabb_xy":[[-0.305514762688353,1.2132526197176368],[-0.28795230839388053,1.2308121142946973]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.30479402750922285,0.5753954650331403,0.71338606911949],"aabb_xy":[[-0.3687940291872202,0.5268780735538261],[-0.2407940258312255,0.6239128565124545]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.5259366492246363,0.5959106951094544,0.71338606911949],"aabb_xy":[[-0.5339301390199185,0.5879125631689788],[-0.5179431594293544,0.60390882704993]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.45931210741202055,-2.028332794868126,0.71338606911949],"aabb_xy":[[0.3893121056032751,-2.049686563632313],[0.529312109220766,-2.0069790261039384]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.5276550275230337,-0.8400261084989322,0.71338606911949],"aabb_xy":[[-0.5626550258337291,-0.8477411234224779],[-0.49265502921233817,-0.8323110935753866]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[-0.0323639951803989,1.7645359704698573,0.71338606911949],"aabb_xy":[[-0.03580467142045607,1.7606745374954929],[-0.028923318940341725,1.7683974034442218]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[-0.2844072371976763,-1.115407087792187,0.71338606911949],"aabb_xy":[[-0.318869715210764,-1.1220707649751098],[-0.24994475918458847,-1.108743410609264]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.308972780299098,0.47583986860928107,0.71338606911949],"aabb_xy":[[0.2985612216186143,0.47049413527338246],[0.31938433897958174,0.48118560194517945]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[0.6818859884539779,-0.3976894955056496,0.71338606911949],"aabb_xy":[[0.6597134614773269,-0.4198651626617727],[0.7040585154306286,-0.37551382834952635]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[-0.21150368127234437,-2.437320353082436,0.71338606911949],"aabb_xy":[[-0.26148663145982365,-2.487320352724996],[-0.161520731084865,-2.387320353439875]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.5000345331895832,0.4007096042310758,0.71338606911949],"aabb_xy":[[0.46412102876459355,0.36479609601432117],[0.5359480376145729,0.43662311244783036]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[-0.029551479210079723,-0.9381846038404171,0.71338606911949],"aabb_xy":[[-0.09455148021058024,-0.9889709689950922],[0.035448521790420795,-0.8873982386857423]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.4261789661007316,-0.3868258551216357,0.71338606911949],"aabb_xy":[[0.3762001575904157,-0.4368258551273545],[0.47615777461104747,-0.3368258551159169]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[0.5725724272194848,-0.08340170869727226,0.71338606911949],"aabb_xy":[[0.5653111796490773,-0.09618871896078174],[0.5798336747898922,-0.07061469843376278]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.3668340740615421,1.7041283445118176,0.71338606911949],"aabb_xy":[[0.3118408627244053,1.6491283441730242],[0.42182728539867886,1.7591283448506114]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.12990784725000604,-0.027986299675617943,0.71338606911949],"aabb_xy":[[-0.13587438619074182,-0.03394744433498198],[-0.12394130830927025,-0.022025155016253902]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[0.2818016696346649,-0.6461711406932147,0.71338606911949],"aabb_xy":[[0.24680167044184664,-0.6571381866908772],[0.3168016688274832,-0.635204094695552]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.43755243297169194,1.5119858473616525,0.71338606911949],"aabb_xy":[[-0.5175524340448123,1.502207801024268],[-0.3575524318985716,1.521763893699037]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[0.05330233878917101,-1.2533274357854884,0.71338606911949],"aabb_xy":[[0.03566950319564343,-1.2709503818011114],[0.07093517438269857,-1.2357044897698655]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[-0.40447903637805277,-2.232501850597913,0.71338606911949],"aabb_xy":[[-0.48947903479547605,-2.317376146060198],[-0.3194790379606296,-2.147627555135628]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_25","position":[-0.490314960143409,0.9390562984679574,0.71338606911949],"aabb_xy":[[-0.4952142524499724,0.9113793791653885],[-0.4854156678368454,0.966733217770526]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.49965681753554103,0.2571569435391443,0.71338606911949],"aabb_xy":[[-0.5342479003895861,0.19215694325411323],[-0.4650657346814958,0.3221569438241753]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_27","position":[-0.5952254428132076,-1.4877572283934717,0.71338606911949],"aabb_xy":[[-0.6155097455366062,-1.5080398535361803],[-0.5749411400898087,-1.4674746032507626]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_28","position":[0.6276986146700649,1.2697838044157606,0.71338606911949],"aabb_xy":[[0.5636986139665957,1.2237654219428398],[0.6916986153735344,1.3158021868886818]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_29","position":[-0.5314347465960454,1.133272533391537,0.71338606911949],"aabb_xy":[[-0.5445859925673349,1.1082725336348505],[-0.5182835006247561,1.1582725331482235]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_30","position":[-0.6874100675552315,1.3862754657856708,0.71338606911949],"aabb_xy":[[-0.6918406969100717,1.3808270940509886],[-0.6829794382003913,1.3917238375203536]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_31","position":[-0.48222922078763875,-0.7566213436088001,0.71338606911949],"aabb_xy":[[-0.5172292207641346,-0.7660859596564167],[-0.4472292208111429,-0.7471567275611835]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_32","position":[-0.6317788944677978,-1.567520132806527,0.71338606911949],"aabb_xy":[[-0.6398152291690825,-1.5755582521109435],[-0.6237425597665128,-1.55948201350211]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_33","position":[0.4907727621886333,1.5022918419122635,0.71338606911949],"aabb_xy":[[0.4267727619146551,1.4522257417149755],[0.5547727624626115,1.5523579421095515]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930840840251341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/678.png","name":"678"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/678.png","name":"678"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6272.png","name":"6272"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4431.png","name":"4431"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7597.png","name":"7597"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9802.png","name":"9802"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":605.2340312699239,"rotation_z_degrees":245.51950311000624,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011089057959281714,-0.018916423918404528,-0.0010708661906767558]},{"name":"camera_2","offset_m":[-0.008045830396799616,-0.009588729833313417,0.017195952182656755]},{"name":"camera_3","offset_m":[-0.002574775356928155,-0.019085656524382096,0.019413167833607786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010571224780253244,0.0009355077782044943,-0.0014106727016236298],"end_effector_yaw_offset_degrees":0.24995967463186286},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00033741925404616934,0.0010006130835786909,0.0011048017295727129],"end_effector_yaw_offset_degrees":-0.05751881466474362},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009364891394909244,0.0017278956911513919,-0.0007310274055687901],"end_effector_yaw_offset_degrees":-0.3795915136627259}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030866318984585665,-0.0006899960742681533],"position_m":[0.14931336810154144,0.22291000392573185,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00224029557094649,0.0035748525608298746],"position_m":[0.24015970442905352,-0.3061251474391701,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005796019613695516,0.0039020293173981013],"position_m":[0.3239203980386305,-0.037697970682601896,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004322846009302634,-0.0020539520676183653],"position_m":[0.3466771539906973,0.31634604793238164,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9bc7067f4c9662662837cabeb984cd0993724e856fb60b791493ce204a053e4c","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_678/tex_ceiling_textures_9802/tex_floor_textures_7597/tex_table_textures_6272/tex_wall_textures_4431","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6251528860577025222,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6251528860577025222,"visual_seed":6251528860577025222,"scene_id":"lab_003","finished_at":"2026-09-03T23:54:40"} +{"episode_id":"ep_000095","started_at":"2026-09-03T23:54:43","dimensions":{"distractor":{"count":30,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.22298517325175976,0.3097751364481156,0.71338606911949],"aabb_xy":[[-0.30298517041133505,0.29822753549029857],[-0.14298517609218447,0.32132273740593265]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.014667602018533121,0.8184079139211633,0.71338606911949],"aabb_xy":[[-0.04966760032922857,0.8106928989976178],[0.020332396292162325,0.8261229288447091]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.021054058097788597,-1.4284572060419756,0.71338606911949],"aabb_xy":[[0.005951756636770492,-1.443558727673037],[0.03615635955880668,-1.4133556844109136]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[0.015947867717233444,-2.35919504327186,0.71338606911949],"aabb_xy":[[-0.014019689192592222,-2.3891950435697455],[0.04591542462705911,-2.3291950429739736]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.3507443893479576,-2.1469440419503703,0.71338606911949],"aabb_xy":[[0.2907443890965564,-2.2012253669868342],[0.4107443895993588,-2.0926627169139054]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.5917707888040808,-0.49334055291040446,0.71338606911949],"aabb_xy":[[-0.6118292004173211,-0.513405639819562],[-0.5717123771908406,-0.4732754660012469]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[0.5149837627776332,0.3627664785887603,0.71338606911949],"aabb_xy":[[0.45098376638206017,0.2988031901700267],[0.5789837591732063,0.4267297670074938]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[-0.32808947382538284,-1.240970379208511,0.71338606911949],"aabb_xy":[[-0.3830894730019723,-1.2959600539834684],[-0.27308947464879335,-1.185980704433553]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[-0.34345144864131966,0.786975767034273,0.71338606911949],"aabb_xy":[[-0.3679976642640704,0.7567268704852359],[-0.31890523301856893,0.81722466358331]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.5963677427978029,1.6813829126249122,0.71338606911949],"aabb_xy":[[-0.6603677451406045,1.6364420613807797],[-0.5323677404550013,1.7263237638690447]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[0.17165008704636142,-0.8725658764652056,0.71338606911949],"aabb_xy":[[0.12183330758152666,-0.9225658749495088],[0.22146686651119618,-0.8225658779809021]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.546319237114616,-0.9659613324799095,0.71338606911949],"aabb_xy":[[-0.611319234996264,-1.0170849961864503],[-0.4813192392329684,-0.9148376687733686]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.14779769374738638,-1.7844686780102814,0.71338606911949],"aabb_xy":[[0.06279769505531174,-1.81645454140516],[0.23279769243946102,-1.7524828146154023]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.0606135871799941,-1.9926043296781448,0.71338606911949],"aabb_xy":[[0.04814622907025845,-2.0050696543114688],[0.07308094528972975,-1.9801390050448218]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[-0.07829138664548096,1.0396373565482508,0.71338606911949],"aabb_xy":[[-0.1282756223536582,0.9896373577347553],[-0.028307150937303724,1.0896373553617464]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[0.4723867610244714,-0.5725406995048878,0.71338606911949],"aabb_xy":[[0.3826996847163559,-0.6625406997593384],[0.5620738373325869,-0.4825406992504373]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[-0.37863692399046617,1.6130056134539887,0.71338606911949],"aabb_xy":[[-0.4326525202723662,1.5490056105617314],[-0.3246213277085662,1.6770056163462457]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.5477677589649119,-0.2685113982838514,0.71338606911949],"aabb_xy":[[0.46776776156131844,-0.34850396948203416],[0.6277677563685052,-0.18851882708566856]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[-0.36861099117899426,0.2401391312864396,0.71338606911949],"aabb_xy":[[-0.3795167672665569,0.16013913488761045],[-0.3577052150914315,0.32013912768526875]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[0.24669393014310725,1.7551398698344198,0.71338606911949],"aabb_xy":[[0.2231088066792124,1.6901398675889878],[0.2702790536070021,1.8201398720798514]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[0.5331954252392996,-1.4497455076262762,0.71338606911949],"aabb_xy":[[0.5268833257029613,-1.4555124468794953],[0.539507524775638,-1.4439785683730575]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[0.318144409051484,0.533428991269834,0.71338606911949],"aabb_xy":[[0.2728657941703347,0.46942899192165044],[0.3634230239326332,0.5974289906180178]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.3915047244987162,-2.45908032538616,0.71338606911949],"aabb_xy":[[-0.42650472447521204,-2.4685449414337772],[-0.3565047245222204,-2.4496157093385436]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.4491332499672296,-0.8040777473559011,0.71338606911949],"aabb_xy":[[0.4063665430878094,-0.8680777507777035],[0.4918999568466498,-0.7400777439340986]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[-0.4910924020824894,-0.23823635269257393,0.71338606911949],"aabb_xy":[[-0.5323412131124041,-0.2932363522047914],[-0.44984359105257465,-0.18323635318035647]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[-0.036267894092121944,1.7142153690492266,0.71338606911949],"aabb_xy":[[-0.10126789264919478,1.6844628356353437],[0.0287321044649509,1.743967902463109]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[-0.6565257605700161,-0.7713512547104948,0.71338606911949],"aabb_xy":[[-0.6778037687134882,-0.8363512570365678],[-0.6352477524265437,-0.7063512523844216]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_27","position":[-0.53941335372398,0.721302445944878,0.71338606911949],"aabb_xy":[[-0.5698114648231236,0.6908955439432085],[-0.5090152426248364,0.7517093479465475]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[0.0745329911499053,1.4169697461380797,0.71338606911949],"aabb_xy":[[0.0578558551568098,1.4002698221641494],[0.09121012714300081,1.43366967011201]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[-0.37634365132516856,-0.35818430897078724,0.71338606911949],"aabb_xy":[[-0.38811183811982614,-0.44318430887600896],[-0.36457546453051104,-0.2731843090655658]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995394047184439,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1722.png","name":"1722"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1722.png","name":"1722"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7476.png","name":"7476"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3075.png","name":"3075"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/48.png","name":"48"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6500.png","name":"6500"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":674.4117749220927,"rotation_z_degrees":146.6753648544753,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01654393899838592,-0.00607568383492752,-0.0012654096076571211]},{"name":"camera_2","offset_m":[-0.008774266200733374,-0.005912210492895524,0.014114133510430091]},{"name":"camera_3","offset_m":[-0.017600091948124806,0.0002683055277004423,0.0006411327100001064]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013349250710714337,0.001199068033920021,-0.0018619869370552693],"end_effector_yaw_offset_degrees":-0.6236361748975698},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016065632223603663,-0.0010989345336632158,0.00039371114454266314],"end_effector_yaw_offset_degrees":0.04157201970850788},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013381091940775623,0.001213374512018769,-0.0019327124632335377],"end_effector_yaw_offset_degrees":0.19627974453606845}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001639363075370365,-0.0006488758544597305],"position_m":[0.15076063692462965,0.22295112414554027,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013182286117307852,-0.0037806906847987942],"position_m":[0.24371822861173079,-0.3134806906847988,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004568944728897303,-0.0032278305600175017],"position_m":[0.3290689447288973,-0.0448278305600175,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007526677854027726,0.0021916179724670217],"position_m":[0.35175266778540276,0.32059161797246705,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"91bded97bc99bd365473a19074385b7e2c0229610a4de159a350379092aa95b7","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1722/tex_ceiling_textures_6500/tex_floor_textures_48/tex_table_textures_7476/tex_wall_textures_3075","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4522017647739887814,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4522017647739887814,"visual_seed":4522017647739887814,"scene_id":"lab_003","finished_at":"2026-09-03T23:57:40"} +{"episode_id":"ep_000096","started_at":"2026-09-03T23:57:43","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.2695680574827727,0.6314887754037941,0.71338606911949],"aabb_xy":[[0.25206812404878925,0.6139887754835595],[0.287067990916756,0.6489887753240285]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[-0.5964630359693283,-1.0067019797978967,0.71338606911949],"aabb_xy":[[-0.6116352052509616,-1.0218708367260998],[-0.5812908666876949,-0.9915331228696931]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.03441734801049279,-2.3862638290437745,0.71338606911949],"aabb_xy":[[-0.09204781689776363,-2.4462638279704847],[0.023213120876778067,-2.3262638301170635]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.5336284836863532,0.9298354470747086,0.71338606911949],"aabb_xy":[[-0.5887536893159439,0.8698354456334213],[-0.47850327805676235,0.9898354485159956]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.14078048492506212,1.662370794315374,0.71338606911949],"aabb_xy":[[-0.18605909980621138,1.5983707949671901],[-0.09550187004391286,1.7263707936635575]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[-0.4777303763379486,0.32590742707121834,0.71338606911949],"aabb_xy":[[-0.48543356701202567,0.31819805637248033],[-0.4700271856638716,0.33361679776995634]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.5050572601155076,-0.6877032964319529,0.71338606911949],"aabb_xy":[[-0.5690572604930412,-0.7374485632827651],[-0.44105725973797394,-0.6379580295811406]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[0.3187703806935265,-1.1027858664226209,0.71338606911949],"aabb_xy":[[0.2837703824234066,-1.1098599941176088],[0.3537703789636464,-1.0957117387276325]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[-0.08372609494275007,0.4146895231736716,0.71338606911949],"aabb_xy":[[-0.12122609523492489,0.41064804777306796],[-0.046226094650575256,0.4187309985742752]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[0.5573440629924593,-0.14529244308891576,0.71338606911949],"aabb_xy":[[0.5198440618076664,-0.14971066578497627],[0.594844064177252,-0.1408742203928552]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.3599775657899942,0.46542976791774304,0.71338606911949],"aabb_xy":[[0.2899775636585646,0.4426678022920474],[0.42997756792142366,0.4881917335434387]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[0.5646594366338074,1.662042335985594,0.71338606911949],"aabb_xy":[[0.5233548935700713,1.598042336417477],[0.6059639796975432,1.7260423355537111]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.41797262790589046,-1.941811852737265,0.71338606911949],"aabb_xy":[[-0.42677468321486317,-1.949623178892194],[-0.40917057259691775,-1.934000526582336]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.6089473191904666,0.1154715152003476,0.71338606911949],"aabb_xy":[[0.5739473192944478,0.10709727968840767],[0.6439473190864855,0.12384575071228755]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.17300180876440796,-2.0886773868372903,0.71338606911949],"aabb_xy":[[-0.2105018095564034,-2.09504522779548],[-0.1355018079724125,-2.0823095458790997]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[0.16181406058876713,-2.411249044201908,0.71338606911949],"aabb_xy":[[0.10181405999275092,-2.466061516747131],[0.22181406118478328,-2.356436571656684]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.17527515469958765,-0.9280348142617294,0.71338606911949],"aabb_xy":[[0.16264836741239133,-0.9375808879633022],[0.18790194198678403,-0.9184887405601564]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.25185024830412606,-1.9190977893227132,0.71338606911949],"aabb_xy":[[0.20185024664263126,-1.9690962315784157],[0.30185024996562076,-1.8690993470670103]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[-0.5961686242471043,-1.1131666240201439,0.71338606911949],"aabb_xy":[[-0.6000824974425267,-1.1219156394267007],[-0.5922547510516818,-1.104417608613587]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.5349706555410272,0.49342562123774014,0.71338606911949],"aabb_xy":[[-0.624970654959398,0.4600501243935504],[-0.4449706561226562,0.5268011180819299]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[0.3162846583094019,0.9651419605422333,0.71338606911949],"aabb_xy":[[0.30997255877306346,0.9593750212890145],[0.3225967578457403,0.9709088997954521]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.15914737310823224,-1.2973626343839746,0.71338606911949],"aabb_xy":[[0.13460115748548152,-1.3276115309330117],[0.18369358873098296,-1.2671137378349375]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[-0.0966412362957787,-0.26419177814424666,0.71338606911949],"aabb_xy":[[-0.13164123548859696,-0.27515882414190923],[-0.06164123710296043,-0.253224732146584]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[0.1461994790510157,-1.557595552214206,0.71338606911949],"aabb_xy":[[0.12119947949927723,-1.5677380360793407],[0.1711994786027542,-1.5474530683490713]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[-0.26095465956864206,0.49780603553019453,0.71338606911949],"aabb_xy":[[-0.2681984256148874,0.4178060373265922],[-0.25371089352239673,0.5778060337337969]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[-0.5039924127400285,1.7866113497458254,0.71338606911949],"aabb_xy":[[-0.5689924112971013,1.7568588163319425],[-0.43899241418295565,1.8163638831597078]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6973373025746163,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5409.png","name":"5409"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5409.png","name":"5409"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5138.png","name":"5138"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3639.png","name":"3639"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/622.png","name":"622"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1234.png","name":"1234"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":690.0933679563464,"rotation_z_degrees":182.97202198743236,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004160724053300497,-0.00308196247843159,-0.0031740585114988784]},{"name":"camera_2","offset_m":[0.008934576692940403,0.015547198291820278,-0.018751930184855773]},{"name":"camera_3","offset_m":[0.0014465778999878283,-0.017006556274980326,0.0025743729842756177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015028881065892894,0.0007055457585264852,0.0012540422977519324],"end_effector_yaw_offset_degrees":-0.26821498703155444},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010691706232219894,-0.0013041910267056211,-0.0010888975575467433],"end_effector_yaw_offset_degrees":-0.5866286534328666},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000499210829504949,-0.0011235313384367616,-0.001935754562477455],"end_effector_yaw_offset_degrees":0.07952133948173756}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002052075258706934,0.0007954368553991517],"position_m":[0.15445207525870694,0.22439543685539914,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018415948465678221,-0.0011706789626382643],"position_m":[0.24424159484656782,-0.31087067896263826,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003099035581314539,0.0001701594629579693],"position_m":[0.32759903558131453,-0.04142984053704203,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013672929095841701,0.0014978095735720225],"position_m":[0.34963270709041583,0.31989780957357206,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"de6755ed22a2e7397d08e37a4d3d6efcc35c19585d52fa131a7fe83ca2e2340d","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0096.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5409/tex_ceiling_textures_1234/tex_floor_textures_622/tex_table_textures_5138/tex_wall_textures_3639","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":295984614237642832,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":295984614237642832,"visual_seed":295984614237642832,"scene_id":"lab_003","finished_at":"2026-09-04T00:00:47"} +{"episode_id":"ep_000097","started_at":"2026-09-04T00:00:50","dimensions":{"distractor":{"count":34,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.05567172488901995,-1.981268099792278,0.71338606911949],"aabb_xy":[[-0.034328274834154224,-2.0043414523274574],[0.1456717246121941,-1.9581947472570982]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[-0.4717239955433802,1.064115882413918,0.71338606911949],"aabb_xy":[[-0.5087581049714398,1.0297386750802087],[-0.4346898861153204,1.0984930897476275]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[-0.14555583147234474,-0.3534864673115292,0.71338606911949],"aabb_xy":[[-0.19554006718052197,-0.4034864661250248],[-0.09557159576416752,-0.3034864684980336]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.3293131146068646,-1.5627741211526032,0.71338606911949],"aabb_xy":[[-0.35560193892730524,-1.5890455548072542],[-0.3030242902864239,-1.5365026874979517]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.5535674586897512,-0.7357925219344372,0.71338606911949],"aabb_xy":[[0.4895674622624294,-0.7829621457565337],[0.6175674551170732,-0.6886228981123408]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.48998617777233444,-1.8518252520407377,0.71338606911949],"aabb_xy":[[0.472192670837418,-1.8696249976365351],[0.5077796847072509,-1.8340255064449398]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[0.2003595554904477,-0.9977848007837078,0.71338606911949],"aabb_xy":[[0.13035955209888572,-1.0331005744871384],[0.2703595588820097,-0.9624690270802769]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.3800446033872308,0.785388435748196,0.71338606911949],"aabb_xy":[[-0.38550254902425085,0.7053884324405367],[-0.3745866577502107,0.8653884390558549]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[0.37470452261622267,1.0376018428218576,0.71338606911949],"aabb_xy":[[0.3670802545260444,1.0299686192853141],[0.38232879070640097,1.0452350663584016]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[-0.44507262821623705,-0.22232426689693163,0.71338606911949],"aabb_xy":[[-0.49504592221949745,-0.272324267451479],[-0.39509933421297655,-0.17232426634238426]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[-0.3536908123941343,-1.766100221458792,0.71338606911949],"aabb_xy":[[-0.41769081473693587,-1.8110410727029245],[-0.28969081005133274,-1.7211593702146595]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[-0.05105781036551982,1.097367001375721,0.71338606911949],"aabb_xy":[[-0.07355781037566811,1.0832707817361178],[-0.02855781035537152,1.1114632210153244]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[0.5024624120810266,-2.1970028400288064,0.71338606911949],"aabb_xy":[[0.4791805698828952,-2.282002841326034],[0.5257442542791578,-2.112002838731578]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[-0.5742519091153964,0.04094432805258119,0.71338606911949],"aabb_xy":[[-0.5894147820923336,0.02577887075746243],[-0.5590890361384594,0.05610978534769995]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.6559785555550045,-0.8560760115123112,0.71338606911949],"aabb_xy":[[-0.6934785553720381,-0.860714222823453],[-0.618478555737971,-0.8514378002011693]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.16433473322073178,-2.5178174051972437,0.71338606911949],"aabb_xy":[[-0.1993347315314272,-2.5255324201207894],[-0.1293347349100363,-2.510102390273698]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.5251212236586081,-2.4147737720154234,0.71338606911949],"aabb_xy":[[-0.531087762599344,-2.4207349166747876],[-0.5191546847178723,-2.4088126273560593]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.6488365171946768,-0.5005090543011947,0.71338606911949],"aabb_xy":[[0.6444058878398367,-0.5059574260358773],[0.653267146549517,-0.49506068256651214]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.4145308693029601,-1.3637912913003134,0.71338606911949],"aabb_xy":[[0.3695382825845097,-1.4087912905747622],[0.45952345602141054,-1.3187912920258646]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.5726117995770909,-2.5061757880545072,0.71338606911949],"aabb_xy":[[-0.5808263446927747,-2.5148523783521477],[-0.5643972544614068,-2.497499197756865]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.6836686819543766,0.9177663620427299,0.71338606911949],"aabb_xy":[[-0.692382651004311,0.8952663613835414],[-0.674954712904442,0.9402663627019179]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[0.016736835258626348,1.5661285119445911,0.71338606911949],"aabb_xy":[[0.0032903086245830125,1.5526586602914998],[0.030183361892669677,1.5795983635976825]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_22","position":[0.4500474319430168,0.47569867618882977,0.71338606911949],"aabb_xy":[[0.4000700150777631,0.42569867469958117],[0.5000248488082701,0.5256986776780782]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[0.02898264684950691,-0.8974290630702286,0.71338606911949],"aabb_xy":[[0.02018059154053419,-0.9052403892251577],[0.03778470215847961,-0.8896177369152996]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[-0.11688803826398464,-0.531841864736287,0.71338606911949],"aabb_xy":[[-0.12745551792208365,-0.5423868948492955],[-0.10632055860588562,-0.5212968346232784]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[-0.4620511063126664,-2.119226349788316,0.71338606911949],"aabb_xy":[[-0.4995511068100247,-2.1231950333364344],[-0.4245511058153082,-2.1152576662401974]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_26","position":[0.19883822673582408,1.5215282729779482,0.71338606911949],"aabb_xy":[[0.19252612719948567,1.515761333724729],[0.20515032627216254,1.527295212231167]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_27","position":[0.49670324034973823,-0.8890099579685622,0.71338606911949],"aabb_xy":[[0.44670323998917216,-0.9389899451781651],[0.5467032407103043,-0.8390299707589592]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_28","position":[0.5287525538261142,0.683400204332318,0.71338606911949],"aabb_xy":[[0.48266746257138265,0.6194002070797627],[0.5748376450808456,0.747400201584873]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[0.49814045431092735,0.8829058752671965,0.71338606911949],"aabb_xy":[[0.4863722675162699,0.7979058753619753],[0.5099086411055849,0.9679058751724184]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_30","position":[-0.18777933356867094,0.4893933762668361,0.71338606911949],"aabb_xy":[[-0.19311184822328392,0.48406904802160056],[-0.18244681891405795,0.49471770451207175]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_31","position":[-0.3340891639864815,-0.794432569478269,0.71338606911949],"aabb_xy":[[-0.39567992321047435,-0.858432567587316],[-0.2724984047624887,-0.7304325713692222]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_32","position":[0.07049202342867544,1.3305644820987843,0.71338606911949],"aabb_xy":[[0.04799202291663485,1.308072623733386],[0.09299202394071604,1.3530563404641827]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_33","position":[-0.34383905395603054,-1.4210270409537937,0.71338606911949],"aabb_xy":[[-0.3535950434652044,-1.4307895750130282],[-0.3340830644468566,-1.4112645068945593]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6940634151098435,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7859.png","name":"7859"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7859.png","name":"7859"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6621.png","name":"6621"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9976.png","name":"9976"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2845.png","name":"2845"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6390.png","name":"6390"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":733.1428012120723,"rotation_z_degrees":305.03229382673004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01539393264810886,-0.006780115654597437,-0.012461029715010154]},{"name":"camera_2","offset_m":[-0.01687322950756142,0.013901032898939378,-0.017436455718025018]},{"name":"camera_3","offset_m":[-0.014633877930293228,0.006686615652921592,0.01485424519801833]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012525841052444058,-4.0857472553196706e-05,-0.001268256439842534],"end_effector_yaw_offset_degrees":0.7006071756093877},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014094323728895022,-0.0015258175699118747,0.0006220667299818208],"end_effector_yaw_offset_degrees":0.5726992953285843},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009021850916866719,0.0014677782426845134,0.0008553771162051554],"end_effector_yaw_offset_degrees":-0.14028800452650336}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031768978415563287,0.00027291672912634415],"position_m":[0.15557689784155634,0.22387291672912635,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004310735611311018,-0.0008045791877186511],"position_m":[0.24671073561131102,-0.3105045791877186,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007483268470674488,-0.002578623363578052],"position_m":[0.32524832684706745,-0.04417862336357805,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003332304811035405,-0.0018393750635113506],"position_m":[0.34766769518896457,0.3165606249364887,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1bf44e0748f4079557c2c1c995fdda7ac6b766e719d109a8bf2f1be0d7767b14","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7859/tex_ceiling_textures_6390/tex_floor_textures_2845/tex_table_textures_6621/tex_wall_textures_9976","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5562854471560666121,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5562854471560666121,"visual_seed":5562854471560666121,"scene_id":"lab_003","finished_at":"2026-09-04T00:03:48"} +{"episode_id":"ep_000098","started_at":"2026-09-04T00:03:51","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.6280753163541735,-0.32555901381826446,0.71338606911949],"aabb_xy":[[0.5630753181982544,-0.3518552583681766],[0.6930753145100925,-0.2992627692683522]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.15983561248606482,-1.4702642233768202,0.71338606911949],"aabb_xy":[[0.10983561153553201,-1.5018133703803414],[0.20983561343659762,-1.4387150763732985]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.2665719291593944,0.3569179606723285,0.71338606911949],"aabb_xy":[[-0.29490163910793465,0.35245721847861144],[-0.2382422192108542,0.36137870286604556]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.3895185961204763,-2.0926045026427493,0.71338606911949],"aabb_xy":[[-0.42701859763610794,-2.1038312756588944],[-0.3520185946048445,-2.0813777296266043]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[0.37221846819081317,1.2860600799180841,0.71338606911949],"aabb_xy":[[0.3172262175553022,1.2310600781747714],[0.42721071882632417,1.341060081661397]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[0.24068338666300793,0.5411087321239694,0.71338606911949],"aabb_xy":[[0.2056833875330523,0.5353635110483053],[0.2756833857929636,0.5468539531996335]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.5543841657776789,-0.6142758414009992,0.71338606911949],"aabb_xy":[[0.5044012155901995,-0.6642758410435595],[0.6043671159651581,-0.5642758417584387]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.09726097298209158,-1.5024645804317376,0.71338606911949],"aabb_xy":[[-0.16126097368556092,-1.548482962904659],[-0.03326097227862223,-1.4564461979588168]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[-0.6208098874849289,-1.1853373361242199,0.71338606911949],"aabb_xy":[[-0.6309629030390781,-1.22140687769696],[-0.6106568719307793,-1.1492677945514793]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[0.5586189525049272,-2.296288193502265,0.71338606911949],"aabb_xy":[[0.46861895017090827,-2.3737705480873776],[0.6486189548389464,-2.2188058389171523]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.1272427478817183,-0.8517582069711862,0.71338606911949],"aabb_xy":[[-0.20724275004448078,-0.9317133905973298],[-0.047242745718955814,-0.7718030233450426]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.3064550026525974,1.1112163580432761,0.71338606911949],"aabb_xy":[[-0.39645500124706734,1.094965771729855],[-0.21645500405812745,1.1274669443566971]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[0.1633585139471473,-1.2194876158537726,0.71338606911949],"aabb_xy":[[0.10335851369574611,-1.2737689408902373],[0.22335851419854846,-1.165206290817308]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[0.12330080848431202,-2.1684092850848535,0.71338606911949],"aabb_xy":[[0.07332199997399612,-2.2184092850905723],[0.1732796169946279,-2.1184092850791347]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.5892673870765586,-1.4512205050224651,0.71338606911949],"aabb_xy":[[0.5392899702113049,-1.5012205065117135],[0.639244803941812,-1.4012205035332164]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[0.15037107864963584,-0.6191255217489853,0.71338606911949],"aabb_xy":[[0.1329403635706293,-0.636397636412836],[0.16780179372864232,-0.6018534070851344]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[-0.6372133203484532,0.960078925905862,0.71338606911949],"aabb_xy":[[-0.6650583571290604,0.9292944271675503],[-0.6093682835678461,0.9908634246441737]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.5529415922333845,-0.981057660275616,0.71338606911949],"aabb_xy":[[-0.5748313398223253,-1.0710576575648652],[-0.5310518446444437,-0.891057662986367]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.03707854155658119,1.74359798352654,0.71338606911949],"aabb_xy":[[-0.07207853986727664,1.7358829686029944],[-0.0020785432458857445,1.7513129984500857]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.3868846145962052,1.208061766200104,0.71338606911949],"aabb_xy":[[-0.4518846157021485,1.1830963931319758],[-0.32188461349026193,1.2330271392682324]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.5705252997532351,0.8648609402059693,0.71338606911949],"aabb_xy":[[0.5005252981509556,0.8514281470043117],[0.6405253013555146,0.8782937334076268]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.06899324806344309,-1.0970414584783585,0.71338606911949],"aabb_xy":[[0.06129005738936605,-1.1047508291770964],[0.07669643873752013,-1.0893320877796207]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.03281660406932496,-1.925437156648377,0.71338606911949],"aabb_xy":[[-0.041031149185008935,-1.9341137469460181],[-0.024602058953640978,-1.9167605663507354]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_23","position":[-0.25566139980156116,-1.3314744180541336,0.71338606911949],"aabb_xy":[[-0.27594570252495987,-1.3517570431968424],[-0.23537709707816237,-1.3111917929114247]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.3584897036363685,-1.908632136639567,0.71338606911949],"aabb_xy":[[-0.38300332773337437,-1.9328967299416033],[-0.33397607953936265,-1.8843675433375304]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.696172976705699,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9637.png","name":"9637"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1194.png","name":"1194"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5514.png","name":"5514"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7618.png","name":"7618"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":573.8274032671926,"rotation_z_degrees":137.94569828140953,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004780137448519942,0.007761826529724968,-0.009252295503100312]},{"name":"camera_2","offset_m":[0.0035206384586452533,-0.015893277084763912,0.004221079157519042]},{"name":"camera_3","offset_m":[0.013487270776559968,0.01633519830699041,-0.012646200036049719]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011003648341447775,-0.0017752576296203033,0.0006060380665277717],"end_effector_yaw_offset_degrees":-0.791005896011937},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008087930556253573,-0.0013453650999953944,-0.0009452868408096732],"end_effector_yaw_offset_degrees":-0.47278606008614155},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014607957989667777,-0.0010984902440000495,0.000848396067199159],"end_effector_yaw_offset_degrees":0.4418489514245181}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024065083713120574,-0.0021688423829685755],"position_m":[0.15480650837131207,0.22143115761703142,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000970079542700274,-0.0021279357572929615],"position_m":[0.24142992045729972,-0.31182793575729295,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006264858145987448,0.0005639954521170542],"position_m":[0.3238735141854013,-0.04103600454788294,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001567998924495826,-0.0006567132931027926],"position_m":[0.34943200107550415,0.3177432867068972,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e034411a3e196b17ae72ddd1fd25200f2d8418c3023bca58321b2094181bdc4","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0098.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3034/tex_ceiling_textures_7618/tex_floor_textures_5514/tex_table_textures_9637/tex_wall_textures_1194","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7125461841195868626,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7125461841195868626,"visual_seed":7125461841195868626,"scene_id":"lab_003","finished_at":"2026-09-04T00:06:58"} +{"episode_id":"ep_000099","started_at":"2026-09-04T00:07:01","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.3770339695931273,-1.6193913490309222,0.71338606911949],"aabb_xy":[[0.32203397139138246,-1.6599133156573596],[0.43203396779487213,-1.5788693824044844]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[-0.37575417651173104,0.9128892972857199,0.71338606911949],"aabb_xy":[[-0.42356034412549964,0.8478892945786608],[-0.3279480088979624,0.9778892999927787]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.2644127561995254,0.7906327608842734,0.71338606911949],"aabb_xy":[[0.20041275690535715,0.7266466205154191],[0.3284127554936936,0.8546189012531274]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.5618916224168842,-2.3967754820628495,0.71338606911949],"aabb_xy":[[0.5118916207553893,-2.446773924318552],[0.6118916240783788,-2.3467770398071464]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.6821743043834427,-2.1780764828938217,0.71338606911949],"aabb_xy":[[0.6734763420927274,-2.1902014572012964],[0.690872266674158,-2.165951508586347]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.41663346815116076,1.5348812931921274,0.71338606911949],"aabb_xy":[[0.32694639184304536,1.444881292937677],[0.5063205444592762,1.6248812934465782]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[0.027310960271874074,1.4171750149754092,0.71338606911949],"aabb_xy":[[-0.036689038314698386,1.3701680515759003],[0.09131095885844653,1.4641819783749177]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.5157904684397527,-0.44604644326276954,0.71338606911949],"aabb_xy":[[-0.5376991505791038,-0.46794711008286033],[-0.4938817863004017,-0.42414577644267887]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.11900378266306588,-2.0160792774711203,0.71338606911949],"aabb_xy":[[-0.1365037829224025,-2.0301708196598933],[-0.10150378240372927,-2.001987735282348]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[-0.46310492539693326,-0.22687732721649212,0.71338606911949],"aabb_xy":[[-0.4680609455818145,-0.2493773274186138],[-0.45814890521205215,-0.20437732701437056]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[-0.14742092457337652,-0.16681110783224673,0.71338606911949],"aabb_xy":[[-0.19350601582810797,-0.23081110508480182],[-0.10133583331864503,-0.1028111105796916]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.09498849710384805,-1.5348723530111432,0.71338606911949],"aabb_xy":[[-0.1402671119849973,-1.5988723523593271],[-0.04970988222269879,-1.4708723536629598]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[0.5239360265575186,-0.4922454327810253,0.71338606911949],"aabb_xy":[[0.47893602509128974,-0.537245289642506],[0.5689360280237474,-0.44724557591954467]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.4939334114338245,1.720100948749462,0.71338606911949],"aabb_xy":[[0.4299334093840925,1.680006465660154],[0.5579334134835565,1.76019543183877]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[-0.22827329351411974,-1.7627926221546901,0.71338606911949],"aabb_xy":[[-0.25078698533757693,-1.8327926227556974],[-0.2057596016906625,-1.6927926215536824]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.4512782499510393,-1.059149562562654,0.71338606911949],"aabb_xy":[[-0.5312720735295975,-1.1391495651554955],[-0.3712844263724811,-0.9791495599698123]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[-0.46033395500811863,-1.6227533752504755,0.71338606911949],"aabb_xy":[[-0.5403339529889037,-1.6303549162123276],[-0.3803339570273336,-1.6151518342886237]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.5957929856431325,-0.9310338377116731,0.71338606911949],"aabb_xy":[[0.5728772727580826,-0.9539381348480969],[0.6187086985281824,-0.9081295405752499]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.6494067678842723,1.5300722077318336,0.71338606911949],"aabb_xy":[[0.6231179435638315,1.5038007740771822],[0.6756955922047129,1.5563436413864846]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.6067407520709851,0.6554710758501088,0.71338606911949],"aabb_xy":[[-0.6667407525788379,0.5986243421641874],[-0.5467407515631321,0.71231780953603]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[0.6677898094057553,-2.472363750297142,0.71338606911949],"aabb_xy":[[0.6612881728977507,-2.4821315723234516],[0.6742914459137599,-2.462595928270832]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6975899462818888,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1584.png","name":"1584"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1584.png","name":"1584"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/631.png","name":"631"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1476.png","name":"1476"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8860.png","name":"8860"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6931.png","name":"6931"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":767.0664413202841,"rotation_z_degrees":214.56813926983398,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00025193881487700284,0.007093442390097314,-0.017590095303124765]},{"name":"camera_2","offset_m":[0.013933780810190487,-0.009912677321844634,0.014475222594047998]},{"name":"camera_3","offset_m":[0.016453155300639625,-0.0074540575767195714,-0.006575479825251031]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018994521653854083,0.001128346232885634,0.0012637248837320935],"end_effector_yaw_offset_degrees":-0.956208608601901},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008761680777256138,0.0012912995316694724,0.00012629573761433355],"end_effector_yaw_offset_degrees":-0.2809557149584414},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00030064789891664796,0.0008322510905151197,0.00026368244768915083],"end_effector_yaw_offset_degrees":0.867667934498948}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007339778846153387,-0.0030433011384028963],"position_m":[0.15166602211538466,0.2205566988615971,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001289288481476786,-0.0013563425633041993],"position_m":[0.24368928848147678,-0.31105634256330417,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003089281384568433,0.003205535058693907],"position_m":[0.3214107186154316,-0.03839446494130609,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001770765206058832,0.002827138708516465],"position_m":[0.34922923479394113,0.3212271387085165,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"32df8de6f6e21982dbcaf6132e05260f230f57e941aa2d43f180805c2c02475a","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1584/tex_ceiling_textures_6931/tex_floor_textures_8860/tex_table_textures_631/tex_wall_textures_1476","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8026311707458595267,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8026311707458595267,"visual_seed":8026311707458595267,"scene_id":"lab_003","finished_at":"2026-09-04T00:10:16"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c2330ebc3f765e600954dc625127ef04fcd2f66d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00004 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00004 + reproducibility: + enabled: true + layout_id: layout_00004 + action_seed: 5534205038649275162 + step_seeds: + - 8177086777345662735 + - 7334121879167987492 + - 3939905729978646839 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1524 + - 0.1524 + 'y': + - 0.2236 + - 0.2236 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3245 + - 0.3245 + 'y': + - -0.0416 + - -0.0416 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.351 + - 0.351 + 'y': + - 0.3184 + - 0.3184 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2424 + - 0.2424 + 'y': + - -0.3097 + - -0.3097 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad13dd026595e3cc69ff6be09e10b897326f91c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1836094655581394, + 0.2216175961882399, + 1.1621106314557916 + ], + "current_z": 1.1621106314557916, + "required_z": 0.8611066716033142, + "initial_z": 0.7611066716033142, + "lift_margin": 0.3010039598524774, + "gripper_z": 1.1555668228100608, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17995857823896427, + 0.21734981927851982, + 1.1555668228100608 + ], + "object_minus_gripper": [ + 0.0036508873191751223, + 0.004267776909720078, + 0.0065438086457307865 + ], + "object_to_gripper_xy": 0.005616306434700085, + "object_to_gripper_z": 0.0065438086457307865, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1836094655581394, + 0.19813706546165363, + 1.1621106314557916 + ], + "finger_b": [ + 0.17397912288888434, + 0.2216175961882399, + 1.1621106314557916 + ], + "finger_midpoint": [ + 0.17879429422351187, + 0.20987733082494675, + 1.1621106314557916 + ], + "object_minus_finger_midpoint": [ + 0.004815171334627527, + 0.011740265363293145, + 0.0 + ], + "finger_gap": 0.025378708066594646, + "fingertip_max_gap": 0.09062530804826174, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012689354033297337, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621106314557916, + "object_top_z": 1.2119777364726054, + "finger_top_clearance": 0.049867105016813795, + "fingertip_min_top_clearance": 0.014960131505044138, + "object_projection_between_fingers": 0.8560059784660291, + "object_to_finger_line_xy": 0.008910049966280247, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047812654024130874, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3376123145593186, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3012334145324087, + -0.3102344109298836, + 0.8515395112315607 + ], + "target_position": [ + 0.2929448683527415, + -0.31147258046259485, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008380516783839158, + "xy_threshold": 0.08, + "gripper_dist": 0.18540851439266393, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395112315607, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553514899789951, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530832112541169, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15348675429868455, + "release_required_pad_clearance": 0.052654160562705846, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.366907922140754, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074263811111450195, + "max_z_decrease": 0.0074263811111450195, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351447118640376, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074263811111450195, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02112098374197414, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0074263811111450195, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007426392599994322, + "max_button_displacement": 0.12, + "button_start": [ + 0.14864479005336761, + -0.36773404479026794, + 0.7768088579177856 + ], + "button_final": [ + 0.14864479005336761, + -0.36773404479026794, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14932625295170932, + -0.3681985578496573, + 0.8078506485496972 + ], + "closest_button": [ + 0.14863546192646027, + -0.3677377998828888, + 0.7727157473564148 + ], + "closest_ee_minus_button": [ + 0.000690791025249049, + -0.0004607579667685324, + 0.03513490119328244 + ], + "button_min_z_position": [ + 0.1486317664384842, + -0.36773505806922907, + 0.7693824768066406 + ], + "min_active_finger_to_button": 0.145423196100322, + "closest_active_finger": [ + 0.007918193936347961, + -0.3545166552066803, + 0.8106057643890381 + ], + "closest_active_finger_button": [ + 0.14864464104175568, + -0.36773526668548584, + 0.7764115929603577 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14072644710540771, + 0.013218611478805542, + 0.03419417142868042 + ], + "min_contact_pad_to_button": 0.02112098374197414, + "closest_contact_pad": [ + 0.1486317664384842, + -0.36913747654213525, + 0.7904568493158184 + ], + "closest_contact_pad_button": [ + 0.1486317664384842, + -0.36773505806922907, + 0.7693824768066406 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001402418472906175, + 0.021074372509177763 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7aef3829666d88ea99a588620b7be60d89019679c964b6cb917a4c4d560384ee", + "visual_seed": 291601525807229432, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fdf0286fe56af62ff7929e298d7d4e8d173e7e99 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17984026561108704, + 0.21507188660753954, + 1.1595637719415461 + ], + "current_z": 1.1595637719415461, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.29845708511284574, + "gripper_z": 1.153283388150188, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17637115033457493, + 0.2109179282206475, + 1.153283388150188 + ], + "object_minus_gripper": [ + 0.0034691152765121136, + 0.0041539583868920316, + 0.006280383791358091 + ], + "object_to_gripper_xy": 0.0054120357613157335, + "object_to_gripper_z": 0.006280383791358091, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17984026561108704, + 0.19184327823225658, + 1.1595637719415461 + ], + "finger_b": [ + 0.1702167874309713, + 0.21507188660753954, + 1.1595637719415461 + ], + "finger_midpoint": [ + 0.17502852652102918, + 0.20345758241989806, + 1.1595637719415461 + ], + "object_minus_finger_midpoint": [ + 0.004811739090057859, + 0.011614304187641478, + 0.0 + ], + "finger_gap": 0.02514318156748325, + "fingertip_max_gap": 0.09032251748795458, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012571590783741617, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1595637719415461, + "object_top_z": 1.2094514577077162, + "finger_top_clearance": 0.04988768576617009, + "fingertip_min_top_clearance": 0.014966305729850991, + "object_projection_between_fingers": 0.8535047076646792, + "object_to_finger_line_xy": 0.008890680968676026, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047661258743977294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.15567163277853738, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30228957944416357, + -0.30763027524215825, + 0.8515396008917758 + ], + "target_position": [ + 0.29368985638313744, + -0.3088544011301953, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008686410128246719, + "xy_threshold": 0.08, + "gripper_dist": 0.1858824787316951, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396008917758, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568873530569949, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559591397819653, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15341695185995258, + "release_required_pad_clearance": 0.05279795698909827, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6428508281916129, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00702512264251709, + "max_z_decrease": 0.00702512264251709, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518913388501414, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00702512264251709, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021107003001735656, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00702512264251709, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070251428256742484, + "max_button_displacement": 0.12, + "button_start": [ + 0.14938978850841522, + -0.36511585116386414, + 0.7768088579177856 + ], + "button_final": [ + 0.14938978850841522, + -0.36511585116386414, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15096673550147985, + -0.36453168101960776, + 0.8082131621633288 + ], + "closest_button": [ + 0.149380162358284, + -0.36512330174446106, + 0.7730647921562195 + ], + "closest_ee_minus_button": [ + 0.0015865731431958519, + 0.0005916207248533034, + 0.03514837000710935 + ], + "button_min_z_position": [ + 0.1493733525276184, + -0.3651195168495178, + 0.7697837352752686 + ], + "min_active_finger_to_button": 0.14448009089150513, + "closest_active_finger": [ + 0.02291632443666458, + -0.42607370018959045, + 0.8103670477867126 + ], + "closest_active_finger_button": [ + 0.14939065277576447, + -0.3651185631752014, + 0.7762611508369446 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12647432833909988, + -0.06095513701438904, + 0.034105896949768066 + ], + "min_contact_pad_to_button": 0.021107003001735656, + "closest_contact_pad": [ + 0.1493733525276184, + -0.3659556979861799, + 0.7908741685762221 + ], + "closest_contact_pad_button": [ + 0.1493733525276184, + -0.3651195168495178, + 0.7697837352752686 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000836181136662062, + 0.021090433300953504 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0f7cef1d356dc29468f03236c6240699ad91aa36fdc8c909cf0f74479b991620", + "visual_seed": 3923588995843861635, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cc0f04178027f02a507f65a357b932b27fc506b9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17391774642197355, + 0.2188690753389071, + 1.1627033938179818 + ], + "current_z": 1.1627033938179818, + "required_z": 0.8611068656426347, + "initial_z": 0.7611068656426347, + "lift_margin": 0.3015965281753471, + "gripper_z": 1.1563024563097095, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17076327847915612, + 0.21483111271815314, + 1.1563024563097095 + ], + "object_minus_gripper": [ + 0.0031544679428174294, + 0.004037962620753954, + 0.0064009375082723086 + ], + "object_to_gripper_xy": 0.0051240423621267, + "object_to_gripper_z": 0.0064009375082723086, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17391774642197355, + 0.1958063010043976, + 1.1627033938179818 + ], + "finger_b": [ + 0.16452186562368915, + 0.2188690753389071, + 1.1627033938179818 + ], + "finger_midpoint": [ + 0.16921980602283135, + 0.20733768817165235, + 1.1627033938179818 + ], + "object_minus_finger_midpoint": [ + 0.004697940399142203, + 0.011531387167254742, + 0.0 + ], + "finger_gap": 0.024903295685111217, + "fingertip_max_gap": 0.0902362229453571, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012451647842555608, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627033938179818, + "object_top_z": 1.2125695142134485, + "finger_top_clearance": 0.04986612039546667, + "fingertip_min_top_clearance": 0.014959836118639968, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012451647842555608, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047618111472678554, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.05566751658006913, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30538017243910937, + -0.3087716994829749, + 0.8515395592985779 + ], + "target_position": [ + 0.29833474071313015, + -0.30931702204324374, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007066504432898389, + "xy_threshold": 0.08, + "gripper_dist": 0.18515854779042512, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395592985779, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538043798338726, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08607096348784492, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15346469837907556, + "release_required_pad_clearance": 0.05303548174392246, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1021487499256537, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007300853729248047, + "max_z_decrease": 0.007300853729248047, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518965966873713, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007300853729248047, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021245576838042405, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007300853729248047, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00730087461539363, + "max_button_displacement": 0.12, + "button_start": [ + 0.154034674167633, + -0.3655784726142883, + 0.7768088579177856 + ], + "button_final": [ + 0.154034674167633, + -0.3655784726142883, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15468295773473387, + -0.3673313509221457, + 0.8081005091233597 + ], + "closest_button": [ + 0.15402352809906, + -0.3655856251716613, + 0.772960364818573 + ], + "closest_ee_minus_button": [ + 0.0006594296356738638, + -0.0017457257504843726, + 0.035140144304786736 + ], + "button_min_z_position": [ + 0.15401729941368097, + -0.3655802309513091, + 0.7695080041885376 + ], + "min_active_finger_to_button": 0.14533764636603605, + "closest_active_finger": [ + 0.013310253620147705, + -0.35325461626052856, + 0.8108951449394226 + ], + "closest_active_finger_button": [ + 0.15403898060321802, + -0.3655793964862823, + 0.7767402529716492 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14072872698307032, + 0.012324780225753729, + 0.03415489196777344 + ], + "min_contact_pad_to_button": 0.021245576838042405, + "closest_contact_pad": [ + 0.15401729941368097, + -0.36838098682750253, + 0.7905681632976975 + ], + "closest_contact_pad_button": [ + 0.15401729941368097, + -0.3655802309513091, + 0.7695080041885376 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028007558761934392, + 0.021060159109159926 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c7bc788212c1fc982d80729e74a288dd2cf697c8d6d5781f56a10759cd9a3a95", + "visual_seed": 5975357443356673096, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4651122b7f6db1ef8b91d80c4d0265071974003e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18073795755885422, + 0.22295433993421776, + 1.1618793762480415 + ], + "current_z": 1.1618793762480415, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.30077262981469655, + "gripper_z": 1.1552537543620025, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17723728062739225, + 0.21880483158112635, + 1.1552537543620025 + ], + "object_minus_gripper": [ + 0.0035006769314619712, + 0.004149508353091413, + 0.00662562188603899 + ], + "object_to_gripper_xy": 0.005428918727596262, + "object_to_gripper_z": 0.00662562188603899, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18073795755885422, + 0.19948472213897675, + 1.1618793762480415 + ], + "finger_b": [ + 0.1714059146522076, + 0.22295433993421776, + 1.1618793762480415 + ], + "finger_midpoint": [ + 0.1760719361055309, + 0.21121953103659724, + 1.1618793762480415 + ], + "object_minus_finger_midpoint": [ + 0.004666021453323316, + 0.011734808897620519, + 0.0 + ], + "finger_gap": 0.02525687993925985, + "fingertip_max_gap": 0.09037807386978686, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012628439969629944, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1618793762480415, + "object_top_z": 1.2118048620586346, + "finger_top_clearance": 0.049925485810593084, + "fingertip_min_top_clearance": 0.014977645743177925, + "object_projection_between_fingers": 0.86348069953526, + "object_to_finger_line_xy": 0.008671676026275024, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768903693489343, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.07616179664720171, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3060325636030051, + -0.30473323524273566, + 0.8515395288813349 + ], + "target_position": [ + 0.2979087245364811, + -0.30596767145820697, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008217091574812171, + "xy_threshold": 0.08, + "gripper_dist": 0.1854400042055281, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395288813349, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575596256573228, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559714358910785, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1529471121845347, + "release_required_pad_clearance": 0.052798571794553925, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6440672034348408, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007172942161560059, + "max_z_decrease": 0.007172942161560059, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516350795403938, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007172942161560059, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021240287811566387, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007172942161560059, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007172962531540577, + "max_button_displacement": 0.12, + "button_start": [ + 0.1536086499691009, + -0.3622291386127472, + 0.7768088579177856 + ], + "button_final": [ + 0.1536086499691009, + -0.3622291386127472, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15443084057079864, + -0.3632770185148373, + 0.808081803704 + ], + "closest_button": [ + 0.1535992920398712, + -0.36223769187927246, + 0.7729434967041016 + ], + "closest_ee_minus_button": [ + 0.0008315485309274562, + -0.00103932663556483, + 0.035138306999898394 + ], + "button_min_z_position": [ + 0.15359207987785337, + -0.3622333407402038, + 0.7696359157562256 + ], + "min_active_finger_to_button": 0.14522896486792275, + "closest_active_finger": [ + 0.013451725244522095, + -0.34560009837150574, + 0.8109210133552551 + ], + "closest_active_finger_button": [ + 0.15361344814300532, + -0.36223104596137995, + 0.776722252368927 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14016172289848322, + 0.016630947589874212, + 0.034198760986328125 + ], + "min_contact_pad_to_button": 0.021240287811566387, + "closest_contact_pad": [ + 0.15359207987785337, + -0.36472150783321655, + 0.7907299635146674 + ], + "closest_contact_pad_button": [ + 0.15359207987785337, + -0.3622333407402038, + 0.7696359157562256 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024881670930127497, + 0.021094047758441814 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fc6a9a7aa3bde292388792a19653dcb8943b6c63c14b818b47880fa5e2ef0f44", + "visual_seed": 2856068189479085144, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..026e40be2f5e5ffa2d02c6406bf1187bfe55638e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17778555006298244, + 0.21495309005843602, + 1.1604404007270057 + ], + "current_z": 1.1604404007270057, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.29933389271224, + "gripper_z": 1.154033946411278, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17455494767942697, + 0.21086522298740148, + 1.154033946411278 + ], + "object_minus_gripper": [ + 0.0032306023835554643, + 0.004087867071034534, + 0.006406454315727617 + ], + "object_to_gripper_xy": 0.005210321386544472, + "object_to_gripper_z": 0.006406454315727617, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17778555006298244, + 0.19181898523760355, + 1.1604404007270057 + ], + "finger_b": [ + 0.16833714639610733, + 0.21495309005843602, + 1.1604404007270057 + ], + "finger_midpoint": [ + 0.1730613482295449, + 0.20338603764801977, + 1.1604404007270057 + ], + "object_minus_finger_midpoint": [ + 0.004724201833437552, + 0.011567052410416251, + 0.0 + ], + "finger_gap": 0.024989180413000408, + "fingertip_max_gap": 0.09087381869758196, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012494590206500218, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1604404007270057, + "object_top_z": 1.2104310080234482, + "finger_top_clearance": 0.049990607296442446, + "fingertip_min_top_clearance": 0.014997182188932734, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012494590206500218, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04793690934879098, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4234185550760006, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.29821374991334987, + -0.3124732640398722, + 0.8515394983991852 + ], + "target_position": [ + 0.29173087590735514, + -0.31271838008482866, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006487506243010275, + "xy_threshold": 0.08, + "gripper_dist": 0.18357530536475022, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394983991852, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588312881207006, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08545737253149031, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15066124112168044, + "release_required_pad_clearance": 0.05272868626574516, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5097556865952919, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007386565208435059, + "max_z_decrease": 0.007386565208435059, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517394436484191, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007386565208435059, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021078404997046597, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007386565208435059, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007386584553489997, + "max_button_displacement": 0.12, + "button_start": [ + 0.147430807352066, + -0.3689798414707184, + 0.7768088579177856 + ], + "button_final": [ + 0.147430807352066, + -0.3689798414707184, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14791695441221625, + -0.3676701021934554, + 0.8078071283880908 + ], + "closest_button": [ + 0.14741876721382136, + -0.36898574233055115, + 0.7726613283157349 + ], + "closest_ee_minus_button": [ + 0.0004981871983948949, + 0.0013156401370957305, + 0.035145800072355904 + ], + "button_min_z_position": [ + 0.14741417765617368, + -0.3689828813076019, + 0.7694222927093506 + ], + "min_active_finger_to_button": 0.14510581361265773, + "closest_active_finger": [ + 0.020091377198696136, + -0.4296351373195648, + 0.8104245066642761 + ], + "closest_active_finger_button": [ + 0.1474305838346481, + -0.36898198723793024, + 0.77634197473526 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12733920663595197, + -0.06065315008163458, + 0.03408253192901611 + ], + "min_contact_pad_to_button": 0.021078404997046597, + "closest_contact_pad": [ + 0.14741417765617368, + -0.3690080067162508, + 0.7905006827316782 + ], + "closest_contact_pad_button": [ + 0.14741417765617368, + -0.3689828813076019, + 0.7694222927093506 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -2.512540864890722e-05, + 0.021078390022327587 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b75f898cdbd34d186f9903c3e4c4e3a724614c898d19aa58733396b99a7b22b0", + "visual_seed": 8059836606244101394, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..97fd53323da531fde476112fa183978f74c35bf3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18020039509699515, + 0.2216975459978462, + 1.1628993064510218 + ], + "current_z": 1.1628993064510218, + "required_z": 0.8611068656426348, + "initial_z": 0.7611068656426349, + "lift_margin": 0.30179244080838696, + "gripper_z": 1.1563969184924179, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1767465030389714, + 0.21743283236101324, + 1.1563969184924179 + ], + "object_minus_gripper": [ + 0.0034538920580237387, + 0.004264713636832951, + 0.006502387958603917 + ], + "object_to_gripper_xy": 0.005487909688822183, + "object_to_gripper_z": 0.006502387958603917, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18020039509699515, + 0.19844016095159944, + 1.1628993064510218 + ], + "finger_b": [ + 0.17045888432773243, + 0.2216975459978462, + 1.1628993064510218 + ], + "finger_midpoint": [ + 0.1753296397123638, + 0.21006885347472282, + 1.1628993064510218 + ], + "object_minus_finger_midpoint": [ + 0.004870755384631359, + 0.011628692523123374, + 0.0 + ], + "finger_gap": 0.025215134170910994, + "fingertip_max_gap": 0.09053715376893126, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012607567085455497, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1628993064510218, + "object_top_z": 1.212834317936021, + "finger_top_clearance": 0.04993501148499924, + "fingertip_min_top_clearance": 0.014980503445499803, + "object_projection_between_fingers": 0.8507445964039254, + "object_to_finger_line_xy": 0.008985162060104052, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776857688446563, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.19038021635220326, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30089147406553896, + -0.30625232049028284, + 0.8515395862819831 + ], + "target_position": [ + 0.29323518757350653, + -0.307060810998455, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0076988557428934005, + "xy_threshold": 0.08, + "gripper_dist": 0.1849247478252773, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395862819831, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580397081361992, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512729654074562, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1521995604485929, + "release_required_pad_clearance": 0.05256364827037281, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.193826582156252, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00718003511428833, + "max_z_decrease": 0.00718003511428833, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517861788979953, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00718003511428833, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021241289026443722, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00718003511428833, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007180051700811803, + "max_button_displacement": 0.12, + "button_start": [ + 0.14893510937690735, + -0.36332225799560547, + 0.7768088579177856 + ], + "button_final": [ + 0.14893510937690735, + -0.36332225799560547, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14800339747442906, + -0.3649386758732562, + 0.8079286090049129 + ], + "closest_button": [ + 0.1489232778549194, + -0.36332863569259644, + 0.7727988958358765 + ], + "closest_ee_minus_button": [ + -0.0009198803804903455, + -0.0016100401806597442, + 0.03512971316903646 + ], + "button_min_z_position": [ + 0.14891980588436127, + -0.36332425475120544, + 0.7696288228034973 + ], + "min_active_finger_to_button": 0.14682924144016174, + "closest_active_finger": [ + 0.006938457489013672, + -0.3481191098690033, + 0.8106265068054199 + ], + "closest_active_finger_button": [ + 0.1489340364933014, + -0.36332523822784424, + 0.7764965295791626 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14199557900428772, + 0.015206128358840942, + 0.034129977226257324 + ], + "min_contact_pad_to_button": 0.021241289026443722, + "closest_contact_pad": [ + 0.14891980588436127, + -0.3662910635512825, + 0.790661901633015 + ], + "closest_contact_pad_button": [ + 0.14891980588436127, + -0.36332425475120544, + 0.7696288228034973 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029668088000770476, + 0.02103307882951766 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ba6e806655e075da535137158d70a388ff6af1445d846931171728e2f086c8d5", + "visual_seed": 2908231335314138612, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..810e34d57cd3624fd1ab2a8fa95f5a40411012c4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18373953135725735, + 0.2238552172618966, + 1.1598075819508697 + ], + "current_z": 1.1598075819508697, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.2987007759128798, + "gripper_z": 1.1534008538893057, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1800844116522079, + 0.21945780803175446, + 1.1534008538893057 + ], + "object_minus_gripper": [ + 0.0036551197050494477, + 0.004397409230142146, + 0.00640672806156406 + ], + "object_to_gripper_xy": 0.005718138507904483, + "object_to_gripper_z": 0.00640672806156406, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18373953135725735, + 0.20058749576476909, + 1.1598075819508697 + ], + "finger_b": [ + 0.1736377172655186, + 0.2238552172618966, + 1.1598075819508697 + ], + "finger_midpoint": [ + 0.178688624311388, + 0.21222135651333285, + 1.1598075819508697 + ], + "object_minus_finger_midpoint": [ + 0.005050907045869357, + 0.011633860748563762, + 0.0 + ], + "finger_gap": 0.02536599124047672, + "fingertip_max_gap": 0.09080876424930956, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012682995620238354, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1598075819508697, + "object_top_z": 1.2097263855164169, + "finger_top_clearance": 0.04991880356554712, + "fingertip_min_top_clearance": 0.014975641069664135, + "object_projection_between_fingers": 0.8414029637834651, + "object_to_finger_line_xy": 0.009266194042016004, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04790438212465478, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.40235228058353856, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30432734388967264, + -0.3055601074982146, + 0.8515395102015073 + ], + "target_position": [ + 0.29662644910006514, + -0.3064467779935779, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007751771741218376, + "xy_threshold": 0.08, + "gripper_dist": 0.18691316762222343, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395102015073, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756218178555932, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599128063451215, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15459931915828504, + "release_required_pad_clearance": 0.05299564031725608, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.024873787172509, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007079780101776123, + "max_z_decrease": 0.007079780101776123, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03521277418928912, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007079780101776123, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021132100038554053, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007079780101776123, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007079800224004424, + "max_button_displacement": 0.12, + "button_start": [ + 0.15232637524604797, + -0.3627082407474518, + 0.7768088579177856 + ], + "button_final": [ + 0.15232637524604797, + -0.3627082407474518, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15443897697095524, + -0.3628264564271652, + 0.8082066853103395 + ], + "closest_button": [ + 0.15231639146804804, + -0.3627159893512725, + 0.7730581164360046 + ], + "closest_ee_minus_button": [ + 0.0021225855029071983, + -0.00011046707589268401, + 0.03514856887433482 + ], + "button_min_z_position": [ + 0.15230983495712277, + -0.36271160840988154, + 0.7697290778160095 + ], + "min_active_finger_to_button": 0.14408079584358024, + "closest_active_finger": [ + 0.013262860476970673, + -0.34678709506988525, + 0.8104189038276672 + ], + "closest_active_finger_button": [ + 0.15232683718204498, + -0.3627110123634338, + 0.7762587666511536 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1390639767050743, + 0.01592391729354853, + 0.03416013717651367 + ], + "min_contact_pad_to_button": 0.021132100038554053, + "closest_contact_pad": [ + 0.15230983495712277, + -0.36410072155905665, + 0.7908154719292344 + ], + "closest_contact_pad_button": [ + 0.15230983495712277, + -0.36271160840988154, + 0.7697290778160095 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001389113149175114, + 0.021086394113224882 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bcfe162467c9c7070b5ecc49384084ddd120869d8fbffb556bfdf32e885a1a94", + "visual_seed": 814599337586646593, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..24ec69088f30fdad091e7d32dd4aef1cf67141b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17906657481184565, + 0.21584363243046936, + 1.1590587181572216 + ], + "current_z": 1.1590587181572216, + "required_z": 0.8611069848519244, + "initial_z": 0.7611069848519244, + "lift_margin": 0.29795173330529723, + "gripper_z": 1.1525474323778004, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17572730505360043, + 0.2117966099557964, + 1.1525474323778004 + ], + "object_minus_gripper": [ + 0.0033392697582452224, + 0.004047022474672951, + 0.006511285779421172 + ], + "object_to_gripper_xy": 0.005246819363084561, + "object_to_gripper_z": 0.006511285779421172, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17906657481184565, + 0.192586140088044, + 1.1590587181572216 + ], + "finger_b": [ + 0.16976391726926648, + 0.21584363243046936, + 1.1590587181572216 + ], + "finger_midpoint": [ + 0.17441524604055608, + 0.20421488625925668, + 1.1590587181572216 + ], + "object_minus_finger_midpoint": [ + 0.00465132877128957, + 0.011628746171212678, + 0.0 + ], + "finger_gap": 0.025048959806995563, + "fingertip_max_gap": 0.0900030977075996, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012524479903497776, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1590587181572216, + "object_top_z": 1.208897374287401, + "finger_top_clearance": 0.04983865613017935, + "fingertip_min_top_clearance": 0.014951596839053838, + "object_projection_between_fingers": 0.8620776413711655, + "object_to_finger_line_xy": 0.008637344154319637, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0475015488537998, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.20728644315040926, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30355803894559996, + -0.30967741503862123, + 0.8515395849379889 + ], + "target_position": [ + 0.29449337973535017, + -0.31092733669738776, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009150428992731437, + "xy_threshold": 0.08, + "gripper_dist": 0.1856399434731509, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395849379889, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546929810545741, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08501688666303846, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15385437993496032, + "release_required_pad_clearance": 0.05250844333151923, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08846923702910806, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007121443748474121, + "max_z_decrease": 0.007121443748474121, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351609981460934, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007121443748474121, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021241105381485614, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007121443748474121, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00712146669865802, + "max_button_displacement": 0.12, + "button_start": [ + 0.1501933038234711, + -0.36718878149986267, + 0.7768088579177856 + ], + "button_final": [ + 0.1501933038234711, + -0.36718878149986267, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1503163265485616, + -0.36837199085005307, + 0.8081508706651364 + ], + "closest_button": [ + 0.1501827836036682, + -0.36719661951065063, + 0.7730097770690918 + ], + "closest_ee_minus_button": [ + 0.00013354294489340002, + -0.0011753713394024312, + 0.03514109359604456 + ], + "button_min_z_position": [ + 0.15017549693584442, + -0.3671919107437134, + 0.7696874141693115 + ], + "min_active_finger_to_button": 0.14586404522479685, + "closest_active_finger": [ + 0.00943049043416977, + -0.3500281274318695, + 0.8109646439552307 + ], + "closest_active_finger_button": [ + 0.15019434690475467, + -0.36719071865081787, + 0.7767988443374634 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1407638564705849, + 0.017162591218948364, + 0.034165799617767334 + ], + "min_contact_pad_to_button": 0.021241105381485614, + "closest_contact_pad": [ + 0.15017549693584442, + -0.3698763230912424, + 0.7907582112158357 + ], + "closest_contact_pad_button": [ + 0.15017549693584442, + -0.3671919107437134, + 0.7696874141693115 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026844123475290305, + 0.021070797046524148 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "61c69438d14d50cc57692b75f7513316a3075d7a6a295fcf9a0e800fad789d49", + "visual_seed": 4563266395664371212, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..295e8d56e9b62c690a88268b6f40ad8d48ec0be7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17965589158561895, + 0.2179870774040298, + 1.161314379610475 + ], + "current_z": 1.161314379610475, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.3002076927817747, + "gripper_z": 1.1548679275528597, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1762630870842188, + 0.21388580941957902, + 1.1548679275528597 + ], + "object_minus_gripper": [ + 0.003392804501400143, + 0.0041012679844507904, + 0.006446452057615293 + ], + "object_to_gripper_xy": 0.00532273627610857, + "object_to_gripper_z": 0.006446452057615293, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17965589158561895, + 0.19465433867556992, + 1.161314379610475 + ], + "finger_b": [ + 0.17031423803446846, + 0.2179870774040298, + 1.161314379610475 + ], + "finger_midpoint": [ + 0.17498506481004372, + 0.20632070803979985, + 1.161314379610475 + ], + "object_minus_finger_midpoint": [ + 0.004670826775575232, + 0.011666369364229962, + 0.0 + ], + "finger_gap": 0.025133308330585826, + "fingertip_max_gap": 0.0902823422035762, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01256665416529292, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161314379610475, + "object_top_z": 1.2111652709133307, + "finger_top_clearance": 0.04985089130285569, + "fingertip_min_top_clearance": 0.01495526739085674, + "object_projection_between_fingers": 0.8618508569213092, + "object_to_finger_line_xy": 0.008672410282554452, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0476411711017881, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.06757753879500683, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3067355065990359, + -0.3107609613882829, + 0.8515395701698987 + ], + "target_position": [ + 0.29931883096679857, + -0.3115143895004173, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007454846165681612, + "xy_threshold": 0.08, + "gripper_dist": 0.18245041785600769, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395701698987, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587678800370973, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08576101544532487, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14959250360095938, + "release_required_pad_clearance": 0.05288050772266244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8021017713821308, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074582695960998535, + "max_z_decrease": 0.0074582695960998535, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03522220849569815, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074582695960998535, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021082364941098164, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0074582695960998535, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007458292000086921, + "max_button_displacement": 0.12, + "button_start": [ + 0.1550187617540359, + -0.3677758574485778, + 0.7768088579177856 + ], + "button_final": [ + 0.1550187617540359, + -0.3677758574485778, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15678538832880642, + -0.3663427051873243, + 0.8078821800474469 + ], + "closest_button": [ + 0.15500766038894648, + -0.36778259277343744, + 0.7727343440055847 + ], + "closest_ee_minus_button": [ + 0.0017777279398599466, + 0.001439887586113131, + 0.035147836041862224 + ], + "button_min_z_position": [ + 0.15500076115131373, + -0.3677790462970733, + 0.7693505883216858 + ], + "min_active_finger_to_button": 0.14393399152900802, + "closest_active_finger": [ + 0.02985953539609909, + -0.43014290928840637, + 0.8105732798576355 + ], + "closest_active_finger_button": [ + 0.1550187766551971, + -0.36777865886688227, + 0.7764725685119629 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.125159241259098, + -0.0623642504215241, + 0.03410071134567261 + ], + "min_contact_pad_to_button": 0.021082364941098164, + "closest_contact_pad": [ + 0.15500076115131373, + -0.3677790462970733, + 0.790432953262784 + ], + "closest_contact_pad_button": [ + 0.15500076115131373, + -0.3677790462970733, + 0.7693505883216858 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021082364941098164 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "886edcb8214c9ff7d4bee845ec000a9211f0606ad8fc7fcf7cb3f98a70664f43", + "visual_seed": 2489115894837027339, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..da684147e19efbe6ab30baa8515438e47e637b76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18141603177656432, + 0.2160785100447424, + 1.1604630381452865 + ], + "current_z": 1.1604630381452865, + "required_z": 0.8611068656426348, + "initial_z": 0.7611068656426349, + "lift_margin": 0.2993561725026517, + "gripper_z": 1.1538031510802813, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17796217309515333, + 0.21201769856778013, + 1.1538031510802813 + ], + "object_minus_gripper": [ + 0.0034538586814109873, + 0.004060811476962273, + 0.006659887065005199 + ], + "object_to_gripper_xy": 0.0053309783007049055, + "object_to_gripper_z": 0.006659887065005199, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18141603177656432, + 0.19269686468249936, + 1.1604630381452865 + ], + "finger_b": [ + 0.17215086372228874, + 0.2160785100447424, + 1.1604630381452865 + ], + "finger_midpoint": [ + 0.17678344774942653, + 0.2043876873636209, + 1.1604630381452865 + ], + "object_minus_finger_midpoint": [ + 0.004632584027137787, + 0.01169082268112151, + 0.0 + ], + "finger_gap": 0.025150440928931452, + "fingertip_max_gap": 0.0900316196253888, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012575220464465714, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1604630381452865, + "object_top_z": 1.2102676777192418, + "finger_top_clearance": 0.04980463957395531, + "fingertip_min_top_clearance": 0.014941391872186592, + "object_projection_between_fingers": 0.8642888922556722, + "object_to_finger_line_xy": 0.00861356165797683, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047515809812694404, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17568307686053952, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3033098349029584, + -0.30738984440462525, + 0.8515396084978987 + ], + "target_position": [ + 0.2941035394901121, + -0.3089574301438017, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009338800794441654, + "xy_threshold": 0.08, + "gripper_dist": 0.183991710388855, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396084978987, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555863511619827, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08567353543694188, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15199646410807932, + "release_required_pad_clearance": 0.05283676771847094, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7176395005908328, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0070587992668151855, + "max_z_decrease": 0.0070587992668151855, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515966699599989, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0070587992668151855, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021188025264460668, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0070587992668151855, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007058819667285321, + "max_button_displacement": 0.12, + "button_start": [ + 0.14980345964431763, + -0.36521887779235834, + 0.7768088579177856 + ], + "button_final": [ + 0.14980345964431763, + -0.36521887779235834, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1501184319400382, + -0.366231576605837, + 0.8082217904816893 + ], + "closest_button": [ + 0.14979241788387299, + -0.3652257919311523, + 0.7730780243873596 + ], + "closest_ee_minus_button": [ + 0.0003260140561652247, + -0.0010057846746847066, + 0.035143766094329676 + ], + "button_min_z_position": [ + 0.14978662133216858, + -0.3652209937572479, + 0.7697500586509705 + ], + "min_active_finger_to_button": 0.14571131411810134, + "closest_active_finger": [ + 0.008940637111663818, + -0.3502819538116455, + 0.8104180693626404 + ], + "closest_active_finger_button": [ + 0.1498035043478012, + -0.36522117257118225, + 0.7762675285339355 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1408628672361374, + 0.014939218759536743, + 0.034150540828704834 + ], + "min_contact_pad_to_button": 0.021188025264460668, + "closest_contact_pad": [ + 0.14978662133216858, + -0.36747189244494516, + 0.7908181831452188 + ], + "closest_contact_pad_button": [ + 0.14978662133216858, + -0.3652209937572479, + 0.7697500586509705 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022508986876972337, + 0.02106812449424833 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "63bac8fc83d1c7ed4c2ae95fa040c78b786e36d4da73b9d3fdc5229d36268da6", + "visual_seed": 4809190620818814031, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8bc617175620d6db76a7dea9a0c5229d5333c1b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18018879932637202, + 0.22101371917830304, + 1.1621870215727874 + ], + "current_z": 1.1621870215727874, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.3010802155347976, + "gripper_z": 1.155842848272933, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17648035274493992, + 0.21677259769281731, + 1.155842848272933 + ], + "object_minus_gripper": [ + 0.003708446581432101, + 0.0042411214854857215, + 0.006344173299854372 + ], + "object_to_gripper_xy": 0.005633798674250266, + "object_to_gripper_z": 0.006344173299854372, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18018879932637202, + 0.19736213898290209, + 1.1621870215727874 + ], + "finger_b": [ + 0.17076855164159843, + 0.22101371917830304, + 1.1621870215727874 + ], + "finger_midpoint": [ + 0.1754786754839852, + 0.20918792908060257, + 1.1621870215727874 + ], + "object_minus_finger_midpoint": [ + 0.00471012384238681, + 0.011825790097700462, + 0.0 + ], + "finger_gap": 0.025458560685591883, + "fingertip_max_gap": 0.09110477515158846, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012729280342795935, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621870215727874, + "object_top_z": 1.2122579311369808, + "finger_top_clearance": 0.050070909564193355, + "fingertip_min_top_clearance": 0.015021272869258006, + "object_projection_between_fingers": 0.8630831339938316, + "object_to_finger_line_xy": 0.008751623720152289, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048052387575794234, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.29598655991211026, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3078638048110386, + -0.3078149212565658, + 0.8515395737018552 + ], + "target_position": [ + 0.29903073124778895, + -0.30954855012773974, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009001591950135683, + "xy_threshold": 0.08, + "gripper_dist": 0.1867569650436916, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395737018552, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757929513822594, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08651887603999979, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15418246261387616, + "release_required_pad_clearance": 0.0532594380199999, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.538970892311593, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073500871658325195, + "max_z_decrease": 0.0073500871658325195, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035167624865089814, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073500871658325195, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021120500376858767, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073500871658325195, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00735010706862078, + "max_button_displacement": 0.12, + "button_start": [ + 0.15473066270351404, + -0.3658100068569182, + 0.7768088579177856 + ], + "button_final": [ + 0.15473066270351404, + -0.3658100068569182, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15595877581246456, + -0.3661648809892343, + 0.8079933812333459 + ], + "closest_button": [ + 0.15471956133842463, + -0.3658166825771331, + 0.7728493213653564 + ], + "closest_ee_minus_button": [ + 0.0012392144740399347, + -0.00034819841210115277, + 0.03514405986798941 + ], + "button_min_z_position": [ + 0.15471376478672022, + -0.36581265926361073, + 0.7694587707519531 + ], + "min_active_finger_to_button": 0.14489872418037705, + "closest_active_finger": [ + 0.014603592455387115, + -0.35191017389297485, + 0.8107587099075317 + ], + "closest_active_finger_button": [ + 0.15473107993602747, + -0.3658121526241302, + 0.7766022682189941 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14012748748064036, + 0.01390197873115534, + 0.0341564416885376 + ], + "min_contact_pad_to_button": 0.021120500376858767, + "closest_contact_pad": [ + 0.15471376478672022, + -0.36721718212219934, + 0.7905325186793768 + ], + "closest_contact_pad_button": [ + 0.15471376478672022, + -0.36581265926361073, + 0.7694587707519531 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014045228585886083, + 0.02107374792742367 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "345ba28ecef451aace29672b4065eb046817bbdb9c2fb068443f54bfaa24d537", + "visual_seed": 707958218159557001, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c50ea9d756e1a0f8acfc057c9e49fa403ad261fc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17590061765380177, + 0.2239595150229257, + 1.163133485243018 + ], + "current_z": 1.163133485243018, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.302026679205028, + "gripper_z": 1.1568455240268447, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17250039636937117, + 0.21986469400792308, + 1.1568455240268447 + ], + "object_minus_gripper": [ + 0.003400221284430599, + 0.004094821015002609, + 0.0062879612161732545 + ], + "object_to_gripper_xy": 0.005322505418315877, + "object_to_gripper_z": 0.0062879612161732545, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17590061765380177, + 0.20060051422050257, + 1.163133485243018 + ], + "finger_b": [ + 0.16659157511094744, + 0.2239595150229257, + 1.163133485243018 + ], + "finger_midpoint": [ + 0.1712460963823746, + 0.21228001462171414, + 1.163133485243018 + ], + "object_minus_finger_midpoint": [ + 0.004654521271427181, + 0.011679500401211546, + 0.0 + ], + "finger_gap": 0.025145599844749695, + "fingertip_max_gap": 0.09070758924809444, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012572799922374839, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163133485243018, + "object_top_z": 1.2130568200964045, + "finger_top_clearance": 0.049923334853386514, + "fingertip_min_top_clearance": 0.01497700045601592, + "object_projection_between_fingers": 0.8629477941486572, + "object_to_finger_line_xy": 0.008647633525184245, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785379462404722, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.28782643340883446, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30320371631684906, + -0.3125792086844259, + 0.851539565741274 + ], + "target_position": [ + 0.29521972263081947, + -0.31360980890453743, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008050235524023772, + "xy_threshold": 0.08, + "gripper_dist": 0.1843792516024614, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539565741274, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552685896590408, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08555804327407278, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15227873425265923, + "release_required_pad_clearance": 0.05277902163703639, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6065157957510627, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007095396518707275, + "max_z_decrease": 0.007095396518707275, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03521867383067062, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007095396518707275, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021047127492055173, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007095396518707275, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00709541272977732, + "max_button_displacement": 0.12, + "button_start": [ + 0.15091964602470392, + -0.3698712587356567, + 0.7768088579177856 + ], + "button_final": [ + 0.15091964602470392, + -0.3698712587356567, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14953728035569205, + -0.36808353234313235, + 0.8077453079045376 + ], + "closest_button": [ + 0.15090875327587122, + -0.3698716163635254, + 0.7725988030433655 + ], + "closest_ee_minus_button": [ + -0.0013714729201791676, + 0.0017880840203930437, + 0.0351465048611721 + ], + "button_min_z_position": [ + 0.15090458095073697, + -0.3698730170726776, + 0.7697134613990784 + ], + "min_active_finger_to_button": 0.14646482462933663, + "closest_active_finger": [ + 0.023253582417964935, + -0.4330218434333801, + 0.8104053735733032 + ], + "closest_active_finger_button": [ + 0.15091997385025022, + -0.36987355351448054, + 0.7762655019760132 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12766639143228528, + -0.06314828991889959, + 0.03413987159729004 + ], + "min_contact_pad_to_button": 0.021047127492055173, + "closest_contact_pad": [ + 0.15090458095073697, + -0.3698730170726776, + 0.7907605888911335 + ], + "closest_contact_pad_button": [ + 0.15090458095073697, + -0.3698730170726776, + 0.7697134613990784 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021047127492055173 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dabfbfc29024b789716f877374f75670dac71c12cbef8ab354c2e30a41c1f83e", + "visual_seed": 8279849904862808392, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0e7635037ac0e799cbe57ba667ee1b580b1f78e7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1825753913600744, + 0.21813604180209117, + 1.1624451827630091 + ], + "current_z": 1.1624451827630091, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.30133843632966395, + "gripper_z": 1.1560003512218673, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17906419377835422, + 0.21385494846444514, + 1.1560003512218673 + ], + "object_minus_gripper": [ + 0.0035111975817201657, + 0.004281093337646036, + 0.006444831541141838 + ], + "object_to_gripper_xy": 0.005536810329378713, + "object_to_gripper_z": 0.006444831541141838, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1825753913600744, + 0.19483658089259195, + 1.1624451827630091 + ], + "finger_b": [ + 0.17280666959322674, + 0.21813604180209117, + 1.1624451827630091 + ], + "finger_midpoint": [ + 0.17769103047665058, + 0.20648631134734158, + 1.1624451827630091 + ], + "object_minus_finger_midpoint": [ + 0.004884360883423811, + 0.011649730454749596, + 0.0 + ], + "finger_gap": 0.02526445731915422, + "fingertip_max_gap": 0.09080449836156262, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012632228659577091, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624451827630091, + "object_top_z": 1.2124364482574737, + "finger_top_clearance": 0.04999126549446453, + "fingertip_min_top_clearance": 0.014997379648339393, + "object_projection_between_fingers": 0.8504950636836637, + "object_to_finger_line_xy": 0.00900893884508185, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047902249180781314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.40161705708290896, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3032172706671519, + -0.3082047040653728, + 0.8515395556718898 + ], + "target_position": [ + 0.29628173158437426, + -0.3087695583564998, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006958502909314633, + "xy_threshold": 0.08, + "gripper_dist": 0.18565999910522218, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395556718898, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588567336272625, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08556872965815458, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15277596277235625, + "release_required_pad_clearance": 0.05278436482907729, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6167530958361703, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007088959217071533, + "max_z_decrease": 0.007088959217071533, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517203855743717, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007088959217071533, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021080242242913293, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007088959217071533, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00708897789539996, + "max_button_displacement": 0.12, + "button_start": [ + 0.15198165178298945, + -0.3650310039520263, + 0.7768088579177856 + ], + "button_final": [ + 0.15198165178298945, + -0.3650310039520263, + 0.7768088579177856 + ], + "closest_ee": [ + 0.153273757365417, + -0.3646667550007852, + 0.8082477568873838 + ], + "closest_button": [ + 0.1519708633422851, + -0.36503681540489197, + 0.773101806640625 + ], + "closest_ee_minus_button": [ + 0.001302894023131912, + 0.00037006040410675345, + 0.03514595024675882 + ], + "button_min_z_position": [ + 0.1519655585289001, + -0.3650334179401397, + 0.7697198987007141 + ], + "min_active_finger_to_button": 0.144823890490004, + "closest_active_finger": [ + 0.02688010036945343, + -0.4295389652252197, + 0.810400664806366 + ], + "closest_active_finger_button": [ + 0.1519812643527984, + -0.36503294110298157, + 0.7763032913208008 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12510116398334498, + -0.06450602412223816, + 0.034097373485565186 + ], + "min_contact_pad_to_button": 0.021080242242913293, + "closest_contact_pad": [ + 0.1519655585289001, + -0.3656903648982776, + 0.7907899018738059 + ], + "closest_contact_pad_button": [ + 0.1519655585289001, + -0.3650334179401397, + 0.7697198987007141 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006569469581378939, + 0.021070003173091822 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "58693e3278849f5af04694a752afd71f39699d03f5368ae62d2865517968262a", + "visual_seed": 1079479729887096318, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2bc7169bc6158109bbeb25a9d57d13649bf45d2a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17398297901034743, + 0.21659825882224581, + 1.160697774734158 + ], + "current_z": 1.160697774734158, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.2995910879054575, + "gripper_z": 1.1545133694400886, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17080688240008768, + 0.2125942077600511, + 1.1545133694400886 + ], + "object_minus_gripper": [ + 0.0031760966102597488, + 0.004004051062194702, + 0.006184405294069384 + ], + "object_to_gripper_xy": 0.005110774362693582, + "object_to_gripper_z": 0.006184405294069384, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17398297901034743, + 0.19334429841379813, + 1.160697774734158 + ], + "finger_b": [ + 0.16487484402932698, + 0.21659825882224581, + 1.160697774734158 + ], + "finger_midpoint": [ + 0.1694289115198372, + 0.20497127861802197, + 1.160697774734158 + ], + "object_minus_finger_midpoint": [ + 0.0045540674905102385, + 0.011626980204223841, + 0.0 + ], + "finger_gap": 0.024974082515883154, + "fingertip_max_gap": 0.09056868760812023, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012487041257941584, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160697774734158, + "object_top_z": 1.2106122276968843, + "finger_top_clearance": 0.04991445296272623, + "fingertip_min_top_clearance": 0.014974335888817868, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012487041257941584, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778434380406012, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.24556610914323518, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30497673396060776, + -0.3052423479041088, + 0.8515395436461287 + ], + "target_position": [ + 0.2971823680865651, + -0.3061253860718742, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007844226907998705, + "xy_threshold": 0.08, + "gripper_dist": 0.1825258929523293, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395436461287, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578488641783854, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854974933388624, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14993321458561565, + "release_required_pad_clearance": 0.052748746669431204, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5482248317293031, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007229506969451904, + "max_z_decrease": 0.007229506969451904, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035249476066145195, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007229506969451904, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02111469368115063, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007229506969451904, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007229527508398351, + "max_button_displacement": 0.12, + "button_start": [ + 0.15288229286670685, + -0.3623868525028229, + 0.7768088579177856 + ], + "button_final": [ + 0.15288229286670685, + -0.3623868525028229, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15503341960331574, + -0.36173582019877454, + 0.8047560016517887 + ], + "closest_button": [ + 0.15286552906036377, + -0.36239084601402277, + 0.7695793509483337 + ], + "closest_ee_minus_button": [ + 0.002167890542951967, + 0.0006550258152482336, + 0.03517665070345499 + ], + "button_min_z_position": [ + 0.15286552906036377, + -0.36239084601402277, + 0.7695793509483337 + ], + "min_active_finger_to_button": 0.14343825831597373, + "closest_active_finger": [ + 0.02769695222377777, + -0.4235137104988098, + 0.8107965588569641 + ], + "closest_active_finger_button": [ + 0.152886301279068, + -0.36238819360733027, + 0.7766522765159607 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12518934905529022, + -0.06112551689147955, + 0.03414428234100342 + ], + "min_contact_pad_to_button": 0.02111469368115063, + "closest_contact_pad": [ + 0.15286552906036377, + -0.36302390048410627, + 0.7906845524703929 + ], + "closest_contact_pad_button": [ + 0.15286552906036377, + -0.36239084601402277, + 0.7695793509483337 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006330544700834939, + 0.02110520152205919 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2ac349acea9ee9c978c938f550d75c064e6ae8250da5bc3d71b5db078111dbec", + "visual_seed": 1336895480939962507, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d5a321960f206f3b0d20d25b3b671bf9d46e4253 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17495492416489955, + 0.22131082680137779, + 1.163746217076364 + ], + "current_z": 1.163746217076364, + "required_z": 0.8611068656426346, + "initial_z": 0.7611068656426346, + "lift_margin": 0.30263935143372933, + "gripper_z": 1.1572270824844724, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1718082476118637, + 0.2172577793908277, + 1.1572270824844724 + ], + "object_minus_gripper": [ + 0.0031466765530358543, + 0.004053047410550098, + 0.006519134591891573 + ], + "object_to_gripper_xy": 0.0051311564623964115, + "object_to_gripper_z": 0.006519134591891573, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17495492416489955, + 0.19824512856094778, + 1.163746217076364 + ], + "finger_b": [ + 0.16554776046396869, + 0.22131082680137779, + 1.163746217076364 + ], + "finger_midpoint": [ + 0.17025134231443412, + 0.2097779776811628, + 1.163746217076364 + ], + "object_minus_finger_midpoint": [ + 0.0047035818504654325, + 0.011532849120214989, + 0.0 + ], + "finger_gap": 0.02491026222693545, + "fingertip_max_gap": 0.09032128378923368, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012455131113467712, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163746217076364, + "object_top_z": 1.2136431044879683, + "finger_top_clearance": 0.04989688741160436, + "fingertip_min_top_clearance": 0.014969066223481308, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012455131113467712, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766064189461684, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.07519891321873481, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2988550225987038, + -0.30693916648855135, + 0.8515395757428967 + ], + "target_position": [ + 0.2913350613316868, + -0.30758857782424986, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0075479502211109875, + "xy_threshold": 0.08, + "gripper_dist": 0.1859562252663757, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395757428967, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520183208054412, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08690524066206616, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1546752170855364, + "release_required_pad_clearance": 0.05345262033103308, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9188075136062943, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007089018821716309, + "max_z_decrease": 0.007089018821716309, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351954501323953, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007089018821716309, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02107729390325508, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.007089018821716309, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070890385009467274, + "max_button_displacement": 0.12, + "button_start": [ + 0.14703498780727384, + -0.36385002732276905, + 0.7768088579177856 + ], + "button_final": [ + 0.14703498780727384, + -0.36385002732276905, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1476743452180482, + -0.362050435543808, + 0.8080903104935159 + ], + "closest_button": [ + 0.14702406525611877, + -0.3638554513454436, + 0.7729471921920776 + ], + "closest_ee_minus_button": [ + 0.0006502799619294286, + 0.0018050158016356121, + 0.035143118301438236 + ], + "button_min_z_position": [ + 0.14701847732067108, + -0.363852560520172, + 0.7697198390960693 + ], + "min_active_finger_to_button": 0.14476317580252707, + "closest_active_finger": [ + 0.02069096267223358, + -0.4257388114929199, + 0.8107789158821106 + ], + "closest_active_finger_button": [ + 0.14703629910945892, + -0.3638511896133422, + 0.7766738533973694 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12634533643722534, + -0.06188762187957775, + 0.03410506248474121 + ], + "min_contact_pad_to_button": 0.02107729390325508, + "closest_contact_pad": [ + 0.14701847732067108, + -0.363852560520172, + 0.7907971329993244 + ], + "closest_contact_pad_button": [ + 0.14701847732067108, + -0.363852560520172, + 0.7697198390960693 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02107729390325508 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ae5ae55135f7eb297335c61c755856bf90f949e0ab3c96f639e3bdc12f0fdbaa", + "visual_seed": 8403982501126230762, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..37fe68081dccae1ee1dde4d17140973c84ea044a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18168607900349912, + 0.22071662128287298, + 1.1624317523681351 + ], + "current_z": 1.1624317523681351, + "required_z": 0.8611068060379897, + "initial_z": 0.7611068060379897, + "lift_margin": 0.3013249463301454, + "gripper_z": 1.156031844553367, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17796099038469537, + 0.2164522034099527, + 1.156031844553367 + ], + "object_minus_gripper": [ + 0.0037250886188037458, + 0.004264417872920284, + 0.006399907814768069 + ], + "object_to_gripper_xy": 0.005662291498397372, + "object_to_gripper_z": 0.006399907814768069, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18168607900349912, + 0.19713006144847298, + 1.1624317523681351 + ], + "finger_b": [ + 0.17213547841908597, + 0.22071662128287298, + 1.1624317523681351 + ], + "finger_midpoint": [ + 0.17691077871129254, + 0.20892334136567298, + 1.1624317523681351 + ], + "object_minus_finger_midpoint": [ + 0.004775300292206575, + 0.0117932799172, + 0.0 + ], + "finger_gap": 0.025446802870787603, + "fingertip_max_gap": 0.09113755152367864, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012723401435393801, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624317523681351, + "object_top_z": 1.212480634009162, + "finger_top_clearance": 0.05004888164102694, + "fingertip_min_top_clearance": 0.015014664492308082, + "object_projection_between_fingers": 0.8591376547740689, + "object_to_finger_line_xy": 0.008852421000884028, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04806877576183932, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.43161373980596784, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3070958534093874, + -0.3074039030111756, + 0.8515395725480713 + ], + "target_position": [ + 0.2973618873395514, + -0.30926075304740724, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009909489770203719, + "xy_threshold": 0.08, + "gripper_dist": 0.18623254574926432, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395725480713, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545166685847945, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855077071151462, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15457445166233244, + "release_required_pad_clearance": 0.0527538535575731, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5581290727445527, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007128477096557617, + "max_z_decrease": 0.007128477096557617, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03521643589469026, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007128477096557617, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02107829111800963, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007128477096557617, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007128496830404981, + "max_button_displacement": 0.12, + "button_start": [ + 0.15306180715560916, + -0.36552220582962036, + 0.7768088579177856 + ], + "button_final": [ + 0.15306180715560916, + -0.36552220582962036, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15383671065640078, + -0.36350270427474507, + 0.8081777839275427 + ], + "closest_button": [ + 0.153051033616066, + -0.3655283451080322, + 0.7730284333229065 + ], + "closest_ee_minus_button": [ + 0.0007856770403347757, + 0.0020256408332871567, + 0.0351493506046362 + ], + "button_min_z_position": [ + 0.15304531157016757, + -0.3655252456665039, + 0.769680380821228 + ], + "min_active_finger_to_button": 0.144542555217463, + "closest_active_finger": [ + 0.026888921856880188, + -0.42725247144699097, + 0.810901403427124 + ], + "closest_active_finger_button": [ + 0.1530615091323853, + -0.36552342772483826, + 0.7768051624298096 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12617258727550512, + -0.06172904372215271, + 0.03409624099731445 + ], + "min_contact_pad_to_button": 0.02107829111800963, + "closest_contact_pad": [ + 0.15304531157016757, + -0.3655252456665039, + 0.7907586719392377 + ], + "closest_contact_pad_button": [ + 0.15304531157016757, + -0.3655252456665039, + 0.769680380821228 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02107829111800963 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8d82d93ea7da34da051740b1ed086fb6168778b559503f7a545916a29fc402e1", + "visual_seed": 8865352385246571013, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c1c765c72d54e29dd21ffae4a2de6941acda4490 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17946223847062906, + 0.22122160054352344, + 1.1601156055952067 + ], + "current_z": 1.1601156055952067, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.2990088591618617, + "gripper_z": 1.1536246287590688, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1760509604328862, + 0.21700132597076738, + 1.1536246287590688 + ], + "object_minus_gripper": [ + 0.003411278037742854, + 0.004220274572756061, + 0.006490976836137863 + ], + "object_to_gripper_xy": 0.005426558331045386, + "object_to_gripper_z": 0.006490976836137863, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17946223847062906, + 0.19794344967235192, + 1.1601156055952067 + ], + "finger_b": [ + 0.16985170709976305, + 0.22122160054352344, + 1.1601156055952067 + ], + "finger_midpoint": [ + 0.17465697278519604, + 0.20958252510793768, + 1.1601156055952067 + ], + "object_minus_finger_midpoint": [ + 0.004805265685433019, + 0.01163907543558576, + 0.0 + ], + "finger_gap": 0.025184015192407726, + "fingertip_max_gap": 0.0908688965385864, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012592007596203868, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1601156055952067, + "object_top_z": 1.2100550827264294, + "finger_top_clearance": 0.04993947713122271, + "fingertip_min_top_clearance": 0.014981843139366846, + "object_projection_between_fingers": 0.8543720097556603, + "object_to_finger_line_xy": 0.008883229997041515, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0479344482692932, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4093084820770958, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3040020682091712, + -0.3088664133262815, + 0.8515395127278156 + ], + "target_position": [ + 0.29643697461703566, + -0.3095465891346577, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0075956092703660235, + "xy_threshold": 0.08, + "gripper_dist": 0.18335954084771336, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395127278156, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545550946236623, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08600381879963358, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15155559802272403, + "release_required_pad_clearance": 0.05300190939981679, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0370209459162307, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00713580846786499, + "max_z_decrease": 0.00713580846786499, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035169181332638216, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00713580846786499, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021082905485743902, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00713580846786499, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007135828529199819, + "max_button_displacement": 0.12, + "button_start": [ + 0.15213690698146815, + -0.3658080399036407, + 0.7768088579177856 + ], + "button_final": [ + 0.15213690698146815, + -0.3658080399036407, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1523741777846136, + -0.364551406404404, + 0.8081333842263626 + ], + "closest_button": [ + 0.15212623775005338, + -0.3658149540424346, + 0.7729877829551697 + ], + "closest_ee_minus_button": [ + 0.00024794003456021785, + 0.0012635476380306043, + 0.03514560127119293 + ], + "button_min_z_position": [ + 0.1521203815937042, + -0.365811675786972, + 0.7696730494499207 + ], + "min_active_finger_to_button": 0.1453540052787108, + "closest_active_finger": [ + 0.024648725986480713, + -0.4267294406890869, + 0.8108626008033752 + ], + "closest_active_finger_button": [ + 0.1521404534578323, + -0.36580836772918696, + 0.7767705321311951 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274917274713516, + -0.06092107295989996, + 0.034092068672180176 + ], + "min_contact_pad_to_button": 0.021082905485743902, + "closest_contact_pad": [ + 0.1521203815937042, + -0.36589496359397233, + 0.7907557904211989 + ], + "closest_contact_pad_button": [ + 0.1521203815937042, + -0.365811675786972, + 0.7696730494499207 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -8.328780700034288e-05, + 0.02108274097127827 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "95d28554d2c456a8d68ee81df9f18ceb874ddec0f0ac1d4eb7b10aa48327c85d", + "visual_seed": 636694830475723983, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ae1992d292db2e9e39c8859d314477dbca2e500 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18107738349990707, + 0.22028125960561623, + 1.1618221348584339 + ], + "current_z": 1.1618221348584339, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.3007153884250888, + "gripper_z": 1.1554554496801592, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17757072958255232, + 0.21594856961080622, + 1.1554554496801592 + ], + "object_minus_gripper": [ + 0.003506653917354746, + 0.004332689994810013, + 0.006366685178274656 + ], + "object_to_gripper_xy": 0.005573941539631195, + "object_to_gripper_z": 0.006366685178274656, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18107738349990707, + 0.19714246378813324, + 1.1618221348584339 + ], + "finger_b": [ + 0.17103419240450513, + 0.22028125960561623, + 1.1618221348584339 + ], + "finger_midpoint": [ + 0.1760557879522061, + 0.20871186169687472, + 1.1618221348584339 + ], + "object_minus_finger_midpoint": [ + 0.005021595547700958, + 0.011569397908741508, + 0.0 + ], + "finger_gap": 0.02522438421967777, + "fingertip_max_gap": 0.09069740594209214, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012612192109838894, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1618221348584339, + "object_top_z": 1.2117389069418163, + "finger_top_clearance": 0.04991677208338241, + "fingertip_min_top_clearance": 0.014975031625014722, + "object_projection_between_fingers": 0.8414733411169871, + "object_to_finger_line_xy": 0.009212805596704371, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04784870297104607, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3277822217638935, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3061649381810102, + -0.3136839180242662, + 0.851539578672243 + ], + "target_position": [ + 0.29876860526236293, + -0.31437465366008766, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007428516430759171, + "xy_threshold": 0.08, + "gripper_dist": 0.18464198888775996, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539578672243, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531605311639487, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628089899515722, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15298211841506085, + "release_required_pad_clearance": 0.05314044949757861, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3062408938138679, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007229924201965332, + "max_z_decrease": 0.007229924201965332, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03519247345346829, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007229924201965332, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021098675548811945, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007229924201965332, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00722994445765398, + "max_button_displacement": 0.12, + "button_start": [ + 0.15446853637695315, + -0.37063610553741455, + 0.7768088579177856 + ], + "button_final": [ + 0.15446853637695315, + -0.37063610553741455, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15625934499590383, + -0.37047192175286964, + 0.8082450837715643 + ], + "closest_button": [ + 0.15445879101753235, + -0.37064436078071594, + 0.7730991244316101 + ], + "closest_ee_minus_button": [ + 0.0018005539783714775, + 0.00017243902784630505, + 0.035145959339954236 + ], + "button_min_z_position": [ + 0.15445163846015933, + -0.37063881754875183, + 0.7695789337158203 + ], + "min_active_finger_to_button": 0.14442760889687295, + "closest_active_finger": [ + 0.014993876218795776, + -0.35520392656326294, + 0.8105061650276184 + ], + "closest_active_finger_button": [ + 0.1544692069292069, + -0.3706388473510742, + 0.7763341069221497 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13947533071041113, + 0.01543492078781128, + 0.03417205810546875 + ], + "min_contact_pad_to_button": 0.021098675548811945, + "closest_contact_pad": [ + 0.15445163846015933, + -0.3716178067141384, + 0.7906548842312322 + ], + "closest_contact_pad_button": [ + 0.15445163846015933, + -0.37063881754875183, + 0.7695789337158203 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000978989165386579, + 0.02107595051541189 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e4b16c81e56223a0e8c2c267aff3ec203ccd110e6fb4a6d1fc75eb0f641b833b", + "visual_seed": 1665637096012451904, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b445cc34604aa381939d408cce86463483533351 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1799920193095899, + 0.21983166981201885, + 1.161365564778876 + ], + "current_z": 1.161365564778876, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.3002588779501759, + "gripper_z": 1.1551331078225424, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17650925458974773, + 0.21551933863642297, + 1.1551331078225424 + ], + "object_minus_gripper": [ + 0.003482764719842185, + 0.004312331175595874, + 0.006232456956333676 + ], + "object_to_gripper_xy": 0.005543090316943564, + "object_to_gripper_z": 0.006232456956333676, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1799920193095899, + 0.19671049280186934, + 1.161365564778876 + ], + "finger_b": [ + 0.16998576645354674, + 0.21983166981201885, + 1.161365564778876 + ], + "finger_midpoint": [ + 0.17498889288156833, + 0.2082710813069441, + 1.161365564778876 + ], + "object_minus_finger_midpoint": [ + 0.005003126428021587, + 0.011560588505074743, + 0.0 + ], + "finger_gap": 0.02519352937866663, + "fingertip_max_gap": 0.09032656777456527, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012596764689333302, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161365564778876, + "object_top_z": 1.2112211152351011, + "finger_top_clearance": 0.04985555045622503, + "fingertip_min_top_clearance": 0.014956665136867475, + "object_projection_between_fingers": 0.8422516150012528, + "object_to_finger_line_xy": 0.009183165249121304, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766328388728264, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.09208255537189697, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2983620374158029, + -0.309741852511782, + 0.8515396554172006 + ], + "target_position": [ + 0.2911458313544394, + -0.3102026425790643, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0072309029454256804, + "xy_threshold": 0.08, + "gripper_dist": 0.1839031267533716, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396554172006, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591588333905122, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08500703152857318, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15097972374111385, + "release_required_pad_clearance": 0.05250351576428659, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.07912931358603846, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007171452045440674, + "max_z_decrease": 0.007171452045440674, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03519066728428706, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007171452045440674, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0210836420061975, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007171452045440674, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007171472436559109, + "max_button_displacement": 0.12, + "button_start": [ + 0.1468457579612732, + -0.3664641082286834, + 0.7768088579177856 + ], + "button_final": [ + 0.1468457579612732, + -0.3664641082286834, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14693182978738814, + -0.36473258293892835, + 0.8079475903058362 + ], + "closest_button": [ + 0.14683370292186737, + -0.36646986007690424, + 0.7727999687194824 + ], + "closest_ee_minus_button": [ + 9.81268655207701e-05, + 0.00173727713797589, + 0.03514762158635376 + ], + "button_min_z_position": [ + 0.1468289792537689, + -0.3664674162864684, + 0.769637405872345 + ], + "min_active_finger_to_button": 0.14528509658042757, + "closest_active_finger": [ + 0.018736541271209717, + -0.4259178042411804, + 0.8105806708335876 + ], + "closest_active_finger_button": [ + 0.14684541523456573, + -0.36646610498428334, + 0.7765017747879028 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12810887396335602, + -0.059451699256897084, + 0.034078896045684814 + ], + "min_contact_pad_to_button": 0.0210836420061975, + "closest_contact_pad": [ + 0.1468289792537689, + -0.3664674162864684, + 0.7907210478785425 + ], + "closest_contact_pad_button": [ + 0.1468289792537689, + -0.3664674162864684, + 0.769637405872345 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0210836420061975 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f31d15abc674b79547f8c71f4fe1fac6206ebf305f188c81b6a5ac754ec9c619", + "visual_seed": 7410720316313936864, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8d29d3b634857febb9c691bf9238a67c2be4db68 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17985155035009803, + 0.2169164233198464, + 1.1613989068600037 + ], + "current_z": 1.1613989068600037, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.3002922796359482, + "gripper_z": 1.1550467937824438, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1764165114877285, + 0.2126322862272135, + 1.1550467937824438 + ], + "object_minus_gripper": [ + 0.0034350388623695383, + 0.004284137092632895, + 0.0063521130775598955 + ], + "object_to_gripper_xy": 0.005491204113349097, + "object_to_gripper_z": 0.0063521130775598955, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17985155035009803, + 0.19382170886314823, + 1.1613989068600037 + ], + "finger_b": [ + 0.169884459630033, + 0.2169164233198464, + 1.1613989068600037 + ], + "finger_midpoint": [ + 0.17486800499006552, + 0.2053690660914973, + 1.1613989068600037 + ], + "object_minus_finger_midpoint": [ + 0.00498354536003251, + 0.011547357228349098, + 0.0 + ], + "finger_gap": 0.02515370217797829, + "fingertip_max_gap": 0.09074300463908447, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012576851088989155, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1613989068600037, + "object_top_z": 1.2113541630781286, + "finger_top_clearance": 0.04995525621812491, + "fingertip_min_top_clearance": 0.014986576865437473, + "object_projection_between_fingers": 0.8429879465857955, + "object_to_finger_line_xy": 0.009151222055313732, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047871502319542236, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.326195317746651, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2989011260419594, + -0.31264238999774097, + 0.8515395866216758 + ], + "target_position": [ + 0.29150539667410136, + -0.3132478473975308, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0074204711134508265, + "xy_threshold": 0.08, + "gripper_dist": 0.18220878937001594, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395866216758, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515935991441855, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08707680040272751, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1511566419737839, + "release_required_pad_clearance": 0.05353840020136376, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0883546031574514, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007194161415100098, + "max_z_decrease": 0.007194161415100098, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516599502674137, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007194161415100098, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021182433500982475, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007194161415100098, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0071941805683377845, + "max_button_displacement": 0.12, + "button_start": [ + 0.14720532298088074, + -0.3695093095302581, + 0.7768088579177856 + ], + "button_final": [ + 0.14720532298088074, + -0.3695093095302581, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14818608712606784, + -0.3707961057520099, + 0.8081731805054602 + ], + "closest_button": [ + 0.14719456434249878, + -0.3695147931575775, + 0.7730445265769958 + ], + "closest_ee_minus_button": [ + 0.0009915227835690654, + -0.0012813125944323711, + 0.035128653928464315 + ], + "button_min_z_position": [ + 0.14718879759311676, + -0.36951088905334467, + 0.7696146965026855 + ], + "min_active_finger_to_button": 0.14507826131428164, + "closest_active_finger": [ + 0.006757967174053192, + -0.3572307229042053, + 0.8110381364822388 + ], + "closest_active_finger_button": [ + 0.14720460772514343, + -0.3695107698440551, + 0.7768088579177856 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14044664055109024, + 0.012280046939849798, + 0.034229278564453125 + ], + "min_contact_pad_to_button": 0.021182433500982475, + "closest_contact_pad": [ + 0.14718879759311676, + -0.3717147073875643, + 0.7906821755586453 + ], + "closest_contact_pad_button": [ + 0.14718879759311676, + -0.36951088905334467, + 0.7696146965026855 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022038183342196205, + 0.021067479055959737 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "757c4b58bbdd644faba9617ba2924020cfca3203f05c4d80c7529be7ea7d1b5b", + "visual_seed": 3046893618888240088, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8abf552351d4b77ea198ea75af7dea3a59bfc681 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18236465864595489, + 0.21840167205747982, + 1.1608315522523052 + ], + "current_z": 1.1608315522523052, + "required_z": 0.8611068060379897, + "initial_z": 0.7611068060379897, + "lift_margin": 0.29972474621431544, + "gripper_z": 1.1544502662989569, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17875212614166663, + 0.2141687411216469, + 1.1544502662989569 + ], + "object_minus_gripper": [ + 0.0036125325042882517, + 0.004232930935832907, + 0.0063812859533483035 + ], + "object_to_gripper_xy": 0.005564898507796023, + "object_to_gripper_z": 0.0063812859533483035, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18236465864595489, + 0.1949101056774994, + 1.1608315522523052 + ], + "finger_b": [ + 0.17284485741281116, + 0.21840167205747982, + 1.1608315522523052 + ], + "finger_midpoint": [ + 0.17760475802938303, + 0.2066558888674896, + 1.1608315522523052 + ], + "object_minus_finger_midpoint": [ + 0.0047599006165718605, + 0.011745783189990228, + 0.0 + ], + "finger_gap": 0.025347195239386774, + "fingertip_max_gap": 0.09038049147066768, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012673597619693399, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1608315522523052, + "object_top_z": 1.2107497001280016, + "finger_top_clearance": 0.049918147875696484, + "fingertip_min_top_clearance": 0.01497544436270891, + "object_projection_between_fingers": 0.858942578315343, + "object_to_finger_line_xy": 0.00882287134653504, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04769024573533384, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.14542600603032213, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 353, + "max_stable_success_frames": 353, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3034650592001714, + -0.30418013308028125, + 0.8515395941911914 + ], + "target_position": [ + 0.29549896535570996, + -0.3049982147238147, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00800799030433061, + "xy_threshold": 0.08, + "gripper_dist": 0.1846883711289441, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395941911914, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525863825151088, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08590255330116568, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15345252743383553, + "release_required_pad_clearance": 0.05295127665058284, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9387783981403931, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007178962230682373, + "max_z_decrease": 0.007178962230682373, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035181646666387185, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007178962230682373, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021077527224285828, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007178962230682373, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007178985302002213, + "max_button_displacement": 0.12, + "button_start": [ + 0.15119889378547668, + -0.36125966906547546, + 0.7768088579177856 + ], + "button_final": [ + 0.15119889378547668, + -0.36125966906547546, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1502947606296755, + -0.35987536452912594, + 0.8079081167409624 + ], + "closest_button": [ + 0.1511872261762619, + -0.36126708984375, + 0.7727653384208679 + ], + "closest_ee_minus_button": [ + -0.0008924655465863962, + 0.0013917253146240594, + 0.03514277832009449 + ], + "button_min_z_position": [ + 0.15118104219436646, + -0.36126321554183954, + 0.7696298956871033 + ], + "min_active_finger_to_button": 0.1462887363727107, + "closest_active_finger": [ + 0.022496342658996582, + -0.4218772053718567, + 0.8105420470237732 + ], + "closest_active_finger_button": [ + 0.15119865536689756, + -0.36126238107681274, + 0.7764546275138855 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12870231270790097, + -0.060614824295043945, + 0.034087419509887695 + ], + "min_contact_pad_to_button": 0.021077527224285828, + "closest_contact_pad": [ + 0.15118104219436646, + -0.361278189234014, + 0.790707417592656 + ], + "closest_contact_pad_button": [ + 0.15118104219436646, + -0.36126321554183954, + 0.7696298956871033 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -1.4973692174458098e-05, + 0.021077521905552676 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f26a1d1407fc2a0f4a14f31eceee00e3437c3ed47087ebc336570654d78615dd", + "visual_seed": 1459724672831699226, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..30838fd779a16b44eb6fa48654b808850a345bd3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18246445403095826, + 0.21995555133281403, + 1.159666005273439 + ], + "current_z": 1.159666005273439, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.29855925884009393, + "gripper_z": 1.1532943197058134, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1788239117360454, + 0.21568471307472828, + 1.1532943197058134 + ], + "object_minus_gripper": [ + 0.0036405422949128685, + 0.004270838258085746, + 0.0063716855676256845 + ], + "object_to_gripper_xy": 0.005611916573487024, + "object_to_gripper_z": 0.0063716855676256845, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18246445403095826, + 0.19651339380440355, + 1.159666005273439 + ], + "finger_b": [ + 0.17278815502292005, + 0.21995555133281403, + 1.159666005273439 + ], + "finger_midpoint": [ + 0.17762630452693917, + 0.20823447256860877, + 1.159666005273439 + ], + "object_minus_finger_midpoint": [ + 0.00483814950401909, + 0.01172107876420525, + 0.0 + ], + "finger_gap": 0.025360708035852882, + "fingertip_max_gap": 0.09026018734455682, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01268035401792645, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159666005273439, + "object_top_z": 1.2095209446531348, + "finger_top_clearance": 0.04985493937969565, + "fingertip_min_top_clearance": 0.014956481813908695, + "object_projection_between_fingers": 0.8544219788928173, + "object_to_finger_line_xy": 0.008944282049135045, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04763009367227841, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.07175958174016754, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30263482496114014, + -0.30410124017446727, + 0.8515395653058923 + ], + "target_position": [ + 0.2944678490518958, + -0.3052674580138071, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00824982178904317, + "xy_threshold": 0.08, + "gripper_dist": 0.18496819760003874, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395653058923, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758643059865022, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515121045448847, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15209329878176422, + "release_required_pad_clearance": 0.052575605227244235, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.21670471905311342, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007360398769378662, + "max_z_decrease": 0.007360398769378662, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035214528673967654, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007360398769378662, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021251345599155504, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007360398769378662, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007360418832302287, + "max_button_displacement": 0.12, + "button_start": [ + 0.15016777813434595, + -0.3615289032459258, + 0.7768088579177856 + ], + "button_final": [ + 0.15016777813434595, + -0.3615289032459258, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1516832826212483, + -0.3633293775039466, + 0.8078587495502728 + ], + "closest_button": [ + 0.15015643835067746, + -0.3615347743034362, + 0.7727231383323669 + ], + "closest_ee_minus_button": [ + 0.001526844270570843, + -0.0017946032005103918, + 0.03513561121790587 + ], + "button_min_z_position": [ + 0.15015077590942377, + -0.36153140664100636, + 0.769448459148407 + ], + "min_active_finger_to_button": 0.14449943474307697, + "closest_active_finger": [ + 0.010265365242958069, + -0.3497190475463867, + 0.8105869293212891 + ], + "closest_active_finger_button": [ + 0.15016746520996088, + -0.3615308701992034, + 0.7764113545417786 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1399020999670028, + 0.011811822652816661, + 0.0341755747795105 + ], + "min_contact_pad_to_button": 0.021251345599155504, + "closest_contact_pad": [ + 0.15015077590942377, + -0.36429929553517026, + 0.7905187814251143 + ], + "closest_contact_pad_button": [ + 0.15015077590942377, + -0.36153140664100636, + 0.769448459148407 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027678888941639057, + 0.021070322276707354 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2d2c140a8f5e3a9ae2d8c89ff9eba37c4fef5a7dc0a2a44aef4660979caca919", + "visual_seed": 614038678943735942, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fec9ac455828e5ef2d2c5ecd846a6e931e27820d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17621199103349072, + 0.22216708200474403, + 1.1624421020458044 + ], + "current_z": 1.1624421020458044, + "required_z": 0.8611069848519242, + "initial_z": 0.7611069848519242, + "lift_margin": 0.3013351171938803, + "gripper_z": 1.1562310065576558, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17283705932254653, + 0.21803229767376353, + 1.1562310065576558 + ], + "object_minus_gripper": [ + 0.00337493171094419, + 0.0041347843309804955, + 0.006211095488148688 + ], + "object_to_gripper_xy": 0.0053372844703330645, + "object_to_gripper_z": 0.006211095488148688, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17621199103349072, + 0.19887004754160187, + 1.1624421020458044 + ], + "finger_b": [ + 0.16678255714039453, + 0.22216708200474403, + 1.1624421020458044 + ], + "finger_midpoint": [ + 0.17149727408694262, + 0.21051856477317293, + 1.1624421020458044 + ], + "object_minus_finger_midpoint": [ + 0.004714716946548098, + 0.011648517231571093, + 0.0 + ], + "finger_gap": 0.025132967161103456, + "fingertip_max_gap": 0.09067875100714051, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01256648358055174, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624421020458044, + "object_top_z": 1.212356488832778, + "finger_top_clearance": 0.049914386786973575, + "fingertip_min_top_clearance": 0.014974316036092072, + "object_projection_between_fingers": 0.8592385562146178, + "object_to_finger_line_xy": 0.008740625210196539, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783937550357026, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.27914875221551627, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30616827642929556, + -0.3096868300847476, + 0.8515395588670409 + ], + "target_position": [ + 0.2985153975553007, + -0.3107301560154597, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007723670374746256, + "xy_threshold": 0.08, + "gripper_dist": 0.1856171928636351, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395588670409, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551490890316756, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581960751864408, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15360101791508748, + "release_required_pad_clearance": 0.05290980375932204, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.858655878068632, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007350325584411621, + "max_z_decrease": 0.007350325584411621, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514533044068151, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007350325584411621, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021129513062876974, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007350325584411621, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073503496696315325, + "max_button_displacement": 0.12, + "button_start": [ + 0.15421532094478607, + -0.3669916093349456, + 0.7768088579177856 + ], + "button_final": [ + 0.15421532094478607, + -0.3669916093349456, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1542436359641247, + -0.36741663477792624, + 0.8080137275060295 + ], + "closest_button": [ + 0.15420478582382202, + -0.36699914932250965, + 0.7728708982467651 + ], + "closest_ee_minus_button": [ + 3.8850140302665315e-05, + -0.00041748545541658855, + 0.035142829259264374 + ], + "button_min_z_position": [ + 0.15419667959213257, + -0.36699417233467096, + 0.769458532333374 + ], + "min_active_finger_to_button": 0.14605039868714836, + "closest_active_finger": [ + 0.013038866221904755, + -0.351736843585968, + 0.8107868432998657 + ], + "closest_active_finger_button": [ + 0.15421655774116516, + -0.36699375510215754, + 0.776628315448761 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1411776915192604, + 0.01525691151618952, + 0.034158527851104736 + ], + "min_contact_pad_to_button": 0.021129513062876974, + "closest_contact_pad": [ + 0.15419667959213257, + -0.3686426263047228, + 0.7905236438161768 + ], + "closest_contact_pad_button": [ + 0.15419667959213257, + -0.36699417233467096, + 0.769458532333374 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016484539700518108, + 0.021065111482802767 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e31542d68ed2a6eb34b74523367a438f96a21dc335efc8cddd4282082a21ecb8", + "visual_seed": 7093557146139522504, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ea757f8cbe3175b764100137f2d811abbaacc1f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17540651478701474, + 0.2156790944791525, + 1.1606431893727764 + ], + "current_z": 1.1606431893727764, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.2995363833347865, + "gripper_z": 1.1542400265562955, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17218175505245265, + 0.2116005582647637, + 1.1542400265562955 + ], + "object_minus_gripper": [ + 0.0032247597345620993, + 0.004078536214388806, + 0.006403162816480901 + ], + "object_to_gripper_xy": 0.00519937813567488, + "object_to_gripper_z": 0.006403162816480901, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17540651478701474, + 0.19264315000656163, + 1.1606431893727764 + ], + "finger_b": [ + 0.16585614830008524, + 0.2156790944791525, + 1.1606431893727764 + ], + "finger_midpoint": [ + 0.17063133154354998, + 0.20416112224285707, + 1.1606431893727764 + ], + "object_minus_finger_midpoint": [ + 0.0047751832434647645, + 0.011517972236295443, + 0.0 + ], + "finger_gap": 0.02493720589358312, + "fingertip_max_gap": 0.09024093019251508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012468602946791566, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1606431893727764, + "object_top_z": 1.2104645249891743, + "finger_top_clearance": 0.0498213356163979, + "fingertip_min_top_clearance": 0.014946400684919403, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012468602946791566, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047620465096257544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.05850858157141129, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30620377988123626, + -0.3110310352628384, + 0.8515395665019332 + ], + "target_position": [ + 0.29881798061599035, + -0.31182715567562597, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007428582536269222, + "xy_threshold": 0.08, + "gripper_dist": 0.1829263083800588, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395665019332, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581970436089418, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498255355802269, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15031903134509159, + "release_required_pad_clearance": 0.052491276779011345, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595290976108097, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007543027400970459, + "max_z_decrease": 0.007543027400970459, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035259826983528184, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007543027400970459, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021086259067872936, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007543027400970459, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007543048029732495, + "max_button_displacement": 0.12, + "button_start": [ + 0.15451790392398831, + -0.36808860301971424, + 0.7768088579177856 + ], + "button_final": [ + 0.15451790392398831, + -0.36808860301971424, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15712742925256112, + -0.3671112538822815, + 0.8078180043296493 + ], + "closest_button": [ + 0.15450671315193173, + -0.36809587478637684, + 0.7726694941520691 + ], + "closest_ee_minus_button": [ + 0.002620716100629389, + 0.0009846209040953458, + 0.03514851017758025 + ], + "button_min_z_position": [ + 0.1545005589723587, + -0.3680918216705321, + 0.7692658305168152 + ], + "min_active_finger_to_button": 0.14339908347552116, + "closest_active_finger": [ + 0.03017760068178177, + -0.4308604598045349, + 0.8105000853538513 + ], + "closest_active_finger_button": [ + 0.15451769530773163, + -0.3680918514728545, + 0.7763981819152832 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12434009462594986, + -0.06276860833168041, + 0.034101903438568115 + ], + "min_contact_pad_to_button": 0.021086259067872936, + "closest_contact_pad": [ + 0.1545005589723587, + -0.3682784024722523, + 0.7903512640926723 + ], + "closest_contact_pad_button": [ + 0.1545005589723587, + -0.3680918216705321, + 0.7692658305168152 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000186580801720182, + 0.021085433575857127 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e9ffa74834f3b52b025dabb9ac62f6acd59f68ac7a70b0446d8f1e021771473e", + "visual_seed": 5918028942390160965, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cad6fd682b1a3d2d95266c6f5ce49add6966f5e3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1791736957872802, + 0.2214849159480839, + 1.1609716112525448 + ], + "current_z": 1.1609716112525448, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.29986480521455494, + "gripper_z": 1.1546068259048092, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17569211145729582, + 0.2171416915009879, + 1.1546068259048092 + ], + "object_minus_gripper": [ + 0.003481584329984383, + 0.004343224447096006, + 0.0063647853477355465 + ], + "object_to_gripper_xy": 0.005566419679169475, + "object_to_gripper_z": 0.0063647853477355465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1791736957872802, + 0.1983368012594451, + 1.1609716112525448 + ], + "finger_b": [ + 0.16915396169726066, + 0.2214849159480839, + 1.1609716112525448 + ], + "finger_midpoint": [ + 0.17416382874227043, + 0.20991085860376452, + 1.1609716112525448 + ], + "object_minus_finger_midpoint": [ + 0.005009867045009775, + 0.011574057344319377, + 0.0 + ], + "finger_gap": 0.0252236057072155, + "fingertip_max_gap": 0.09078096194773849, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012611802853607738, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1609716112525448, + "object_top_z": 1.2109426128430427, + "finger_top_clearance": 0.04997100159049794, + "fingertip_min_top_clearance": 0.014991300477149382, + "object_projection_between_fingers": 0.8422032499526043, + "object_to_finger_line_xy": 0.009195273528997802, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04789048097386925, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.33740206526383065, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3031944683001404, + -0.31099153604513075, + 0.8515395629350786 + ], + "target_position": [ + 0.2955398298300055, + -0.3117318145178158, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007690351248518523, + "xy_threshold": 0.08, + "gripper_dist": 0.1834256639193308, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395629350786, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754795049508976, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08630988538890243, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15157070765672864, + "release_required_pad_clearance": 0.053154942694451215, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.334692634479875, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007201969623565674, + "max_z_decrease": 0.007201969623565674, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035203253582477834, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007201969623565674, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021085123404859796, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007201969623565674, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007201989558738699, + "max_button_displacement": 0.12, + "button_start": [ + 0.1512397527694702, + -0.3679932653903961, + 0.7768088579177856 + ], + "button_final": [ + 0.1512397527694702, + -0.3679932653903961, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15202919337054166, + -0.3661919666951654, + 0.8080923115728553 + ], + "closest_button": [ + 0.15122908353805542, + -0.3680000901222229, + 0.7729446291923523 + ], + "closest_ee_minus_button": [ + 0.0008001098324862399, + 0.0018081234270574953, + 0.03514768238050303 + ], + "button_min_z_position": [ + 0.15122318267822266, + -0.36799681186676025, + 0.76960688829422 + ], + "min_active_finger_to_button": 0.14464552732053404, + "closest_active_finger": [ + 0.024185001850128174, + -0.42812585830688477, + 0.810817301273346 + ], + "closest_active_finger_button": [ + 0.1512433886528015, + -0.3679945468902588, + 0.7767186164855957 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12705838680267334, + -0.06013131141662598, + 0.034098684787750244 + ], + "min_contact_pad_to_button": 0.021085123404859796, + "closest_contact_pad": [ + 0.15122318267822266, + -0.36799681186676025, + 0.7906920116990798 + ], + "closest_contact_pad_button": [ + 0.15122318267822266, + -0.36799681186676025, + 0.76960688829422 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021085123404859796 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3713d4edf92e9ba6a2d415a167c57ca224af86b7971b8cc47aed05eaeac0b626", + "visual_seed": 8360187673810676287, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..87dcaf8f42c27c11ec5a4b3bf5d7af956848e836 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17813422521229136, + 0.2232160845660002, + 1.1629329414066905 + ], + "current_z": 1.1629329414066905, + "required_z": 0.8611068060379896, + "initial_z": 0.7611068060379896, + "lift_margin": 0.30182613536870084, + "gripper_z": 1.156442669491332, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17481455185672323, + 0.21896598350415772, + 1.156442669491332 + ], + "object_minus_gripper": [ + 0.0033196733555681257, + 0.004250101061842482, + 0.006490271915358559 + ], + "object_to_gripper_xy": 0.005392920379863171, + "object_to_gripper_z": 0.006490271915358559, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17813422521229136, + 0.2001475229220972, + 1.1629329414066905 + ], + "finger_b": [ + 0.16829267876772663, + 0.2232160845660002, + 1.1629329414066905 + ], + "finger_midpoint": [ + 0.17321345199000898, + 0.2116818037440487, + 1.1629329414066905 + ], + "object_minus_finger_midpoint": [ + 0.004920773222282376, + 0.011534280821951487, + 0.0 + ], + "finger_gap": 0.025080162932865434, + "fingertip_max_gap": 0.09104402299687644, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01254008146643271, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1629329414066905, + "object_top_z": 1.2128588642287137, + "finger_top_clearance": 0.04992592282202324, + "fingertip_min_top_clearance": 0.014977776846606937, + "object_projection_between_fingers": 0.8460194077877086, + "object_to_finger_line_xy": 0.009052186839275743, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048022011498438225, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5926892166877731, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30140047442934503, + -0.309899289807019, + 0.8515395649177068 + ], + "target_position": [ + 0.2943025331404043, + -0.31036065118365985, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007112919573642453, + "xy_threshold": 0.08, + "gripper_dist": 0.18568720751867493, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395649177068, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584805254257079, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506184874595461, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15283873426589334, + "release_required_pad_clearance": 0.05253092437297731, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1312210953024207, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007464766502380371, + "max_z_decrease": 0.007464766502380371, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035217190731187106, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007464766502380371, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021076837791440872, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007464766502380371, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007464786018499838, + "max_button_displacement": 0.12, + "button_start": [ + 0.15000246465206146, + -0.366622120141983, + 0.7768088579177856 + ], + "button_final": [ + 0.15000246465206146, + -0.366622120141983, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15169187484484584, + -0.36510180281047216, + 0.8077897023190158 + ], + "closest_button": [ + 0.14999108016490936, + -0.36662790179252613, + 0.7726467251777649 + ], + "closest_ee_minus_button": [ + 0.0017007946799364737, + 0.0015260989820539694, + 0.03514297714125092 + ], + "button_min_z_position": [ + 0.14998556673526764, + -0.3666245341300964, + 0.7693440914154053 + ], + "min_active_finger_to_button": 0.14396149887776188, + "closest_active_finger": [ + 0.025303810834884644, + -0.4299650490283966, + 0.8104346990585327 + ], + "closest_active_finger_button": [ + 0.15000197291374207, + -0.366624504327774, + 0.7763281464576721 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12469816207885742, + -0.06334054470062261, + 0.034106552600860596 + ], + "min_contact_pad_to_button": 0.021076837791440872, + "closest_contact_pad": [ + 0.14998556673526764, + -0.3666245341300964, + 0.7904209292068461 + ], + "closest_contact_pad_button": [ + 0.14998556673526764, + -0.3666245341300964, + 0.7693440914154053 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021076837791440872 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7375578039076e9b10525931df8854c07c3afb153a28b20f1bf57b38330ae0c5", + "visual_seed": 8759147962599995199, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2b741cfb39503efb39d145fb76a2f6ca3b272b7d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18326157359144507, + 0.21699494384883494, + 1.162104009718452 + ], + "current_z": 1.162104009718452, + "required_z": 0.8611068060379901, + "initial_z": 0.7611068060379901, + "lift_margin": 0.300997203680462, + "gripper_z": 1.1557811733490477, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17950231516630644, + 0.21271716693832718, + 1.1557811733490477 + ], + "object_minus_gripper": [ + 0.003759258425138634, + 0.004277776910507763, + 0.006322836369404339 + ], + "object_to_gripper_xy": 0.005694857259233909, + "object_to_gripper_z": 0.006322836369404339, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18326157359144507, + 0.1933630294578724, + 1.162104009718452 + ], + "finger_b": [ + 0.1737166693933226, + 0.21699494384883494, + 1.162104009718452 + ], + "finger_midpoint": [ + 0.17848912149238383, + 0.20517898665335366, + 1.162104009718452 + ], + "object_minus_finger_midpoint": [ + 0.004772452099061242, + 0.011815957195481286, + 0.0 + ], + "finger_gap": 0.02548671367464073, + "fingertip_max_gap": 0.09047992307321301, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012743356837320377, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162104009718452, + "object_top_z": 1.2120318421380953, + "finger_top_clearance": 0.04992783241964327, + "fingertip_min_top_clearance": 0.014978349725892947, + "object_projection_between_fingers": 0.8597459316982855, + "object_to_finger_line_xy": 0.008850272410930947, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773996153660651, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.09205550113211834, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3068690537189546, + -0.3061362199692285, + 0.851539526276535 + ], + "target_position": [ + 0.29892862732973546, + -0.3072946653202508, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008024485458514651, + "xy_threshold": 0.08, + "gripper_dist": 0.18470718086485285, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539526276535, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578968217282533, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564712893918823, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15198661053295542, + "release_required_pad_clearance": 0.05282356446959412, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6921003119839627, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007063388824462891, + "max_z_decrease": 0.007063388824462891, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035206200121878486, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007063388824462891, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02108156482039303, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007063388824462891, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007063409770167635, + "max_button_displacement": 0.12, + "button_start": [ + 0.15462855994701383, + -0.3635561168193817, + 0.7768088579177856 + ], + "button_final": [ + 0.15462855994701383, + -0.3635561168193817, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15366487386581734, + -0.36168979213173297, + 0.8081716862431472 + ], + "closest_button": [ + 0.1546180546283722, + -0.3635636568069458, + 0.7730283141136169 + ], + "closest_ee_minus_button": [ + -0.0009531807625548505, + 0.001873864675212833, + 0.035143372129530226 + ], + "button_min_z_position": [ + 0.15461172163486478, + -0.36355963349342346, + 0.7697454690933228 + ], + "min_active_finger_to_button": 0.14615497508232841, + "closest_active_finger": [ + 0.02603308856487274, + -0.42406511306762695, + 0.8109129667282104 + ], + "closest_active_finger_button": [ + 0.1546286344528198, + -0.3635580241680145, + 0.7768049836158752 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12859554588794705, + -0.06050708889961243, + 0.034107983112335205 + ], + "min_contact_pad_to_button": 0.02108156482039303, + "closest_contact_pad": [ + 0.15461172163486478, + -0.36355963349342346, + 0.7908270339137158 + ], + "closest_contact_pad_button": [ + 0.15461172163486478, + -0.36355963349342346, + 0.7697454690933228 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02108156482039303 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5f5a958a70a142773ca3ed615c886ff0808f4563d69538357cd16fdeaac241fe", + "visual_seed": 2586776867332558483, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd4518ad2186efac7fa02ea5eb9aeab2248cb80c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17979183068272503, + 0.223017016607636, + 1.1621040408282952 + ], + "current_z": 1.1621040408282952, + "required_z": 0.8611069252472795, + "initial_z": 0.7611069252472795, + "lift_margin": 0.3009971155810157, + "gripper_z": 1.1555892144359268, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17627706121555015, + 0.21882003803895317, + 1.1555892144359268 + ], + "object_minus_gripper": [ + 0.003514769467174883, + 0.004196978568682841, + 0.006514826392368445 + ], + "object_to_gripper_xy": 0.005474324936772376, + "object_to_gripper_z": 0.006514826392368445, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17979183068272503, + 0.199600097943174, + 1.1621040408282952 + ], + "finger_b": [ + 0.17031123325484016, + 0.223017016607636, + 1.1621040408282952 + ], + "finger_midpoint": [ + 0.1750515319687826, + 0.21130855727540498, + 1.1621040408282952 + ], + "object_minus_finger_midpoint": [ + 0.004740298713942437, + 0.011708459332231025, + 0.0 + ], + "finger_gap": 0.025263289717050847, + "fingertip_max_gap": 0.09056492642492878, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012631644858525437, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621040408282952, + "object_top_z": 1.2120472945420446, + "finger_top_clearance": 0.049943253713749414, + "fingertip_min_top_clearance": 0.014982976114124823, + "object_projection_between_fingers": 0.8591711586605515, + "object_to_finger_line_xy": 0.008787706642553772, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778246321246439, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2320128845264993, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 356, + "max_stable_success_frames": 356, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30506659000249003, + -0.3057123311361556, + 0.8515396451072023 + ], + "target_position": [ + 0.29720216234671126, + -0.3065762015808153, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00791173144754892, + "xy_threshold": 0.08, + "gripper_dist": 0.18475642411095233, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396451072023, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526433679710427, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08602784814307783, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15329249583338145, + "release_required_pad_clearance": 0.05301392407153892, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0601600780901006, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0071656107902526855, + "max_z_decrease": 0.0071656107902526855, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03526351400743683, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0071656107902526855, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021089853890001842, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0071656107902526855, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0071656307887887636, + "max_button_displacement": 0.12, + "button_start": [ + 0.15290208160877222, + -0.36283767223358143, + 0.7768088579177856 + ], + "button_final": [ + 0.15290208160877222, + -0.36283767223358143, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1553235397806589, + -0.361403990169789, + 0.8081190042409758 + ], + "closest_button": [ + 0.15289211273193357, + -0.3628452122211455, + 0.7729689478874207 + ], + "closest_ee_minus_button": [ + 0.002431427048725343, + 0.0014412220513564944, + 0.03515005635355517 + ], + "button_min_z_position": [ + 0.15288546681404108, + -0.36284092068672175, + 0.769643247127533 + ], + "min_active_finger_to_button": 0.14337396900305008, + "closest_active_finger": [ + 0.028276465833187103, + -0.42497846484184265, + 0.8108500242233276 + ], + "closest_active_finger_button": [ + 0.1529036164283752, + -0.36283954977989186, + 0.7767483592033386 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12462715059518809, + -0.062138915061950795, + 0.034101665019989014 + ], + "min_contact_pad_to_button": 0.021089853890001842, + "closest_contact_pad": [ + 0.15288546681404108, + -0.36284092068672175, + 0.7907331010175348 + ], + "closest_contact_pad_button": [ + 0.15288546681404108, + -0.36284092068672175, + 0.769643247127533 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021089853890001842 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0fa10ceabea08e06c6aa8b77fb54da8ca5af7a05ebe6f720f897e90c530b2df9", + "visual_seed": 5596512538176611020, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b6442d527b881ce07c8cad11bf237d9900a69046 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18113156681004014, + 0.21365979111336372, + 1.1608621656207203 + ], + "current_z": 1.1608621656207203, + "required_z": 0.8611068656426346, + "initial_z": 0.7611068656426346, + "lift_margin": 0.2997552999780857, + "gripper_z": 1.1547304854505966, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1775975590638083, + 0.20934048859463927, + 1.1547304854505966 + ], + "object_minus_gripper": [ + 0.003534007746231832, + 0.004319302518724449, + 0.006131680170123666 + ], + "object_to_gripper_xy": 0.0055808229678682665, + "object_to_gripper_z": 0.006131680170123666, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18113156681004014, + 0.1904215461604144, + 1.1608621656207203 + ], + "finger_b": [ + 0.1712085445375659, + 0.21365979111336372, + 1.1608621656207203 + ], + "finger_midpoint": [ + 0.176170055673803, + 0.20204066863688908, + 1.1608621656207203 + ], + "object_minus_finger_midpoint": [ + 0.0049615111362371345, + 0.011619122476474647, + 0.0 + ], + "finger_gap": 0.025268209266057905, + "fingertip_max_gap": 0.09080498562042805, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012634104633028944, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1608621656207203, + "object_top_z": 1.2108171188274492, + "finger_top_clearance": 0.049954953206728936, + "fingertip_min_top_clearance": 0.01498648596201868, + "object_projection_between_fingers": 0.8457806024174208, + "object_to_finger_line_xy": 0.009125839501063443, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047902492810214026, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4298268980065018, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30670527771848954, + -0.3138604431198992, + 0.8515395191170294 + ], + "target_position": [ + 0.2994381505364546, + -0.3144738788415219, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007292972018624071, + "xy_threshold": 0.08, + "gripper_dist": 0.18516748701814606, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395191170294, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514187319418558, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08702927778259205, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15406304555861924, + "release_required_pad_clearance": 0.053514638891296026, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0413498725030372, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007227301597595215, + "max_z_decrease": 0.007227301597595215, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03519119894373621, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007227301597595215, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02108849251615831, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007227301597595215, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007227320665895534, + "max_button_displacement": 0.12, + "button_start": [ + 0.1551380753517151, + -0.3707353472709655, + 0.7768088579177856 + ], + "button_final": [ + 0.1551380753517151, + -0.3707353472709655, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1566977164401853, + -0.36991821034891764, + 0.8082292319168102 + ], + "closest_button": [ + 0.1551298350095749, + -0.370743840932846, + 0.7730826735496521 + ], + "closest_ee_minus_button": [ + 0.0015678814306104016, + 0.0008256305839283717, + 0.035146558367158076 + ], + "button_min_z_position": [ + 0.1551217883825302, + -0.3707385659217834, + 0.7695815563201904 + ], + "min_active_finger_to_button": 0.14440690816614749, + "closest_active_finger": [ + 0.02935405820608139, + -0.43292224407196045, + 0.8104453086853027 + ], + "closest_active_finger_button": [ + 0.15513946115970612, + -0.37073814868926996, + 0.7763201594352722 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12578540295362473, + -0.062184095382690485, + 0.03412514925003052 + ], + "min_contact_pad_to_button": 0.02108849251615831, + "closest_contact_pad": [ + 0.1551217883825302, + -0.37115010069803556, + 0.7906660329732165 + ], + "closest_contact_pad_button": [ + 0.1551217883825302, + -0.3707385659217834, + 0.7695815563201904 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00041153477625216484, + 0.02108447665302604 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8dc673097826406c4fd99ee0ea375f7a5de570fd723d90bcafbdb25738437c30", + "visual_seed": 7173818839737016409, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..348bb775d9ccefa69460eb64184611aa3f704d9b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18289586428179289, + 0.22000290337533263, + 1.161474502397142 + ], + "current_z": 1.161474502397142, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.30036769635915206, + "gripper_z": 1.1549736341404784, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1793172962161713, + 0.21574482101976988, + 1.1549736341404784 + ], + "object_minus_gripper": [ + 0.0035785680656215957, + 0.004258082355562742, + 0.006500868256663628 + ], + "object_to_gripper_xy": 0.00556214120164541, + "object_to_gripper_z": 0.006500868256663628, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18289586428179289, + 0.19670034625010901, + 1.161474502397142 + ], + "finger_b": [ + 0.17310998809249115, + 0.22000290337533263, + 1.161474502397142 + ], + "finger_midpoint": [ + 0.17800292618714203, + 0.20835162481272082, + 1.161474502397142 + ], + "object_minus_finger_midpoint": [ + 0.004892938094650856, + 0.011651278562611805, + 0.0 + ], + "finger_gap": 0.025273949856851666, + "fingertip_max_gap": 0.09065241418747819, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012636974928425828, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161474502397142, + "object_top_z": 1.2114157476057326, + "finger_top_clearance": 0.04994124520859056, + "fingertip_min_top_clearance": 0.014982373562577166, + "object_projection_between_fingers": 0.8500822020504244, + "object_to_finger_line_xy": 0.009022568305038796, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047826207093739095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.27660240910212597, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30182827738561513, + -0.30906608656223744, + 0.851539599207916 + ], + "target_position": [ + 0.293554663095613, + -0.31011706506240233, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00834009887396643, + "xy_threshold": 0.08, + "gripper_dist": 0.18560988256691596, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539599207916, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515176442851038, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08679679428632596, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1545902068633795, + "release_required_pad_clearance": 0.05339839714316298, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8118048439055223, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007313191890716553, + "max_z_decrease": 0.007313191890716553, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517496873193625, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007313191890716553, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021214454942062342, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007313191890716553, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00731321419093005, + "max_button_displacement": 0.12, + "button_start": [ + 0.14925459027290344, + -0.36637851595878596, + 0.7768088579177856 + ], + "button_final": [ + 0.14925459027290344, + -0.36637851595878596, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14814873609223142, + -0.36811291512301664, + 0.8078799837689312 + ], + "closest_button": [ + 0.1492430716753006, + -0.36638429760932917, + 0.7727645635604858 + ], + "closest_ee_minus_button": [ + -0.001094335583069178, + -0.0017286175136874693, + 0.03511542020844538 + ], + "button_min_z_position": [ + 0.1492365300655365, + -0.36637848615646357, + 0.7694956660270691 + ], + "min_active_finger_to_button": 0.14702652965354063, + "closest_active_finger": [ + 0.006829753518104553, + -0.35354340076446533, + 0.8106266260147095 + ], + "closest_active_finger_button": [ + 0.14925372600555423, + -0.3663813471794128, + 0.7764593958854675 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14242397248744967, + 0.012837946414947454, + 0.03416723012924194 + ], + "min_contact_pad_to_button": 0.021214454942062342, + "closest_contact_pad": [ + 0.1492365300655365, + -0.3692172702234567, + 0.7905193289693296 + ], + "closest_contact_pad_button": [ + 0.1492365300655365, + -0.36637848615646357, + 0.7694956660270691 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028387840669931164, + 0.021023662942260546 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "06ffa4b5697423ee281e27519fa69b75f1b59c164f35fb4ae15729cc3a556302", + "visual_seed": 6606247274773632577, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fbc538c4a2754d1cc2aa1160419bd3d7a81395cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18352252344623393, + 0.2227857778717147, + 1.161571562732437 + ], + "current_z": 1.161571562732437, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.30046487590373694, + "gripper_z": 1.1549443699978559, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1798824205002178, + 0.21851463746438554, + 1.1549443699978559 + ], + "object_minus_gripper": [ + 0.0036401029460161327, + 0.004271140407329149, + 0.006627192734581122 + ], + "object_to_gripper_xy": 0.0056118615304295546, + "object_to_gripper_z": 0.006627192734581122, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18352252344623393, + 0.19931646983731816, + 1.161571562732437 + ], + "finger_b": [ + 0.17388121756285846, + 0.2227857778717147, + 1.161571562732437 + ], + "finger_midpoint": [ + 0.1787018705045462, + 0.2110511238545164, + 1.161571562732437 + ], + "object_minus_finger_midpoint": [ + 0.004820652941687736, + 0.011734654017198282, + 0.0 + ], + "finger_gap": 0.0253724890136975, + "fingertip_max_gap": 0.09064906714985399, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012686244506848762, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161571562732437, + "object_top_z": 1.211477350915397, + "finger_top_clearance": 0.0499057881829601, + "fingertip_min_top_clearance": 0.014971736454887995, + "object_projection_between_fingers": 0.8556071870568671, + "object_to_finger_line_xy": 0.008918115109188642, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047824533574927, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2599168477323142, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2994465369361098, + -0.3115760332694004, + 0.8515395638384133 + ], + "target_position": [ + 0.29163880843595763, + -0.31245334931904384, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007856863737080475, + "xy_threshold": 0.08, + "gripper_dist": 0.1835687136721168, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395638384133, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575667406459169, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08501672047857482, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1510881554947186, + "release_required_pad_clearance": 0.05250836023928741, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08846931845452743, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007083415985107422, + "max_z_decrease": 0.007083415985107422, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518611829655193, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007083415985107422, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02122444964620453, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007083415985107422, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070834357533810805, + "max_button_displacement": 0.12, + "button_start": [ + 0.14733873307704923, + -0.36871480941772455, + 0.7768088579177856 + ], + "button_final": [ + 0.14733873307704923, + -0.36871480941772455, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1485373646136343, + -0.3698539524719788, + 0.80821853507449 + ], + "closest_button": [ + 0.14732778072357175, + -0.3687210381031036, + 0.7730714678764343 + ], + "closest_ee_minus_button": [ + 0.0012095838900625377, + -0.001132914368875193, + 0.035147067198055715 + ], + "button_min_z_position": [ + 0.14732228219509122, + -0.3687178790569305, + 0.7697254419326782 + ], + "min_active_finger_to_button": 0.14483223520731106, + "closest_active_finger": [ + 0.0075468942523002625, + -0.35232245922088623, + 0.8104143142700195 + ], + "closest_active_finger_button": [ + 0.14733852446079254, + -0.36871707439422596, + 0.7762691378593445 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13979163020849228, + 0.016394615173339733, + 0.03414517641067505 + ], + "min_contact_pad_to_button": 0.02122444964620453, + "closest_contact_pad": [ + 0.14732228219509122, + -0.3712245109411349, + 0.7908013537606718 + ], + "closest_contact_pad_button": [ + 0.14732228219509122, + -0.3687178790569305, + 0.7697254419326782 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025066318842044133, + 0.02107591182799362 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3149a18b316d46090a7d7830c6cc2ed7ad69c3f59c94d9a8d2a9129f625f9eea", + "visual_seed": 8771914735339017394, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fe2b18db4f930b3cde7e93fe0aa40236721672b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17860870225703432, + 0.2231073310543011, + 1.1623353166560375 + ], + "current_z": 1.1623353166560375, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.30122862982733745, + "gripper_z": 1.1556985159135724, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1751537992901394, + 0.21896260236856419, + 1.1556985159135724 + ], + "object_minus_gripper": [ + 0.003454902966894907, + 0.004144728685736926, + 0.006636800742465088 + ], + "object_to_gripper_xy": 0.005395843806952697, + "object_to_gripper_z": 0.006636800742465088, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17860870225703432, + 0.19977716079803967, + 1.1623353166560375 + ], + "finger_b": [ + 0.16914424028539637, + 0.2231073310543011, + 1.1623353166560375 + ], + "finger_midpoint": [ + 0.17387647127121536, + 0.2114422459261704, + 1.1623353166560375 + ], + "object_minus_finger_midpoint": [ + 0.004732230985818958, + 0.01166508512813072, + 0.0 + ], + "finger_gap": 0.025176832298737004, + "fingertip_max_gap": 0.09022270253940315, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012588416149368497, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1623353166560375, + "object_top_z": 1.2121433534794965, + "finger_top_clearance": 0.04980803682345902, + "fingertip_min_top_clearance": 0.01494241104703774, + "object_projection_between_fingers": 0.8586845366176423, + "object_to_finger_line_xy": 0.008770265717395346, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04761135126970158, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.11592636863184706, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30797437168173303, + -0.3063312486872757, + 0.8515395865890601 + ], + "target_position": [ + 0.2997964753100369, + -0.3076205183928814, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008278901221780188, + "xy_threshold": 0.08, + "gripper_dist": 0.1868012188030382, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395865890601, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576098042167195, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851095959616253, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1542338757688906, + "release_required_pad_clearance": 0.052554797980812654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.17693864729886777, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007311344146728516, + "max_z_decrease": 0.007311344146728516, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0352660350342501, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007311344146728516, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02108413642469842, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007311344146728516, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007311363476718155, + "max_button_displacement": 0.12, + "button_start": [ + 0.15549640357494354, + -0.3638819754123688, + 0.7768088579177856 + ], + "button_final": [ + 0.15549640357494354, + -0.3638819754123688, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1578704619419863, + -0.36233759785401876, + 0.8080508624492163 + ], + "closest_button": [ + 0.1554861068725586, + -0.3638890981674194, + 0.7728997468948364 + ], + "closest_ee_minus_button": [ + 0.0023843550694277182, + 0.0015515003134006222, + 0.035151115554379886 + ], + "button_min_z_position": [ + 0.15547990798950195, + -0.3638852238655089, + 0.7694975137710571 + ], + "min_active_finger_to_button": 0.14336352479882639, + "closest_active_finger": [ + 0.03130762279033661, + -0.42686721682548523, + 0.8107685446739197 + ], + "closest_active_finger_button": [ + 0.1555003523826599, + -0.36388340592384333, + 0.7766759395599365 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1241927295923233, + -0.0629838109016419, + 0.034092605113983154 + ], + "min_contact_pad_to_button": 0.02108413642469842, + "closest_contact_pad": [ + 0.15547990798950195, + -0.3638852238655089, + 0.7905816501957555 + ], + "closest_contact_pad_button": [ + 0.15547990798950195, + -0.3638852238655089, + 0.7694975137710571 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02108413642469842 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "46dcc27eea8d2c90cde0b03c13839cbe1d876167e8c433214c275712fef1e7ff", + "visual_seed": 6241842447845996123, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b63318852e0cc8671ceac369838297ec02da3d6e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18300887677224562, + 0.22315107059587747, + 1.1605143085656668 + ], + "current_z": 1.1605143085656668, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.29940762173696633, + "gripper_z": 1.1540854237751006, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17930681637259066, + 0.21894999762740158, + 1.1540854237751006 + ], + "object_minus_gripper": [ + 0.003702060399654955, + 0.004201072968475883, + 0.006428884790566247 + ], + "object_to_gripper_xy": 0.005599487948835338, + "object_to_gripper_z": 0.006428884790566247, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18300887677224562, + 0.19946212174742106, + 1.1605143085656668 + ], + "finger_b": [ + 0.17371102057431126, + 0.22315107059587747, + 1.1605143085656668 + ], + "finger_midpoint": [ + 0.17835994867327842, + 0.21130659617164926, + 1.1605143085656668 + ], + "object_minus_finger_midpoint": [ + 0.004648928098967192, + 0.011844474424228202, + 0.0 + ], + "finger_gap": 0.025448308930501654, + "fingertip_max_gap": 0.09061215584340734, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012724154465250832, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1605143085656668, + "object_top_z": 1.2104363836482934, + "finger_top_clearance": 0.04992207508262658, + "fingertip_min_top_clearance": 0.014976622524787974, + "object_projection_between_fingers": 0.866510288780707, + "object_to_finger_line_xy": 0.008655052108754334, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047806077921703674, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.20693614136611, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.29878376297459286, + -0.3127307753866899, + 0.8515395622799644 + ], + "target_position": [ + 0.2909377206611535, + -0.313691793310133, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007904678072727574, + "xy_threshold": 0.08, + "gripper_dist": 0.1843148608563217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395622799644, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591238253448435, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0866922972962235, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1513385454231534, + "release_required_pad_clearance": 0.053346148648111755, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.70910019198998, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0070917606353759766, + "max_z_decrease": 0.0070917606353759766, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515995858400749, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0070917606353759766, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02111597399400372, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0070917606353759766, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070917812628338035, + "max_button_displacement": 0.12, + "button_start": [ + 0.14663764834403986, + -0.36995324492454523, + 0.7768088579177856 + ], + "button_final": [ + 0.14663764834403986, + -0.36995324492454523, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14789190901966984, + -0.3703953275321699, + 0.8082621389392339 + ], + "closest_button": [ + 0.14662666618824, + -0.3699579536914825, + 0.7731276750564575 + ], + "closest_ee_minus_button": [ + 0.0012652428314298414, + -0.00043737384068742724, + 0.03513446388277641 + ], + "button_min_z_position": [ + 0.14662063121795652, + -0.3699549734592437, + 0.7697170972824097 + ], + "min_active_finger_to_button": 0.14488667936444558, + "closest_active_finger": [ + 0.006491459906101227, + -0.35648491978645325, + 0.8105332255363464 + ], + "closest_active_finger_button": [ + 0.14663714170455927, + -0.3699547350406646, + 0.7763293981552124 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14014568179845804, + 0.01346981525421137, + 0.03420382738113403 + ], + "min_contact_pad_to_button": 0.02111597399400372, + "closest_contact_pad": [ + 0.14662063121795652, + -0.37135470378416846, + 0.7907866277169715 + ], + "closest_contact_pad_button": [ + 0.14662063121795652, + -0.3699549734592437, + 0.7697170972824097 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013997303249247417, + 0.021069530434561834 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bed48229eab8559d46d0cbf48eb5baaf2707f1cce68cfe25dea2bf914564b9bd", + "visual_seed": 6856846359310692025, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f28f2d01a7a43c90947bc054809e1062b9ad2c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18116496994657838, + 0.22017382358120466, + 1.1629766386108742 + ], + "current_z": 1.1629766386108742, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30187013059610823, + "gripper_z": 1.156523815792833, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17742002513316438, + 0.2159401528673147, + 1.156523815792833 + ], + "object_minus_gripper": [ + 0.003744944813414003, + 0.00423367071388997, + 0.0064528228180411595 + ], + "object_to_gripper_xy": 0.005652307437601572, + "object_to_gripper_z": 0.0064528228180411595, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18116496994657838, + 0.19649713371361363, + 1.1629766386108742 + ], + "finger_b": [ + 0.17176272926200542, + 0.22017382358120466, + 1.1629766386108742 + ], + "finger_midpoint": [ + 0.1764638496042919, + 0.20833547864740914, + 1.1629766386108742 + ], + "object_minus_finger_midpoint": [ + 0.00470112034228648, + 0.011838344933795514, + 0.0 + ], + "finger_gap": 0.02547523842826062, + "fingertip_max_gap": 0.09089311062557309, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01273761921413031, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1629766386108742, + "object_top_z": 1.213069581064487, + "finger_top_clearance": 0.05009294245361273, + "fingertip_min_top_clearance": 0.015027882736083818, + "object_projection_between_fingers": 0.8637845987680738, + "object_to_finger_line_xy": 0.008738443699986206, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04794655531278655, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17542859120601884, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3078048212774107, + -0.3049041806372801, + 0.8515395067649885 + ], + "target_position": [ + 0.2979049520781532, + -0.30681997627830543, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010083535248144825, + "xy_threshold": 0.08, + "gripper_dist": 0.18449990314593034, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395067649885, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547969757324677, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08543611497591756, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15273711504222834, + "release_required_pad_clearance": 0.05271805748795878, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.48938845892586647, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007074713706970215, + "max_z_decrease": 0.007074713706970215, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514960898172829, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007074713706970215, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021134243416689374, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007074713706970215, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007074730945102827, + "max_button_displacement": 0.12, + "button_start": [ + 0.1536048799753189, + -0.3630814254283905, + 0.7768088579177856 + ], + "button_final": [ + 0.1536048799753189, + -0.3630814254283905, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15344546521744465, + -0.36380845909329224, + 0.8082350655868953 + ], + "closest_button": [ + 0.15359418094158173, + -0.3630875945091247, + 0.7730931639671326 + ], + "closest_ee_minus_button": [ + -0.00014871572413707734, + -0.0007208645841675354, + 0.03514190161976272 + ], + "button_min_z_position": [ + 0.1535894274711609, + -0.3630836904048919, + 0.7697341442108154 + ], + "min_active_finger_to_button": 0.14620761133477536, + "closest_active_finger": [ + 0.012082278728485107, + -0.34961220622062683, + 0.8104449510574341 + ], + "closest_active_finger_button": [ + 0.15360455214977264, + -0.3630834221839904, + 0.7762888669967651 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14152227342128754, + 0.013471215963363592, + 0.034156084060668945 + ], + "min_contact_pad_to_button": 0.021134243416689374, + "closest_contact_pad": [ + 0.1535894274711609, + -0.364861040385545, + 0.7907935191265661 + ], + "closest_contact_pad_button": [ + 0.1535894274711609, + -0.3630836904048919, + 0.7697341442108154 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001777349980653098, + 0.021059374915750717 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "97b6ee5de619229449a6dd0d25cafa98ab516f94529e59ef87f5d8e4dfc8ebb5", + "visual_seed": 4596541776037808375, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6a1c0199877ad23c4a56b252b0157001845085fc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1813950257019274, + 0.22005941731911044, + 1.159552297863863 + ], + "current_z": 1.159552297863863, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.2984456706398074, + "gripper_z": 1.1533100397924816, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1777970270370587, + 0.21571908951135127, + 1.1533100397924816 + ], + "object_minus_gripper": [ + 0.003597998664868679, + 0.00434032780775917, + 0.006242258071381457 + ], + "object_to_gripper_xy": 0.005637733575755804, + "object_to_gripper_z": 0.006242258071381457, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1813950257019274, + 0.19686989377433556, + 1.159552297863863 + ], + "finger_b": [ + 0.17132841893494186, + 0.22005941731911044, + 1.159552297863863 + ], + "finger_midpoint": [ + 0.1763617223184346, + 0.208464655546723, + 1.159552297863863 + ], + "object_minus_finger_midpoint": [ + 0.005033303383492782, + 0.01159476177238744, + 0.0 + ], + "finger_gap": 0.02528024078276921, + "fingertip_max_gap": 0.09082022290196706, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01264012039138461, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159552297863863, + "object_top_z": 1.2094621825913467, + "finger_top_clearance": 0.0499098847274837, + "fingertip_min_top_clearance": 0.014972965418245075, + "object_projection_between_fingers": 0.841436291007473, + "object_to_finger_line_xy": 0.009234081931613234, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047910111450983534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.40415366938514824, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30258547114759193, + -0.30895531354783146, + 0.851539613862951 + ], + "target_position": [ + 0.29496056475267696, + -0.3097288479773516, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007664042865542206, + "xy_threshold": 0.08, + "gripper_dist": 0.18542065349725778, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539613862951, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753230449166966, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08704666461861797, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1538618109916674, + "release_required_pad_clearance": 0.05352333230930899, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.058532108239818, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007343769073486328, + "max_z_decrease": 0.007343769073486328, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516226655085854, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007343769073486328, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021083483723716295, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007343769073486328, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007343786675346998, + "max_button_displacement": 0.12, + "button_start": [ + 0.15066048502922058, + -0.36599031090736384, + 0.7768088579177856 + ], + "button_final": [ + 0.15066048502922058, + -0.36599031090736384, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15017592213719408, + -0.36490912535599385, + 0.8078249167554122 + ], + "closest_button": [ + 0.15064935386180878, + -0.36599683761596674, + 0.7726826667785645 + ], + "closest_ee_minus_button": [ + -0.00047343172461469796, + 0.001087712259972895, + 0.035142249976847784 + ], + "button_min_z_position": [ + 0.1506447196006775, + -0.365993469953537, + 0.7694650888442993 + ], + "min_active_finger_to_button": 0.14605812818272954, + "closest_active_finger": [ + 0.0222378671169281, + -0.42664095759391785, + 0.8104644417762756 + ], + "closest_active_finger_button": [ + 0.1506604701280594, + -0.3659927546977996, + 0.7763703465461731 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1284226030111313, + -0.06064820289611822, + 0.03409409523010254 + ], + "min_contact_pad_to_button": 0.021083483723716295, + "closest_contact_pad": [ + 0.1506447196006775, + -0.3663045213520518, + 0.7905462779226149 + ], + "closest_contact_pad_button": [ + 0.1506447196006775, + -0.365993469953537, + 0.7694650888442993 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00031105139851483887, + 0.021081189078315576 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "caa7fe0fc01450d170572c70edc042890fbe9c544154626b042c369a6a9fd4ba", + "visual_seed": 1223016294148405732, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0f8f6a899de9e1c7d8bf942b4c7984fb9426cf65 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.18242580089691812, + 0.2206418548880762, + 1.1595642739869305 + ], + "current_z": 1.1595642739869305, + "required_z": 0.8611068656426344, + "initial_z": 0.7611068656426344, + "lift_margin": 0.2984574083442961, + "gripper_z": 1.1531254024547435, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1788718391830809, + 0.21632637118972425, + 1.1531254024547435 + ], + "object_minus_gripper": [ + 0.0035539617138372337, + 0.004315483698351941, + 0.006438871532187029 + ], + "object_to_gripper_xy": 0.0055905315860088145, + "object_to_gripper_z": 0.006438871532187029, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18242580089691812, + 0.19740244023833592, + 1.1595642739869305 + ], + "finger_b": [ + 0.17249670049810736, + 0.2206418548880762, + 1.1595642739869305 + ], + "finger_midpoint": [ + 0.17746125069751273, + 0.20902214756320606, + 1.1595642739869305 + ], + "object_minus_finger_midpoint": [ + 0.004964550199405393, + 0.011619707324870138, + 0.0 + ], + "finger_gap": 0.025271672441534748, + "fingertip_max_gap": 0.0906269486508276, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01263583622076738, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1595642739869305, + "object_top_z": 1.209473459435324, + "finger_top_clearance": 0.04990918544839351, + "fingertip_min_top_clearance": 0.014972755634518086, + "object_projection_between_fingers": 0.8456339339235497, + "object_to_finger_line_xy": 0.009130637546869524, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478134743254138, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.24666893396519285, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3047356117716996, + -0.31213195496618484, + 0.8515396142729822 + ], + "target_position": [ + 0.2972457668756784, + -0.31287766323181954, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007526875672142532, + "xy_threshold": 0.08, + "gripper_dist": 0.1838207548876422, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396142729822, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520994946386532, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08675077151440251, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15263970345532782, + "release_required_pad_clearance": 0.05337538575720126, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7663046964366726, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0072252750396728516, + "max_z_decrease": 0.0072252750396728516, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517787706763482, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0072252750396728516, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021062785469784684, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0072252750396728516, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007225296845234266, + "max_button_displacement": 0.12, + "button_start": [ + 0.15294569730758667, + -0.3691391348838806, + 0.7768088579177856 + ], + "button_final": [ + 0.15294569730758667, + -0.3691391348838806, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15229122992017155, + -0.36765195800385153, + 0.8081408323884238 + ], + "closest_button": [ + 0.1529347449541092, + -0.36914482712745667, + 0.7730005383491516 + ], + "closest_ee_minus_button": [ + -0.0006435150339376416, + 0.001492869123605134, + 0.03514029403927221 + ], + "button_min_z_position": [ + 0.15292809903621674, + -0.36914145946502686, + 0.7695835828781128 + ], + "min_active_finger_to_button": 0.14601075612611378, + "closest_active_finger": [ + 0.025809958577156067, + -0.43232598900794983, + 0.8108782172203064 + ], + "closest_active_finger_button": [ + 0.15294840931892395, + -0.36913973093032837, + 0.7767834663391113 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12713845074176788, + -0.06318625807762146, + 0.03409475088119507 + ], + "min_contact_pad_to_button": 0.021062785469784684, + "closest_contact_pad": [ + 0.15292809903621674, + -0.36914145946502686, + 0.7906463683478975 + ], + "closest_contact_pad_button": [ + 0.15292809903621674, + -0.36914145946502686, + 0.7695835828781128 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021062785469784684 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2c8bef96ae92464d588a4ddd3a20d70bd0baa1893bcbea2751a05480faca94c4", + "visual_seed": 7315757275517242911, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..38fc1cc533f43444b83e3062dbb76f2b51317a7a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00004/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17693258560916536, + 0.22173872011674395, + 1.159582480708003 + ], + "current_z": 1.159582480708003, + "required_z": 0.8611069252472796, + "initial_z": 0.7611069252472796, + "lift_margin": 0.29847555546072346, + "gripper_z": 1.153333472069693, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17355849020607733, + 0.21751456562205507, + 1.153333472069693 + ], + "object_minus_gripper": [ + 0.003374095403088029, + 0.004224154494688881, + 0.006249008638310016 + ], + "object_to_gripper_xy": 0.005406292720907742, + "object_to_gripper_z": 0.006249008638310016, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17693258560916536, + 0.19862079778444697, + 1.159582480708003 + ], + "finger_b": [ + 0.167139487433923, + 0.22173872011674395, + 1.159582480708003 + ], + "finger_midpoint": [ + 0.1720360365215442, + 0.21017975895059546, + 1.159582480708003 + ], + "object_minus_finger_midpoint": [ + 0.00489654908762116, + 0.01155896116614849, + 0.0 + ], + "finger_gap": 0.02510663467755188, + "fingertip_max_gap": 0.09077247943104566, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012553317338775934, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159582480708003, + "object_top_z": 1.2095064737369006, + "finger_top_clearance": 0.049923993028897495, + "fingertip_min_top_clearance": 0.014977197908669249, + "object_projection_between_fingers": 0.847853064252225, + "object_to_finger_line_xy": 0.009017380700976038, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04788623971552283, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3534811295993821, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30156789791791205, + -0.30622136729030214, + 0.8515395640676998 + ], + "target_position": [ + 0.29422462128454435, + -0.306898527872435, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007374432735347078, + "xy_threshold": 0.08, + "gripper_dist": 0.18478615799215442, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395640676998, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543496396720517, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08610266765246159, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15294289998059032, + "release_required_pad_clearance": 0.0530513338262308, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1329646851591593, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007273554801940918, + "max_z_decrease": 0.007273554801940918, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515851243904923, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007273554801940918, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021188941022182314, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007273554801940918, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007273578681018639, + "max_button_displacement": 0.12, + "button_start": [ + 0.14992454648017883, + -0.36315998435020436, + 0.7768088579177856 + ], + "button_final": [ + 0.14992454648017883, + -0.36315998435020436, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1496435151913863, + -0.3644342569634394, + 0.8079043745603536 + ], + "closest_button": [ + 0.14991267025470734, + -0.36316671967506403, + 0.7727697491645813 + ], + "closest_ee_minus_button": [ + -0.000269155063321036, + -0.0012675372883753644, + 0.03513462539577228 + ], + "button_min_z_position": [ + 0.1499059945344925, + -0.3631617724895477, + 0.7695353031158447 + ], + "min_active_finger_to_button": 0.14626525100936383, + "closest_active_finger": [ + 0.008351057767868042, + -0.3496211767196655, + 0.8106258511543274 + ], + "closest_active_finger_button": [ + 0.14992453157901764, + -0.3631622493267059, + 0.7764627933502197 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1415734738111496, + 0.01354107260704035, + 0.034163057804107666 + ], + "min_contact_pad_to_button": 0.021188941022182314, + "closest_contact_pad": [ + 0.1499059945344925, + -0.36555900652462503, + 0.7905882005559262 + ], + "closest_contact_pad_button": [ + 0.1499059945344925, + -0.3631617724895477, + 0.7695353031158447 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023972340350773558, + 0.02105289744008143 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 5534205038649275162, + "physical_seed": 6190658053621552877, + "layout_id": "layout_00004", + "step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "workflow_spec_digest": "dfc708e64f65bd569e1d9536d191ff2c29d9aeb54b571770a5acb91202bd30ac", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "40d5c7fe45e416f6c9ee816c78ac989a3e7d7bffb020dd4097204c65ce638569", + "visual_seed": 4848909298494879385, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8177086777345662735, + 7334121879167987492, + 3939905729978646839 + ], + "runtime_workflow_digest": "5b7834ce3af741ad5fa6c1a450e3b16b83802eef1d11e3dbe7dfe7d2a92d99eb" + } +} \ No newline at end of file